Operation verification device, operation verification program, and operation verification method

Abstract

To provide an operation verification device capable of calculating the attraction force exerted by a magnet of a work machine on the work object using simple calculations.SOLUTION: An operation verification device 1 includes a computer 13 that simulates the operation of a work machine 60 in a virtual space. The work machine 60 includes a magnet 65m that attracts work object 53 by magnetic force. The computer 13 calculates the attraction force F that the magnet 65m exerts on the work object 53 from the magnetic force of the magnet 65m and the distance D from the magnet 65m to the work object 53.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an operation verification device, an operation verification program, and an operation verification method for simulating the operation of a work machine in a virtual space. [Background technology]

[0002] For example, Patent Document 1 describes a simulator that simulates the operation of a work machine. The document also describes simulating excavation with a bucket (see claims 2, 5, etc. of the document). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-039836 A Summary of the Invention [Problem to be solved by the invention]

[0004] In order to simulate work performed using a magnet on a work machine (lift magnet work), calculating the distribution of the magnetic field generated by the magnet and then calculating the magnetic force acting on the work object based on the calculated magnetic field distribution may result in a large calculation load on the computer.

[0005] Therefore, an object of the present invention is to provide an operation verification device, an operation verification program, and an operation verification method that can calculate the adhesive force that a magnet of a work machine exerts on a work object through simple calculations. [Means for solving the problem]

[0006] The operation verification device includes a computer that simulates the operation of a work machine in a virtual space. The work machine includes a magnet that attracts a work object by magnetic force. The computer calculates an attractive force, which is the force with which the magnet attracts the work object, from the magnetic force of the magnet and the distance from the magnet to the work object.

[0007] The operation verification program is a program for simulating, in a virtual space, the operation of a work machine equipped with a magnet that attracts a work object by magnetic force. The operation verification program causes a computer to execute an attractive force calculation step. The attractive force calculation step calculates an attractive force, which is a force with which the magnet attracts the work object, from the magnetic force of the magnet and the distance from the magnet to the work object.

[0008] The operation verification method is a method for simulating, in a virtual space, the operation of a work machine equipped with a magnet that attracts a work object by magnetic force. The operation verification method includes an attractive force calculation step, in which an attractive force, which is a force with which the magnet attracts the work object, is calculated from the magnetic force of the magnet and the distance from the magnet to the work object. Effect of the Invention

[0009] The above-described operation verification device, operation verification program, and operation verification method each make it possible to calculate, through simple calculations, the attractive force that the magnet of the work machine exerts on the work target. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram of an operation verification device 1. [Diagram 2] 2 is a block diagram showing a magnet actuation processing unit 20 shown in FIG. 1. [Diagram 3] 2 is a diagram showing a working machine 60 equipped with a magnet 65m in a virtual space calculated by the computer 13 shown in FIG. [Figure 4]FIG. 4 is a diagram showing a magnet 65m and the like shown in FIG. 3. [Diagram 5] 3 is a flowchart of the process of the magnet actuation processing unit 20 shown in FIG. 2. [Figure 6] 2 is a block diagram showing a magnet sound processor 130 shown in FIG. 1. FIG. [Figure 7] 7 is a flowchart of a process of the magnet contact state determination unit 133 shown in FIG. 6. [Figure 8] 7 is a flowchart of a process of the magnet sound determination unit 135 shown in FIG. 6. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The operation verification device 1 will be described with reference to FIGS.

[0012] As shown in FIG. 1, the operation verification device 1 is a device (e.g., a work simulator) that simulates a work site S in a virtual space. The operation verification device 1 is a device for verifying the operation of a work machine 60 (described later) at the work site S. The operation verification device 1 may be configured to be able to verify various situations at the work site S other than the operation of the work machine 60. The operation verification device 1 may include, for example, at least one of a personal computer, a tablet, and a smartphone. The operation verification device 1 may include a remote control device that remotely controls an actual work machine (a machine corresponding to the work machine 60 in the virtual space described later) (described later). The operation verification device 1 may include a client device 10c and a server device 10s. The operation verification device 1 includes an input device 11, a calculator 13, and an output device 40.

[0013] Each of the client device 10c and the server device 10s is a computer. The server device 10s operates in response to a command from the client device 10c. The function of the operation verification device 1 may be realized by the client device 10c and the server device 10s. The input device 11, the calculator 13, and the output device 40 described later may be provided in either the client device 10c or the server device 10s, or in both. For example, the memory unit 13a and the calculation unit 13b of the calculator 13 described later may be provided in either the client device 10c or the server device 10s, or in both. Each of the client device 10c and the server device 10s may be provided in only one or in multiple units. The client device 10c and the server device 10s communicate with each other through a communication means such as a mobile phone line, an optical line, a wireless LAN (Local Area Network), or a wired LAN. The operation verification device 1 does not have to include the server device 10s.

[0014] The input device 11 is a device for inputting information to the calculator 13. The input device 11 is operated by a user (operator) of the operation verification device 1. The input device 11 may be used to operate a work machine 60 (described later) in a virtual space. The input device 11 may be used, for example, to instruct the start and end of the operation of the work machine 60, and may be used for running the work machine 60, turning the upper rotating body 61b (see FIG. 3), and operating the attachment 65 (see FIG. 3). The input device 11 may be used to operate a GUI (Graphical User Interface) for a user to perform an operation for operation verification in the operation verification device 1. The input device 11 may be used for operations other than the above operations. The input device 11 may include at least one of a mouse, a keyboard, a touch panel, and a game pad. The input device 11 may include levers and pedals that imitate the left and right operation levers and the left and right operation pedals (pedals at the feet) of an actual work machine. The input device 11 may be part of a remote operation device (described later). The input device 11 may include a device for inputting information without being operated by a user.

[0015] The calculator 13 performs input and output of signals, calculations, storage of information, etc. The calculator 13 simulates a work site S in a virtual space. Each function of the calculator 13 (specifically, the magnet operation processing unit 20, the magnet sound processing unit 130, etc.) is realized by executing a program (operation verification program) stored in the memory unit 13a in the calculation unit 13b. The calculator 13 and other devices (for example, the input device 11, the output device 40, etc.) may be connected by wireless communication or by wired communication. Information output by the input device 11 is input to the calculator 13. The calculator 13 includes the memory unit 13a, the calculation unit 13b, the magnet operation processing unit 20, and the magnet sound processing unit 130.

[0016] The storage unit 13a stores various types of information. The storage unit 13a stores an operation verification program.

[0017] The calculation unit 13b performs calculations (processing such as calculation and determination).

[0018] The magnet operation processing unit 20 performs processing related to the operation of the magnet 65m (see FIG. 3, described later). The magnet operation processing unit 20 simulates (reproduces) the movement of a work target 53 (see FIG. 3, described later) attracted to the magnet 65m. As shown in FIG. 2, the magnet operation processing unit 20 includes a physical quantity acquisition unit 21, a distance calculation unit 23, an attraction force calculation unit 25, and an attraction processing unit 27.

[0019] The physical quantity acquisition unit 21 acquires physical quantities used in processing related to the operation of the magnet 65m (see FIG. 3, described later). The physical quantity acquisition unit 21 includes a magnet excitation state acquisition unit 21a, a magnet coordinate acquisition unit 21b, and a work target coordinate acquisition unit 21c. The distance calculation unit 23 calculates the distance D between the work target 53 (see FIG. 3, described later) and the magnet 65m. The attraction force calculation unit 25 calculates the attraction force F. The attraction processing unit 27 performs processing to attract the work target 53 to the magnet 65m. The individual units of the magnet operation processing unit 20 will be described in detail later.

[0020] 1, the output device 40 performs output in response to a command input from the computer 13. The output device 40 outputs a phenomenon in the virtual space. The output device 40 includes a display device 41, an audio output device 43, and a seat drive device 45.

[0021] The display device 41 performs display in response to commands input from the computer 13. The output device 40 displays an image (video) of the virtual space calculated by the computer 13. The display device 41 may display the calculation results of the computer 13, etc. The output device 40 may display a GUI. Specifically, the display device 41 is a monitor (screen). The display device 41 may be a monitor of a remote control device (described later).

[0022] The audio output device 43 outputs a sound (output sound) in response to a command input from the computer 13. Specifically, the audio output device 43 is a speaker. The audio output device 43 may be a speaker of a remote control device.

[0023] The seat drive device 45 is a device that drives the seat 45s on which the user sits. The seat drive device 45 is controlled by the computer 13. The seat drive device 45 is configured to be able to tilt the seat 45s. The seat drive device 45 can vary at least one of the angles of the pitch angle, roll angle, and yaw angle of the seat 45s, for example. The pitch angle is a rotation angle (rotation angle in the seat front-rear direction and the seat up-down direction) about a rotation axis extending in the seat left-right direction. The roll angle is a rotation angle (rotation angle in the seat left-right direction and the seat up-down direction) about a rotation axis extending in the seat front-rear direction. The yaw angle is a rotation angle (rotation angle in the seat left-right direction and the seat up-down direction) about a rotation axis extending in the seat up-down direction. The seat drive device 45 may be equipped with, for example, an electric actuator or may be equipped with a hydraulic actuator. The seat drive device 45 may be configured to be able to vibrate the seat 45s.

[0024] (Remote Control Device) As described above, the operation verification device 1 may include a remote control device that remotely controls the actual work machine. The operation verification device 1 may be implemented in the remote control device. The input device 11 may include a device (such as an operation lever, an operation pedal, or a switch) for inputting to the remote control device. When the input device 11 includes a remote control device and is used to operate the work machine 60 in the virtual space, the user can experience an operation sensation close to that of the actual machine by operating the work machine 60 in the virtual space. As a result, for example, the user's mastery of the operation of the remote control device is promoted. The computer 13 may be a part of the remote control device. In this case, during remote operation, the computer 13 exchanges signals with the actual machine that is the target of remote operation via a communication means. During remote operation, the computer 13 transmits a signal (operation command signal) for operating the actual machine to the actual machine based on the operation signal input from the input device 11. During remote control, the calculator 13 receives signals output by sensors mounted on the actual machine (e.g., image data from a camera mounted on the actual machine, audio data from a microphone mounted on the actual machine, etc.) via a communication means. The output device 40 may include a device for outputting the remote control device. For example, when the display device 41 is a monitor of the remote control device, the display device 41 displays image data from a camera mounted on the actual machine during remote control. For example, when the audio output device 43 is a speaker of the remote control device, the audio output device 43 outputs audio data from a microphone mounted on the actual machine during remote control.

[0025] When the operation verification device 1 is configured to be able to operate the work machine 60 in the virtual space (having an operator operation mode described later) and the output device 40 is provided with a device for outputting the remote control device, the following effects can be obtained. In this case, the user can operate the work machine 60 in the virtual space while perceiving the output (display, sound) from the output device 40 that is perceived (seen, heard) when remotely operating the actual machine. In addition, in this case, the output device 40 of the operation verification device 1 can also be used as a device for outputting the remote control device. Therefore, it is not necessary to use a device (such as a monitor) other than the device for outputting the remote control device as the output device 40 of the operation verification device 1. When the operation verification device 1 is configured to be able to operate the work machine 60 in the virtual space (having an operator operation mode described later) and both the input device 11 and the output device 40 are provided with the remote control device, the following effects can be obtained. In this case, the user can experience a sensation closer to the sensation of operating the actual machine than when only one of the input device 11 and the output device 40 is provided with the remote control device.

[0026] (Activation) The operation verification device 1 (mainly the computer 13) is configured to perform the following operations (operation verification (e.g., task simulation)). The operation verification program causes the computer 13 to execute the following operations. The operation verification method is a method in which the following operations are performed.

[0027] The operation verification device 1 simulates a work site S in a virtual space. The work site S is a site (construction site) where a work machine 60 performs work. The operation verification device 1 (construction plan verification device (e.g., construction plan simulator)) may be used to make a plan (construction plan) for the work site S. The operation verification device 1 may be used to make a plan regarding the work machine 60 at the work site S. The operation verification device 1 may be used to confirm the position, size, workability (productivity), safety, and the like of the work machine 60. The operation verification device 1 (operation verification device (e.g., operation simulator)) may be configured to be able to operate the work machine 60 (described later). In this case, the operation verification device 1 may be used for a user to learn the operation of the work machine 60 (for user training), or may be used to confirm the status of the work machine 60 or the work site S when the work machine 60 is operated.

[0028] The operation verification device 1 (computer 13) sets an object 50 in a virtual space. In the following, unless otherwise specified, events in the virtual space will be described. For example, "the work machine 60 operates" means that the work machine 60 operates in the virtual space. Each operation (function) of the operation verification device 1 may be a "step" in the operation verification program and the operation verification method.

[0029] The object 50 is a model of an object in the work site S. The object 50 may be a three-dimensional model or a two-dimensional model. As shown in Fig. 3, the object 50 includes a terrain 51, a work target 53, a work machine 60, and the like.

[0030] The terrain 51 is information about the shape of the land of the work site S. The terrain 51 may be a two-dimensional shape or a three-dimensional shape. The terrain 51 may include, for example, flat land, a slope, an uneven surface, and the like.

[0031] The work target 53 is an object that is the target of work performed by the work machine 60. The work target 53 is an object that is the target of work performed by a magnet 65m (described later). The work target 53 is a magnetic body, for example, a metal.

[0032] The work machine 60 is a machine that performs work. The work machine 60 may be a construction machine that performs construction work, or a loading machine that performs loading and unloading work. The work machine 60 may be a shovel or a crane. In the following, a case where the work machine 60 is a shovel will be mainly described. The work machine 60 may operate (move) in a virtual space. The work machine 60 may travel, an upper rotating body 61b (described later) may rotate relative to a lower traveling body 61a (described later), and the attitude of the attachment 65 may change. The work machine 60 may operate based on information previously set in the calculator 13. The work machine 60 may operate in response to manual operation by a user (see the operator operation mode described later). A plurality of work machines 60 may be provided in the virtual space. A work machine 60 to be operated (for example, manually operated by a user) may be selected from the plurality of work machines 60. The work machine 60 includes a machine body 61, an attachment 65, and an actuator 70.

[0033] The machine body 61 is a main body portion of the work machine 60. The machine body 61 includes a lower traveling body 61a and an upper rotating body 61b.

[0034] The lower traveling body 61a is capable of traveling on a traveling surface (such as the ground, for example, the terrain 51). The lower traveling body 61a may be equipped with crawlers or wheels.

[0035] The upper rotating body 61b can rotate with respect to the lower traveling body 61a. The upper rotating body 61b includes a cab 61b1. The cab 61b1 is a portion where an operator operates a machine in an actual work machine. The cab 61b1 may be fixed to the bottom (rotating frame) of the upper rotating body 61b. The cab 61b1 may be movable with respect to the bottom of the upper rotating body 61b. In this case, the cab 61b1 may be vertically movable in parallel with the bottom of the upper rotating body 61b, may be vertically rotatable (rotating), or may be vertically movable in parallel and rotatable. For example, the cab 61b1 may be an elevator cab, a link cab, or a tilt cab. The cab 61b1, which is an elevator cab, can be vertically movable with respect to the bottom of the upper rotating body 61b. The cab 61b1, which is a link cab, is installed on the bottom of the upper rotating body 61b via a link mechanism. The cab 61b1, which is a link cab, can move up and down and back and forth with respect to the bottom of the upper rotating body 61b by operating the link mechanism. The cab 61b1, which is a tilt cab, can rotate (tilt) up and down about a rotation axis extending laterally with respect to the bottom of the upper rotating body 61b. The cab 61b1 may include an accessory attached to the main body of the cab 61b1. The accessory may be, for example, a guard for protecting the top surface and front window of the cab 61b1 from flying objects and the like.

[0036] The attachment 65 is a device for performing work (working device). The attachment 65 includes a boom 65a, an arm 65b, a magnet 65m, and a link 65n. The boom 65a can be raised and lowered (can rotate up and down) relative to the upper rotating body 61b. The arm 65b can rotate relative to the boom 65a.

[0037] The magnet 65m is capable of attracting the work object 53 by a magnetic force virtually acting on the work object 53. The magnet 65m is rotatable with respect to the arm 65b. The magnet 65m is a tip attachment provided at the tip of the attachment 65. The magnet 65m includes a magnet bracket 65m1 and a magnet main body 65m3.

[0038] The magnet bracket 65m1 connects the arm 65b and the link 65n to the magnet main body 65m3.

[0039] The magnet body 65m3 is a main body portion of the magnet 65m. The magnet body 65m3 is, for example, cylindrical or approximately cylindrical (see the magnet 65m shown in FIG. 1). The magnet body 65m3 has a coil and can be an electromagnet. As shown in FIG. 4, the magnet body 65m3 includes a magnet lower surface 65m3a, a magnet side surface 65m3b, and a magnet upper surface 65m3c. The magnet lower surface 65m3a is a surface of the magnet body 65m3 that mainly faces downward. The magnet lower surface 65m3a is, for example, circular or approximately circular. The magnet side surface 65m3b is a surface that faces to the side when the magnet lower surface 65m3a faces downward. The magnet upper surface 65m3c is a surface that faces upward when the magnet lower surface 65m3a faces downward. The magnet upper surface 65m3c is a surface to which the magnet bracket 65m1 is fixed. The magnet body 65m3 may include a plurality of unit magnets 65m3-u (described later).

[0040] 3, the link 65n is configured to allow the magnet 65m to rotate with respect to the arm 65b when the tip attachment cylinder 70e (described later) expands and contracts. The link 65n connects the arm 65b, the magnet 65m, and the tip attachment cylinder 70e.

[0041] The actuator 70 is a device that operates (moves) the work machine 60. The actuator 70 includes an end attachment cylinder 70e. The end attachment cylinder 70e is a cylinder (for example, a hydraulic cylinder) that rotates the magnet 65m relative to the arm 65b.

[0042] (Operator operation mode) The operation verification device 1 may have a mode (operator operation mode) in which the user can operate the work machine 60. For example, the operator operation mode is an operation mode that simulates the operation of an actual work machine. For example, in the operator operation mode, when the user operates (manually operates) the input device 11 (see FIG. 1), the work machine 60 operates (moves, changes its posture, etc.) in response to the user's manual operation. Specifically, the lower traveling body 61a, the upper rotating body 61b, the boom 65a, the arm 65b, and the magnet 65m operate in response to the user's manual operation.

[0043] In this operator operation mode, the state of the work site S may change in response to the operation (work) of the work machine 60. For example, in response to the operation of the work machine 60, the object 50 of the work target 53 moves.

[0044] (Magnet operation processing) As described above, the magnet operation processing unit 20 shown in Fig. 2 performs processing related to the operation of the magnet 65m (see Fig. 3). The magnet operation processing unit 20 simulates the movement of the work object 53 (see Fig. 3) attracted to the magnet 65m. Below, the work machine 60 (including the components of the work machine 60 such as the magnet 65m) and the work object 53 will be described mainly with reference to Fig. 3.

[0045] Here, when the force with which the magnet 65m attracts the workpiece 53 is accurately calculated, the calculation load of the calculator 13 shown in FIG. 1 may be large. For example, when the force with which the magnet 65m attracts the workpiece 53 is accurately calculated, it is necessary to calculate the distribution of the magnetic field (the direction of the magnetic field lines, the magnetic flux density) generated by the excitation of the magnet 65m. At that time, it is necessary to calculate the magnetic field taking into account the influence of the workpiece 53, which is a magnetic body, on the magnetic field. In addition, when there is a magnetic body other than the workpiece 53 around the magnet 65m, it is necessary to calculate the magnetic field taking into account the influence of this magnetic body on the magnetic field. Therefore, when the force with which the magnet 65m attracts the workpiece 53 is accurately calculated based on the distribution of the magnetic field generated by the excitation of the magnet 65m, the calculation load of the calculator 13 may be large. Therefore, the magnet operation processing unit 20 shown in FIG. 2 calculates the attraction force F (see FIG. 3) with which the magnet 65m attracts the workpiece 53 by a simple calculation. Specifically, the calculator 13 does not calculate the distribution of the magnetic field generated by the excitation of the magnet 65m. The magnet operation processing unit 20 then reproduces in the virtual space the phenomenon in which the workpiece 53 is attracted to the magnet 65m based on this attraction force F. Below, the processing by the magnet operation processing unit 20 shown in FIG. 2 (magnet operation processing) will be described with reference to the flowchart shown in FIG. 5. Each step (S11 to S16, S21, S22) shown in FIG. 5 will be described with reference to FIG. 5.

[0046] 2 acquires physical quantities (physical quantities for magnet operation processing) used in processing related to the operation of the magnet 65m. The physical quantities acquired by the physical quantity acquisition unit 21 include physical quantities indicating the state of the work machine 60 and physical quantities indicating the state of the surroundings of the work machine 60. Specifically, the physical quantity acquisition unit 21 includes a magnet excitation state acquisition unit 21a, a magnet coordinate acquisition unit 21b, and a work target coordinate acquisition unit 21c.

[0047] The magnet excitation state acquisition unit 21a acquires the state of excitation of the magnet 65m (magnet excitation state). The magnet excitation state is information indicating whether the excitation of the magnet 65m is on or off. The magnet excitation state acquisition unit 21a may acquire a signal (magnet activation switch signal) of a switch (magnet activation switch) that switches whether or not the magnet 65m is excited (activated). The above-mentioned "switch" is an example of the input device 11 (see FIG. 1).

[0048] The magnet coordinate acquisition unit 21b acquires the coordinates (magnet coordinates) of the magnet 65m. The magnet coordinates are information on a position, for example, information on a position in the work site S (the same applies to the work target coordinates described later).

[0049] The work object coordinate acquisition unit 21c acquires the coordinates (work object coordinates) of the work object 53. When there are multiple work objects 53, the work object coordinate acquisition unit 21c acquires the work object coordinates of each of the multiple work objects 53.

[0050] The physical quantity acquiring unit 21 may acquire physical quantities other than the above physical quantities to be used in processing related to the operation of the magnet 65m. For example, the physical quantity acquiring unit 21 may acquire physical quantities for calculating the magnetic force of the magnet 65m (details will be described later). For example, the physical quantity acquiring unit 21 may acquire the mass of the work object 53 (more specifically, the mass virtually given to the work object 53), may acquire the volume of the work object 53, or may acquire the mass and volume of the work object 53.

[0051] In step S12, the magnet operation processing unit 20 judges whether the magnet 65m is excited or not (magnet excitation state). The magnet operation processing unit 20 judges the magnet excitation state acquired by the magnet excitation state acquisition unit 21a. If the magnet 65m is not excited (NO in step S12), the magnet operation processing unit 20 does not attract (does not attract) the work target 53 to the magnet 65m (step S22). If the magnet 65m is excited (YES in step S12), the magnet operation processing unit 20 advances the process to step S13.

[0052] In step S13, the magnet operation processing unit 20 acquires the magnetic force of the magnet 65m. The "magnetic force of the magnet 65m" is, for example, the force by which the work object 53 in contact with the magnet 65m is attracted to the magnet 65m. The magnetic force of the magnet 65m may be specified by the user (inputted by the input device 11). The magnet operation processing unit 20 may calculate the magnetic force of the magnet 65m based on a physical quantity for calculating the magnetic force of the magnet 65m. For example, the magnet operation processing unit 20 may calculate the magnetic force of the magnet 65m based on at least one physical quantity of the number of turns of the coil of the magnet 65m and the current flowing through the coil. "Acquire" may include calculation (same below).

[0053] The magnetic force of the magnet 65m may vary depending on the position on the magnet 65m. For example, the magnet 65m (the magnet main body 65m3) may include a plurality of unit magnets 65m3-u as shown in Fig. 4. In this case, the magnet operation processing unit 20 may acquire the "magnetic force of the unit magnet 65m3-u" of each of the plurality of unit magnets 65m3-u. The "magnetic force of the unit magnet 65m3-u" may be specified by the user, as with the "magnetic force of the magnet 65m", or may be calculated based on a physical quantity.

[0054] A plurality of unit magnets 65m3-u are provided, and in the example shown in FIG. 4, two (two types) are provided, and three or more may be provided. For example, in the example shown in FIG. 4, the unit magnets 65m3-u include a central unit magnet 65m3-uc and an outer unit magnet 65m3-uo. The central unit magnet 65m3-uc is disposed in the center (for example, the radial center) of the magnet lower surface 65m3a. The outer unit magnet 65m3-uo is disposed on the magnet lower surface 65m3a outside (for example, the radial outer side) of the central unit magnet 65m3-uc. For example, the magnetic force of the outer unit magnet 65m3-uo is set to be weaker than the magnetic force of the central unit magnet 65m3-uc. In this case, the work object 53 is attracted (concentrated) more to the center of the magnet lower surface 65m3a than to the outer part (for example, the radial outer part) of the magnet lower surface 65m3a (details of attraction will be described later). Therefore, the behavior of the workpiece 53 being attracted to the magnet 65m can be made closer to the actual behavior (the degree of reproducibility is improved). In the following, the description of the magnet 65m may be interpreted as a description of the unit magnet 65m3-u.

[0055] It is preferable that the magnetic force of the magnet 65m does not vary over time, in which case the calculation load on the computer 13 is further reduced.

[0056] The magnetic force of the magnet 65m may vary over time. For example, in a real work machine, after the work target 53 is attracted to the magnet 65m, the magnetic force of the magnet 65m is weakened from the time of attraction. Also, for example, in a real work machine, when the excitation of the magnet 65m starts, the magnetic force of the magnet 65m is gradually increased from 0. Also, for example, in a real work machine, when the excitation of the magnet 65m ends, the magnetic force of the magnet 65m is gradually decreased to 0. The magnet operation processing unit 20 may simulate such variations in the magnetic force of the magnet 65m over time. In this case, the operation verification device 1 (see FIG. 1) can more accurately simulate the operation of the magnet 65m.

[0057] In step S14, the distance calculation unit 23 shown in FIG. 2 calculates (calculates) the distance D (see FIG. 3) between the magnet 65m and the work object 53. As shown in FIG. 3, the distance D is the length from the distance reference position of the magnet 65m to the distance reference position of the work object 53. The "distance reference position of the magnet 65m" may be the position of a representative point of the magnet 65m. The representative point of the magnet 65m may be the position of the center of gravity of the magnet 65m, the position of the centroid of the magnet 65m, or a specific position on the surface of the magnet 65m. Only one representative point of the magnet 65m may be set, or multiple representative points may be set. The "distance reference position of the magnet 65m" may be the surface of the magnet 65m, and may be, for example, the entire surface or a part of the surface of the magnet 65m. When the "distance reference position of the magnet 65m" is the surface of the magnet 65m, the distance D may be, for example, the length from the position of the distance reference position of the magnet 65m that is closest to the work object 53 to the work object 53. The above-mentioned "distance reference position of work object 53" may be the position of a representative point of work object 53, or may be the surface of work object 53 (specific examples of the "representative point" and "surface" are the same as those of the above-mentioned "distance reference position of magnet 65m"). Distance D may be the shortest distance from magnet 65m to work object 53.

[0058] When there are multiple work objects 53, the distance calculation unit 23 shown in Fig. 2 calculates the distance D (see Fig. 3) for each of the multiple work objects 53. When the magnet 65m includes multiple unit magnets 65m3-u (see Fig. 4), the distance calculation unit 23 calculates the distance D for each of the multiple unit magnets 65m3-u. In detail, each of the multiple unit magnets 65m3-u has a "distance reference position of unit magnet 65m3-u" similar to the above-mentioned "distance reference position of magnet 65m". Then, the distance calculation unit 23 calculates the distance D from the "distance reference position of unit magnet 65m3-u" to the work object 53 for each of the multiple unit magnets 65m3-u.

[0059] In step S15, the attractive force calculation unit 25 calculates the attractive force F (see FIG. 3) (attractive force calculation step). The attractive force F is a force with which the magnet 65m attracts the work target 53. The attractive force calculation unit 25 calculates the attractive force F from the magnetic force of the magnet 65m (see step S13) and the distance D (see FIG. 3, step S14). For example, the attractive force calculation unit 25 increases the attractive force F as the magnetic force of the magnet 65m increases. For example, the attractive force calculation unit 25 makes the attractive force F proportional to the magnetic force of the magnet 65m. The attractive force calculation unit 25 makes the attractive force F smaller as the distance D increases. For example, the attractive force calculation unit 25 makes the attractive force F inversely proportional to the square of the distance D. Specifically, the attractive force calculation unit 25 makes the attractive force F proportional to the magnetic force of the magnet 65m and inversely proportional to the square of the distance D. The attractive force calculation unit 25 may change the attractive force F depending on the direction (e.g., orientation) in which the work object 53 is positioned relative to the magnet 65m (described later). When there are multiple work objects 53, the attractive force calculation unit 25 calculates the attractive force F for each of the multiple work objects 53. When the magnet 65m has multiple unit magnets 65m3-u (see FIG. 4), the attractive force calculation unit 25 calculates the attractive force F for each of the multiple unit magnets 65m3-u (based on the magnetic force and distance D of each).

[0060] In step S16, the adhesion processing unit 27 determines whether or not the work target 53 is attracted to the magnet 65m (adsorption determination). Specifically, the adhesion processing unit 27 determines whether or not the adhesion force F is equal to or greater than the adhesion force threshold value ThF. When there are multiple work targets 53, the adhesion processing unit 27 determines for each of the multiple work targets 53 whether or not the work target 53 is attracted to the magnet 65m. When the magnet 65m includes multiple unit magnets 65m3-u (see FIG. 4), the adhesion processing unit 27 determines for each of the multiple unit magnets 65m3-u whether or not the work target 53 is attracted.

[0061] The attractive force threshold ThF is a threshold for determining whether or not to attract the work object 53 to the magnet 65m, and is a threshold of the attractive force F. The attractive force threshold ThF is set in advance (before this determination) in the adhesion processing unit 27. The attractive force threshold ThF may be set based on information indicating a physical property of the work object 53 (for example, at least one of the mass, volume, material, and shape).

[0062] For example, the adhesive force threshold ThF may be set based on the mass of the work object 53 (more specifically, the mass virtually given to the work object 53). For example, the adhesive force threshold ThF of a certain work object 53 is set to a larger value as the mass of the work object 53 increases. For example, the adhesive force threshold ThF is set to be proportional or approximately proportional to the mass of the work object 53. The adhesive force threshold ThF may be set based on the volume of the work object 53. For example, the adhesive force threshold ThF of a certain work object 53 is set to a larger value as the volume of the work object 53 increases. For example, the adhesive force threshold ThF is set to be proportional or approximately proportional to the volume of the work object 53. The adhesive force threshold ThF may be set based on the volume and mass of the work object 53.

[0063] The adhesive force threshold ThF may be set based on the material of the work object 53 (e.g., whether it is a casting or not). The adhesive force threshold ThF may be set based on the shape of the work object 53 (e.g., block-like, rod-like (reinforcing bar, etc.), plate-like (iron plate, etc.)). The adhesive force threshold ThF may be set without being based on information indicating the physical properties of the work object 53 (e.g., at least one of mass, volume, material, and shape). The adhesive force threshold ThF may be a preset value associated with the work object 53. When there are multiple work objects 53, an individual adhesive force threshold ThF may be set for each of the multiple work objects 53. When there are multiple work objects 53, a common adhesive force threshold ThF may be set for each of the multiple work objects 53.

[0064] In step S21, the adhesion processing unit 27 attracts the work object 53 (object to be attracted) acting on the adhesion force F equal to or greater than the adhesion force threshold value ThF to the magnet 65m. More specifically, when the adhesion force F of a certain work object 53 is equal to or greater than the adhesion force threshold value ThF, the adhesion processing unit 27 attracts the work object 53 (object to be attracted) to the magnet 65m. At this time, the adhesion processing unit 27 attracts the work object 53 to the magnet 65m (moves the work object 53 toward the magnet 65m). At this time, the work object 53 attracted to the magnet 65m may accelerate as the distance D to the magnet 65m decreases (as the adhesion force F increases). The relative speed between the magnet 65m and the work object 53 may gradually increase from when the work object 53 starts to be attracted to the magnet 65m until the work object 53 comes into contact with the magnet 65m and is attracted to it. The adhesion processing unit 27 may attract the work target 53 to the magnet 65m by applying a force to the work target 53 in a direction approaching the magnet 65m. When there are multiple work targets 53, the adhesion processing unit 27 attracts each of the work targets 53 whose adhesion force F is equal to or greater than the adhesion force threshold value ThF to the magnet 65m.

[0065] In step S22, the attraction processing unit 27 does not attract the work target 53 to the magnet 65m. If the magnet 65m is not excited (NO in step S13), the attraction processing unit 27 does not attract the work target 53 to the magnet 65m.

[0066] Furthermore, when the magnet 65m is magnetized (YES in step S12), the attraction processing unit 27 does not attract a work object 53 on which an attractive force F equal to or greater than the attractive force threshold ThF is acting, to the magnet 65m. More specifically, when the attractive force F for a certain work object 53 is less than the attractive force threshold ThF, the attraction processing unit 27 does not attract the work object 53 to the magnet 65m. At this time, the attraction processing unit 27 does not attract the work object 53 to the magnet 65m (does not move the work object 53 toward the magnet 65m).

[0067] After step S21 or step S22, the magnet operation processing unit 20 ends the current magnet operation process and starts the next magnet operation process. Note that the computer 13 may interrupt the operation verification when it receives a signal to interrupt (end) the operation verification in the operation verification device 1 (the same applies to the processing of magnet sound described below).

[0068] (Calculation of magnet work volume) The magnet operation processing unit 20 may calculate the amount of work object 53 attracted to the magnet 65m (magnet work amount). The calculated magnet work amount may be used, for example, to evaluate the work capacity of the work machine 60. The magnet work amount may be the amount of work object 53 attracted to the magnet 65m by one excitation, or may be the total amount of work object 53 attracted to the magnet 65m by multiple excitations. The "amount" of work object 53 in the magnet work amount may be, for example, mass, volume, number, etc.

[0069] (Change in suction power depending on orientation, etc.) As described above, the attractive force calculation unit 25 calculates the attractive force F (step S15). At this time, the attractive force calculation unit 25 may change the attractive force F depending on the direction (e.g., orientation) in which the workpiece 53 is positioned relative to the magnet 65m. The attractive force F may have directionality. In this case, even if the distance D from the magnet 65m to the workpiece 53 is the same, the attractive force F changes depending on the direction (e.g., orientation) in which the workpiece 53 is positioned relative to the magnet 65m.

[0070] Specifically, for example, the distance D from the magnet 65m to the workpiece 53 is a certain distance. In this case, the attractive force F in the direction directly in front of the magnet lower surface 65m3a shown in FIG. 4 is the attractive force F1 in the downward direction of the magnet. The attractive force F in the front of the magnet side surface 65m3b is the attractive force F3 in the lateral direction of the magnet. The attractive force F in the direction between the above-mentioned downward and lateral directions of the magnet is the attractive force F2 in the diagonally downward direction of the magnet. The attractive force F in the direction directly in front of the magnet upper surface 65m3c is the attractive force F5 in the upward direction of the magnet. The attractive force F in the direction between the above-mentioned upward and lateral directions of the magnet is the attractive force F4 in the diagonally upward direction of the magnet. In this case, for example, the attractive force F1 in the downward direction of the magnet may be the largest among the attractive forces F in each direction. The attractive force F2 in the diagonally downward direction of the magnet may be smaller than or equal to the attractive force F1 in the downward direction of the magnet. The attractive force F3 of the magnet facing sideways may be smaller than or the same as the attractive force F2 of the magnet facing diagonally downward. The attractive force F4 of the magnet facing diagonally upward may be smaller than or the same as the attractive force F3 of the magnet facing sideways. The attractive force F5 of the magnet facing upward may be smaller than or the same as the attractive force F4 of the magnet facing diagonally upward. At least one of the attractive forces F (F2 to F5) in each direction other than the attractive force F1 of the magnet facing downward may be zero.

[0071] The magnet operation processing unit 20 (see FIG. 2) may be capable of attracting the work object 53 only to some of the surfaces of the magnet 65m. For example, the magnet operation processing unit 20 may be capable of attracting the work object 53 only to the magnet lower surface 65m3a. In this case, the attractive forces F (F2 to F5) in each direction other than the attractive force F1 in the downward direction of the magnet may be 0. The magnet operation processing unit 20 may be capable of attracting the work object 53 only to the magnet lower surface 65m3a and the magnet side surface 65m3b.

[0072] (e.g., adsorption of unadsorbed work object 53b to adsorbed work object 53a) The calculator 13 (see FIG. 1) positions the work objects 53 so that the work objects 53 do not overlap each other. Here, the work object 53 that is attracted to the magnet 65m is referred to as the attracted work object 53a. The work object 53 that is not attracted to the magnet 65m is referred to as the unattracted work object 53b. The unattracted work object 53b cannot be placed in a position where the attracted work object 53a exists (it does not overlap with the attracted work object 53a).

[0073] The unattached work object 53b may be attracted to the magnet 65m via the attracted work object 53a. Specifically, the attraction force calculation unit 25 (see FIG. 2) calculates the attraction force F of the unattached work object 53b from the magnetic force of the magnet 65m and the distance D (see FIG. 3) between the magnet 65m and the unattached work object 53b. If the attraction force F is equal to or greater than the attraction force threshold ThF of the unattached work object 53b (YES in step S16 in FIG. 5), the attraction processing unit 27 (see FIG. 2) performs the following process. In this case, the attraction processing unit 27 attracts the unattached work object 53b to the magnet 65m via the attracted work object 53a (step S21 in FIG. 5). In this case, the attracted work object 53a and the unattached work object 53b are attracted to the magnet 65m in series. The number of work objects 53 attracted to the magnet 65m in series may be two or more. If the adhesive force F of the unadsorbed work object 53b is less than the adhesive force threshold value ThF of the unadsorbed work object 53b (NO in step S16 of Figure 5), the adhesive processing unit 27 (see Figure 2) does not adsorb the unadsorbed work object 53b to the magnet 65m (step S22).

[0074] (Limitation of adsorption amount) The adhesion processing unit 27 may limit the amount of the work object 53 (for example, at least one of mass and volume) that is to be attracted to the magnet 65m. Specifically, the adhesion processing unit 27 may set an upper limit value (adsorption amount upper limit value) for the amount of the work object 53 that can be attracted to the magnet 65m. Here, it is assumed that there is an unattracted work object 53b on which an adhesive force F equal to or greater than the adhesive force threshold value ThF acts. If it is assumed that this unattracted work object 53b is attracted to the magnet 65m, the amount of the work object 53 attracted to the magnet 65m will exceed the adhesive amount upper limit value. In this case, the adhesion processing unit 27 does not allow this unattracted work object 53b to be attracted to the magnet 65m.

[0075] (Control of seat drive device 45 according to adhesion) The operation verification device 1 shown in FIG. 1 may include a seat driving device 45. In this case, the computer 13 may drive the seat 45s by controlling the seat driving device 45 based on the state of the magnet 65m. For example, the computer 13 may control the seat driving device 45 based on the state of the magnet 65m to change the inclination of the seat 45s (for example, an angle such as a pitch angle). By driving the seat 45s based on the state of the magnet 65m, it is possible to improve the sense of realism given to the user (operator) sitting in the seat 45s. In addition, by driving the seat 45s based on the state of the magnet 65m, it is easy for the user sitting in the seat 45s to understand the state of the magnet 65m from the state of the seat 45s.

[0076] The calculator 13 may change the inclination angle of the seat 45s according to the amount of the work object 53 attracted to the magnet 65m (for example, at least one of the mass, the volume, and the number). In this case, the sense of realism given to the user sitting on the seat 45s can be improved, and the user can easily grasp the amount of the magnets 65m from the state of the seat 45s. For example, when the work object 53 is attracted to the magnet 65m, the calculator 13 lowers the pitch angle of the seat 45s compared to when the work object 53 is not attracted to the magnet 65m. "Lowering the pitch angle of the seat 45s" means rotating the seat 45s in a direction in which the seat 45s is lowered forward, that is, rotating the seat 45s in a direction in which the part of the seat 45s on the display device 41 side is lowered. Specifically, for example, the calculator 13 lowers the pitch angle of the seat 45s when the magnet 65m is excited and the work object 53 is attracted to the magnet 65m compared to the pitch angle of the seat 45s before the magnet 65m is excited. It is preferable that the calculator 13 lowers the pitch angle of the seat 45s (moves it further forward and downward) as the amount of the work object 53 attracted to the magnet 65m increases.

[0077] The computer 13 may change the inclination angle of the seat 45s depending on the posture of the attachment 65. In this case, the sense of realism given to the user sitting on the seat 45s can be improved, and the user can easily understand the posture of the attachment 65 from the state of the seat 45s. For example, the computer 13 may change the inclination angle of the seat 45s depending on the position of the magnet 65m relative to the upper rotating body 61b (the position in the front-rear direction and the up-down direction as seen from the upper rotating body 61b). Specifically, for example, the computer 13 lowers the pitch angle of the seat 45s as the magnet 65m is disposed further forward as seen from the upper rotating body 61b (the farther from the upper rotating body 61b).

[0078] The calculator 13 may change the inclination angle of the seat 45s based on both information on the amount of work target 53 attracted to the magnet 65m and the attitude of the attachment 65. In this case, the sense of realism given to the user sitting on the seat 45s can be further improved, and the user can more easily grasp the state of the magnet 65m.

[0079] (Magnet sound) The operation verification device 1 shown in FIG. 1 may perform processing related to output sound (output sound processing). The "output sound" is a sound output by the operation verification device 1 (more specifically, by the audio output device 43). The calculator 13 may process the output sound so that the audio output device 43 outputs a sound that simulates (reproduces) a real sound. Here, various sounds are generated from the actual work machine and its surroundings. If these sounds are not output by the operation verification device 1, the sense of realism given to the user may be insufficient, and the user may not be able to grasp the situation of the work machine 60 relying on the sounds. Therefore, the operation verification device 1 simulates (reproduces) the sounds generated by the actual work machine and its surroundings in a virtual space. In this case, the operation verification device 1 includes a magnet sound processing unit 130 shown in FIG. 6.

[0080] The magnet sound processing unit 130 performs processing related to the magnet sound. The magnet sound is a sound (described in detail later) that is generated when the work target 53 comes into contact with the magnet 65m. The magnet sound processing unit 130 determines the magnet sound based on at least one of the states of the work machine 60 and the surroundings of the work machine 60 in the virtual space. The magnet sound processing unit 130 outputs the determined output sound to the audio output device 43, causing the user to perceive it. The magnet sound processing unit 130 includes a magnet sound determination physical quantity acquisition unit 131, a magnet contact state determination unit 133 (state determination unit), and a magnet sound determination unit 135.

[0081] The magnet sound determination physical quantity acquisition unit 131 acquires a physical quantity (magnet sound determination physical quantity) used to determine the magnet sound. The magnet sound determination physical quantity acquisition unit 131 includes a magnet excitation state acquisition unit 131a, a magnet coordinate acquisition unit 131b, a work target coordinate acquisition unit 131c, and a relative speed acquisition unit 131d.

[0082] The magnet excitation state acquisition unit 131a acquires the excitation state (magnet excitation state) of the magnet 65m (similar to the magnet excitation state acquisition unit 21a (see FIG. 2)). The magnet coordinate acquisition unit 131b acquires the coordinates (magnet coordinates) of the magnet 65m (similar to the magnet coordinate acquisition unit 21b (see FIG. 2)). The work object coordinate acquisition unit 131c acquires the coordinates (work object coordinates) of the work object 53 (similar to the work object coordinate acquisition unit 21c (see FIG. 2)).

[0083] The relative speed acquisition unit 131d acquires the relative speed between the magnet 65m and the work object 53. The relative speed acquisition unit 131d may calculate the relative speed between the magnet 65m and the work object 53 based on the amount of change in the magnet coordinates and the amount of change in the work object coordinates.

[0084] The magnet sound determination physical quantity acquisition unit 131 may acquire a physical quantity other than the above physical quantities to be used for determining the magnet sound. For example, the magnet sound determination physical quantity acquisition unit 131 may acquire the mass of the work object 53 (specifically, the mass virtually given to the work object 53), may acquire the volume of the work object 53, or may acquire the mass and volume of the work object 53. For example, the magnet sound determination physical quantity acquisition unit 131 may acquire the mass of the magnet 65m, may acquire the volume of the magnet 65m, or may acquire the mass and volume of the magnet 65m. The magnet sound determination physical quantity acquisition unit 131 may acquire the dimensions (diameter, etc.) of the magnet 65m, may acquire the current value, may acquire the power, or may acquire the magnetic force (described later). The magnet sound determination physical quantity acquisition unit 131 may acquire the number of work objects 53 in contact with the magnet 65m.

[0085] The magnet contact state determination unit 133 determines the state of contact (magnet contact state) between the magnet 65m and the work object 53. The magnet contact state determination unit 133 determines the magnet contact state based on the physical quantity acquired by the magnet sound determination physical quantity acquisition unit 131. For example, the magnet contact state determination unit 133 determines the magnet contact state based on the magnet excitation state, magnet coordinates, and work object coordinates.

[0086] The magnet contact state determination unit 133 determines (determines) one magnet contact state from among a plurality of magnet contact state candidates. The magnet contact state candidates include a no-contact state and a contact state. The no-contact state (see step S133 in FIG. 7) is a state in which the work object 53 is not in contact with the magnet 65m.

[0087] The contact state (see the case of YES in step S102 in FIG. 7) is a state in which the work object 53 is in contact with the magnet 65m. The contact state includes an adhesion contact state and a non-adhesive contact state. The adhesion contact state (see step S131 in FIG. 7) is a state in which the work object 53 is attracted to the magnet 65m by magnetic force and is in contact with the magnet 65m (the state at the moment of contact). The non-adhesive contact state (see step S132 in FIG. 7) is a state in which the work object 53 is in contact with the magnet 65m without being attracted to the magnet 65m by magnetic force (i.e., the magnet 65m is not excited). Note that there may be other candidates for the magnet contact state than those mentioned above (the same applies to the candidates for each state described later). For example, the candidates for the magnet contact state may include an adhesion maintenance state. The adhesion maintenance state is a state in which the work object 53 is attracted to the magnet 65m by magnetic force and the state in which the work object 53 is fixed to the magnet 65m is maintained.

[0088] The magnet contact state determination unit 133 determines one magnet contact state from among at least two candidates for the magnet contact state. It is preferable that all of the above magnet contact states become candidates, but only a part of the above magnet contact states may become candidates. For example, the candidates for the magnet contact state may include only a non-contact state and a contact state. Also, for example, the candidates for the magnet contact state may include only a non-contact state and an adsorption contact state.

[0089] A specific example of the determination of the magnet contact state by the magnet contact state determination unit 133 will be described with reference to the flowchart shown in FIG. 7. Hereinafter, each step (S101 to S103, S131 to S133) shown in FIG. 7 will be described with reference to FIG. 7.

[0090] In step S101, the magnet contact state determination unit 133 shown in FIG. 6 calculates the distance D between the magnet 65m and the work object 53 (similar to the distance calculation unit 23 (see FIG. 2)). Next, the magnet contact state determination unit 133 advances the process to step S102 (the flow advances to step S102).

[0091] In step S102, the magnet contact state determination unit 133 compares the distance D (see FIG. 3) with the contact determination threshold ThD. The magnet contact state determination unit 133 determines whether the distance D is less than the contact determination threshold ThD (D < ThD). The contact determination threshold ThD is set in advance (before this determination) in the magnet contact state determination unit 133. If the distance D is less than the contact determination threshold ThD (D < ThD) (YES in step S102), the magnet contact state determination unit 133 determines the magnet contact state as a contact state. In this case, the flow advances to step S103. If the distance D is greater than or equal to the contact determination threshold ThD (D ≧ ThD) (NO in step S102), the magnet contact state determination unit 133 determines the magnet contact state as a non-contact state (step S133).

[0092] When the magnet contact state is the contact state (YES in step S102) and the magnet 65m is excited (YES in step S103), the magnet contact state determination unit 133 determines the magnet contact state to be the attraction contact state (step S131).When the magnet contact state is the contact state (YES in step S102) and the magnet 65m is not excited (NO in step S103), the magnet contact state determination unit 133 determines the magnet contact state to be the non-attraction contact state (step S132).

[0093] When the magnet contact state determination unit 133 determines the magnet contact state, it ends the current process of determining the magnet contact state and starts the next process of determining the magnet contact state.

[0094] The magnet sound determination unit 135 determines the magnet sound. The magnet sound determination unit 135 determines the magnet sound based on the magnet contact state determined by the magnet contact state determination unit 133. In this case, the user can determine the magnet contact state from the magnet sound. For example, the magnet sound determination unit 135 changes the magnet sound depending on which magnet contact state is present, a no-contact state or a contact state (adhesive contact state, non-adhesive contact state). Below, each step (steps S151, S152, S171 to S173) shown in FIG. 8 will be described with reference to FIG. 8.

[0095] Specifically, the magnet sound determination unit 135 shown in FIG. 6 stops the magnet sound (is silent) (step S171) when the magnet contact state is a non-contact state (YES in step S151). When the magnet contact state is a contact state (NO in step S151), the magnet sound determination unit 135 outputs a sound (adhesive sound or contact sound) of the magnet 65m and the work object 53 coming into contact. When the magnet contact state is an adsorption contact state (YES in step S152), the magnet sound determination unit 135 outputs a sound (adhesive sound) at the moment when the work object 53 is attracted to the magnet 65m by magnetic force (step S172). When the magnet contact state is a non-adhesive contact state (NO in step S152), the magnet sound determination unit 135 outputs a sound (contact sound) at the moment when the work object 53 comes into contact with the magnet 65m when the magnet 65m is not excited (step S173). It should be noted that the magnet sound determination unit 135 may mute the magnet sound when the magnet contact state is the above-mentioned "attachment maintaining state."

[0096] In this way, since the output sound is changed according to the state (state for determining the output sound), the user can determine the state (state for determining the output sound) from the output sound (the same applies to output sounds other than the magnet sound). In the above example, for example, since the magnet sound is changed between the attraction contact state and other states, the user can determine from the magnet sound whether the work object 53 is attracted to the magnet 65m.

[0097] It is preferable that the magnet sound determination unit 135 determines the magnet sound based on the magnet contact state and the physical quantity for determining the magnet sound acquired by the physical quantity acquisition unit for determining the magnet sound 131. In this case, the user can determine not only the magnet contact state but also the physical quantity (physical quantity for determining the magnet sound) from the magnet sound.

[0098] Specifically, when the magnet state is a contact state (NO in step S151) (for example, steps S172 and S173), the magnet sound determination unit 135 may determine the magnet sound as follows.

[0099] The magnet sound determination unit 135 may determine the magnet sound based on the relative speed (collision speed) between the work object 53 contacting the magnet 65m and the magnet 65m (steps S172 and S173). The magnet sound determination unit 135 may output a magnet sound linked (corresponding) to this relative speed. For example, the magnet sound determination unit 135 may increase the volume of the magnet sound as the relative speed increases. The magnet sound determination unit 135 may make the relative speed and the volume of the magnet sound proportional or approximately proportional. The fact that the physical quantity and the aspect of the output sound (volume, pitch, etc.) may be made proportional or approximately proportional also applies to the determination of the magnet sound corresponding (linked) to the physical quantity described below.

[0100] The magnet sound determination unit 135 may determine the magnet sound based on the mass of the work object 53 that contacts the magnet 65m. The magnet sound determination unit 135 may output a magnet sound linked to (corresponding to) the mass of the work object 53. The magnet sound determination unit 135 may increase the volume of the magnet sound as the mass of the work object 53 increases (as the energy of the collision increases). The magnet sound determination unit 135 may lower the pitch of the magnet sound as the mass of the work object 53 increases (as the natural frequency decreases). Just as the magnet sound determination unit 135 may determine the magnet sound based on the mass of the work object 53, the magnet sound determination unit 135 may determine the magnet sound based on the volume of the magnet 65m. The magnet sound determination unit 135 may increase the volume of the magnet sound or lower the pitch of the magnet sound as the volume of the magnet 65m increases. The magnet sound determination unit 135 may determine the magnet sound based on the mass and volume of the magnet 65m. The magnet sound determination unit 135 may determine the magnet sound based on at least one of the mass and volume of the magnet 65m just as the magnet sound determination unit 135 may determine the magnet sound based on at least one of the mass and volume of the work object 53. The magnet sound determination unit 135 may determine the magnet sound based on the number of work objects 53 that contact the magnet 65m. For example, the magnet sound determination unit 135 may change the type of magnet sound depending on the number of work objects 53 that contact the magnet 65m.

[0101] (Output sound source) The output sound output by the operation verification device 1 shown in FIG. 1 may be data (sound recording data) obtained by recording the sound when an actual work machine is operating. The output sound may be data obtained by processing the sound recording data. For example, the output sound may be data obtained by changing at least one of the volume, playback speed, pitch, and the relationship between frequency and volume (volume for each frequency band) of the sound recording data. For example, the output sound may be data obtained by performing reverberation processing on the sound recording data or data obtained by processing the sound recording data, or may be data obtained by performing filtering processing (e.g., processing using a noise removal filter). The output sound may be data generated by the computer 13 without using the sound recording data.

[0102] (When audio recordings are used) A case where recorded data is used as the output sound (including a case where the recorded data is processed) will be described. The recorded data is saved in advance (before the output sound is determined) in the storage unit 13a. The storage unit 13a in which the recorded data is stored may be the storage unit 13a of the client device 10c or the storage unit 13a of the server device 10s.

[0103] It is preferable that the recorded data is saved (associated with) each type (model, specifications, etc.) of the work machine 60. In this case, the recorded data associated with the type of work machine 60 operating in the virtual space is used as the output sound.

[0104] The output sound may be data that has been processed from recorded data associated with a type of work machine 60 that is similar to the type of work machine 60 that operates in the virtual space. In this case, even if recorded data associated with the type of work machine 60 that operates in the virtual space is not stored in the storage unit 13a, an appropriate output sound can be generated. For example, when a work machine 60 that is larger than the work machine 60 associated with the recorded data is operated, data that has been processed to lower the pitch of this recorded data may be used as the output sound.

[0105] As described above, the magnet sound determination unit 135 shown in Fig. 6 may determine the output sound depending on the physical quantity (such as the relative speed). In this case, the output sound is set, for example, as follows. For example, in an actual work machine, sound recording data is recorded when the physical quantity is at a specific value. Then, the output sound determination unit 35 processes this sound recording data depending on the physical quantity during operation verification by the operation verification device 1.

[0106] Specifically, for example, the sound produced when the magnet device (corresponding to the magnet 65m) of the actual work machine collides with an attraction object (corresponding to the work target 53) at a specific speed is recorded as audio recording data. The magnet sound determination unit 135 then processes the audio recording data in accordance with the relative speed between the magnet 65m and the work target 53 during operation verification by the operation verification device 1.

[0107] (Recording of audio data) During remote operation of the actual machine, sounds of the actual machine and its surroundings are usually detected. Then, the detected sounds are output (played back) by the remote operation device. Therefore, it is preferable to record the detected sounds as sound recording data. In this case, the sound recording data can be recorded efficiently. Specifically, there is no need to operate the actual machine or set up a microphone just for recording the sound recording data.

[0108] As described above, the operation verification device 1 may include a remote control device. The remote control device that performs remote control when recording the sound recording data may be the remote control device used as the operation verification device 1 (see FIG. 1) or may be a remote control device separate from the operation verification device 1. Note that the actual machine may be operated only for recording the sound recording data, and the sound recording data may be recorded.

[0109] In the following, the work machine 60 (including the components of the work machine 60 such as the magnet 65m) and the work target 53 will be described mainly with reference to FIG.

[0110] (Effects of the first invention) The effects of the operation verification device 1 shown in Fig. 1 are as follows: The operation verification device 1 includes a computer 13 that simulates the operation of a work machine 60 in a virtual space.

[0111] [Configuration 1] The work machine 60 is equipped with a magnet 65m that attracts the work object 53 by magnetic force. The calculator 13 calculates an attractive force F (see FIG. 3 ) that is the force with which the magnet 65m attracts the work object 53, from the magnetic force of the magnet 65m and the distance D from the magnet 65m to the work object 53.

[0112] With the above [Configuration 1], the operation verification device 1 (the calculator 13) can calculate the adhesive force F that the magnet 65m of the work machine 60 exerts on the work target 53 by simple calculation. This makes it possible to reduce the calculation load on the calculator 13. Specifically, the calculation load on the calculator 13 can be reduced compared to when the calculator 13 calculates the distribution of the magnetic field generated by the magnet 65m and calculates the magnetic force acting on the work target 53 based on this magnetic field distribution.

[0113] (Effects of the second invention) [Configuration 2] The calculator 13 sets an attractive force threshold ThF based on at least one of the mass and the volume of the workpiece 53. The calculator 13 (adsorption processing unit 27) shown in Fig. 2 causes the workpiece 53 on which an attractive force F equal to or greater than the attractive force threshold ThF acts to be attracted to the magnet 65m (YES in step S16 of Fig. 5, step S21). The calculator 13 does not cause the workpiece 53 on which an attractive force F equal to or greater than the attractive force threshold ThF acts to be attracted to the magnet 65m (NO in step S16 of Fig. 5, step S22).

[0114] According to the above [Configuration 2], the calculator 13 can determine, through simple calculation, whether or not to attract the work object 53 to the magnet 65m, and can simulate the attraction of the work object 53 to the magnet 65m.

[0115] (Effects of the third invention) [Configuration 3] The computer 13 (adhesive force calculation unit 25) changes the adhesive force F (see FIG. 4) depending on the direction in which the workpiece 53 is positioned relative to the magnet 65m.

[0116] The above [Configuration 3] provides the following effects. When the magnet device of the actual work machine is excited, if the distribution of the magnetic field (direction of the magnetic lines of force, magnetic flux density) generated around the magnet of the actual work machine is accurately calculated, the amount of calculations of the calculator 13 increases, and the calculation load of the calculator 13 may become large. On the other hand, in this embodiment, the calculator 13 does not calculate the distribution of the magnetic field generated by the excitation of the magnet 65m. Therefore, in the above [Configuration 3], the calculator 13 changes the attraction force F (see FIG. 4) depending on the direction in which the work object 53 is positioned relative to the magnet 65m. Therefore, the calculator 13 can simulate the movement of the work object 53 attracted to the magnet 65m in a manner closer to the actual movement and with simple calculations.

[0117] (Effect of the fourth invention) [Configuration 4] The computer 13 makes it possible to attract the work object 53 to only some of the surfaces of the magnet 65m.

[0118] The above [Configuration 4] provides the following effect. In the magnet device of an actual work machine, there may be some surfaces that do not attract a magnetic body (corresponding to the work object 53). Therefore, in the above [Configuration 4], the computer 13 makes it possible for the work object 53 to be attracted only to some surfaces of the magnet 65m. Therefore, the computer 13 can simulate the movement of the work object 53 attracted to the magnet 65m in a manner that is closer to the actual movement and with simple calculations.

[0119] (Effect of the fifth aspect of the invention) [Configuration 5] As shown in Fig. 6, the calculator 13 includes a magnet contact state determination unit 133 and a magnet sound determination unit 135. The magnet contact state determination unit 133 determines the magnet contact state, which is the state of contact between the magnet 65m and the work target 53. The magnet sound determination unit 135 determines the magnet sound, which is the sound that is generated when the work target 53 comes into contact with the magnet 65m, based on the magnet contact state determined by the magnet contact state determination unit 133.

[0120] By the above [Configuration 5], the operation verification device 1 (see FIG. 1) can determine the magnet sound based on the magnet contact state. As a result, the operation verification device 1 can allow the user to judge (understand) the magnet contact state by the sound.

[0121] (Effect of the sixth aspect of the invention) [Configuration 6] The magnet contact state determination unit 133 determines which of at least two states of an attractive contact state, a non-attractive contact state, and a no-contact state exists. The attractive contact state (see step S131 in FIG. 7) is a state in which the work object 53 is attracted to the magnet 65m by magnetic force and is in contact with the magnet 65m. The non-attractive contact state (see step S132 in FIG. 7) is a state in which the work object 53 is not attracted to the magnet 65m by magnetic force and is in contact with the magnet 65m. The no-contact state (see step S133 in FIG. 7) is a state in which the work object 53 is not in contact with the magnet 65m.

[0122] In the above [Configuration 6], the magnet contact state determination unit 133 determines which of at least two states of an adhesive contact state, a non-adhesive contact state, and a non-contact state exists. Then, the magnet sound determination unit 135 determines the output sound based on the magnet contact state determined by the magnet contact state determination unit 133 (above [Configuration 5]). Thus, the operation verification device 1 can determine the magnet sound based on which of at least two states of an adhesive contact state, a non-adhesive contact state, and a non-contact state exists. As a result, the operation verification device 1 can allow the user to determine (understand) the magnet contact state by the sound in a more understandable manner (more understandable than the above [Configuration 5]).

[0123] (Effects of the seventh aspect of the invention) [Configuration 7] When the magnet contact state determination unit 133 determines that the work object 53 contacts the magnet 65m (see the case of NO in step S151 of FIG. 8), the magnet sound determination unit 135 performs the following process. In this case, the magnet sound determination unit 135 determines the output sound based on at least one of the physical property of the work object 53 contacting the magnet 65m and the number of work objects 53 contacting the magnet 65m.

[0124] In the above [Configuration 7], the magnet sound determination unit 135 determines the output sound based on the above physical quantity (at least one of the number and a physical quantity other than the above number). Therefore, the operation verification device 1 can make the magnet sound based on the above physical quantity. As a result, the operation verification device 1 can allow the user to judge (understand) the above physical quantity by the sound.

[0125] (Effect of the eighth aspect of the invention) The effects of the operation verification program are as follows.

[0126] [Configuration 7] The operation verification program is a program for simulating, in a virtual space, the operation of a work machine 60 equipped with a magnet 65m that attracts a work target 53 by magnetic force. The operation verification program causes the calculator 13 shown in Fig. 1 to execute an attractive force calculation step. The attractive force calculation step calculates an attractive force F, which is the force with which the magnet 65m attracts the work target 53, from the magnetic force of the magnet 65m and the distance D (see Fig. 3) from the magnet 65m to the work target 53.

[0127] By the above [Configuration 7], the calculator 13 can calculate the attractive force F (see FIG. 3) that the magnet 65m of the work machine 60 in the virtual space exerts on the work target 53 through simple calculations.

[0128] (Effect of the ninth aspect of the invention) The effects of the operation verification method are as follows.

[0129] [Configuration 8] The operation verification method is a method in which the computer 13 simulates in a virtual space the operation of a work machine 60 equipped with a magnet 65m that attracts a work target 53 by magnetic force. The operation verification method includes an attractive force calculation step. The attractive force calculation step calculates an attractive force F (see FIG. 3) that is the force with which the magnet 65m attracts the work target 53, from the magnetic force of the magnet 65m and the distance D (see FIG. 3) from the magnet 65m to the work target 53.

[0130] By the above [Configuration 8], the calculator 13 can calculate the attractive force F (see FIG. 3) that the magnet 65m of the work machine 60 in the virtual space exerts on the work target 53 through simple calculations.

[0131] (Modification) The above embodiment may be modified in various ways. For example, the modified examples of the above embodiment may be combined in various ways. For example, the number of components (including modified examples) of the above embodiment may be changed, and some of the components may not be provided. The "component" includes elements in a virtual space. For example, the connection of each component in the block diagram shown in FIG. 2 and the like may be changed. For example, the arrangement of the components may be changed. For example, the inclusion relationship of the components may be changed in various ways. For example, a component described as a lower component included in a higher-level component may not be included in this higher-level component, and may be included in another component. For example, a component described as a plurality of different members or parts may be treated as a single member or part. For example, a component described as a single member or part may be provided separately as a plurality of different members or parts. For example, the order of steps in the flowchart shown in FIG. 5 and the like may be changed, some of the steps may not be performed, and steps of different flowcharts may be combined with each other. For example, the calculator 13 shown in FIG. 1 may perform substantially the same processing (calculation, determination, etc.) as the above embodiment (including modified examples). Various types of processing may be combined in various ways. For example, each component may have only a portion of each characteristic (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0132] 1 Operation verification device 13 Calculator 53 Work Object 60 Work Machinery 65m Magnet 133 Magnet contact state determination unit 135 Magnet sound determination unit F Adsorption force

Claims

1. A computer is provided for simulating the operation of a work machine in a virtual space, The working machine is provided with a magnet that attracts a work object by magnetic force, The computer calculates an attractive force, which is a force with which the magnet attracts the work object, from the magnetic force of the magnet and the distance from the magnet to the work object. Operation verification device.

2. 2. The operation verification device according to claim 1, The computer includes: setting an adsorption force threshold based on at least one of a mass and a volume of the work object; The work object on which the attractive force equal to or greater than the attractive force threshold acts is attracted to the magnet, The work object on which the attractive force equal to or greater than the attractive force threshold is not applied is not attracted to the magnet. Operation verification device.

3. 2. The operation verification device according to claim 1, the computer changes the attractive force depending on a direction in which the work object is positioned with respect to the magnet; Operation verification device.

4. 2. The operation verification device according to claim 1, The computer allows the work object to be attracted to only a part of the surface of the magnet. Operation verification device.

5. 2. The operation verification device according to claim 1, The computer includes: a magnet contact state determination unit that determines a magnet contact state, which is a contact state between the magnet and the work object; a magnet sound determination unit that determines a magnet sound that is generated when the work object comes into contact with the magnet based on the magnet contact state determined by the magnet contact state determination unit; Equipped with Operation verification device.

6. 6. An operation verification device according to claim 5, The magnet contact state determination unit is an attractive contact state in which the work object is attracted to the magnet by a magnetic force and is in contact with the magnet; a non-attraction contact state in which the work object is in contact with the magnet without being attracted to the magnet by magnetic force; a non-contact state in which the work object is not in contact with the magnet; determining which of at least two of the states Operation verification device.

7. 6. An operation verification device according to claim 5, When the magnet contact state determination unit determines that the work object is in contact with the magnet, A physical quantity of the work object contacting the magnet; and The number of the work objects contacting the magnet; and The magnet sound is determined based on at least one of the following: Operation verification device.

8. An operation verification program for simulating, in a virtual space, the operation of a work machine having a magnet that attracts a work target by magnetic force, an attraction force calculation step of calculating an attraction force, which is a force with which the magnet attracts the work object, from the magnetic force of the magnet and the distance from the magnet to the work object; Execute the following on a computer. Operation verification program.

9. An operation verification method for simulating, in a virtual space, the operation of a work machine having a magnet that attracts a work target by magnetic force, comprising: an attractive force calculation step of calculating an attractive force, which is a force with which the magnet attracts the work object, from a magnetic force of the magnet and a distance from the magnet to the work object; How to verify operation.

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