Remote operation system and remote operation method

Abstract

To perform at least a part of a series of blasting operations while ensuring greater safety for operators.SOLUTION: A remote operation system 1 comprises: a loading device 20; a transport device 40; an operation device 10; and a control device 30. The loading device 20 performs at least a part of a series of blasting operations at a work site inside a tunnel. The transport device 40 transports the loading device 20 to the work site by moving through a tunnel with the loading device 20 installed. The operation device 10 receives remote operations to the loading device 20 from a user U. The control device 30, with the loading device 20 installed on the transport device 40 at the work site, causes the loading device 20 to perform some operations in response to the remote operations received by the operation device 10. It also transmits forces applied to the loading device 20 to the user U via the operation device 10.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a remote operation system and a remote operation method. [Background technology]

[0002] Conventionally, tunnel excavation work is carried out by blasting using explosives, which is achieved by carrying out a number of different tasks as a series of operations. For example, as part of the blasting operation, a "loading operation" is carried out in which explosives such as water-containing explosives (slurry explosives) and ammonium nitrate oil explosives (ammonium nitrate explosives) and filler material to seal the opening of the charge hole are loaded using a tool called a loading rod. In addition, for example, "wiring work" is carried out as part of the blasting work, in which multiple leg wires of the loaded explosives are captured and connected. When carrying out these various tasks, workers must work in close proximity to the tunnel face. However, near the tunnel face, there is a risk of soil and rocks peeling off or falling off due to natural or human factors, which is known as "skin fall." Therefore, excavation work using blasting can be dangerous for workers.

[0003] Considering such situations, attempts have been made to improve worker safety. For example, the technology disclosed in Patent Document 1 assumes that workers will work inside the man cage of a drill jumbo. The head guard installed above the man cage is designed to be able to slide up to the face, thereby improving worker safety in the event of a face collapse. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-119665 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with conventional technology, workers still have to work near the tunnel face, and it is believed that there is still room for improvement in terms of ensuring worker safety.

[0006] The present invention has been made in view of the above circumstances, and an object of the present invention is to perform at least a part of a series of blasting operations while further ensuring the safety of workers. [Means for solving the problem]

[0007] In order to solve the above problem, a remote operation system according to one embodiment of the present invention comprises: a work device that performs at least a part of a series of blasting operations at a work site inside the tunnel; a transport device that transports the work device to the work site by moving through the tunnel with the work device installed thereon; an operation device that accepts remote operation of the operation device from a user; a control means for causing the working device to perform the part of the work in accordance with remote control received by the operating device when the working device is installed on the transporting device at the work site, and for transmitting a force applied to the working device to the user via the operating device; The present invention is characterized by comprising: [Effects of the Invention]

[0008] According to the present invention, at least a part of a series of blasting operations can be carried out while further ensuring the safety of the workers. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing the overall configuration of a remote operation system 1 according to the present embodiment. [Figure 2]10 is a schematic diagram showing an example of a method for transporting the loading device 20 by the transporting device 40. FIG. [Figure 3] 1 is a schematic diagram showing a state in which a loading operation is performed by a loading device 20 near a working face F, which is a work site. [Figure 4] 1 is a block diagram showing the hardware configuration of an operation device 10 and a loading device 20. FIG. [Figure 5] 1 is a perspective view showing an example of the configuration of a loading device 20. FIG. [Figure 6] 10 is a schematic diagram showing alignment by the alignment mechanism 25. FIG. [Figure 7] 10 is a first schematic diagram showing the insertion of a parent die 51 and the like into a charging hole H by an insertion mechanism 26. FIG. [Figure 8] 2 is a second schematic diagram showing the insertion of the parent die 51 and the like into the charging hole H by the insertion mechanism 26. FIG. [Figure 9] 10 is a schematic diagram showing the structure of a parent die 51 and the operation of a leg wire mechanism 28. FIG. [Figure 10] FIG. 2 is a block diagram showing the hardware configuration of a control device 30. [Figure 11] FIG. 2 is a block diagram showing the functional configuration of a control device 30. [Figure 12] FIG. 10 is a block diagram showing a control algorithm of an operation control unit 312. [Figure 13] 10 is a flowchart illustrating the flow of an operation control process executed by the remote operation system 1. [Figure 14] 10 is a flowchart illustrating the flow of a remote loading process executed by the remote operation system 1. [Figure 15] FIG. 10 is a schematic diagram illustrating the concept of a control algorithm in Modification 1. [Figure 16] 10 is a schematic diagram showing a state in which a wire connection operation is performed by a wire connection device 60 in this modified example near a working face F, which is a work site. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] An example of an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0011] [System Configuration] Figure 1 is a schematic diagram showing the overall configuration of a remote operation system 1 according to this embodiment. As shown in Figure 1, the remote operation system 1 includes an operating device 10, a loading device 20, a control device 30, and a transport device 40. As shown in the figure, the remote operation system 1 also includes a user U who operates the remote operation system 1, a camera C that takes images to assist the user U in his operation, and a display D that displays images taken by the camera C to the user. Also shown is a tunnel T, which will be the work site, rails R laid in the tunnel T, and multiple charge holes H provided at the face F. Of these, the operation device 10, the control device 30, and the display D are placed near the user U. The user U and these devices are placed outside the tunnel T. Meanwhile, the loading device 20 and the camera C are transported by the transport device 40 and placed near the face F within the tunnel T. In this embodiment, as an example, the transporting device 40 is composed of a transport vehicle 41 and a dolly 42.

[0012] The control device 30 is also connected to be able to communicate with each of the operating device 10, the loading device 20, the carrying device 40, the camera C, and the display D. This communication may be either wired or wireless, and the communication method is not limited. This communication may be performed directly between the devices, or may be performed via a network such as the Internet.

[0013] In such a remote operation system 1, the operating device 10 operates as a leader device (sometimes referred to as a master device, etc.) to drive a mechanism that accepts operations from a user U. On the other hand, the loading device 20 operates as a follower device (sometimes referred to as a slave device, etc.) to drive a mechanism that executes a loading operation, which is at least a part of a series of blasting operations that involves contact with objects (here, the charge hole H and the face F). In this case, the control device 30 performs control (bilateral control) to transmit haptic sensations between the mechanism driven by the operating device 10 and the mechanism driven by the loading device 20. As a result, the user's operation (position and force input) on the operating device 10 is transmitted to the mechanism driven by the loading device 20, and the reaction force (position and force response) from the loading device 20 is transmitted to the mechanism driven by the operating device 10.

[0014] In this way, in this embodiment, the loading work, which is at least a part of the blasting work, can be performed by remote control by the user U, so the user U, who is the worker, does not need to work close to the face where there is a risk of skin breakage, etc. Therefore, even if a skin breakage, etc. occurs, the safety of the user U can be ensured. Furthermore, the remote operation system 1 transmits the force applied to the loading device 20 to the user U. That is, control that transmits haptic sensations (bilateral control) is performed. Therefore, the user U can perform work with higher precision while feeling the force from the loading device 20 (here, a reaction force from an object), even though the work is remotely operated, in the same way as if the work was being performed close to a working face or the like at a work site. Therefore, according to this embodiment, it is possible to solve the problem of performing at least a part of a series of blasting operations while further ensuring the safety of the workers. The above is an outline of this embodiment.

[0015] In this embodiment, it is assumed that the loading operation is performed by the loading device 20 as at least a part of the blasting operation, but this is merely an example for the purpose of explanation. For example, as will be described later as a sixth modification, the wiring operation may be performed by the wiring device 60 as at least a part of the blasting operation. Alternatively, other operations may be performed by other devices. In other words, the scope of application of the present invention is not limited, and it can be applied to any of the blasting operations.

[0016] [Transportation device] 2 is a schematic diagram showing an example of a method for transporting the loading device 20 by the transporting device 40. As described above with reference to FIG. 1, the transporting device 40 is made up of the transport vehicle 41 and the dolly 42.

[0017] The transport vehicle 41 is a vehicle with a traveling function, and transports the carriage 42 by means of this traveling function. The traveling function of the transport vehicle 41 is realized, for example, by a motor driven by electricity and wheels connected to the motor that are adapted to the shape of the rail R. The transport vehicle 41 is also equipped with a battery such as a lead-acid battery or a lithium battery to supply power to the motor. However, the traveling function of the transport vehicle 41 is not limited to this, and may be realized, for example, by an engine that is driven by burning fuel such as diesel.

[0018] In addition, rails R are laid in tunnel T from the entrance of tunnel T to the vicinity of the face F inside tunnel T. The transport vehicle 41 transports the carriage 42 and the loading device 20 by moving on and along the rails R (i.e., moving while being guided by the rails R). Here, the transport vehicle 41 is capable of both moving forward and backward. That is, the transport vehicle 41 not only transports the carriage 42 and the loading device 20 from the entrance of the tunnel T to the vicinity of the face F, which is the work site, but also can transport the carriage 42 and the loading device 20 from the vicinity of the face F, which is the work site, to the entrance of the tunnel T after work is completed.

[0019] The carriage 42 is a carriage having wheels that fit the shape of the rail R, does not have the function of traveling by itself, and is transported by the transport vehicle 41. The configuration of the carriage 42 will be described in detail later with reference to FIG. 3, but the carriage 42 has a stage 413 on its top surface. The loading device 20 is installed on this stage 413. That is, the transport vehicle 41 transports the loading device 20 by moving through the tunnel T with the loading device 20 installed on the cart 42.

[0020] As a specific example of a method for transporting the loading device 20, for example, as shown in FIG. 2(A), the transport vehicle 41 and the cart 42 are coupled together in a state where the cart 42 is positioned on the tunnel face F side and the transport vehicle 41 is positioned on the entrance side of the tunnel T. The transport vehicle 41 then moves forward based on the operation of a user U on the transport vehicle 41, thereby propelling the cart 42 from behind toward the tunnel face F. This allows the cart 42 and the loading device 20 installed thereon to be transported from the entrance of the tunnel T to the vicinity of the tunnel face F inside the tunnel T. After the work is completed, the transport vehicle 41 moves backward based on the operation of the user U on the transport vehicle 41, thereby towing the cart 42 from the front toward the entrance of the tunnel T. This allows the cart 42 and the loading device 20 installed thereon to be transported from the vicinity of the tunnel face F to the entrance of the tunnel T.

[0021] As another specific example, as shown in FIG. 2(B), the transporter 41 and the carriage 42 are coupled together in a state where the transporter 41 is positioned on the face F side and the carriage 42 is positioned on the entrance side of the tunnel T. The transporter 41 then moves forward based on the operation of the user U on the transporter 41, thereby towing the carriage 42 from the front toward the face F. This allows the transporter 41 to transport the carriage 42 and the loading device 20 installed thereon from the entrance of the tunnel T to the vicinity of the face F inside the tunnel T. After the work is completed, the transporter 41 moves backward based on the operation of the user U on the transporter 41, thereby propelling the carriage 42 from the rear toward the entrance of the tunnel T. This allows the transporter 41 and the loading device 20 installed thereon to transport the carriage 42 from the vicinity of the face F to the entrance of the tunnel T.

[0022] As another specific example, as shown in FIG. 2(C), a transport vehicle 41 and a dolly 42 are coupled together. Then, the user U does not board the transport vehicle 41, but remotely controls the dolly 42 via wireless communication. The transport vehicle 41 travels based on this remote control. This allows the dolly 42 and the loading device 20 installed thereon to be transported. In this case, the positional relationship between the transport vehicle 41 and the dolly 42 may be such that the dolly 42 is disposed on the face F side as shown in FIG. 2(A), or such that the transport vehicle 41 is disposed on the face F side as shown in FIG. 2(B).

[0023] As another specific example, as shown in Fig. 2(D), a flat surface corresponding to the stage 413 may be provided on the transporter 41 itself, and the loading device 20 may be installed thereon. This allows the loading device 20 to be transported. In this case, as shown in Figs. 2(A) and (B), a user may board the transporter 41 and perform operations, or as shown in Fig. 2(C), a user U may remotely operate the transporter 41 without boarding it.

[0024] In either case, after transportation to the vicinity of the working face F, the transporting device 40 maintains the loading device 20 in an installed state while the loading device 20 is performing the loading operation. This allows the transporting device 40 to not only transport the loading device 20 but also support the loading device 20 during operation.

[0025] In this way, the remote operation system 1 not only enables transportation in the special environment of the tunnel T where the work space is narrow, but also ensures a place to install the loading device 20. Furthermore, after the work is completed, the loading device 20 can be quickly transported from the work site to the outside of the tunnel T. In a special environment with a narrow working space such as tunnel T, using general methods, it may be difficult to transport loading device 20 or to secure a location to install loading device 20. However, with remote operation system 1, it is possible to solve these problems by using transport device 40. In other words, by using the transporting device 40 to provide support during transportation and work, it is possible to carry out at least part of the blasting work series while further ensuring the safety of the workers.

[0026] The rails R, the transport vehicle 41, and the cart 42 may be dedicated ones prepared for the remote operation system 1, or they may be general-purpose ones prepared for general purposes. For example, in work sites where the working space is particularly narrow, such as small-section tunnels, and large vehicles such as drill jumbos, mobile cranes, and trucks cannot enter, rail construction methods are commonly used, in which rails are laid and personnel and materials are transported using transport vehicles and dollies. By reusing the rails, transport vehicles, and carts laid for such rail construction methods as the rails R, transport vehicles 41, and carts 42 of the remote work system 1, it is possible to realize the remote work system 1 more easily.

[0027] [Working Status] FIG. 3 is a schematic diagram showing a state in which loading work is performed by the loading device 20 near the face F, which is the work site. In FIG. 3, the "operation side" is illustrated at the top of the page, and the "work side" is illustrated at the bottom of the page. The operation side shows a state in which a user U performs remote operation using the operation device 10 outside the tunnel T. On the other hand, the work side shows a state in which the loading device 20 performs loading work in accordance with remote operation by the user U near the face F inside the tunnel T. The control device 30 may be located on either the operation side or the work side, but in the drawing it is assumed to be located on the operation side as an example.

[0028] First, on the operating side, a user U performs remote operation using the operating device 10. Here, the shape of the operating device 10 may be, for example, a shape that imitates the shape of the loading device 20. For example, similar to the loading device 20, the mechanism that performs the loading operation may be shaped so that it is supported by a robot arm ("arm portion" in the drawing). In this case, the image of the work site taken by the camera C on the working side is displayed in real time on the display D on the operating side via the control device 30. Here, the image may be, for example, a video of the vicinity of the charging hole H provided at the working face F. Furthermore, as described above, in this case, the control device 30 performs control (bilateral control) to mutually transmit haptic sensations.

[0029] With these configurations, the user U can not only perform operations while checking in real time the video of the work site, but also feel in real time the force from the loading device 20 (here, the reaction force from the object). In addition, the operating device 10 has a shape that imitates the shape of the loading device 20 that actually performs the work. Therefore, even though the user U is remotely operated, the user U can perform the work with greater precision, as if he or she were performing the work in close proximity to the working face F, which is the work site.

[0030] Next, on the work side, the loading device 20 mounted on the carriage 42 is shown positioned near the working face F, which is the work site. Here, the carriage 42 includes a carriage component 421 , a support 422 , and a stage 423 .

[0031] The bogie constituent part 421 is a part that functions as a bogie that is transported on the rail R. The bogie constituent part 421 is composed of, for example, a plate-like member that forms the bottom surface of the bogie 42, wheels that fit the shape of the rail R, and shafts that connect the wheels together.

[0032] The support unit 422 is installed on the carriage component 421 and supports the stage 423. The support unit 422 is composed of a drive mechanism such as a motor, a member for transmitting the rotational force generated by the drive mechanism to the stage 423, and a mechanism such as a rack and pinion for converting the rotational force generated by the drive mechanism into linear motion. Alternatively, the drive mechanism may be composed of another actuator such as a hydraulic cylinder that moves linearly. The support unit 422 uses this drive mechanism to move the stage 423 in at least one of the horizontal and vertical directions. That is, the support unit 422 moves the stage 423 forward and backward, left and right, and up and down. It can also move the stage 423 in a diagonal direction that is a combination of these directions.

[0033] The stage 423 corresponds to the top surface of the carriage 42, and is realized by, for example, a plate-like member having a degree of rigidity that allows the loading device 20 to remain stable even when it is installed. The loading device 20 may be installed on the stage 423 by placing the loading device 20 on the stage 423 (i.e., simply placing it thereon), or may be further fixed with screws, bolts, or the like. In other words, the loading device 20 may be installed so as to maintain a stable state even when it is installed, taking into consideration the weight of the loading device 20, etc.

[0034] Furthermore, the stage 423 on which the loading device 20 is installed is moved horizontally and vertically by the support part 422 to adjust the position of the loading device 20. This makes it possible to substantially expand the operating range of the loading device 20. For example, even if the robot arm ("arm part" in the drawing) that supports the mechanism that performs the loading operation cannot reach, the stage 423 can adjust the position of the loading device 20, thereby making it possible to perform the loading operation. Note that a series of operations for moving the stage 423 by driving the support part 422 and adjusting the position of the loading device 20 can be realized by remote control by the user U, for example.

[0035] Furthermore, when the loading device 20 is installed, the support portion 422 and the stage 423 may have other functions so as to maintain a more stable state. For example, a mechanism such as a damper for realizing vibration isolation or vibration control may be provided, or a sheet made of a material for realizing vibration isolation or vibration control may be provided. Alternatively, the transport vehicle 41 and the cart 42 may be provided with a mechanism for locking the wheels, such as a brake mechanism, so that the cart 42 does not move on the rail R due to vibration or the like. Also, the transport vehicle 41 and the cart 42 may be provided with a mechanism for fixing the cart 42 to the ground, such as an outrigger.

[0036] In this way, when the loading device 20 is supported in a stable state, the control device 30 performs control (bilateral control) to mutually transmit haptic sensations, as described above. As a result, the loading device 20 performs a loading operation to load explosives or the like into the charging hole H of the working face F in response to remote control from the user on the operating side.

[0037] The camera C is disposed, for example, on the loading device 20 so as to be able to capture images of the work site (here, a video of the vicinity of the charge hole H provided in the working face F). This allows the camera C to capture images of the work site by following the movement of the robot arm ("arm section" in the drawing) of the loading device 20 in real time. However, this is not a limitation, and the camera C may be disposed fixedly (or with its shooting direction changeable) on the stage 423 or elsewhere.

[0038] In the remote operation system 1, the operating side and the working side are configured in this manner, so that the safety of the workers is further ensured and the loading work, which is at least part of the blasting work, is carried out.

[0039] [Device configuration] Next, the configuration of each device included in the remote operation system 1 will be described. FIG. 4 is a block diagram showing the hardware configuration of the operation device 10 and the loading device 20. As shown in FIG. 4, the operating device 10 includes two systems of drivers, actuators, and position sensors. Specifically, the operating device 10 includes, as a first system, an actuator 12a for driving the first operating mechanism 15, a driver 11a for driving the actuator 12a, and a position sensor 13a for detecting the position of a movable part of the first operating mechanism 15 that is moved by being driven by the actuator 12a. The operating device 10 also includes, as a second system, an actuator 12b for driving the second operating mechanism 16, a driver 11b for driving the actuator 12b, and a position sensor 13b for detecting the position of a movable part of the second operating mechanism 16 that is moved by being driven by the actuator 12b. The operating device 10 also includes a communication unit 14 for communicating between the two systems of drivers 11a, 11b and position sensors 13a, 13b and the control device 30, a first operating mechanism 15, and a second operating mechanism 16.

[0040] On the other hand, the loading device 20 also has two systems of drivers, actuators, and position sensors. Specifically, the loading device 20 has, as a first system, an actuator 22a for driving the alignment mechanism 25, a driver 21a for driving the actuator 22a, and a position sensor 23a for detecting the position of a movable part of the alignment mechanism 25 that is moved by being driven by the actuator 22a. The loading device 20 also has, as a second system, an actuator 22b for driving the insertion mechanism 26, a driver 21b for driving the actuator 22b, and a position sensor 23b for detecting the position of a movable part of the insertion mechanism 26 that is moved by being driven by the actuator 22b. The loading device 20 also includes a communication unit 24 for communicating between the two systems of drivers 21a, 21b and position sensors 23a, 23b and the control device 30, an alignment mechanism 25, and an insertion mechanism .

[0041] In this case, the positions of the movable parts of the first operation mechanism 15 and the second operation mechanism 16 detected by the position sensors 13a and 13b are, for example, the positions of predetermined parts of the movable parts (which may include the arm parts shown in FIG. 3) of the first operation mechanism 15 and the second operation mechanism 16. However, instead of the positions of the movable parts of the first operation mechanism 15 and the second operation mechanism 16, the positions of predetermined parts of the user operating the first operation mechanism 15 and the second operation mechanism 16 may be used. Furthermore, the positions of the movable parts of the alignment mechanism 25 and the insertion mechanism 26 detected by the position sensors 23a and 23b are, for example, the positions of predetermined parts of the movable parts (which may include the arm parts shown in FIG. 3) of the alignment mechanism 25 and the insertion mechanism 26. However, instead of the positions of the movable parts of the alignment mechanism 25 and the insertion mechanism 26, the positions of predetermined parts where the alignment mechanism 25 and the insertion mechanism 26 indirectly come into contact with the object (for example, the position of the tip of the guide member 27 described later) may be used.

[0042] Furthermore, in this embodiment, instead of detecting the positions of the movable parts of the first operating mechanism 15 and the second operating mechanism 16, or the positions of the movable parts of the alignment mechanism 25 and the insertion mechanism 26, the rotation angle of the output shaft of each actuator may be detected by a rotary encoder built into each actuator. That is, in this embodiment, the concept of position includes angle (e.g., the rotation angle of the output shaft of the actuator), and information related to position includes position, angle, velocity, angular velocity, acceleration, and angular acceleration. Furthermore, since position and velocity (or acceleration) or angle and angular velocity (or angular acceleration) are parameters that can be replaced by differential and integral calculations, when processing position or angle, it is possible to replace them with velocity, angular velocity, etc. as appropriate before processing.

[0043] First operation mechanism 15 and second operation mechanism 16 are mechanisms for receiving user operations, and their shapes and structures are not particularly limited. For example, first operation mechanism 15 and second operation mechanism 16 may be realized by a controller with a movable part that receives user operations, or a device shaped like a finger worn by the user. More specifically, first operation mechanism 15 and second operation mechanism 16 may be realized by an operation mechanism that mimics the shapes of alignment mechanism 25 and insertion mechanism 26. For example, second operation mechanism 16 may be realized by an operation mechanism with a rod-shaped movable part that can advance and retreat in a predetermined direction (for example, the forward and backward directions relative to user U), mimicking the movement of a thrust rod when inserting it.

[0044] Alternatively, it can be realized by an operation mechanism widely used in industrial machinery, such as a joystick (control stick) that allows directional input by tilting a rod-shaped operating tool. Note that by switching the use of the operation mechanism with a switch or the like, a single operation mechanism may be configured to realize the functions of both the first operation mechanism 15 and the second operation mechanism 16.

[0045] On the other hand, alignment mechanism 25 and insertion mechanism 26 are mechanisms that move an object by coming into contact with it, and there are also no particular limitations on their shape or structure. For example, alignment mechanism 25 and insertion mechanism 26 can be realized by a robot arm equipped with (or having a tool attached to) a tool such as a rod that moves an object, a robot manipulator that moves an object by coming into contact with it, or a tool such as a rod connected to actuator 22b.

[0046] In this configuration, the control device 30 outputs control commands to the drivers 11a, 11b and the drivers 21a, 21b based on the positions detected by the position sensors 13a, 13b and the position sensors 23a, 23b, thereby realizing bilateral control for transmitting haptic sensations between the operation device 10, which is the leader device, and the loading device 20, which is the follower device. More specifically, the control device 30 performs control (bilateral control) for transmitting haptic sensations between the first operation mechanism 15 corresponding to the first system of the operation device 10 and the alignment mechanism 25 corresponding to the first system of the loading device 20. The control device 30 also performs control (bilateral control) for transmitting haptic sensations between the second operation mechanism 16 corresponding to the second system of the operation device 10 and the insertion mechanism 26 corresponding to the second system of the loading device 20. A specific algorithm for realizing control (bilateral control) for transmitting this haptic sensation will be described later with reference to FIG.

[0047] Fig. 5 is a perspective view showing an example of the configuration of the loading device 20. Note that Fig. 5 omits the hardware configuration shown in Fig. 3 (here, the arm unit and camera C) and part of the hardware configuration shown in Fig. 4 (here, the drivers 21a and 21b, the actuators 22a and 22b, the position sensors 23a and 23b, and the communication unit 24). As shown in FIG. 5, the loading device 20 further includes an alignment mechanism 25, an insertion mechanism 26, a guide member 27, a leg wire mechanism 28, and a placement mechanism 29 in addition to the hardware not shown. Here, for convenience of explanation, these hardware are shown in an exposed state, but it is possible to use some or all of these hardware, including the hardware shown in Figures 3 and 4, housed in a housing of any shape. Figure 5 also shows a main die 51, an additional die 52, a filling 53, a face F, and a charging hole H.

[0048] 5, the longitudinal direction of the guide member 27 is defined as the x-direction (front-rear direction). The direction perpendicular to the x-direction in the horizontal plane is defined as the y-direction (left-right direction). The direction perpendicular to both the x-direction and the y-direction is defined as the z-direction (up-down direction). In addition, in the x direction (front-rear direction), the direction in which the parent die 51 and the like are inserted via the guide member 27 is further defined as the insertion direction. Furthermore, in the x direction (front-rear direction), the direction opposite to the insertion direction is further defined as the withdrawal direction.

[0049] The loading device 20 is used so that the tip end of the guide member 27 on the insertion direction side maintains a position directly facing the opening of the charge hole H, and so that the xy plane maintains an approximately horizontal position (i.e., so that the z direction maintains an approximately vertical position).

[0050] The alignment mechanism 25 moves the entire loading device 20 (or at least the guide member 27) in response to remote control of the alignment mechanism 25 from the user U, thereby aligning the position of the tip end of the guide member 27 on the insertion direction side (i.e., the discharge portion of the parent die 51, etc.) with the opening of the charging hole H. The alignment mechanism 25 is realized, for example, by the arm unit of the loading device 20 shown in FIG. 3. In this case, it is preferable to realize the arm unit by, for example, a robot arm with six degrees of freedom so that alignment can be achieved by movement in various directions.

[0051] The insertion mechanism 26 moves forward and backward in the x direction (front and back direction) on the guide member 27 in response to remote operation of the insertion mechanism 26 from the user U, thereby inserting the parent die 51 and the like into the charging hole H. The insertion mechanism 26 is realized, for example, by a rod-shaped member similar to a loading rod used in manual loading work. In this way, by using a member with the same shape as that used in manual loading work, the user U can perform the loading work more appropriately, even though it is remotely operated, as if he or she were performing the work in close proximity to the charging hole H. As will be described later as Modification 3, this embodiment can also be applied to a method of applying air pressure to an ammonium nitrate oil explosive (anphos explosive) or a granular explosive as an insertion object. In this case, the insertion mechanism 26 is realized by a cylindrical member such as a hollow pipe or a hollow hose of a loading machine for loading the insertion object. It is also possible to provide both an insertion mechanism 26 realized by a rod-shaped member such as the above-mentioned loading rod and an insertion mechanism 26 realized by a cylindrical member such as a hollow pipe, and use these together. Alternatively, two such insertion mechanisms 26 may be provided and used depending on the operating situation (e.g., depending on the site where excavation work is being performed).

[0052] The guide member 27 guides the insertion mechanism 26, the parent die 51, etc. toward the charging hole H. The guide member 27 is realized by a member that is open at both ends in the longitudinal direction and has a circular or arc-shaped cross section (i.e., yz plane), which is a cross section perpendicular to the longitudinal direction, so as to easily guide the cylindrical shape of the parent die 51, etc.

[0053] The shapes of the insertion mechanism 26 and the guide member 27 are merely examples, and any shape can be used. For example, the insertion mechanism 26 may be realized by a spring-shaped member. However, when an electric detonator is used to explode the parent die 51, it is desirable to form the insertion mechanism 26 and the guide member 27 from wood, FRP (Fiber Reinforced Plastics), or the like, which do not generate static electricity, so that the electric detonator does not explode accidentally due to static electricity.

[0054] The leg wire mechanism 28 holds, in a bound state, the leg wire for detonating the electric detonator enclosed in the parent die 51. Then, as the insertion mechanism 26 inserts the parent die 51 into the charging hole H, the leg wire mechanism 28 releases the binding of the leg wire and feeds out the leg wire. As a result, at least a portion of the leg wire that has been released from the binding is exposed to the outside of the charging hole H.

[0055] After the insertion mechanism 26 has performed the operation of inserting an object to be inserted (for example, the parent die 51) into the charging hole H, the placement mechanism 29 places a new object to be inserted (for example, the additional die 52) in the guide member 27. This allows various objects to be inserted, such as the parent die 51, the additional die 52, and the bean paste 53, to be inserted successively while keeping the guide member 27 aligned.

[0056] The positioning mechanism 29 is realized by a mechanism that can rotate by a predetermined angle in the y direction (left and right direction), for example. In this case, a plurality of rows of positioning mechanisms 29 that store the main die 51, the additional die 52, and the bean paste 53, respectively, are provided in parallel with the guide member 27. The shape of the positioning mechanism 29 is, for example, such that the cross section (i.e., the yz plane), which is a cross section perpendicular to the longitudinal direction, is an arc shape.

[0057] Then, the placement mechanism 29 rotates by a predetermined angle in the y direction (left-right direction) around the portion where the placement mechanism 29 and the guide member 27 (or another placement mechanism 29) are adjacent in the x direction (front-back direction) as the rotation axis. This allows the parent die 51 and the like stored in the rotated placement mechanism 29 to be moved to the adjacent guide member 27 (or another placement mechanism 29). When the parent die 51 and the like are moved to another placement mechanism 29, they can be further moved from this other placement mechanism 29 to the guide member 27, and finally moved to the guide member 27. In this way, the placement mechanism 29 can place any parent die 51 or the like on the guide member 27 .

[0058] The configuration of the placement mechanism 29 is not limited to this, and for example, a robot manipulator capable of grasping and transporting may be placed on the stage 423 of the cart 42, and this robot manipulator may grasp the parent die 51, etc. and transport it to the guide member 27, thereby realizing the function of the placement mechanism 29. Alternatively, for example, a mechanism may be provided that combines a mechanism that can open and close a portion of the portion where the placement mechanism 29 and the guide member 27 (or another placement mechanism 29) are adjacent in the x direction (front-back direction) with a mechanism that pushes the parent die 51, etc. in the y direction (left-right direction). In this case, the placement mechanism 29 closes this adjacent portion when insertion, etc. is performed, and opens this adjacent portion when the parent die 51, etc. is moved. Furthermore, the parent die 51, etc. is pushed in the y direction (left-right direction) from the adjacent portion in the open state. In this manner, the placement mechanism 29 can place any parent die 51, etc. on the guide member 27.

[0059] The main die 51 is a pouch-shaped explosive containing a water-containing explosive and a detonator, such as a general electric detonator, an electronic delay electric detonator, or a fuse-equipped detonator, for detonating the water-containing explosive. It is also possible to use a wireless detonator, which can detonate the water-containing explosive based on a remote wireless command without using a leg wire. In this case, the leg wire mechanism 28 can be omitted. The supplementary die 52 is a pouch-shaped explosive that does not contain an electric detonator and explodes upon detonation of the main die 51. It contains only explosives, such as a cylindrical or granular water-containing explosive sealed in a paper tube, a granular amphoteric explosive, or a liquid or gel explosive (e.g., a bulk emulsion explosive). The filling 53 is a filling made of clay or the like to seal the opening of the charging hole H. The main die 51, the supplementary die 52, and the filling 53 are loaded into the charging hole H in this order. In this case, the number of inserting dies 52 can be increased or decreased from zero to any number depending on the geological quality (hardness, etc.) of the working face F, the distance to be excavated at one time, etc. Note that the terms "parent die," "additional die," "anko," etc. are commonly used by those skilled in the art, and therefore these terms will be used as they are in this specification.

[0060] 6 is a schematic diagram showing alignment by the alignment mechanism 25. This FIG. 6 and the later-described FIG. 7, FIG. 8 and FIG. 9(b) are cross-sectional views of the charge hole H in the xz plane.

[0061] As shown in FIG. 6(A), the alignment mechanism 25 attempts to align the leading end of the guide member 27 on the insertion direction side with the opening of the charge hole H by moving the loading device 20 in response to remote control of the alignment mechanism 25 from the user U. In this case, the alignment mechanism 25 moves the loading device 20 in each direction in response to remote control. During this movement, a reaction force generated by contact between the guide member 27 and the face F and the charge hole H is transmitted to the user U via the first operation mechanism 15. Based on this transmitted reaction force, the user U can determine whether or not there is contact between the guide member 27 and the face F and the charge hole H. Therefore, the user U can perform alignment more efficiently than when simply referring to an image of the vicinity of the charge hole H taken by the camera C. In addition, conventional manual alignment requires the use of guide members 27 that are long in the longitudinal direction, making alignment difficult and time-consuming. Furthermore, as the work takes longer, the risk of workers suffering injuries such as skin breakage increases. However, according to this embodiment, as described above, alignment is achieved by remote control, which avoids such risks and ensures the safety of workers.

[0062] As shown in Figure 6(B), in response to remote operation from user U who has completed the alignment, alignment mechanism 25 inserts a part of the tip of guide member 27 on the insertion direction side into charging hole H. As a result, guide member 27 is positioned in charging hole H, and in the following insertion work, it can guide insertion mechanism 26, parent die 51, etc. toward charging hole H.

[0063] 7 and 8 are schematic diagrams showing the insertion of the parent die 51 and other components into the charging hole H by the insertion mechanism 26. Note that while FIGS. 7 and 8 illustrate the insertion of the parent die 51 as an example, the additional die 52 and the bean paste 53 are also inserted into the charging hole H in a similar manner. In addition, in FIGS. 7 and 8, the guide member 27 is shown with a dashed line to clarify the movements of the insertion mechanism 26 and the parent die 51.

[0064] As shown in Figure 7(C), in response to remote operation of the insertion mechanism 26 by the user U, the insertion mechanism 26 inserts the parent die 51 placed in the guide member 27 by the placement mechanism 29 into the charging hole H. In other words, the insertion mechanism 26 pushes the parent die 51 in the insertion direction. As shown in FIG. 7(D), the parent die 51 is inserted into the charging hole H by the insertion mechanism 26 continuing the pushing operation in the insertion direction side.

[0065] As shown in Figure 8(E), as a result of continued insertion, the parent die 51 finally comes into contact with the wall surface at the back side (the side opposite to the side where the parent die 51 is inserted) of the charging hole H. This completes the insertion of the parent die 51 in the loading operation. As shown in Fig. 8(F), the insertion mechanism 26 moves in the pull-out direction in response to remote control of the insertion mechanism 26 from the user U. Then, the state returns to that of Fig. 7(C), and the additional die 52 and the bean paste 53 are inserted in the same manner.

[0066] During this insertion process, the reaction force generated by contact between the parent die 51, etc. and the insertion mechanism 26 and the charging hole H is transmitted to the user U via the second operation mechanism 16. Based on this transmitted reaction force, the user U can grasp whether or not there is contact between the parent die 51, etc. and the insertion mechanism 26 and the charging hole H, and the degree of friction caused by the contact. Therefore, even though the operation is remote, the user U can perform the loading work more appropriately, as if he or she were performing the work in close proximity to the charging hole H.

[0067] In this case, the user U can, for example, determine based on the transmitted reaction force whether the parent die 51, etc. or the insertion mechanism 26 is caught in the charging hole H. Therefore, the user U can, for example, repeatedly try to return the insertion mechanism 26 to the withdrawal direction and then push it back in the insertion direction. In this case, the reaction force transmitted to the user U is not only a reaction force from the insertion direction, but also a reaction force from each direction, including the left-right and up-down directions. Therefore, the user U can, for example, determine not only that the parent die 51, etc. or the insertion mechanism 26 cannot proceed in the insertion direction, but also that the parent die 51, etc. or the insertion mechanism 26 is in contact with the inner wall surface of the charging hole H and cannot proceed.

[0068] Furthermore, the user U can determine, for example, based on the transmitted reaction force, whether the parent die 51 has contacted the back wall surface of the charging hole H. Therefore, the user U can accurately determine that the insertion is complete, without mistakenly assuming that the insertion is complete because, for example, the insertion is still in progress. Similarly, when inserting the additional die 52 or the bean paste 53, the user U can determine whether the additional die 52 or the bean paste 53 has been inserted until it is in close contact with the parent die 51 or the additional die 52 inserted previously. In this way, the user U can determine that the insertion of the parent die 51, etc. has been completed. Therefore, after the parent die 51, etc. has been properly inserted into the charging hole H, the user U can immediately start remote operation to return the insertion mechanism 26 to the withdrawal direction. This allows the loading device 20 to quickly and easily retrieve the insertion mechanism 26. Therefore, the additional die 52 and the bean paste 53 can be inserted sequentially by the insertion mechanism 26. Thus, according to this embodiment, by transmitting the force applied to the insertion mechanism 26 (for example, the reaction force from the environment such as the charge hole H and the face F) to the user U, it is possible to assist the user U in remotely operating the alignment mechanism 25 and the insertion mechanism 26, thereby enabling more appropriate loading work to be performed.

[0069] 9A and 9B are schematic diagrams showing the structure of the parent die 51 and the operation of the leg wire mechanism 28. As shown in Fig. 9A, the parent die 51 includes a water-containing explosive 511, an electric detonator 512 for detonating the water-containing explosive 511, and a leg wire 513 for detonating the electric detonator 512. Fig. 9A also shows a cable tie 514 for binding the leg wire 513. The electric detonator 512 is enclosed in the water-containing explosive 511 before the loading operation in this embodiment. The leg wire 513 is made up of a pair of positive and negative wires for conducting electricity. However, depending on the electric detonator 512, the pair of positive and negative wires may be twisted into one wire, and the positive and negative wires may be tied together with a cable tie 514 without being distinguished from each other.

[0070] Therefore, the leg wires 513 extending from the parent die 51 are distinguished into positive and negative wires in advance and held separately by the leg wire mechanism 28. The side of the parent die 51 where the electric detonator 512 is enclosed (the side from which the leg wires 513 extend) is positioned on the insertion direction side. As shown in FIG. 9( b), as the insertion mechanism 26 inserts the parent die 51 into the charge hole H, the leg wires 513 are released from their binding and fed out by an internal actuator (not shown). As a result, even if the leg wires 513 are bound by a binding band 514 without distinguishing between the positive and negative wires upstream of the leg wire mechanism 28, the positive and negative wires will be fed out separately downstream of the leg wire mechanism 28. Furthermore, the binding band 514 is caught on the leg wire mechanism 28 and therefore remains upstream of the leg wire mechanism 28. As a result, after the insertion by the parent die 51 is completed, at least a part of the leg wires released from the bundling is exposed to the outside of the charging hole H in a state where the positive and negative wires are distinguished. In this way, the leg wire mechanism 28 can be used to easily perform the wiring work after the loading work.

[0071] FIG. 10 is a block diagram showing the hardware configuration of the control device 30. As shown in FIG. As shown in FIG. 10, the control device 30 includes a processor 31, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 33, a bus 34, an input unit 35, an output unit 36, a memory unit 37, a communication unit 38, and a drive 39.

[0072] The processor 31 executes various processes according to a program recorded in the ROM 32 or a program loaded from the storage unit 37 into the RAM 33 . The RAM 33 also stores data and the like necessary for the processor 31 to execute various processes.

[0073] The processor 31, the ROM 32, and the RAM 33 are connected to one another via a bus 34. To the bus 34, an input unit 35, an output unit 36, a storage unit 37, a communication unit 38, and a drive 39 are connected.

[0074] The input unit 35 includes input devices such as a mouse and a keyboard, and receives input of various information to the control device 30. The input unit 35 may also include a microphone, and receive input of various information by voice input from the worker. The output unit 36 ​​is composed of a display, a speaker, etc., and outputs images and sounds. The storage unit 37 is configured with a hard disk or a DRAM (Dynamic Random Access Memory), etc., and stores various data managed by each server. The communication unit 38 controls communication with other devices via the network.

[0075] Removable media 100, such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, is appropriately loaded into drive 39. A program read from removable media 100 by drive 39 is installed in storage unit 37 as needed. The above hardware configuration is the basic configuration of the control device 30, and it is possible to configure the control device 30 without some of the hardware, to include additional hardware, or to change the implementation form of the hardware.

[0076] The control device 30 having such a hardware configuration performs "operation control processing" and "remote loading processing." Here, the operation control process is a series of processes that control the operation of each mechanism by performing control (bilateral control) that transmits haptic sensations between each mechanism driven by the operating device 10 and each mechanism driven by the loading device 20. The remote loading process is a series of processes that utilizes the operation control process to support the remote operation in the remote loading work of the user U. The operation control process is realized as a subroutine of the remote loading process.

[0077] FIG. 11 is a block diagram showing the functional configuration of the control device 30. As shown in FIG. 11 , when the above-described operation control process or remote loading process is performed, a physical quantity data acquisition unit 311, an operation control unit 312, a placement instruction unit 313, an image data acquisition unit 314, an image presentation unit 315, and a stage adjustment unit 316 function in the processor 31. In addition, a physical quantity data storage unit 371 and an image data storage unit 372 are formed in the storage unit 37. Including cases not specifically mentioned below, data required to realize processing is transmitted and received between these functional blocks at appropriate times.

[0078] The physical quantity data acquisition unit 311 acquires physical quantity data for realizing the operation control process. For example, the physical quantity data acquisition unit 311 acquires the positions (specifically, positions or angles) of the movable parts of each mechanism that are moved by being driven by the actuators 12a, 12b, 22a, and 22b from the position sensors 13a, 13b, 23a, and 23b. The physical quantity data, such as the positions, acquired by the physical quantity data acquisition unit 311 is used as reference values ​​for the operation of each mechanism driven by the operating device 10 and the loading device 20 in a haptic transmission algorithm, which will be described later.

[0079] The operation control unit 312 controls the transmission of haptic sensations between each mechanism driven by the operating device 10 and each mechanism driven by the loading device 20, thereby controlling the operation of each mechanism. FIG. 12 is a block diagram showing the control algorithm of the operation control unit 312. As shown in FIG. 12, the algorithm implemented in the operation control unit 312 is expressed as a control law including a functional force-velocity allocation conversion block FT, an ideal force source block FC, an ideal velocity (position) source block PC, and an inverse conversion block IFT. The control algorithm shown in FIG. 12 is described in a patent publication (Japanese Patent No. 6382203) owned by Keio University, the applicant of the present application, and various control algorithms described in this patent publication can also be used as appropriate in this embodiment. In this embodiment, the leader device in the controlled system CS is configured by the operating device 10, and the follower device is configured by the loading device 20.

[0080] The functional force-speed allocation transformation block FT defines the transformation of control energy into the velocity (position) and force ranges set according to the function of the controlled system CS. Specifically, the functional force-speed allocation transformation block FT defines a coordinate transformation that takes as input the reference value (base value) of the function of the controlled system CS and the current position (or current angle) of the moving part of each mechanism driven by the actuators 12a, 12b, 22a, and 22b. This coordinate transformation generally transforms an input vector whose elements are the base value and the current position (current angle) into an output vector consisting of positions (angles) for calculating the target position (angle) control value, and also transforms an input vector whose elements are the base value and the current force into an output vector consisting of forces for calculating the target force control value.

[0081] By setting the coordinate transformation in the functional force-velocity allocation transformation block FT to a content that represents the force-tactile transmission function, it is possible to realize the force-tactile transmission function between the operation device 10 and the loading device 20, or to reproduce the operation of transmitting the force-tactile sensation in the loading device 20 without using the operation device 10. Furthermore, by setting coefficients in the elements of the transformation matrix in the coordinate transformation in the functional force-velocity allocation transformation block FT, it is possible to perform scaling of the position (angle) or force.

[0082] That is, in this embodiment, the functional force-velocity allocation transformation block FT "converts" the individual variables (variables in real space) of the moving parts of each mechanism driven by the actuators 12a, 12b, 22a, and 22b into a group of variables (variables in space after coordinate transformation) of the entire system that expresses the force haptic transmission function, and allocates control energy to the control energy of position (angle) and the control energy of force. That is, the coordinate transformation set in the functional force-velocity allocation transformation block FT converts real-space coordinates (oblique coordinates) in which position (angle) and force are related to each other into virtual-space coordinates (orthogonal coordinates) in which position (angle) and force are independent of each other. Therefore, compared to controlling the individual variables (variables in real space) of the moving parts of each mechanism driven by the actuators 12a, 12b, 22a, and 22b, it is possible to independently assign the control energy of position (angle) and the control energy of force, i.e., to independently control the position (angle) and the force.

[0083] In this embodiment, for example, when controlling the position (angle) and force output by the operating device 10, the state value in the space after coordinate transformation can be calculated on the condition that the difference in position (angle) between the positions (angles) of the movable parts of each mechanism moved by the actuators 12a and 12b and the input of a force calculated from these positions (angles) and the reference value serving as the basis for controlling the position (angle) and force is zero and the sum of the forces is zero (equal forces are output in opposite directions). However, the reference value serving as the basis for controlling the position (angle) and force is the position (angle) of the movable parts of each mechanism moved by the actuators 22a and 22b in the loading device 20 and the force calculated from these positions (angles).

[0084] Similarly, in this embodiment, for example, when controlling the position (angle) and force output by the loading device 20, the state value in the space after coordinate transformation can be calculated on the condition that the difference in position (angle) between the positions (angles) of the movable parts of each mechanism moved by the actuators 22a and 22b and the input of a force calculated from these positions (angles) and the reference value serving as the basis for controlling the position (angle) and force is zero and the sum of the forces is zero (equal forces are output in opposite directions). However, the reference value serving as the basis for controlling the position (angle) and force is the position (angle) of the movable parts of each mechanism moved by the actuators 12a and 12b in the operating device 10 and the force calculated from these positions (angles).

[0085] The ideal force source block FC performs calculations in the force domain according to the coordinate transformation defined by the functional force-velocity allocation transformation block FT. The ideal force source block FC sets a target value for the force used in calculations based on the coordinate transformation defined by the functional force-velocity allocation transformation block FT. This target value can be set as a fixed or variable value depending on the function being realized. For example, to achieve a function similar to the function indicated by the reference value, the target value can be set to zero. To perform scaling, a value obtained by enlarging or reducing the information representing the function indicated by the reference value can be set. The ideal force source block FC can also set an upper limit for the force energy determined by calculations in the force domain. Setting an upper limit for the force energy can, for example, limit the contact force when the insertion mechanism 26 contacts the parent die 51, etc., thereby preventing the parent die 51, etc. from being pressed excessively hard against the inner wall surface of the charge hole H, etc.

[0086] The ideal velocity (position) source block PC performs calculations in the position (angle) domain according to the coordinate transformation defined by the functional force-velocity allocation transformation block FT. The ideal velocity (position) source block PC sets a target value for the position (angle) when performing calculations based on the coordinate transformation defined by the functional force-velocity allocation transformation block FT. This target value is set as a fixed or variable value depending on the function to be realized. For example, to achieve a function similar to the function indicated by the reference value, the target value can be set to zero. To perform scaling, a value obtained by enlarging or reducing the information indicating the function to be reproduced can be set. The ideal velocity (position) source block PC can also set an upper limit for the force energy determined by calculations in the position (angle) domain. Setting an upper limit for the position (angle) energy limits the distance the insertion mechanism 26 can advance and retreat, preventing the inserted parent die 51, etc. from being pressed excessively hard against the add-on die 52, etc.

[0087] The inverse transformation block IFT is a block that inversely transforms values ​​in the position (angle) and force domains into values ​​in the input domain to the controlled system CS (e.g., voltage values ​​or current values, etc.) (i.e., determines command values ​​in real space). Under this control algorithm, time-series position (angle) detection values ​​detected by position sensors 13a, 13b, 23a, and 23b are input to control device 30. These time-series position (angle) detection values ​​represent the operations of actuators 12a, 12b, 22a, and 22b, and control device 30 applies coordinate transformation to transmit haptic sensations to the input positions (angles) and forces derived from these positions (angles).

[0088] 11, the placement instruction unit 313 sends a placement instruction to the placement mechanism 29 of the loading device 20, thereby placing the parent die 51 to be inserted on the guide member 27. The operation of the placement mechanism 29 and the order of insertion of the parent dies 51, etc. are as described above.

[0089] The image data acquisition unit 314 acquires the images captured by the camera C in real time via communication. For example, during alignment by the alignment mechanism 25, the camera C captures an image of the vicinity of the tip of the guide member 27 on the insertion direction side. Furthermore, during insertion by the insertion mechanism 26, the camera C captures an image of the vicinity of the charge hole H that is the insertion target. In order to more appropriately support the remote operation of the user U, it is desirable that the images captured by the camera C are videos rather than still images. Furthermore, it is more desirable that the user U be able to change the orientation, angle of view, etc. of the camera C by remote operation using the control device 30, etc.

[0090] The image presentation unit 315 presents the images captured by the camera C acquired by the image data acquisition unit 314 to the user U in real time. The presentation can be realized, for example, by displaying on a display included in the output unit 36 ​​or a display D as shown in Fig. 3. In this case, it is desirable to place this display in a position where the user U can refer to it while operating each operating mechanism.

[0091] The stage adjustment unit 316 remotely controls the support unit 422 of the cart 42 to move the stage 423 and adjust the position of the loading device 20. The remote control of the stage adjustment unit 316 is realized by receiving, via an operation device included in the input unit 35, remote control by a user U who is visually checking the status of the work site displayed on a display D or the like. In addition, a functional block that transmits remote control, similar to the stage adjustment unit 316, may be further provided, and not only remote control of the support unit 422 but also remote control of the transport vehicle 41 may be accepted to control the operation of the transport vehicle 41 (i.e., its travel on the rail R). In either case, remote control may be received not by the input unit 35 but by the operation device 10.

[0092] The physical quantity data storage unit 371 stores the physical quantity data acquired by the physical quantity data acquisition unit 311, various parameters calculated by the operation control unit 312 based on the physical quantity data, etc. The image data storage unit 372 stores image data captured by the camera C acquired by the image data acquisition unit 314. The various data stored in these storage units can be used as a log associated with the loading operation. For example, it can be used to analyze the success or failure of the loading operation and the time required for the loading operation. Alternatively, it can be used as teaching material for teaching the remote operation procedure to a user U who has little experience with remote loading operation. Next, the details of each process performed by the remote operation system 1 will be explained.

[0093] [Motion control processing] 13 is a flowchart illustrating the flow of the operation control process executed by the remote operation system 1. The operation control process is executed as a subroutine in the remote loading process.

[0094] In step S1, the physical quantity data acquisition unit 311 acquires the position (angle) of a movable part of a mechanism that is to be moved by driving the actuator. For example, during alignment by the alignment mechanism 25, the mechanisms that are to be moved are the first operation mechanism 15 and the alignment mechanism 25. In this case, the operation control unit 312 acquires the positions corresponding to these mechanisms from the position sensors 13a and 23a. On the other hand, during insertion by the insertion mechanism 26, the mechanisms that are to be moved are the second operation mechanism 16 and the insertion mechanism 26. In this case, the operation control unit 312 acquires the positions corresponding to these mechanisms from the position sensors 13b and 23b.

[0095] In step S2, the motion control section 312 converts an input vector in the real space into a vector in the virtual space. In step S3, the motion control unit 312 performs calculations in the velocity (position) domain and calculations in the force domain.

[0096] In step S4, the operation control unit 312 inversely converts the values ​​in the domains of velocity (position) and force into values ​​in the domain of input to the controlled system CS (vectors in real space). In step S5, the operation control section 312 outputs command values ​​for the actuators 12 and 22.

[0097] In step S6, the operation control unit 312 determines whether or not the execution of a predetermined action, such as alignment by the alignment mechanism 25 or insertion by the insertion mechanism 26, has been completed. This determination can be made by analyzing the physical quantity data acquired by the physical quantity data acquisition unit 311, or based on whether or not an operation to end the predetermined action has been performed by the user U. If the execution of the predetermined action has been completed, step S6 is determined as Yes, the process as a subroutine is terminated, and the process returns to the remote loading process. On the other hand, if the execution of the predetermined action has not been completed, step S6 is determined as No, and the process returns to step S1 and is repeated.

[0098] According to the operation control process described above, the operation of each mechanism can be controlled by performing control (bilateral control) to transmit haptic sensations between each mechanism driven by the operating device 10 and each mechanism driven by the loading device 20.

[0099] [Remote Loading Process] 14 is a flowchart illustrating the flow of the remote loading process executed by the remote operation system 1. The remote loading process is executed when transportation of the cart 42 is started and the operation device 10 or the control device 30 receives an instruction operation from the user to start the remote loading process.

[0100] In step S11, the transport vehicle 41 transports the carriage 42 to the work site (here, the charging hole H provided in the working face F) as shown in Figures 2(A) to 2(C). Alternatively, as shown in Figure 2(D), the carriage 42 having a self-propelled function transports the carriage 42 to the work site by self-propelling.

[0101] In step S12, the image data acquisition unit 314 starts acquiring the image captured by the camera C. In step S13, the image presenting unit 315 starts presenting the image captured by the camera C to the user U. The acquisition of the image captured by the camera C in step S12 and the presentation of the acquired image to the user U in step S13 are performed in parallel while the processing of each subsequent step is being performed. In other words, the acquisition of the image and the presentation of the acquired image to the user U are continued until this processing is completed.

[0102] In step S14, the stage adjustment unit 316 remotely controls the support unit 422 of the carriage 42 to move the stage 423 and adjust the position of the loading device 20.

[0103] In step S15, the physical quantity data acquisition unit 311 determines, based on the physical quantity data corresponding to the first operation mechanism 15, whether or not the first operation mechanism 15 has accepted a remote operation by the user U for alignment using the alignment mechanism 25. If a remote operation for alignment has been received, the determination in step S15 is Yes, and the process proceeds to step S16. On the other hand, if the remote operation for alignment has not been received, the determination in step S15 is No, and the process returns to step S14. Then, the adjustment of the position of the loading device 20 by moving the stage 423 continues.

[0104] In step S16, the operation control unit 312 executes the above-described operation control process as a subroutine. In this case, the objects subject to the operation control process are the first operation mechanism 15 and the alignment mechanism 25. When alignment is complete, the operation control process ends and proceeds to step S17.

[0105] In step S17, the physical quantity data acquisition unit 311 detects, based on the physical quantity data corresponding to the second operation mechanism 16, that the second operation mechanism 16 has accepted a remote operation by the user U to insert an object to be inserted using the insertion mechanism 26. Here, the object to be inserted is an object currently placed on the guide member 27 by the placement mechanism 29, and specifically, is any one of the parent die 51, the additional die 52, and the bean paste 53.

[0106] In step S18, the operation control unit 312 executes the above-described operation control process as a subroutine. In this case, the objects subject to the operation control process are the second operation mechanism 16 and the insertion mechanism 26. When the insertion is completed, the operation control process ends and proceeds to step S19.

[0107] In step S19, the operation control unit 312 determines whether or not to further insert the additional dies 52 or the bean paste 53. This determination can be made by setting a preset number of additional dies 52 or bean paste 53 to be inserted, or based on whether or not the user U has performed an operation to instruct the end of insertion. If further insertion is to be performed, the determination in step S19 is Yes, and the process proceeds to step S21. On the other hand, if no further insertion is to be performed, the determination in step S19 is No, and the process proceeds to step S20.

[0108] In step S21, the placement instruction unit 313 issues an instruction to the placement mechanism 29 to place the additional die 52 and bean paste 53 to be inserted next on the guide member 27. Then, the process is repeated from step S17.

[0109] In step S20, the operation control unit 312 determines whether or not to continue the remote loading process for other charging holes H. The determination can be made by setting a preset number of charging holes H to be loaded, or based on whether or not a remote loading termination instruction operation has been performed by the user U. If the remote loading process is to be continued, the determination in step S20 is Yes, and the process proceeds to step S22. On the other hand, if no more insertions are to be performed, the determination in step S20 is No, and the process ends.

[0110] In step S22, the placement instruction unit 313 issues an instruction to the placement mechanism 29 to place the parent die 51 to be inserted into the next charging hole H on the guide member 27. Then, the process is repeated from step S14. That is, the stage adjustment unit 316 moves the stage 423 to a position suitable for the next charging hole H, adjusts the position of the loading device 20, and then the process is repeated from step S15.

[0111] According to the remote loading process described above, it is possible to support the user U in remote operation of the remote loading work by utilizing the operation control process.

[0112] In this way, with remote operation system 1, the loading work can be performed by remote control, so that, for at least part of the loading work, user U, the worker, does not need to work close to the working face, where there is a risk of skin breakage or the like. Furthermore, user U receives the force applied to insertion mechanism 26 via first operation mechanism 15, and the force applied to alignment mechanism 25 via second operation mechanism 16. Since user U can perform the loading work while feeling these forces, he or she can complete the loading work with the same accuracy as if the work were actually performed using a loading rod. In other words, with remote operation system 1, the forces applied to insertion mechanism 26 and alignment mechanism 25 can be transmitted to user U, so the loading work can be performed with greater accuracy than, for example, when only a captured image is displayed. Therefore, the remote operation system 1 makes it possible to load explosives and the like more appropriately while ensuring the safety of the worker.

[0113] Generally, loading work requires measures such as monitoring the work and mirror-reinforcing the face by spraying concrete or the like, in consideration of potential collapses such as surface falls. However, according to this embodiment, the safety of the user U can be ensured as described above, and therefore such measures do not need to be taken more than necessary.

[0114] Furthermore, the remote operation system 1 not only enables transportation in the special environment of the tunnel T where the work space is narrow, but also ensures a place to install the loading device 20. Furthermore, after the work is completed, the loading device 20 can be quickly transported from the work site to the outside of the tunnel T. In a special environment with a narrow working space such as tunnel T, using general methods, it may be difficult to transport loading device 20 or to secure a location to install loading device 20. However, with remote operation system 1, it is possible to solve these problems by using transport device 40. In other words, by using the transporting device 40 to provide support during transportation and work, it is possible to carry out at least part of the blasting work series while further ensuring the safety of the workers.

[0115] [Variations] While the embodiments of the present invention have been described above, these embodiments are merely examples and do not limit the technical scope of the present invention. The present invention can take on various other embodiments and can be modified in various ways, such as omissions and substitutions, without departing from the spirit of the present invention.

[0116] [Variation 1] In the above-described embodiment, the operation control unit 312 controls the operation of each mechanism by controlling the transmission of haptic sensations between each mechanism driven by the operating device 10 and each mechanism driven by the loading device 20 based on the control algorithm described with reference to FIG. 12. However, the operation control unit 312 may control the operation of each mechanism using another control algorithm. For example, the operation control unit 312 may control the operation of each mechanism using a control algorithm described below as a modified example. In this case, in the operation control process, instead of the processing of steps S2 to S4 shown in FIG. 13, the operation control unit 312 calculates command values ​​for the operating device 10 and the loading device 20 based on the control algorithm of this modified example described below.

[0117] [Basic principle] FIG. 15 is a schematic diagram showing the concept of the control algorithm of this modified example. As shown in Fig. 15, the control algorithm of this modification assumes a virtual object including a leader device and follower devices in a robot that uses a leader-follower system, and controls the operations of the leader device and follower devices to follow the behavior of the virtual object when inputs to the leader device and follower devices are treated as inputs to the virtual object. At this time, a parameter representing the speed is calculated by multiplying the force response input from the leader device and follower device by the admittance, and this is given to the position control systems of the leader device and follower devices as a speed command value together with the current speed. This makes it possible to obtain performance equal to or better than conventional performance in terms of reproducibility and operability of the operations of the leader device and follower device. Therefore, it becomes possible to realize more appropriate physical interaction with the robot. Furthermore, the control algorithm of this modification can perform control based on a speed command value, which provides a high degree of compatibility with existing position (or speed) control systems (systems that do not assume acceleration control). However, the control algorithm of this modification can also perform control based on an acceleration command value. In addition, since position and velocity (or acceleration) or angle and angular velocity (or angular acceleration) are parameters that can be replaced by differential and integral calculations, when performing processing related to position or angle, they can be replaced with velocity or angular velocity, etc. as appropriate.

[0118] [Specific Control] The physical quantity data acquisition unit 311 acquires physical quantities acquired in the operation device 10 and the loading device 20 (here, the positions of the movable parts of the mechanisms in the operation device 10 and the loading device 20). The operation control unit 312 calculates a speed command value (or a position command value) for making the operation device 10 and the loading device 20 follow the behavior of a virtual object (a virtual object having a mass m) assumed to include the operation device 10 and the loading device 20, based on the physical quantities of the operation device 10 and the loading device 20 acquired by the physical quantity data acquisition unit 311. Specifically, the operation control unit 312 calculates a speed command value for the operation device 10 and a speed command value for the loading device 20, for example, according to the following equations (1) and (2).

[0119]

number

[0120] Note that F1 and F2 can be obtained using various force estimation methods (such as converting to acceleration and estimating as a multiplication value by mass, or estimating using an observer) from physical quantities (here, positions) obtained from the operating device 10 and the loading device 20. Also, V1 and V2 can be obtained by differentiating the physical quantities (here, positions) obtained from the operating device 10 and the loading device 20. However, the control device 30 may also obtain forces as physical quantities from the operating device 10 and the loading device 20 and use them in the calculations of equations (1) and (2).

[0121] Furthermore, although equations (1) and (2) are used to calculate a speed command value, it is also possible to calculate a position command value and control the operating device 10 and the loading device 20 based on the position command value. The operation control unit 312 can also calculate a velocity command value for the operating device 10 and an acceleration command value for the loading device 20 according to, for example, the following equations (3) and (4), and control the operating device 10 and the loading device 20 using the acceleration command value. Furthermore, the operation control unit 312 can also calculate a current command value or a voltage command value for the actuator, and control the operating device 10 and the loading device 20 using the current command value or the voltage command value for the actuator.

[0122]

number

[0123] The operation control unit 312 transmits the command value (here, speed command value) for the operating device 10 and the command value (here, speed command value) for the loading device 20 calculated in this manner to the operating device 10 and the loading device 20. At this time, it is also possible to calculate a position command value and control the operating device 10 and the loading device 20 by the position command value. At this time, it is also possible to calculate an acceleration command value and control the operating device 10 and the loading device 20 by the acceleration command value.

[0124] In the control algorithm of this modification, the operating device 10 and the loading device 20 may be provided with, in addition to the position sensors 13a, 13b, 23a, and 23b, force sensors that detect forces acting on the moving parts of the mechanisms of the operating device 10 and the loading device 20, and the forces acting on the moving parts of the mechanisms detected by the force sensors may be transmitted to the control device 30. Furthermore, the operating device 10 and the loading device 20 may be provided with speed sensors (or acceleration sensors) that detect the speed (or acceleration) of the moving parts of the mechanisms of the operating device 10 and the loading device 20 (for example, output shafts of the actuators 12a, 12b, 22a, and 22b) instead of the position sensors 13a, 13b, 23a, and 23b, and the speed (or acceleration) of the moving parts of the mechanisms detected by the speed sensors (or acceleration sensors) may be transmitted to the control device 30.

[0125] According to the control algorithm of this modified example, a control method is used that makes the virtual object follow, and therefore it is possible to obtain performance equal to or better than conventional performance in terms of reproducibility and operability of the operation of the operation device 10 and the loading device 20. Therefore, it becomes possible to realize more appropriate physical interaction with the robot. Also, as is common with the control algorithm described with reference to FIG. 12, when the operating device 10 and the loading device 20 are controlled by the above-mentioned control algorithm, the parameters required for control are reduced, and therefore the amount of data transmitted and received between the devices can be reduced.

[0126] [Variation 2] In the above-described embodiment, the operation device 10 and the control device 30 are realized as separate devices. However, the present invention is not limited to this. For example, the operation device 10 and the control device 30 may be realized as an integrated device. That is, the operation device 10 and the control device 30 may be realized as an integrated device that can accept remote loading by the user U and control the transmission of haptic sensations between the operation device 10 and the loading device 20. In this case, a functional block for operation control that realizes the same functions as the control device 30 is inserted between the communication unit 14 and the drivers 11a and 11b in the block diagram of FIG. 4. Furthermore, the detection values ​​of the position sensors 13a and 13b are input to this functional block for operation control, rather than to the communication unit 14. This functional block for operation control then realizes the transmission of haptic sensations between the operation device 10 and the loading device 20 based on a control algorithm similar to that of the control device 30 described above.

[0127] Alternatively, the loading device 20 and the control device 30 may be realized as an integrated device. That is, the loading device 20 may be configured as a device that accepts remote loading by the user U via the operation device 10 and controls the transmission of haptic sensations between the operation device 10 and the loading device 20. In this case, a functional block for operation control that realizes a function equivalent to that of the control device 30 is inserted between the communication unit 24 and the drivers 21a and 21b in the block diagram of FIG. 4. Furthermore, the detection values ​​of the position sensors 23a and 23b are input to this functional block for operation control, rather than to the communication unit 24. Then, this functional block for operation control realizes the transmission of haptic sensations between the operation device 10 and the control device 30 based on a control algorithm similar to that of the control device 30 described above.

[0128] Alternatively, the control of the transmission of such haptic sensations may be distributed between the operating device 10 and the loading device 20. In this case, a functional block for operation control is added to each device. The functional block for operation control of each device acquires the detection values ​​of its own sensor and the detection values ​​of the sensors of the other device, and then outputs a command value to its own device's driver based on a control algorithm similar to that of the control device 30 described above. In this way, the transmission of haptic sensations between other devices may be realized.

[0129] [Variation 3] In the above-described embodiment, the guide member 27 as shown in Fig. 5 is aligned with the charging hole H by the alignment mechanism 25, and then the parent die 51 etc. is pushed out in the insertion direction by the insertion mechanism 26 as shown in Fig. 5, thereby inserting the parent die 51 etc. into the charging hole H. However, the present invention is not limited to this, and the parent die 51 etc. may be inserted into the charging hole H by other methods. For example, the parent die 51 and the like may be inserted into the charging hole H using a method that utilizes air pressure, water pressure, or the like. In this case, the alignment mechanism 25 aligns one end of the opening of a loading hose for loading the parent die 51 and the like with respect to the charging hole H. Furthermore, the insertion mechanism 26 inserts one end of the opening of this loading hose into the charging hole H by a required length. Thereafter, the parent die 51 and the like are supplied to the loading hose from the other end of the opening of this loading hose. Then, pressure such as air pressure or water pressure is applied from this other end to perform pressure feeding, and the parent die 51 and the like are inserted into the charging hole H. By adopting this modified example, the above-described embodiment can be realized by a method that utilizes air pressure, water pressure, or the like, other than pushing in with a member such as a loading rod.

[0130] It should be noted that the parent die 51 may have a cartridge-type shape, making it difficult to insert it using air or water pressure. In this case, the parent die 51 may be inserted into the charging hole H using the insertion mechanism 26, as in the above-described embodiment. The additional die 52 and the filling 53 are inserted into the charging hole H using air or water pressure. In this way, it is possible to adopt only a part of this modified example. In this case, it is preferable to provide a mechanism for storing empty cartridges of the parent die 51 inserted into the loading device 20. For example, it is preferable to arrange a mechanism for collecting empty cartridges by stacking them vertically near the insertion mechanism 26. This prevents empty cartridges from scattering.

[0131] [Variation 4] In the above-described embodiment, it is assumed that one loading device 20 is installed on one stage 423. However, this is not limiting, and multiple loading devices 20 may be installed on one stage 423. In this case, a plurality of operation devices 10, control devices 30, and users U are prepared corresponding to a plurality of loading devices 20. Then, the plurality of users U perform the loading work by remotely operating them in parallel. This allows the loading work to be performed simultaneously on different charging holes H, thereby shortening the time required for the work. In other words, the loading work can be made more efficient. Alternatively, a smaller number (for example, one unit and one person) of operation devices 10, control devices 30, and users U are prepared in correspondence with a plurality of loading devices 20. Then, the loading operation is performed by switching the loading device 20 to be remotely operated and remotely operating it in sequence. This allows a small number (for example, one unit and one person) of operation devices 10, control devices 30, and users U to perform the loading operation with a plurality of loading devices 20 targeting different charging holes H. In other words, the number of operation devices 10, control devices 30, and users U can be reduced to perform the loading operation.

[0132] The number of users U and the number of multiple loading devices 20 may be in a one-to-one relationship, or may be a one-to-many relationship. For example, three users U and nine loading devices 20 are prepared. The loading operation is performed so that the loading devices 20 do not interfere with each other. For example, if two adjacent loading devices 20 perform the loading operation at the same time, the insertion mechanisms 26 of the loading devices 20 may collide. To avoid this, the three users U rotate so that adjacent loading devices 20 do not perform the loading operation at the same time, and each user performs the work in parallel using a non-adjacent loading device 20 that is far away. This allows the loading operation to be performed more efficiently while avoiding interference between the loading devices 20.

[0133] In the case where a large carriage that travels on rails R, such as a gantry jumbo, can be brought into tunnel T, the gantry jumbo has multiple flat areas that are originally intended for workers to board. In this case, this modified example can also be realized by installing a loading device 20 on each of the flat areas.

[0134] [Variation 5] In the above-described embodiment, the loading device 20 is mounted on the carriage 42, and the carriage 41 moves on the rails R to transport the carriage 42 and the loading device 20. However, the loading device 20 may be transported by other methods. For example, the loading device 20 may be transported by a vehicle that can move within the tunnel T using tires, without using the rails R or the carriage 41.

[0135] In this case, the support part 422 and the stage 423 of the cart 42 are placed on the bed of a vehicle with a flat bed (for example, a dump truck with a maximum load capacity of about 2 tons). Then, the loading device 20 is placed on the top surface of the stage 423 on the bed. Then, the vehicle travels through the tunnel T, making it possible to transport the loading device 20. Furthermore, even with this configuration, by remotely operating the support part 422 on the loading platform, it is possible to move the stage 423 and adjust the position of the loading device 20. Then, with the loading device 20 supported at an appropriate position, it is possible to realize the remote loading process. That is, this modification can also achieve the same effects as the above-described embodiment.

[0136] This modified example is suitable for cases where excavation work is carried out in a tunnel T where a certain amount of work space can be secured as the work site. Furthermore, this modified example does not use rails R, so there is no need to lay rails R inside the tunnel T. Therefore, it is possible to realize the remote operation system 1 more easily. In this way, the above-described embodiment and this modified example can be used appropriately depending on the situation at the work site, etc.

[0137] [Variation 6] In the above-described embodiment, the loading device 20 performs the loading operation by remotely operating the user U in real time using the operation device 10. However, the present invention is not limited to this, and the loading device 20 may automatically perform the loading operation without requiring remote operation by the user U.

[0138] For example, by reproducing a loading operation that was previously performed, the loading device 20 is made to automatically perform the loading operation. Here, as described above, the physical quantity data storage unit 371 of the control device 30 stores the physical quantity data acquired by the physical quantity data acquisition unit 311 and various parameters calculated by the operation control unit 312 based on the physical quantity data. That is, the physical quantity data, various parameters, etc. that represent the content of the remote operation performed by the user U in the loading operation that was previously performed are stored. By using this data, the loading operation that was previously performed can be reproduced without the user U newly performing remote operation.

[0139] When performing reproduction, the operation control unit 312 receives input of time-series position (angle) detection values ​​detected by the position sensors 23a and 23b. These time-series position (angle) detection values ​​represent the operation of the actuators 22a and 22b. In addition, the operation control unit 312 receives input of time-series position (angle) values ​​in the reproduction data (data from a past loading operation). These position (angle) values ​​in the reproduction data represent the operation of the actuators 22a and 22b in the reproduction data. The operation control unit 312 applies coordinate transformation to transmit haptics to the input positions (angles) and forces derived from these positions (angles).

[0140] In this case, time-series data values ​​of position (angle) and force parameters may be input as reproduction data. In this case, the operation control unit 312 applies coordinate transformation to transmit the haptic sensation based on the time-series values ​​of the position (angle) and force parameters in the reproduction data, the position (angle) input from the position sensor 23, and the force derived from this position (angle). This allows the user U to reproduce the loading operation that was previously performed without newly performing a remote operation, thereby reducing the burden on the user U.

[0141] As another method, even if the situation is different, such as when the spacing between the charge holes H is different, the control device 30 may autonomously control the loading device 20 to perform the loading operation without requiring data for reproducing past loading operations under this situation, i.e., without any preparation. In this case, for example, the user inputs data indicating the status of the work site, such as the interval between the charging holes H and the depth of the charging holes H, into the control device 30. Alternatively, data indicating the status of the interval between the charging holes H and the depth of the charging holes H, which are identified by a measuring device such as a camera C or LiDAR (Light Detection And Ranging), is input to the control device 30. Furthermore, the control device 30 processes the replay data obtained in the past under other conditions into replay data appropriate for the current work site, in accordance with the data indicating this situation. Then, the control device 30 executes the loading work by controlling the loading device 20 as described above using the reproduction data after processing that corresponds to the current work site. This allows the control device 30 to autonomously control the loading device 20 and execute the loading work.

[0142] [Variation 7] In the above-described embodiment, the loading device 20 is transported by the transporting device 40, and the loading operation is performed by remote control. However, this is not limiting, and other devices may be transported by the transporting device 40, and other operations may be performed by remote control. As an example, the wiring operation may be performed by a wiring device 60, which is a device for wiring the leg wires W (electric wires with a core conductor coated with an insulator) connected to the electric detonator of the parent die D.

[0143] FIG. 16 is a schematic diagram showing a state in which a wire connection operation is performed by a wire connection device 60 according to this modified example near a working face F, which is a work site. This is a view corresponding to the "working side" shown at the bottom of Fig. 3. The operating side is the same as in the embodiment described above, so illustrations and duplicated explanations will be omitted. Also, the dolly 42 and camera C are the same as in the embodiment described above, so illustrations and duplicated explanations will be omitted. The wiring work is carried out after the loading work. Therefore, a parent die D equipped with an electric detonator is installed in the charge hole H, and the leg wire W (an electric wire with a core conductor covered with an insulator) connected to the electric detonator of the parent die D is exposed (hanging down) from the charge hole H. In this modification, the control device 30 performs control (bilateral control) to transmit haptic sensations, as in the above-described embodiment. Therefore, the user U can perform wire-tying work more appropriately while feeling the reaction force from the wire-tying device 60, as if working close to the head wire W hanging down from the working face F, even though the wire-tying work is performed remotely.

[0144] 16, the wire connection device 60 includes a moving mechanism 61 and a wire connection mechanism 62. The moving mechanism 61 replaces the alignment mechanism 25 in the loading device 20 and moves the wire connection mechanism 62. The wire connection mechanism 62 replaces the insertion mechanism 26 in the loading device 20 and performs the wire connection work. More specifically, the moving mechanism 61 grasps a predetermined location on the rear side of the wiring mechanism 62 and can translate it in horizontal directions including forward and backward directions and left and right directions, and in vertical directions perpendicular to the horizontal plane (i.e., three-dimensional directions), or rotate it around an axis. For example, a robot arm (corresponding to the "arm" in the figure) can be used as the moving mechanism 61. The degrees of freedom of movement of the moving mechanism 61 can be, for example, six, but can be appropriately selected within a range in which the leg wire W can be captured. A pair (i.e., two) of wire connection mechanisms 62 are provided on the left and right sides. When gripping two leg wires W to be connected, the leg wires W are gripped from either the left or right wire connection mechanism 62. Each wire connection mechanism 62 extends forward (in a direction protruding toward the front side) and has a hook-shaped member K at its tip.

[0145] When the moving mechanism 61 moves the wiring mechanism 62, the wiring mechanism 62 is positioned so as to face the working face F, and first an operation is performed to capture one leg wire W to be connected with the hook-shaped member K of the wiring mechanism 62. At this time, the user U, who is the worker, refers to the image taken by the camera C on the display D to grasp the positions of the leg wire W to be captured and the wiring mechanism 62. In order to catch the leg wire W on the hook-shaped member K of the wiring mechanism 62, the user U, who is the operator, operates the first operating mechanism 15 of the operating device 10 to move the position of the moving mechanism 61 and position the wiring mechanism 62 near the leg wire W. Furthermore, when the leg wire W is positioned near the hook-shaped member K of the wiring mechanism 62 in the wiring mechanism 62, the user U, who is the operator, operates the position of the wiring mechanism 62 so that the leg wire W is introduced into the hook-shaped member K through the gap in the hook-shaped member K.

[0146] At this time, the control device 30 executes control (bilateral control) for transmitting haptic sensations between the operation device 10 (first operation mechanism 15) and the wiring device 60 (movement mechanism 61). Therefore, if an external force is applied during the process of capturing the leg wire W with the hook-shaped member K of the wiring mechanism 62, for example, the wiring mechanism 62 abutting against the wall surface of the working face F, the sensation is transmitted to the worker, the user U, via the first operating mechanism 15. Therefore, even when an operator moves the wire connection device 60 remotely, the operator can manipulate the position by utilizing the feeling of contact with an object, thereby preventing the wire connection device 60 from coming into contact with the working face F or the like with excessively strong force.

[0147] Next, in order to catch the leg wire W on the hook-shaped member K of the wiring mechanism 62, the user U, who is the worker, performs the same operation to catch the second leg wire W on the hook-shaped member K of the wiring mechanism 62. At this time, the control device 30 executes control (bilateral control) for transmitting haptic sensations between the operation device 10 (first operation mechanism 15) and the wiring device 60 (movement mechanism 61). Therefore, if an external force acts during the process of capturing the leg wire W with the hook-shaped member K of the connecting mechanism 62, for example, the connecting mechanism 62 abutting against the wall surface of the working face F, the feeling of that force is transmitted to the user U, who is the worker, via the first operating mechanism 15. Furthermore, when capturing a second leg wire W, the connecting mechanism 62 is moved while the connecting mechanism 62 is still holding the first leg wire W. Therefore, if tension is generated in the held leg wire W during the process of moving the connecting mechanism 62, the feeling of that force is transmitted to the user U, who is the worker, via the first operating mechanism 15. Therefore, even when an operator moves the wire connection device 60 remotely, the operator can manipulate the position by utilizing the feeling of contact with an object or the feeling of tension generated in the object being held, thereby preventing the wire connection device 60 from coming into contact with the working face F, etc. with excessive force or from generating excessive tension in the foot wire W, causing it to be cut.

[0148] This completes the preparation for twisting together the two leg wires W to be connected. Here, the wire connection device 60 of this modified example automatically performs the processes from gripping the leg wires W to twisting the two leg wires W together, without an operator having to directly contact the leg wires W. This makes it possible to more reliably connect the leg wires W of multiple electric detonators in series. In this way, even when the wire connection device 60 is transported by the transport device 40 and the wire connection work is performed by remote control, for example, the same effects as those of the above-described embodiment can be achieved.

[0149] In the above-described embodiment and this modified example, at least part of the blasting work is performed by the loading device 20 and the wiring work by the wiring device 60. However, this is merely an example for the purpose of explanation, and other work may be performed by other devices. In other words, the scope of application of the present invention is not limited, and it can be applied to any of the blasting operations.

[0150] Furthermore, it is possible to combine the above-described modified examples. For example, modified example 4 and modified example 6 may be combined. That is, both the loading device 20 and the wire connection device 60 are installed on one stage 423. Then, the loading operation is performed by the loading device 20 first, and then the wire connection operation is performed by the wire connection device 60. In this way, the loading operation and the wire connection operation, which are different operations, can be performed consecutively. Furthermore, for this reason, there is no need for the transport device 40 to transport the loading device 20 once and then the wire connection device 60 multiple times. This makes it possible to shorten the operation time. In this way, by combining the above-described modifications according to the situation, the present invention can be applied to a variety of uses.

[0151] [Configuration example] As described above, the remote operation system 1 according to this embodiment includes the loading device 20, the wire connection device 60, the carrying device 40, the operation device 10, and the control device 30. The loading device 20 and the wiring device 60 carry out at least a part of a series of blasting operations at the work site inside the tunnel. The transporting device 40 transports the loading device 20 and the wire connection device 60 to the work site by moving through the tunnel with the loading device 20 and the wire connection device 60 installed thereon. The operation device 10 accepts remote operations from the user U to the loading device 20 and the wiring device 60. When the loading device 20 and the wiring device 60 are installed on the transport device 40 at the work site, the control device 30 causes the loading device 20 and the wiring device 60 to perform some of the work in accordance with remote operations received by the operation device 10, and transmits the forces applied to the loading device 20 and the wiring device 60 to the user U via the operation device 10.

[0152] In this way, with the remote operation system 1, at least a part of the blasting work can be performed by remote control, so that for at least a part of the loading work, the user U, who is the worker, does not need to work close to the face where there is a risk of skin breakage, etc. Therefore, even if a skin breakage, etc. occurs, the safety of the user U can be ensured. Furthermore, the remote operation system 1 transmits the forces applied to the loading device 20 and the wire connection device 60 to the user U. That is, control that transmits haptic sensations (bilateral control) is performed. Therefore, the user U can perform work with greater precision while feeling the force from the loading device 20 (for example, a reaction force from the environment), as if they were working close to a working face or the like at a work site, even though the work is being remotely operated. Furthermore, in the remote operation system 1, not only can the loading device 20 and the wire connection device 60 be transported to the work site by the transporting device 40, but work can also be carried out at the work site with the loading device 20 and the wire connection device 60 installed on the transporting device 40. Therefore, not only can transportation be achieved in an environment where space is limited, such as inside a tunnel, but installation space for the loading device 20 and the wire connection device 60 can also be secured. Therefore, with the remote operation system 1, it is possible to carry out at least a part of a series of blasting operations while further ensuring the safety of the workers.

[0153] The transport device 40 adjusts the installation positions of the loading device 20 and the wire connection device 60 by moving the location where the loading device 20 and the wire connection device 60 are installed in at least one of the horizontal and vertical directions. This allows the transport device 40 to effectively expand the installation positions of the loading device 20 and the wiring device 60, making it possible to perform work over a wider area without manually adjusting the installation positions of the loading device 20 and the wiring device 60.

[0154] The control device 30 controls the operations between the loading device 20 and the wiring device 60 that have been transported to the work site, and the operating device 10 that has been installed outside the tunnel. This allows the user operating the operation device 10 to perform work without entering the tunnel, further ensuring the safety of the user who is the worker.

[0155] Rails R are laid in the tunnel. The transport device 40 moves while being guided by the rail R, thereby transporting the loading device 20 and the wire connection device 60 to the work site. This allows the loading device 20 and the wire connection device 60 to be transported to the work site by utilizing rails R that are generally laid for tunnel blasting work.

[0156] The transport device 40 includes a transport vehicle 41 and a dolly 42 . The carriage 42 is provided with a loading device 20 and a wire connection device 60 . The transport vehicle 41 moves on the rail R by pulling the carriage from the front or propelling it from the rear. This allows the loading device 20 and the wire connection device 60 to be transported to the work site by simply placing them on a general-purpose cart 42, for example, without having to prepare a dedicated vehicle or device.

[0157] The loading device 20 is a device that performs, as part of its work, the work of inserting an insertion object, which is at least one of an explosive and a filler, into a charge hole at a work site. This allows the loading work, which is part of a series of blasting operations, to be carried out while further ensuring the safety of the workers.

[0158] The wire connection device 60 is a device that performs, as part of its work, the work of connecting the leg wires of multiple explosives inserted into a charge hole at the work site. This allows the wiring work, which is part of a series of blasting operations, to be carried out while further ensuring the safety of the workers.

[0159] The transport device 40 transports the loading device 20 and the wire connection device 60 to the work site, The loading device 20 and the wire connection device 60 are devices that perform different operations as part of their respective operations. This allows multiple tasks within a series of blasting operations to be carried out while further ensuring the safety of the workers.

[0160] The remote operation system 1 further includes a physical quantity data acquisition unit 311. The physical quantity data acquisition unit 311 acquires first position data relating to the positions of the loading device 20 and the wire connection device 60, and second position data relating to the position of the operation device 10. The control device 30 controls the loading device 20 and the wiring device 60 based on the first position data and the second position data that serves as the reference for the loading device 20 and the wiring device 60 to output a position and force corresponding to the operation represented by the second position data, while controlling the operating device 10 based on the second position data and the first position data that serves as the reference for the operation of the operating device 10 to output a position and force corresponding to the operation represented by the first position data, thereby achieving control of the operation. This makes it possible to independently provide control energy for the position (angle) and control energy for the force, that is, to independently control the position (angle) and the force.

[0161] The remote operation system 1 further includes a physical quantity data acquisition unit 311. The physical quantity data acquisition unit 311 acquires physical quantity data representing the operations of the loading device 20 and the wire connection device 60 and physical quantity data representing the operations of the movable parts of the operation device 10. The control device 30 imagines a virtual object including the loading device 20, the wiring device 60, and the operating device 10, and calculates command values ​​for making the loading device 20, the wiring device 60, and the operating device 10 follow the behavior of the virtual object that is manifested by inputs to the loading device 20, the wiring device 60, and the operating device 10, based on the physical quantity data acquired by the physical quantity data acquisition unit 311, and realizes control of the operation based on the calculated command values. This makes it possible to achieve sufficiently high reproducibility and operability of the mechanical impedance of the environment.

[0162] [Realization of functions through hardware and software] The function for executing the series of processes according to the above-described embodiment can be realized by hardware, software, or a combination of these. In other words, it is sufficient that the function for executing the series of processes described above is realized in any of the remote operation systems 1, and there are no particular limitations on how this function is realized.

[0163] For example, when the function of executing the above-mentioned series of processes is realized by a processor that executes arithmetic processing, the processor that executes this arithmetic processing includes processors that are composed of various processing devices alone, such as single processors, multiprocessors, and multicore processors, as well as processors that combine these various processing devices with processing circuits such as ASICs (Application Specific Integrated Circuits) or FPGAs (Field-Programmable Gate Arrays).

[0164] Furthermore, for example, when the function of executing the above-described series of processes is realized by software, the program constituting the software is installed on a computer via a network or a recording medium. In this case, the computer may be a computer incorporating dedicated hardware, or may be a general-purpose computer (e.g., a general electronic device such as a general-purpose personal computer) that can execute predetermined functions by installing a program. Furthermore, the steps of writing the program may include only processes that are executed chronologically according to the order, but may also include processes that are executed in parallel or individually. Furthermore, the steps of writing the program may be executed in any order within the scope of the present invention.

[0165] A recording medium on which such a program is recorded may be provided to a user by being distributed separately from the computer main body, or may be provided to a user in a state where it is pre-installed in the computer main body. In this case, the storage medium distributed separately from the computer main body is, for example, removable medium 100, which is composed of a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. An optical disk is, for example, a CD-ROM (Compact Disc-Read Only Memory), a DVD (Digital Versatile Disc), or a Blu-ray (registered trademark) Disc. An magneto-optical disk is, for example, an MD (Mini Disc). Furthermore, a recording medium provided to a user in a state where it is pre-installed in the computer main body is, for example, a storage unit 37 on which the program is recorded, which is composed of an HDD (hard disk drive) or an SSD (solid state drive). [Explanation of symbols]

[0166] 1 Remote operation system, 10 Operation device, 11a, 11b, 21a, 21b Driver, 12a, 12b, 22a, 22b Actuator, 13a, 13b, 23a, 23b Position sensor, 14, 24, 38 Communication unit, 15 First operation mechanism, 16 Second operation mechanism, 20 Loading device, 25 Alignment mechanism, 26 Insertion mechanism, 27 Guide member, 28 Leg line mechanism, 29 Placement mechanism, 30 Control device, 31 Processor, 32 ROM, 33 RAM, 34 Bus, 35 Input unit, 36 Output unit, 37 Memory unit, 39 Drive, 40 Conveying device, 41 Conveying vehicle, 42 Cart, 51 Parent die, 52 Addition die, 53 Bean jam, 60 Wiring device, 61 Moving mechanism, 62 Wiring mechanism, 100 Removable media, 311 physical quantity data acquisition unit, 312 operation control unit, 313 placement instruction unit, 314 image data acquisition unit, 315 image presentation unit, 316 stage adjustment unit, 371 physical quantity data storage unit, 372 image data storage unit, 421 bogie configuration unit, 422 support unit, 423 stage, C camera, D display, F face, H charge hole, K hook-shaped member, W landing line, CS controlled system, FT force-velocity allocation conversion block, FC ideal force source block, PC ideal velocity (position) source block, IFT inverse conversion block

Claims

1. a work device that performs at least a part of a series of blasting operations at a work site inside the tunnel; a transport device that transports the work device to the work site by moving through the tunnel with the work device installed thereon; an operation device that accepts remote operation of the operation device from a user; a control means for causing the working device to perform the part of the work in accordance with remote control received by the operating device when the working device is installed on the transporting device at the work site, and for transmitting a force applied to the working device to the user via the operating device; A remote operation system comprising:

2. The transport device adjusts the installation position of the work device by moving the location where the work device is installed in at least one of a horizontal direction and a vertical direction.

2. The remote operation system according to claim 1.

3. The control means controls the operation between the work device transported to the work site and an operating device installed outside the tunnel.

3. The remote operation system according to claim 1 or 2.

4. Rails are laid in the tunnel, The transport device moves while being guided by the rail, thereby transporting the work device to the work site.

3. The remote operation system according to claim 1 or 2.

5. The conveying device a carriage on which the working device is installed; a drive device that moves the carriage on the rail by pulling it from the front or propelling it from the rear; Including, 5. The remote operation system according to claim 4.

6. The work device is a device that performs, as part of the work, an insertion object, which is at least one of an explosive and a filler, into a charge hole at the work site.

3. The remote operation system according to claim 1 or 2.

7. The work device is a device that performs, as part of the work, the work of connecting leg wires of a plurality of explosives inserted into a charging hole at the work site.

3. The remote operation system according to claim 1 or 2.

8. the transport device transports the plurality of work devices to the work site; each of the plurality of work devices is a device that performs a different work as the part of the work; 3. The remote operation system according to claim 1 or 2.

9. The system further includes a data acquisition means for acquiring first position data relating to a position of the work device and second position data relating to a position of the operation device, the control means controls the working device based on the first position data and the second position data serving as a reference for the working device to output a position and force corresponding to the operation represented by the second position data, while controlling the operating device based on the second position data and the first position data serving as a reference for the operation of the operating device to output a position and force corresponding to the operation represented by the first position data, thereby realizing control of the operation.

3. The remote operation system according to claim 1 or 2.

10. a data acquisition means for acquiring physical quantity data representing a movement of the working device and physical quantity data representing a movement of a movable part of the operating device, the control means imagines a virtual object including the working device and the operating device, calculates command values ​​for causing the working device and the operating device to follow behaviors exhibited by the virtual object due to inputs to the working device and the operating device based on the data of the physical quantities acquired by the data acquisition means, and realizes control of the operation based on the calculated command values.

3. The remote operation system according to claim 1 or 2.

11. a work device that performs at least a part of a series of blasting operations at a work site inside the tunnel; a transport device that transports the work device to the work site by moving through the tunnel with the work device installed thereon; an operation device that accepts remote operation of the operation device from a user; A remote operation method performed by a remote operation system comprising: a control step of causing the working device to perform the part of the work in accordance with remote operation received by the operation device, while the working device is installed on the transporting device at the work site, and transmitting a force applied to the working device to the user via the operation device; A remote working method comprising:

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