Remote work system, method thereof, program thereof, work apparatus, and control apparatus

Abstract

To provide a remote work system, its method, its program, a work device, and a control device for improving the responsiveness of the work device.SOLUTION: A remote work system 1 according to the present invention includes a work device 100, a control device 200, and a cable 300 that connects the work device 100 and the control device 200 and transmits a fluid 500, wherein the control device 200 includes a calculation unit 210 that calculates a fluid pressure 1000 exceeding a fluid pressure value 710 and a pressurization time during pressurization and calculates a fluid pressure 1000 below the fluid pressure value 710 and a depressurization time during depressurization with respect to the fluid pressure value 710 necessary for the work device 100 to perform a predetermined operation based on a pressure of the fluid 500 in the cable 300 before pressurization or depressurization, and a fluid pressure control unit 220 that controls the pressure of the fluid 500 in the cable 300 based on the fluid pressure 1000 calculated by the calculation unit 210 and the pressurization time or the depressurization time.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a remote operation system, a method thereof, a program thereof, an operation device, and a control device. [Background technology]

[0002] At nuclear power plants, the working environment is highly radioactive during decommissioning and inspection work. Therefore, remote work systems using robotic work devices that can replace workers are being used to improve worker safety and reduce the burden on workers. The work environment is often narrow due to the presence of many existing structures, while the work involves tasks that involve heavy loads, such as grasping rubble and moving over uneven ground.

[0003] Furthermore, precision electronic devices such as step motors used to drive many working devices and semiconductor sensors used for control are vulnerable to radiation. Therefore, a remote operation system has been provided that is configured to remotely control an operation device in a radiation environment.

[0004] In relation to a remote work system with this configuration, a technique has been proposed to reduce the likelihood of the cable getting caught on unintended obstacles, as described in Patent Document 1, for example. The conventional technique described in Patent Document 1 involves spraying water onto the ground, causing the cable to float due to the water's reflex movement against the ground. This makes it possible to move the cable to the work site and perform the desired work, even in an environment with many obstacles. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-164069 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the conventional technology described in Patent Document 1, since the reaction force of the fluid is utilized, in order to maintain the cable levitation, it was necessary to adjust the fluid pressure supplied from the control device to the work device according to the posture of the cable and the shape of the ground. Furthermore, the control device must be installed in a stable environment far away from harsh environments, which means the cable connecting the control device to the work device is long. This means that it takes time for the fluid pressure in the cable to change, which reduces the responsiveness of the work device.

[0007] The present invention has been made to solve the above-mentioned problems, and its main object is to provide a remote operation system, a method thereof, a program thereof, an operation device, and a control device that improve the responsiveness of the operation device. [Means for solving the problem]

[0008] In order to solve the above problems, the fluid pressure-driven remote work system of the present invention comprises a fluid-driven working device, a control device for controlling the operation of the working device, and a cable connecting the working device and the control device and transmitting the fluid, the control device comprising a calculation unit that calculates, based on the pressure of the fluid in the cable before it is pressurized and the pressurization time to be applied to the fluid in the cable so that the fluid pressure exceeds the fluid pressure value required for the working device to perform a specified operation, and that calculates the fluid pressure and depressurization time to be applied to the fluid in the cable so that the fluid pressure exceeds the fluid pressure value when pressurized, and that the fluid pressure falls below the fluid pressure value when depressurized, and a fluid pressure control unit that controls the pressure of the fluid in the cable based on the fluid pressure calculated by the calculation unit and the pressurization time or the depressurization time. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a remote operation system that improves the responsiveness of an operation device, a method thereof, a program thereof, an operation device, and a control device. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram illustrating the overall configuration of a remote operation system according to a first embodiment. [Figure 2] FIG. 1 is a conceptual diagram of an internal block of a remote operation system. [Figure 3] FIG. 1 is a schematic diagram illustrating the internal configuration of a remote operation system. [Figure 4] FIG. 2 is a conceptual diagram showing the processing content (calculation content) in a calculation unit. [Figure 5A] FIG. 2 is a schematic diagram illustrating the configuration of an actuator used in the working device. [Figure 5B] FIG. 2 is a schematic diagram illustrating the configuration of an actuator used in the working device. [Figure 6A] 10 is a diagram showing changes in fluid pressure on the working device side when the set pressure of the injection valve of the control device is increased stepwise at time 0. FIG. [Figure 6B] This figure shows pressure changes when the set pressure is set to a value higher than the target value for an appropriate period of time and then set to the same value as the target value, thereby shortening the time it takes to reach the set pressure. [Figure 7] FIG. 10 is a control flow diagram for switching between a control mode and a calibration mode executed by the calculation unit during work. [Figure 8] FIG. 10 is a diagram showing a reflected wave that is input as a pressure wave, reflected at the closed end on the working device side, and then returns to the control device. [Figure 9] 10 is a diagram showing an example in which the fluid pressure is switched into a rectangular shape to generate a fluid pressure signal according to the second embodiment. FIG. [Figure 10] FIG. 10 is an internal block diagram of a remote operation system according to a second embodiment. [Figure 11] FIG. 10 is a schematic diagram illustrating the internal configuration of a remote operation system according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that each drawing is merely a schematic illustration to allow a sufficient understanding of the present invention. Therefore, the present invention is not limited to the illustrated examples. Furthermore, in each drawing, common or similar components are designated by the same reference numerals, and redundant explanations thereof will be omitted.

[0012] [Embodiment 1] <Configuration of remote operation system 1> The configuration of a remote operation system 1 according to the first embodiment will be described below with reference to FIGS.

[0013] FIG. 1 is a schematic diagram of the overall configuration of a remote operation system 1 according to the first embodiment. The remote operation system 1 is a system that performs a predetermined operation remotely using an operation device (control target) 100. The remote operation system 1 comprises an operating device 10, the operation device 100, a control device 200, and a cable 300. The operating device 10 is a device operated by the operator 2 to control the working device 100. A control unit 10c of the operating device 10 receives operation inputs from the operator 2 and presents (outputs) work information to the operator 2 on a display 10d. The control unit 10c also transmits and receives signals (data) to and from the control device 200.

[0014] The working device 100 is a device such as a robot that moves near a work target to perform the work. The working device 100 has multiple joints 110. Each joint 110 is driven by the pressure (fluid pressure 510 (see FIG. 3)) of a fluid 500 (see FIG. 3). Each joint 110 is configured to be driven by an actuator 111 (see FIGS. 5A and 5B) (described below) that is operated by the fluid pressure 510. The control device 200 is a device that controls the operation of the working device 100 in response to an operation input to the operating device 10. The control device 200 adjusts the supply pressure to the fluid 500 (see FIG. 3 ) based on an operation input to the operating device 10 by the operator 2, and outputs the adjusted pressure to the working device 100.

[0015] The cable 300 is a member that connects the control device 200 and the working device 100. The cable 300 includes a cylindrical resin or metal tube that has characteristics such as flexibility, pressure resistance, and liquid resistance in order to transmit the fluid 500 from the control device 200 to the working device 100 (because the fluid 500 is filled inside the cable 300).

[0016] <Working device 100 and cable 300> FIG. 2 is a conceptual diagram of the internal blocks of the remote operation system 1. The working device 100 has a joint section 110 and a fluid pressure distribution section 120 . The joint unit 110 corresponds to an arm (for example, a manipulator 100a such as a robot hand or robot arm) or leg (not shown) having a joint of a device such as a robot, or a crawler (endless track) 100c, etc. The joint unit 110 is operated by the fluid pressure 510 as described above.

[0017] Note that the cable 300 may have multiple tubes in order to supply fluid 500 with different pressure values ​​to different fluid pressure distribution units 120 or to provide redundancy in case of a break in the tube of the cable 300. In other words, the cable 300 has a spare tube that can be used as a substitute if the tube in use is damaged, broken, or the like. The control in the fluid pressure distribution unit 120 is performed by a microcomputer or the like including hardware and software stored in the working device 100.

[0018] Furthermore, the cable 300 may have a tube for returning the fluid from the operating device 100 to the control device 200. That is, the cable 300 may have a tube through which the fluid flows to return from the operating device 100 to the control device 200 when the fluid is supplied from the control device 200 to the operating device 100. If no tube for returning the fluid is provided, the fluid may be discharged into the environment. Furthermore, the tubes of the cable 300 and the cover that bundles the multiple tubes are preferably made of a radiation-resistant resin such as PEEK. This is because the working environment during decommissioning and inspection work at a nuclear power plant is highly radioactive. However, radiation-resistant resins other than PEEK may also be used for the cover.

[0019] In addition to the tube, the cable 300 may further include an electric signal line for transmitting a control signal for switching the operation of the working device 100; that is, the cable 300 may be provided with an electric signal line. By using the operating device 100 configured as described above, a remote operating system 1 can be configured.

[0020] <Control device 200> 2, the control device 200 has a calculation unit 210 and a fluid pressure control unit 220 to drive and control the working device 100. Control in the control device 200 is performed by a computer including software stored in the control device 200, hardware, etc.

[0021] FIG. 3 is a schematic diagram showing the internal configuration of the remote operation system 1. As shown in FIG. <Calculation unit 210 of control device 200> The calculation unit 210 is a component that adjusts the pressure (fluid pressure 510) of the fluid 500 in the tube of the cable 300 in order to drive and control the working device 100 based on the operation input 700 to the operating device 10. The calculation unit 210 has a responsiveness 600 that indicates a change in fluid pressure 510 when fluid 500 is injected into or discharged from the tube of the cable 300, which was obtained in the preliminary evaluation. Specifically, the responsiveness 600 indicates a change in fluid pressure 510 that is transmitted to the working device 100 when fluid 500 is injected into or discharged from the tube of the cable 300.

[0022] Responsiveness 600 includes information linking the set values ​​and opening times of inlet valve 223 and outlet valve 224 shown in Figure 3 with the actual increase / decrease in fluid pressure 510 and its variability. Responsiveness 600 is a set of data expressed in the form of, for example, a response function including a transfer function or a lookup table. Using a lookup table allows a computer to search the lookup table, which is a set of finite data sets, thereby reducing processing time.

[0023] In detail, the lookup table is a data set of the set values ​​and opening times of the injection valve 223 and the discharge valve 224, the actual increase / decrease in fluid pressure 510, and the variation in the increase / decrease. The data set is obtained by a pre-evaluation of each remote operation system 1. The lookup table is searched by a computer for an optimal data set that provides the shortest pressurization / depressurization time 1100 for each target fluid pressure (target set pressure 710). Similarly, the response functions including the transfer functions are determined in advance in each remote operation system 1 by using impulse responses and the like. The responsiveness 600 may be something other than a response function or a lookup table.

[0024] <Processing Contents in the Calculation Unit 210> FIG. 4 is a conceptual diagram showing the processing content (calculation content) in the calculation unit 210. The input information to calculation unit 210 includes fluid pressure 510 in cable 300 before pressurization / depressurization, a target fluid pressure (target set pressure 710), and constraints for achieving the target fluid pressure. The constraints include, for example, an upper limit on the pressurization / depressurization time of the fluid in cable 300, i.e., the maximum pressurization / depressurization time, the target fluid pressure (target set pressure 710), and the variation in fluid pressure after pressurization / depressurization at the target fluid pressure. For example, a large amount of pressurization / depressurization results in a large overshoot (large variation in fluid pressure after pressurization / depressurization), while a small amount of pressurization / depressurization results in a small overshoot (small variation in fluid pressure after pressurization / depressurization).

[0025] Based on the input information, the calculation unit 210 searches for a combination of the set fluid pressure 1000 (see FIG. 3) and the pressurization / depressurization time 1100 (see FIG. 3) that satisfies the above constraints, using a predetermined regression response function or lookup table. In detail, the calculation unit 210 determines the combination of the set fluid pressure 1000 and the pressurization / depressurization time 1100 using a lookup table or response function that is previously determined to determine the relationship between the pressurization / depressurization amount of the fluid 500 and the set fluid pressure 1000, the pressurization / depressurization time 1100, and the variation in the fluid pressure 510. By using the response function or lookup table, it is possible to quickly obtain the combination of the set fluid pressure 1000 and the pressurization / depressurization time 1100 that results in the shortest pressurization / depressurization time 1100.

[0026] By the above-mentioned search in the calculation unit 210, the set fluid pressure 1000 and pressurization time or depressurization time (pressurization / depressurization time 1100) that satisfy the constraint conditions are determined. In this way, the calculation unit 210 calculates the target set pressure 710 of the required fluid pressure 510 and its allowable variation amount 720 from the operation input 700 of the operation device 10. Furthermore, the fluid pressure control unit 220 and the calculation unit 210 sequentially measure the value of the fluid pressure 510 as a measured pressure 800 using a pressure sensor 510s (see FIG. 3) or the like.

[0027] In summary, in order to change the fluid pressure 510 from the measured pressure 800 to the target set pressure 710 based on the operation input 700 (see Figure 3), the calculation unit 210 uses the above-mentioned responsiveness 600 (see Figure 3) to calculate the set fluid pressure 1000 and pressurization / depressurization time 1100, which are the shortest pressurization / depressurization time 1100, and outputs them to the fluid pressure control unit 220. The control device 200 configured as described above can reach the target set pressure 710 in the shortest pressurization / depressurization time 1100, and can also determine the set fluid pressure 1000 and pressurization / depressurization time 1100 that satisfy the target set pressure 710 and its tolerance for variation 720.

[0028] <Fluid pressure control unit 220 of control device 200> The fluid pressure control unit 220 shown in FIG. 3 is a component that controls the pressure of the fluid 500 inside the cable 300. The fluid pressure control unit 220 injects or discharges the fluid 500 into or from the cable 300 based on a command input from the calculation unit 210, and controls the pressure of the fluid 500 inside the cable 300. To this end, the fluid pressure control unit 220 has a fluid storage tank 222, a constant pressure source 221, an injection valve 223, and a discharge valve 224.

[0029] The fluid storage tank 222 is a tank in which the fluid used in the remote operation system 1 is stored. Constant pressure source 221 is a pump such as a centrifugal pump, which draws up fluid 500 from fluid storage tank 222 and discharges it at a rated pressure. The rated pressure is greater than the maximum output required to drive working device 100. To prevent breakdowns in the event of a control failure in fluid pressure control unit 220, the rated pressure is set to be equal to or less than the breaking pressure of the tubes that make up cable 300 using a predetermined safety factor.

[0030] The injection valve 223 has a mechanism that opens the flow path when the pressure on the secondary side 223o is below a set pressure, injecting the fluid 500 into the tube of the cable 300, and closes the flow path when the pressure is equal to or greater than the set pressure, stopping the injection of the fluid 500. The set pressure can be changed based on a set fluid pressure 1000 input from the calculation unit 210 (see FIG. 3). For example, the injection valve 223 may be configured to use an electric motor to drive the adjustment unit of a pressure-reducing valve with a variable set pressure. Alternatively, the injection valve 223 may be configured to switch between pressure-reducing valves that use multiple combinations of a pressure-reducing valve with a fixed set pressure and a solenoid valve that can open and close the flow path, arranged in parallel.

[0031] In addition, the injection valve 223 is configured to be able to open the flow path for the valve pressurization / depressurization time 1100 (see FIG. 3) input from the calculation unit 210, regardless of the magnitude of the pressure on the secondary side 223o and the set pressure. For example, a solenoid valve that can open and close the flow path is arranged on the secondary side 223o of the injection valve 223. The discharge valve 224 has a mechanism for opening the flow path when the pressure on the primary side 224i is greater than a set pressure, discharging the fluid 500 from the tube, and for closing the flow path and stopping the discharge when the pressure is equal to or less than the set pressure.

[0032] The set pressure can be changed based on the set fluid pressure 1000 input from the calculation unit 210. For example, an electric motor may be used to drive the adjustment unit of a relief valve that eliminates overpressure with a variable set pressure. Alternatively, a pressure reducing valve may be used that switches between multiple combinations of a relief valve with a fixed set pressure and a solenoid valve that can open and close the flow path, arranged in parallel. In addition, the flow path can be opened for the pressurization / depressurization time 1100 input from the calculation unit 210, regardless of the magnitude of the pressure on the primary side 224i and the set pressure. For example, a solenoid valve that can open and close the flow path is arranged on the secondary side 224o of the injection valve 223.

[0033] <Working device 100> The working device 100 shown in FIGS. 1 and 2 has a joint section 110 and a fluid pressure distribution section 120 in order to move to the vicinity of a work object and perform the work.

[0034] 5A is a schematic diagram of the actuator 111 (112) used in the working device 100. FIG. 5B is a schematic diagram of the actuator 111 (113) used in the working device 100.

[0035] <Joint 110 of working device 100> 1 is an arm (manipulator) 100a, a leg (not shown), or a crawler (crawler) 100c of the working device 100. In other words, the joint 110 is any one of the manipulator 100a, the leg, or the crawler 100c. Therefore, the joint 110 has one or more actuators 111 (see FIGS. 5A and 5B). The actuators 111 are configured, for example, by fluid pressure cylinders 112 (see FIG. 5A) or fluid pressure motors 113 (see FIG. 5B). Each actuator 111 is related to the operation of the corresponding joint 110. In other words, the joint 110 operates when one or more actuators 111 operate.

[0036] <Fluid pressure distribution unit 120 of working device 100> 2 is a component that distributes fluid 500 to one or more actuators 111. In addition to branched flow paths for distribution to the actuators 111, the fluid pressure distribution unit 120 may be configured to include a solenoid valve or the like in the flow path to switch on / off the supply of fluid to each actuator 111. For example, to avoid the generation of electric charges due to radiation and the effects on semiconductors, it is advisable to configure a logic circuit using a mechanical relay to switch on / off the supply of fluid to each actuator 111.

[0037] In the example shown in Fig. 5A, the actuator 111 is configured as a fluid pressure cylinder 112. In the example shown in Fig. 5A, a fluid 500 is supplied to one space 112a of the fluid pressure cylinder 112, and the fluid 500 is discharged from the other space 112b. This causes the piston 112c to be pushed outward from the cylinder 112s. Conversely, the fluid 500 is discharged from one space 112a of the fluid pressure cylinder 112, and the fluid 500 is supplied to the other space 112b, causing the piston 112c to be drawn (pulled) into the cylinder 112s.

[0038] The joint 110 of the working device 100 shown in FIG. 2 is driven in accordance with the amount of push-out or pull-out (retraction) of the piston 112c (see FIG. 5A). In the example shown in FIG. 5B, the actuator 111 is configured as a fluid pressure motor 113. In the example shown in FIG. 5B, a fluid 500 is supplied to one space 113a of the fluid pressure motor 113, and the fluid 500 is discharged from the other space 113b. This causes the rotating shaft 113c to rotate in the forward direction (the direction of the white arrow α11 in FIG. 5B). Conversely, the fluid 500 is discharged from one space 113a of the fluid pressure motor 113, and the fluid 500 is supplied to the other space 113b, causing the rotating shaft 113c to rotate in the reverse direction (the direction of the arrow α12 in FIG. 5B).

[0039] The joint 110 of the working apparatus 100 shown in FIG. 1 is driven according to the amount of forward rotation (white arrow α11 in FIG. 5B) or the amount of reverse rotation (arrow α12 in FIG. 5B) of the rotation shaft 113c. <Motion control of remote operation system 1>

[0040] 6A and 6B are diagrams showing changes in fluid pressure 510 on the working device 100 side when the set pressure of the injection valve 223 is changed and the fluid pressure 510 is increased. FIG. 6A shows the change in fluid pressure 510 on the working device 100 side when the set pressure (set pressures B1, B2) of the injection valve 223 (see FIG. 3) of the control device 200 is increased stepwise at time 0. The fluid pressure 510 does not immediately rise to the set pressure B1 at time 0, but takes time (dead time) to reach the set pressure B1. This is because there is dead time (propagation time) until the pressure change propagates from the control device 200 to the working device 100 due to the length of the cable 300, and because the pressure change slows down (a decrease in pressure energy) due to the progress of expansion of the cable 300.

[0041] Furthermore, if the set pressure before the change is the same, increasing the set pressure after the change (set pressure B2) results in a steeper pressure change after the lapse of dead time. Therefore, when pressurizing with the injection valve 223 (see FIG. 3) of the control device 200, the set pressure (set fluid pressure 1000) can be set to a value different from the target fluid pressure (target set pressure 710) for an appropriate period of time. In other words, the set pressure can be set to a value higher than the target fluid pressure (target set pressure 710) of the target value, and then (after an appropriate period of time has passed) can be set to the same value as the target value (target set pressure 710). This shortens the time it takes to reach the set pressure (target set pressure 710). The pressure change in this case is shown in FIG. 6B. On the other hand, the more the set pressure exceeds the original target value and the more abrupt the pressure change, the greater the pressure variation (pressure overshoot) after pressurization ends and the longer it takes to reach the target value (target set pressure 710), so there is an upper limit to the amount that the set pressure can exceed.

[0042] When the set pressure of the discharge valve 224 shown in Figure 3 is changed and reduced (when reducing pressure), just as when pressurizing, there is dead time (see Figure 6A) until the pressure change propagates and the tube contracts over time. Therefore, by setting the set pressure (set fluid pressure 1000) to a value different from the target fluid pressure (target set pressure 710) and lower than the original target value, the time until the set pressure (target set pressure 710) is reached can be shortened, just like in Figure 6B.

[0043] <Remote operation system 1 operation control flow> Based on the above, first, operator 2 shown in Fig. 1 inputs operation input 700 to operation device 10. Then, as shown in Fig. 3, operation input 700 is sent to calculation unit 210. Next, calculation unit 210 calculates target set pressure 710 of fluid pressure 510 required to execute operation input 700 and tolerance 720 for variation therein, in accordance with the operation of working device 100. For example, tolerance 720 for variation is increased for rough operation of working device 100, and tolerance 720 for variation is decreased for delicate operation of working device 100.

[0044] Thereafter, the calculation unit 210 increases or decreases the fluid pressure 510 from the pressure 800 measured by the pressure sensor 510s (see FIG. 3) to the target set pressure 710 based on the response 600. 4, the calculation unit 210 uses a lookup table, a response function, etc. to calculate the combination of set fluid pressure 1000 and pressurization / depressurization time 1100 that satisfies the allowable variation amount 720 and has the shortest pressurization / depressurization time 1100, and outputs this to the fluid pressure control unit 220 (see FIG. 3). Based on the input set fluid pressure 1000 and pressurization / depressurization time 1100, the fluid pressure control unit 220 opens and closes the injection valve 223 or the discharge valve 224 to change the fluid pressure 510 in the cable 300. As described above, when pressurizing with the injection valve 223 (see Figure 3) of the control device 200, the set fluid pressure 1000 is set to a value different from the target fluid pressure (target set pressure 710) for an appropriate period of time, that is, a value higher than the target fluid pressure (target set pressure 710) of the target value, and then set to the same value as the target value (target set pressure 710), thereby shortening the time required to reach the target set pressure 710. 3, the set fluid pressure 1000 is set to a value different from the target fluid pressure (target set pressure 710) and lower than the original target value (target set pressure 710), thereby shortening the time required to reach the set pressure (target set pressure 710), as in the case of FIG. 6B. Thereafter, the fluid pressure control unit 220 applies the target set pressure 710 to the fluid in the cable 300. In this way, the calculation unit 210 calculates a set fluid pressure 1000 that exceeds the target fluid pressure (target set pressure 710) when pressurized, and a set fluid pressure 1000 that is below the target fluid pressure (target set pressure 710) when depressurized, based on the fluid pressure of the cable 300 before pressurization.

[0045] As a result, the fluid pressure 510 supplied to the fluid pressure distribution unit 120 of the working device 100 is changed, and the output of the actuator 111 (see FIGS. 5A and 5B) to which the fluid pressure is distributed can be controlled in accordance with the operation input 700. As a result, the value of the fluid pressure 510 supplied to the working device 100 can be switched at high speed by calculations performed by the calculation unit 210. By switching the fluid pressure 510 supplied to the working device 100 at high speed, the effect is achieved that the responsiveness of the working device 100 is improved.

[0046] <Calibration of responsiveness 600> If the cable's modulus of elasticity (Young's modulus) changes due to the effects of temperature or radiation in the work environment of a nuclear power plant, etc., it may be necessary to correct the response 600 of the response function, look-up table, etc. created in the preliminary evaluation. Generally, materials tend to become more flexible at higher temperatures and harder at lower temperatures. To address this issue, the calculation unit 210 switches between the operation control mode of the operating device 100 and the calibration mode of the responsiveness 600 during operation in the remote operating system 1. By providing the calibration mode, the precision of control is ensured, and the control of the operating device 100 becomes even more precise.

[0047] FIG. 7 is a control flow diagram for switching between the control mode and the calibration mode executed by the calculation unit 210 during work. After starting work, the operating device 10 waits for an operation input 700 (step S701 in FIG. 7). Then, after input of the operation input 700, it is determined whether calibration of the responsiveness 600 (see FIG. 3) is necessary (step S702 in FIG. 7). For example, this determination may be based on the elapsed time from the start of work. That is, it is determined in advance that calibration will be performed after a certain period of time has elapsed. Alternatively, the actual pressure of the fluid 500 may be measured by the pressure sensor 100s (see FIG. 3) on the operating device 100, and the determination may be based on the difference between the set fluid pressure 1000 and the target set pressure used by the calculation unit 210 when deriving the pressurization / depressurization time 1100. For example, if the difference from the target set pressure is smaller than a predetermined threshold, calibration is not performed, and if the difference from the target set pressure is larger than the predetermined threshold, calibration is performed.

[0048] If calibration is not required (No in step S702 in FIG. 7), as described above, the calculation unit 210 calculates the target set pressure 710 from the operation input 700, and calculates the set fluid pressure 1000 and the pressurization / depressurization time 1100 based on the latest responsiveness 600 (see FIG. 3). Then, the fluid pressure control unit 220 adjusts the fluid pressure 510 supplied to the working device 100 to drive and control the working device 100 (step S703 in FIG. 7). If calibration is required (Yes in step S702 in FIG. 7), first, the inlet for the fluid 500 of the fluid pressure distributor 120 shown in FIG. 3 is closed, and the end of the cable 300 on the working device 100 side is closed (step S704 in FIG. 7). This is to eliminate the influence on the fluid pressure of the operation of the actuator 111 and the external load applied to the working device 100. Therefore, by closing the end of the cable 300 on the working device 100 side, the influence of the external load is blocked, allowing for more accurate calibration.

[0049] Next, the fluid pressure control unit increases or decreases the fluid pressure 510 (see FIG. 3) in the cable 300 in a predetermined pattern, and the calculation unit 210 measures the time change (time-series change) of the fluid pressure 510 in the cable 300 (step S705 in FIG. 7). In other words, the calibration function of the calculation unit 210 calibrates the responsiveness 600 of the response function, look-up table, etc. based on the time-series change of the fluid pressure 510 measured by the calculation unit 210 when the fluid pressure control unit 220 increases or decreases the fluid pressure in a predetermined pattern after blocking the end of the cable 300 on the working device 100 side. As described above, the calculation unit 210 acquires the measured pressure 800 using the pressure sensor 510s (see FIG. 3) or the like. For example, as shown in Fig. 8, the reflection time from when a pressure wave is input, when it is reflected at the closed end on the working device 100 side, and when it returns to the control device 200 again may be calculated. Fig. 8 is a diagram showing a reflected wave in which a pressure wave is input, when it is reflected at the closed end on the working device 100 side, and when it returns to the control device 200 again.

[0050] In this case, as shown in FIG. 8, the pressure propagation speed in the cable 300 can be determined from the measured reflection time and the known length of the cable 300. Furthermore, the elastic modulus of the cable 300 can be estimated based on the pressure propagation velocity from the commonly known equation (1) for the pressure wave propagation velocity in an elastic pipe. Equation 1 is the formula for the pressure wave propagation velocity in an elastic pipe, which is a pipe made of an elastic material.

number

[0051] Here, a: pressure propagation velocity (m / s), a is calculated from the measured reflection time and the known tube length of the cable 300 as 2×tube length / reflection time. k: fluid sedimentary modulus (Pa), ρ: fluid density (kg / m 3 ), d: inner diameter (m) of the tube of the cable 300, t: thickness (m) of the tube of the cable 300, where k, ρ, d, and t are known. E: Young's modulus (Pa) of the tube of the cable 300. Young's modulus E is estimated (calculated) using equation (1).

[0052] By evaluating the responsiveness 600 in advance within an expected range of change in the elastic modulus of the cable 300 (E: Young's modulus of the tube of the cable 300) and storing the result in the calculation unit 210, it is possible to switch and calibrate the responsiveness 600 to be used based on the estimated elastic modulus. Alternatively, as shown in Fig. 8, the fluid pressure 510 in the cable 300 may be changed in a pulsed manner using an impulse response, and a response function such as a transfer function of the cable 300 may be obtained from the time change in the fluid pressure 510 in the cable 300 at that time, thereby calibrating the responsiveness 600 (step S706 in Fig. 7).

[0053] Next, it is determined whether to continue or terminate the control (step S707 in FIG. 7). If the control is to be continued (Yes in step S707 in FIG. 7), the process proceeds to step S701 in FIG. If the control is not to be continued (No in step S707 in FIG. 7), the operation is ended.

[0054] <Action and effect> According to the first embodiment, when the target set pressure 710 is higher than the fluid pressure 510 (when pressurizing), a set fluid pressure 1000 higher than the target fluid pressure (target set pressure 710) is applied to the fluid as a value different from the target fluid pressure (target set pressure 710). On the other hand, when the target set pressure 710 is lower than the fluid pressure 510 (when depressurizing), a set fluid pressure 1000 lower than the target set pressure 710 is applied to the fluid as a value different from the target fluid pressure (target set pressure 710). Thereafter, the fluid pressure control unit 220 applies the target set pressure 710 to the fluid in the cable 300. In other words, the calculation unit 210 calculates a set fluid pressure 1000 that exceeds the target fluid pressure (target set pressure 710) when pressurizing, based on the fluid pressure 510 before pressurization or depressurization of the cable 300. Also, the calculation unit 210 calculates a set fluid pressure 1000 that is lower than the target fluid pressure (target set pressure 710) when depressurizing. In this way, calculation unit 210 performs calculations to apply set fluid pressure 1000, which has an amount of change that exceeds the amount of change required to reach target set pressure 710 during pressurization or depressurization, to the fluid, and fluid pressure control unit 220 applies set fluid pressure 1000, which has an amount of change that exceeds the amount of change, to the fluid in cable 300. Thereafter, calculation unit 210 calculates target set pressure 710, and fluid pressure control unit 220 applies target set pressure 710 to the fluid in cable 300. This provides the advantageous effect of enabling the fluid pressure 510 to reach the target set pressure 710 quickly. In other words, the control device 200 calculates the set fluid pressure 1000 and the pressurization / depressurization time 1100 to achieve the target set pressure 710 in the tube of the cable 300 that supplies the fluid 500 to the working device 100, and by changing them at high speed, the responsiveness of the working device 100 that is driven by the fluid pressure 510 can be improved.

[0055] Furthermore, the variation is made variable according to the operation of the operating device 100, and when the variation is tolerable, the variation is set large, and when the variation is not tolerable, the variation is set small, and the operating device 100 is operated. In this way, by controlling according to the operation of the operating device 100, the operation of the operating device 100 can be controlled quickly. Furthermore, the calculation unit 210 has a function of calibrating to the latest responsiveness 600 (response function, data set, etc.), so that the operation device 100 can be controlled more appropriately according to the time point at which the operation device 100 is controlled.

[0056] [Embodiment 2] The remote operation system 1 according to the first embodiment shown in Figures 1 and 2 is configured to supply one value of fluid pressure to one fluid pressure distributor 120 (see Figure 3) through one tube in a cable 300. On the other hand, the operation device 100 of the remote operation system 1 generally has multiple joints 110 (see Figure 1) to perform grasping while avoiding obstacles and multiple tasks simultaneously, and may be configured to drive the multiple joints 110 simultaneously with different outputs.

[0057] In this configuration, if the fluid pressure distribution unit 120 only has a distribution flow path, that is, if the opening and closing of the branched flow paths cannot be changed individually, it is necessary to provide a fluid pressure distribution unit 120 for each joint unit 110. As a result, many tubes are required inside the cable 300, which increases the weight of the cable 300 and acts as an external load on the working device 100, reducing the mobility of the working device 100.

[0058] Therefore, one possible solution is to configure the fluid pressure distribution unit 120 to include a solenoid valve or the like in the flow path in addition to the distribution flow path, so that the opening and closing of the flow paths after branching can be controlled individually. With this solution, one fluid pressure distribution unit 120 and one tube are sufficient for multiple joint units 110. However, while this solution can reduce the number of tubes in the cable 300, it requires a new control signal to switch the distribution pattern of the fluid pressure distribution unit 120.

[0059] In a radiation environment, it is difficult to install a communication circuit for serial communication, which requires fewer signal lines, in the operating device 100, so parallel communication, which requires many signal lines, is used. As a result, many new metal signal lines are required in the cable 300, which increases the weight of the cable 300 and reduces the mobility of the operating device 100. Therefore, the remote operating system 1 according to the first embodiment has room for improving the mobility of the operating device 100.

[0060] FIG. 9 is a diagram showing an example in which the fluid pressure 510 is switched to a rectangular shape to generate the fluid pressure signal 530 (see FIG. 11) of the second embodiment. In contrast to this, in the second embodiment, as shown in Fig. 9, a fluid 500 in a cable 300 is used to transmit a control signal for the fluid pressure distribution unit 120 as a fluid pressure signal 530 superimposed on the rated pressure as fluid pressure 510. This provides a remote operation system 1A (second embodiment) that does not require metal signal wires.

[0061] Fig. 10 is an internal block diagram of a remote operation system 1A according to embodiment 2. Fig. 11 is a schematic diagram of the internal configuration of the remote operation system 1A according to embodiment 2. The configuration of a remote operation system 1A according to the second embodiment will be described below with reference to FIGS. As shown in FIG. 10, the working device 100A includes a joint 110A similar to the joint 110 of the first embodiment, a fluid pressure distribution unit 120A, and a signal detection unit . The signal detector 130 detects a fluid pressure signal 530 superimposed on the fluid in the cable 300A.

[0062] The remote operation system 1A according to the second embodiment shown in FIGS. 10 and 11 differs from the remote operation system 1 according to the first embodiment in the following respects. (1) The control device 200A of the second embodiment switches the fluid pressure 510 to a predetermined pattern, thereby transmitting a control signal (fluid pressure signal 530) (see FIG. 11) of the fluid pressure distribution unit 120A to the working device 100A. (2) The working apparatus 100A of the second embodiment has a signal detection unit 130 (see FIG. 11) that measures the change over time in the fluid pressure 510 and detects the fluid pressure signal 530.

[0063] (3) The signal detection unit 130 of the second embodiment switches the supply pattern of the fluid pressure 510 to each joint 110 of the fluid pressure distribution unit 120 based on the detected fluid pressure signal 530. The supply pattern of the fluid pressure 510 to each joint 110 is predetermined by a prior evaluation for each movement of the joint 110. In other words, the supply pattern of the fluid pressure 510 to each joint 110 is predetermined for each movement of the joint 110. Other than the above, the configuration of the second embodiment is the same as that of the first embodiment.

[0064] As shown in Fig. 9, fluid pressure signal 530 is generated by superimposing fluid pressure 510 on the rated pressure in multiple stages to change the shape of rectangles of different heights in accordance with the movement pattern of each joint 110A of working device 100A. Note that the correspondence between the height of the rectangular wave and the movement pattern shown in Fig. 9 is only an example, and the time width of the rectangular wave, the number of rectangular waves per unit time, and other aspects of fluid pressure signal 530 may be specified in advance, and the time series change of fluid pressure 510 is arbitrary. In other words, the rectangular wave and its movement pattern shown in Fig. 11 can be determined in various ways.

[0065] Here, the pressure sensor to be used by the signal detection unit 130 is determined according to the switching pattern of the fluid pressure 510 of the fluid pressure signal 530 (see FIG. 11). Pressure sensors come in two types: electronic types that combine a semiconductor and an amplifier (an amplifier of the sensor current), and mechanical types that combine a fluid pressure cylinder, a spring (a compression coil spring, an extension coil spring, etc.), a flexible diaphragm, etc. Electronic types are compact, but are vulnerable to radiation due to the generation of electric charges and damage to the semiconductor caused by radiation.

[0066] On the other hand, mechanical pressure sensors are large but hardly affected by radiation, making them radiation-resistant. Therefore, to improve the radiation resistance of the operating device 100, it is desirable to employ a mechanical pressure sensor. In particular, it is preferable to employ a relatively small mechanical pressure switch whose measurement function is limited to two values ​​above and below a pressure threshold, rather than a continuous pressure value, and to associate the fluid pressure signal 530 (see FIG. 111) with the height of the fluid pressure 510 that can be detected by the pressure switch. In other words, it is preferable to switch the supply pattern of the fluid pressure 510 to each predetermined joint 110A depending on the height of the waveform of the fluid pressure 510. The control unit (signal detection unit 130, fluid pressure distribution unit 120A) of the working apparatus 100A has hardware that performs logical operations and the like, or the hardware and software.

[0067] <Action and effect> In the second embodiment, the working apparatus 100A is configured to detect the fluid pressure signal 530, and the working apparatus 100A can be controlled by the fluid pressure signal 530. Furthermore, similarly to the first embodiment, in response to operation input 700 (see FIG. 11), the calculation unit 210A and the fluid pressure control unit 220A switch the fluid pressure 510 in a predefined pattern to generate a fluid pressure signal 530 (see FIG. 9). Therefore, the signal detection unit 130 (see FIG. 11) detects the change over time in the fluid pressure signal 530 (see FIG. 11), and switches the supply pattern of the fluid pressure distribution unit 120A, thereby achieving the advantageous effect of controlling the operation of the working apparatus 100A.

[0068] As described above, by transmitting the control signal of the fluid pressure distribution unit 120A using the fluid 500 in the cable 300A, it is possible to eliminate the metal signal wire in the cable 300 and reduce the weight. For example, the specific gravity of copper used in the signal wire is 8.9 g / cm 3 The specific gravity of the resin used in the cable 300 is about 0.8 to 1.5. Therefore, it is possible to provide a remote operation system 1A that is lightweight and has improved mobility. The fluid used in the first and second embodiments is preferably an incompressible fluid.

[0069] 1. The present invention is not limited to the above-described first and second embodiments, and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with the configuration of another embodiment.

[0070] 2. Also, for example, the respective configurations, functions, processing units, processing means, etc. of the remote operation systems 1 and 1A described above may be realized in part or in whole by hardware, for example by designing them as integrated circuits. Also, the respective configurations, functions, etc. of the remote operation systems 1 and 1A described above may be realized in software by a computer CPU interpreting a control program written in a programming language such as C that realizes each function into machine language using an OS and executing it.

[0071] Information such as programs and files that realize the functions of the remote operation systems 1 and 1A can be stored in recording media such as semiconductor memory, recording devices such as HDDs (Hard Disc Drives) and SSDs (Solid State Drives), IC cards, SD cards, DVDs, etc. Alternatively, information such as programs and files that realize the functions of the remote operation systems 1 and 1A can be transferred (sent) as files from a server to a client (terminal) PC, smartphone, etc., online or by batch processing.

[0072] 3. Also, the control lines and information lines shown are those considered necessary for explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected. [Explanation of symbols]

[0073] 1. Remote operation system (fluid pressure driven remote operation system) 10 Operating device 100 Work equipment (control object) 100a Manipulator (joint) 100c Crawler (joints) 110 Joints 111 Actuator 112 Fluid pressure cylinder 113 Fluid pressure motor 120 Fluid pressure distribution section 130 Signal detection unit 200 control device 210 Arithmetic section 220 Fluid pressure control section 221 Constant pressure source 222 Fluid storage tanks 223 Injection valve 224 Discharge valve 300 Cable 500 fluid 510 Fluid Pressure 530 Fluid Pressure Signal 600 responsiveness 700 Operation Input 710 Target set pressure (required fluid pressure value) 720 Tolerance of Variation 800 measured pressure 1000 Set fluid pressure (fluid pressure) 1100 Pressure / Decompression Time

Claims

1. a fluid-driven working device; a control device that controls the operation of the working device; a cable that connects the working device and the control device and transmits fluid; The control device The apparatus includes a calculation unit that calculates, based on the pressure of the fluid in the cable before pressurization and a pressurization time to be applied to the fluid in the cable so that the fluid pressure exceeds the fluid pressure value required for the working device to perform a predetermined operation when pressurized, and calculates a fluid pressure and a depressurization time to be applied to the fluid in the cable so that the fluid pressure falls below the fluid pressure value when depressurized, based on the pressure of the fluid in the cable before pressurization and a fluid pressure control unit that controls the pressure of the fluid in the cable based on the fluid pressure calculated by the calculation unit and the pressurization time or the depressurization time. A fluid pressure driven remote operation system.

2. 2. The fluid pressure driven remote operation system according to claim 1, the calculation unit calculates a fluid pressure value and a pressurization / depressurization time required for the working device to perform a predetermined operation after a predetermined time has elapsed since calculating the fluid pressure to be applied to the fluid in the cable and the pressurization / depressurization time, so that the fluid pressure exceeds the fluid pressure value required for the working device to perform a predetermined operation when pressurized and the fluid pressure falls below the fluid pressure value when depressurized. A fluid pressure driven remote operation system.

3. 2. The fluid pressure driven remote operation system according to claim 1, the calculation unit calculates the fluid pressure to be applied to the fluid in the cable and the pressurization / depressurization time using a data set in which the amount of increase / decrease in the fluid pressure in the cable is linked to the amount of variation in the increase / decrease, which data set was obtained in the preliminary evaluation. A fluid pressure driven remote operation system.

4. 4. The fluid pressure driven remote operation system according to claim 3, The calculation unit has a function of calibrating at least the data set created in the pre-evaluation based on the value of the fluid pressure in the cable measured by the control device. A fluid pressure driven remote operation system.

5. 5. The fluid pressure driven remote operation system according to claim 4, the calibration function of the calculation unit performs calibration based on a time-series change in the fluid pressure measured by the control device when the fluid pressure control unit increases or decreases the fluid pressure applied to the inside of the cable in a specified pattern after closing the end of the cable on the working device side; A fluid pressure driven remote operation system.

6. 2. The fluid pressure driven remote operation system according to claim 1, the working device has a joint unit which is any one of a manipulator, a leg, and a crawler, and a fluid pressure distribution unit which supplies fluid to the joint unit, The control device a fluid used to drive the joint section and a fluid pressure signal used to control the fluid pressure distribution section are added to the fluid, and the fluid is sent to the working device via the cable; the fluid pressure signal is a signal of an arbitrary pattern formed by switching the pressure of a fluid, The working device is a signal detection unit that detects the fluid pressure signal; The signal detection unit switches the distribution pattern of the fluid pressure distribution unit based on the fluid pressure signal. A fluid pressure driven remote operation system.

7. A fluid-driven working device a control device that controls the operation of the working device; a fluid pressure-driven remote operation system including a cable that connects the operation device and the control device and transmits fluid, the control device includes a calculation unit and a fluid pressure control unit, a calculation step in which the calculation unit calculates, for the fluid to be supplied to the working device, a fluid pressure value having an amount of change that is greater than an amount of change to a fluid pressure value necessary for the working device to perform a predetermined operation, and a pressurization / depressurization time thereof; a first control step in which the fluid pressure control unit controls the pressure of the fluid based on the fluid pressure value having the excessive change amount and the pressurization / depressurization time; a second control step in which the fluid pressure control unit controls the pressure of the fluid to the required fluid pressure value; A method for a fluid pressure driven remote operation system comprising:

8. 8. The method for a fluid pressure driven remote operation system according to claim 7, The calculation unit includes a step of calculating a fluid pressure that exceeds the required fluid pressure value when pressurizing, and calculating a fluid pressure that is below the required fluid pressure value when depressurizing, based on the pressure of the fluid in the cable before pressurization and depressurization. A method for a fluid pressure driven remote operation system.

9. 9. The method for a fluid pressure driven remote operation system according to claim 8, the calculation unit includes a calibration step of calibrating the fluid pressure and the pressure increase / decrease time controlled by the fluid pressure control unit based on the measured value of the fluid pressure in the cable, The calibration step includes calibrating based on a time-series change in the fluid pressure in the cable measured when the fluid pressure applied to the cable by the fluid pressure control unit is increased or decreased in a specified pattern after closing the end of the cable on the working device side. A method for a fluid pressure driven remote operation system.

10. 8. The method for a fluid pressure driven remote operation system according to claim 7, the working device has a joint unit which is any one of a manipulator, a leg, or a crawler, and a fluid pressure distribution unit which supplies fluid to the joint unit, the control device includes a sending step of sending, via the cable, fluid used to drive the joint portion and a fluid pressure signal used to control the fluid pressure distribution portion and which is a signal of an arbitrary pattern formed by switching the pressure of the fluid, to the working device; the fluid pressure signal is a signal of an arbitrary pattern formed by switching the pressure of the fluid; and a switching step in which the fluid pressure distribution unit of the work device switches the distribution pattern of the fluid pressure distribution unit based on the fluid pressure signal measured by a signal detection unit.

11. A fluid-driven working device a control device that controls the operation of the working device; a program for a fluid pressure-driven remote operation system including a cable that connects the operation device and the control device and transmits fluid, the control device includes a calculation unit and a fluid pressure control unit, The computer a calculation step in which the calculation unit calculates, based on the pressure of the fluid in the cable before pressurization and a pressurization time, a fluid pressure to be applied to the fluid in the cable that exceeds a fluid pressure value required for the working device to perform a predetermined operation, and calculates, based on the pressure of the fluid in the cable before pressurization and a pressurization time, a fluid pressure to be applied to the fluid in the cable that exceeds the fluid pressure value required for the working device to perform a predetermined operation, and calculates, based on the pressure of the fluid in the cable before pressurization and a pressurization time, a fluid pressure to be applied to the fluid in the cable that is lower than the fluid pressure value, a control step in which the fluid pressure control unit controls the pressure of the fluid in the cable based on the fluid pressure calculated by the calculation unit and the pressurization time or the depressurization time;

12. 12. The program for a fluid pressure driven remote operation system according to claim 11, The computer a first calculation step in which the calculation unit calculates a fluid pressure to be applied to the fluid in the cable and a pressurization / depressurization time so that the fluid pressure exceeds a fluid pressure value required for the working device to perform a predetermined operation when pressurized and so that the fluid pressure falls below the fluid pressure value when depressurized; a second calculation step of calculating a fluid pressure value and a pressurization / depressurization time required for the working device to perform a predetermined operation after a predetermined time has elapsed since the first calculation step; A program for a hydraulically driven remote work system to be executed.

13. 12. The program for a fluid pressure driven remote operation system according to claim 11, The computer the calculation unit includes a calculation step of calculating a fluid pressure to be applied to the fluid in the cable and a pressurization / depressurization time using a data set in which an amount of increase / decrease in fluid pressure in the cable is linked to an amount of variation in the amount of increase / decrease, the data set being obtained in a preliminary evaluation. A program for a hydraulically driven remote work system to be executed.

14. 14. The program for a fluid pressure-driven remote operation system according to claim 13, The computer The calculation unit executes a calibration step of calibrating at least the data set created in the pre-evaluation based on the measured value of the fluid pressure inside the cable. A program for a fluid pressure driven remote operation system.

15. 12. The program for a fluid pressure driven remote operation system according to claim 11, the working device has a joint unit which is any one of a manipulator, a leg, or a crawler, and a fluid pressure distribution unit which supplies fluid to the joint unit, The computer a sending step in which the control device sends, via the cable, fluid used to drive the joint unit and a fluid pressure signal, which is used to control the fluid pressure distribution unit and is a signal of an arbitrary pattern formed by switching the pressure of the fluid, to the working device; the fluid pressure signal is a signal of an arbitrary pattern formed by switching the pressure of a fluid, and a switching step of switching the distribution pattern of the fluid pressure distribution unit of the working device based on the fluid pressure signal measured by a signal detection unit.

16. The robot includes a plurality of joints that are driven by actuators and are either manipulators, legs, or crawlers, and a fluid pressure distribution unit that distributes fluid to the actuators. A working device characterized by:

17. 17. The working device according to claim 16, The fluid pressure distribution unit includes: a fluid pressure exceeding a fluid pressure value required for the actuator to perform a predetermined operation and a pressurization time are applied to the actuator when pressurizing, and a fluid pressure below the fluid pressure value and a depressurization time are applied to the actuator when depressurizing, Applying fluid pressure of the required fluid pressure value to the actuator A working device characterized by:

18. The working device according to claim 16 or 17, Equipped with a signal detection unit that measures the change in fluid pressure over time and detects the fluid pressure signal. A working device characterized by:

19. The system is equipped with a calculation unit that has the responsiveness to input information to generate calculation results in order to drive and control a controlled object operated by a fluid, and a fluid pressure control unit that has a fluid storage tank that stores the fluid to be supplied to or discharged from the controlled object, a constant pressure source that collects the fluid from the fluid storage tank, an injection valve that supplies the fluid to the controlled object, and a discharge valve that discharges the fluid from the controlled object. A control device characterized by:

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