Control system, control method, and control program

Abstract

This system provides a control system that can apply an appropriate output reaction force according to the magnitude of the input reaction force. [Solution] The control system 1 controls a device system 6 comprising a first device 10 to which user P1's operation is input, a second device 20 that operates in accordance with the operation, and a detection means 30 that detects input reaction force information indicating the input reaction force received by the second device. The control system 1 includes a mapping means 40 that maps the input reaction force information to output reaction force information based on a predetermined change curve, and a granting means 15 that grants the output reaction force indicated by the output reaction force information to the first device. The rate at which the change curve increases decreases as the input reaction force information increases, and the change curve is a continuous function.

Description

【Technical Field】 【0001】 The present disclosure relates to a control system, a control method, and a control program. 【Background Art】 【0002】 Conventionally, with respect to the distributed axial force (input reaction force) by a user, an adjusted distributed axial force (output reaction force) has been output (see, for example, Patent Document 1). The adjusted distributed axial force is transmitted to the user again. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2020-163989 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 However, in the conventional control system, there is room for improvement in the method of adjusting the distributed axial force. 【0005】 The present disclosure has been made in view of such problems, and an object thereof is to provide a control system, a control method, and a control program capable of imparting an appropriate output reaction force according to the magnitude of the input reaction force. 【Means for Solving the Problems】 【0006】 This disclosure relates to a control system for controlling a device system comprising a first device to which user operations are input and a second device that operates in response to said operations, the control system comprising: receiving means for receiving input reaction force information indicating the input reaction force received by the second device; mapping means for mapping the input reaction force information to output reaction force information based on a predetermined change curve; and applying means for applying the output reaction force indicated by the output reaction force information to the first device, wherein the rate at which the change curve increases decreases as the input reaction force information increases, and the change curve is a continuous function. 【0007】 Further disclosure relates to a control method for controlling an apparatus system comprising: a first apparatus to which user operations are input; a second apparatus that operates in accordance with the operations; and detection means for detecting input reaction force information indicating the input reaction force received by the second apparatus, the control method comprising: a mapping step of mapping the input reaction force information to output reaction force information based on a predetermined change curve; and a provision step of providing the output reaction force indicated by the output reaction force information to the first apparatus, wherein the rate at which the change curve increases decreases as the input reaction force information increases, and the change curve is a continuous function. 【0008】 Another disclosure relates to a control program for a control system for controlling a device system comprising a first device to which user operations are input, a second device that operates in response to the operations, and a detection means for detecting input reaction force information indicating the input reaction force received by the second device, wherein the control system functions as a mapping means for mapping the input reaction force information to output reaction force information based on a predetermined change curve, and an application means for applying the output reaction force indicated by the output reaction force information to the first device, wherein the rate at which the change curve increases decreases as the input reaction force information increases, and the change curve is a continuous function. [Effects of the Invention] 【0009】 The control system, control method, and control program of this disclosure can provide the first device with an appropriate output reaction force according to the magnitude of the input reaction force. [Brief explanation of the drawing] 【0010】 [Figure 1] This figure shows an overview of the control system of the first embodiment of this disclosure. [Figure 2] This figure shows an example of an image displayed on the display surface of the display unit. [Figure 3] This is a flowchart showing the control method of the first embodiment of the present disclosure. [Figure 4] This is a diagram illustrating the conventional change curve. [Modes for carrying out the invention] 【0011】 (First Embodiment) Hereinafter, a first embodiment of the control system, control method, and control program relating to this disclosure will be described with reference to Figures 1 to 4. First, using Figure 1, we will describe the melting furnace 100 to which the control system 1 of this embodiment is applied. 【0012】 [1. Configuration of the melting furnace] For example, the melting furnace (object) 100 comprises a peripheral wall 101, a bottom wall 102, and a lid 103. The peripheral wall 101 is formed in a cylindrical shape, and its axis is positioned along the vertical direction. The bottom wall 102 closes the opening at the bottom of the peripheral wall 101. A notch is formed at the lower end of the peripheral wall 101. This notch, together with the peripheral wall 101, constitutes the hot water outlet 100a. The lid 103 blocks the molten metal outlet 100a during normal operation of the melting furnace 100. 【0013】 Inside the melting furnace 100, waste (not shown) is burned. The high-temperature molten slag 105 remaining after combustion is discharged from the outlet 100a during maintenance after normal operation. 【0014】 [2. Configuration of Control System and Device System] As shown in FIG. 1, the control system 1 of the present embodiment is used to control the device system 6. The device system 6 includes a first device 10, a second device 20, and a detection means 30. The control system 1 includes an imparting means 15, an observing means 35, a mapping means 40, a display control means 45, a changing means 50, a selecting means 55, and a main control unit 60. In the present embodiment, the control system 1 is a so-called master-slave type system in which the lever 12 (described later) of the first device 10 and the pipe material 25 (described later) of the second device 20 perform the same (including similar types) operations. The control system 1 performs cleaning in the melting furnace 100 by a known method. Note that the configuration of the device system is not limited to the master-slave type. 【0015】 For example, the first device 10 is a known joystick-type input device. The first device 10 has an input unit main body 11 and a lever 12. The first end of the lever 12 is connected to the input unit main body 11 so as to be swingable around this first end. The input unit main body 11 has a case 11a and an inclination detection unit (not shown). For example, the case 11a is formed in a hollow box shape. A slit (not shown) is formed on the upper surface of the case 11a. The first end of the lever 12 is inserted into the slit. 【0016】 The imparting means 15 has an imparting means device unit 16 and an imparting means software unit 17. The imparting means device unit 16 is composed of, for example, a motor and a gear box (not shown). In the present embodiment, the imparting means device unit 16 is disposed in the case 11a of the first device 10. The output shaft of the motor is connected to the lever 12 via the gear box. The output reaction force imparted by the imparting means device unit 16 to the lever 12 of the first device 10 will be described in detail later. 【0017】 For example, a known capacitive sensor can be used in the tilt detection unit. The tilt detection unit detects the tilt of the lever 12 relative to the case 11a. The tilt detection unit transmits the detection result to the main control unit 60. User P1 of the control system 1 and device system 6 operates the first device 10 by gripping the lever 12 with their hand. User P1's operation is input to the first device 10. However, the configuration of the first device 10 is not limited to this. 【0018】 The second device 20 performs the task of cleaning the inside of the melting furnace 100. The second device 20 operates in accordance with the operations input by user P1. The configuration of the second device 20 is not limited. For example, the second device 20 includes a first support part 21, a pipe drive part 22, a ball screw 23, a second support part 24, and a pipe material 25. The first support portion 21 is formed in a U-shape that opens downward when viewed from the side. Specifically, the first support portion 21 has a main body 21a and two protruding pieces 21b and 21c. The main body 21a extends in the horizontal direction Z along the horizontal plane. The protruding piece 21b protrudes from the first end of the main body 21a perpendicular to the main body 21a (downward). The protruding piece 21c protrudes perpendicularly to the main body 21a from the second end, which is the end of the main body 21a opposite to the first end. The protruding piece 21c is positioned opposite the protruding piece 21b. 【0019】 For example, a servo motor can be used for the pipe drive unit 22. The pipe drive unit 22 is fixed to the protruding piece 21b. A male thread 23a is formed on the outer surface of the ball screw 23. The first end of the ball screw 23 is connected to the pipe drive unit 22. The second end of the ball screw 23, which is the end opposite to the first end, is rotatably supported by a protruding piece 21c of the first support unit 21. The ball screw 23 extends in the horizontal direction Z. The second support portion 24 fits onto the male thread 23a of the ball screw 23 and is supported so as to be unable to rotate around the axis of the ball screw 23. Therefore, when the ball screw 23 rotates around its axis, the second support portion 24 moves in the horizontal direction Z. 【0020】 In the following, the side of the horizontal direction Z that is on the melting furnace 100 side relative to the second device 20 will be referred to as the first side Z1 (hereinafter simply as the first side Z1). The side of the horizontal direction Z opposite to the first side Z1 will be referred to as the second side Z2 (hereinafter simply as the second side Z2). 【0021】 The first end of the pipe 25 is fixed to the second support 24. Oxygen is supplied into the pipe 25 from an oxygen supply device (not shown). The oxygen supplied to the pipe 25 is then supplied to the outside of the pipe 25 from the second end (the end on the first side Z1), which is the end opposite to the first end of the pipe 25. 【0022】 When cleaning the inside of the melting furnace 100, coke 106 is introduced into the melting furnace 100. The coke 106 and molten slag 105 constitute the object 107 that is processed by the second device 20. The second end of the pipe material 25 is inserted into the melting furnace 100 through the outlet 100a of the melting furnace 100. 【0023】 For example, suppose the tilt detection unit causes the lever 12 to swing to the first side around the first end, and the pipe drive unit 22 moves the pipe material 25 to the first side Z1. If the tilt detection unit causes the lever 12 to swing to the second side, which is opposite to the first side around the first end, the pipe drive unit 22 moves the pipe material 25 to the second side Z2. 【0024】 In this embodiment, a load cell is used as the detection means 30. The detection means 30 is provided on the second support part 24. The detection means 30 detects input reaction force information indicating the input reaction force received by the second device 20. For example, the input reaction force information is the magnitude of the input reaction force. In this example, the input reaction force is a force, and the output reaction force, which will be described later, is the output torque of the motor of the applying means device part 16. However, the input reaction force and output reaction force may be either a force or a moment. For example, if the pipe drive unit is a linear motion system, the output reaction force will be a force. The detection means 30 transmits the input reaction force information to the mapping means 40. For example, a known digital camera can be used as the observation means 35. The observation means 35 transmits the image of the molten metal outlet 100a of the melting furnace 100 to the main control unit 60. 【0025】 The assignment means software unit 17, mapping means 40, display control means 45, modification means 50, selection means 55, and main control unit 60 are composed of a computer 65, etc. Although not shown in the figures, the computer 65 includes a CPU (Central Processing Unit), main memory, auxiliary memory, input / output interface (IO / I / F), and recording / playback device. The CPU, main memory, auxiliary memory, input / output interface, and recording / playback device are connected to each other by a bus. 【0026】 Main memory includes RAM (Random Access Memory), which serves as the CPU's work area. The input / output interface is connected to an input unit 66 such as a keyboard, and a display unit 67 such as an LCD display. The recording and playback device records and plays back data to and from recording media such as USB (Universal Serial Bus) memory. 【0027】 The auxiliary storage device is an SSD (Solid State Drive) or the like, which stores various data and programs. The auxiliary storage device stores various programs, such as control programs (not shown) and OS (Operating System) programs, which enable the computer 65 to function as at least a part of the mapping means 40, display control means 45, modification means 50, selection means 55, and main control unit 60. 【0028】 The CPU performs various calculation processes. Functionally, the CPU includes an assignment software unit 17, a mapping software unit 40, a display control software unit 46, a modification software unit 51, a selection software unit 56, and a main control unit 60. The display control software unit 46 and the input / output interface constitute the display control means 45. The modification software unit 51 and the input unit 66 constitute the modification means 50. The selection software unit 56 and the input unit 66 constitute the selection means 55. 【0029】 The application means software unit 17 transmits the output reaction force, which will be described later, to the application means device unit 16. As shown in Figure 2, the mapping means (conversion means) 40 maps (converts) input reaction force information x (N: Newtons) to output reaction force information y (Nm) based on predetermined modification curves C1, C2, C3, C4 (hereinafter referred to as modification curves C1 to C4). In Figure 2, the horizontal axis represents input reaction force information x, and the vertical axis represents output reaction force information y. Figure 2 is a diagram showing an example of an image displayed on the display surface 67a of the display unit 67. In Figure 2 and Figure 3, which will be described later, the numerical values ​​shown on the horizontal and vertical axes are examples and are not limited to these values. The output reaction force is indicated by the output reaction force information y. For example, the output reaction force information y is the magnitude of the output reaction force, which is the output torque applied to the lever 12 by the motor of the application means device unit 16. The multiple curve identification information that identifies each of the change curves C1 to C4 is "C1", "C2", "C3", and "C4". 【0030】 The application means 15 applies the output reaction force indicated by the output reaction force information y to the lever 12 of the first device 10. The applying means 15 may also drive the lever 12 of the first device 10 with the output reaction force mapped by the mapping means 40. 【0031】 The display control software unit 46 is the part of the display control means 45 that is processed by the CPU of the computer 65. The display control means 45 displays curve images I1, I2, I3, I4 (hereinafter referred to as curve images I1 to I4) that show the change curves C1 to C4 on the display unit 67. 【0032】 As you can see, there are multiple change curves C1 to C4. Here, we will explain change curves C1 to C4. The change curve C1 is expressed by equation (1) using input reaction force information x and output reaction force information y. y = k{1 - exp(-x / T)} ··(1) Here, "exp(x)" is "e x This means "[...]. k and T are coefficients, where e is Napier's number (=2.718...). In this example, the change curve C1 is represented by an exponential function. 【0033】 The change curve C2 is expressed by equation (2) using input reaction force information x and output reaction force information y. y = k × tan -1 (x / T) ··(2) In this example, the change curve C2 is represented by the arctangent function. The change curve C3 is expressed by equation (3) using input reaction force information x and output reaction force information y. y = k × tanh(x / T) ··(3) In this example, the change curve C3 is represented by the hyperbolic tangent function. 【0034】 The change curve C4 is expressed by equation (4) using input reaction force information x and output reaction force information y. y = k × sinh-1 (x / T) ··(4) In this example, the change curve C4 is represented by a hyperbolic arcsine function. 【0035】 The change curves C1 to C4 are each continuous and monotonically increasing functions. The ratio at which the change curves C1 to C4 increase (the ratio of the increase in the change curves C1 to C4 to the increase in the increase in input reaction force information x) decreases as the input reaction force information x increases. Below, we will explain, for example, the change curve C1. 【0036】 In the modified curve C1, if the input reaction force information x is less than or equal to a predetermined value x1, the output reaction force information y is an amplified version of the input reaction force information x. In other words, if the input reaction force information x is less than or equal to the predetermined value x1, the ratio of the change in the output reaction force information y to the increase in the input reaction force information x is greater than 1. On the other hand, if the input reaction force information x exceeds a predetermined value x1, the output reaction force information y is attenuated by the input reaction force information x. In other words, if the input reaction force information x exceeds a predetermined value x1, the ratio of the change in output reaction force information y to the increase in input reaction force information x is less than 1. 【0037】 The same applies to the modified curves C2, C3, and C4 as to the modified curve C1. 【0038】 The change curves C1, C2, and C3 each converge to a predetermined value of output reaction force information y. In contrast, the change curve C4 does not converge to a predetermined value of output reaction force information y, but continues to increase. The mapping means 40 sends output reaction force information y to the input means 15. 【0039】 The modification software unit 51 is the part of the modification means 50 that is processed by the CPU of the computer 65. The modification means 50 causes the user P1 to change the curvature of the modification curves C1 to C4. For example, the modification means 50 displays text boxes prompting input of coefficient k and coefficient T values, and a scroll bar for changing coefficient k and coefficient T values, on the display surface 67a of the display unit 67. User P1 changes the curvature of the modification curve C1 by operating the input unit 66 to change at least one of coefficient k and coefficient T values. At this time, the curve images I1 to I4 displayed on the display unit 67 change according to the result of the change by the changing means 50. 【0040】 The selection software unit 56 is the part of the selection means 55 that is processed by the CPU of the computer 65. The selection means 55 causes the user P1 to select one change curve (for example, change curve C4) from among a plurality of change curves C1 to C4. For example, the selection means 55 displays multiple radio buttons corresponding to the change curves C1 to C4 on the display surface 67a of the display unit 67. User P1 operates the input unit 66 to select one radio button corresponding to the change curve C4 from among the multiple radio buttons. This selection may be made by the computer 65 or the selection means 55 based on the characteristics of user P1 (for example, gender). 【0041】 The functional components of the CPU, name-granting software unit 17, mapping means 40, display control software unit 46, modification software unit 51, selection software unit 56, and main control unit 60, function by the CPU executing control programs etc. stored in the auxiliary storage device. The control programs etc. are programs for the control system 1. The control programs cause the control system 1 to function as name-granting software unit 17 (name-granting means 15), mapping means 40, display control software unit 46 (display control means 45), modification software unit 51 (modification means 50), selection software unit 56 (selection means 55), and main control unit 60. 【0042】 Note that the user of the control system 1 may not be a single user P1, but rather multiple users (two in this embodiment) P1, P2 (see Figure 1). For example, the multiple user identification information that identifies users P1 and P2 respectively may be "P1" and "P2". In this case, there are multiple users P1 and P2. For example, each of the modified curves C4 and C1 corresponds to user P1 and P2, respectively. Furthermore, the number of users using control system 1 is not limited to two; it may be three or more. 【0043】 As shown in Figure 1, the work performed by the second device 20 includes work in which a melting furnace 100, which is harder than the object 107 being worked on by the second device 20, is located within the scope of work performed by the second device 20. The display control means 45 may associate multiple curve identification information and multiple user identification information and display them on the display unit 67. Specifically, for example, the display control means 45 may associate them with "(C4, P1), (C1, P2)" and display them on the display unit 67. The correspondence may also be performed by the color displayed on the display unit 67. The curve identification information may include a curve image (or information about the curve image) corresponding to this curve identification information. 【0044】 Next, the operation of the control system 1 configured as described above will be explained. Let's assume that user P1 has previously selected the modified curve C4 using the selection means 55. Let's assume that the curvature of the modified curve C4 has been appropriately changed using the modification means 50. The main control unit 60 displays the image of the melting furnace outlet 100a, captured by the observation means 35, on the display unit 67 using the display control means 45. Oxygen is supplied to the pipe material 25 from the oxygen supply device. The oxygen supplied to the pipe material 25 is blown out from the second end of the pipe material 25. User P1 grasps the lever 12 of the first device 10 with his hand and operates the lever 12 while looking at the image displayed on the display unit 67. User P1 inserts the second end of the pipe material 25 into the outlet 100a of the melting furnace 100. The control system 1 is used to clean the inside of the melting furnace 100 as needed. 【0045】 During this cleaning process, for example, when the pipe material 25 comes into contact with the peripheral wall 101 of the melting furnace 100, the detection means 30, which uses a load cell, detects input reaction force information x indicating the input reaction force received by the pipe material 25 of the second device 20. The mapping means 40 maps the input reaction force information x to output reaction force information y based on the modification curve C4. The application means 15 applies the output reaction force indicated by the output reaction force information y to the lever 12 of the first device 10. User P1, who is gripping lever 12, recognizes that the pipe material 25 of the second device 20 is receiving an input reaction force by feeling the output reaction force. 【0046】 [3. Control Program] As shown in Figure 3, the control method S1 of this embodiment includes a mapping step S10, a granting step S11, a modification step S12, and a selection step S13. The mapping process S10, the assignment process S11, the modification process S12, and the selection process S13 are processes corresponding to the mapping means 40, the assignment means 15, the modification means 50, and the selection means 55, respectively. For example, the mapping process S10 maps the input reaction force information x to the output reaction force information y based on the modified curves C1 to C4. The application process S11 applies the output reaction force indicated by the output reaction force information y to the first device 10. 【0047】 The modification process S12 and the selection process S13 are processes that are performed as appropriate by user P1's actions. Once the mapping process S10 and the assignment process S11 are performed, all steps of the control method S1 are completed. 【0048】 Here, we will explain the change curve used in conventional control systems. As shown in Figure 4, the change curve C6 shows that the output reaction force information y is proportional to the input reaction force information x. In this case, if the input reaction force information x is relatively large, there is a risk that the output reaction force information y will become too large. 【0049】 In the modified curve C7, when the input reaction force information x is relatively small, the output reaction force information y is proportional to the input reaction force information x, and when the input reaction force information x is relatively large, the output reaction force information y is a constant value. In this case, if control is performed using the non-continuous portion (the bent portion) of the modified curve C7, the control process becomes complicated, and there is a risk that the first and second devices will hunt. The modified curve C8 is a curve that takes a local maximum value. In this case, the control processing becomes complicated. 【0050】 In contrast, in the control system 1 of this embodiment, by inputting the operations of user P1 to the first device 10, the second device 20 can be operated in accordance with the operations input to the first device 10. In this case, the ratio at which the change curves C1 to C4 increase decreases as the input reaction force information x increases. Therefore, when the input reaction force is relatively small, a relatively large output reaction force relative to the input reaction force can be applied, which is easily recognizable by the user P1 who inputs the operation to the first device 10. Furthermore, when the input reaction force is relatively large, a relatively small output reaction force relative to the input reaction force can be applied, which has little impact on the user P1. Thus, an appropriate output reaction force can be applied to the first device 10 according to the magnitude of the input reaction force. Since the change curves C1 to C4 are continuous functions, the control processing of the control system 1 can be made simpler, and hunting of the first device 10 and the second device 20 can be suppressed. 【0051】 The change curve C1 is expressed as an exponential function. This allows the ratio of the change in the change curve C1 to the increase in the input reaction force information x to converge to zero. 【0052】 The change curve C4 is represented by a hyperbolic arcsine function. Therefore, when the input reaction force information x is relatively large, the change curve C4 can be increased more reliably in proportion to the increase in the input reaction force information x. The control system 1 includes a modification means 50. Therefore, by operating the modification means 50, user P1 can adjust the degree to which the input reaction force information x is changed by the modification curves C1 to C4. 【0053】 The control system 1 includes a display control means 45 that displays curve images I1 to I4 on the display unit 67. As a result, user P1 can view the curve images I1 to I4 displayed on the display unit 67 by the display control means 45 in accordance with the changes made by user P1 using the modification means 50. There are multiple modification curves C1 to C4. Therefore, for example, user P1 can select modification curves C1 to C4 that define the degree to which the input reaction force information x is transformed by the mapping means 40. 【0054】 Each of the change curves C4 and C1 corresponds to user P1 and P2, respectively. Therefore, the appropriate change curves C4 and C1 can be assigned depending on user P1 and P2. For example, the range in which a linear relationship is maintained in the change curve may differ for each user P1 and P2. The change curve may also be changed according to the load that the user's hand can withstand. For example, if the user is female, a change curve with relatively small output reaction force information y may be used. On the other hand, if the user is male, a change curve with relatively large output reaction force information y may be used. 【0055】 The display control means 45 may associate multiple curve identification information with multiple user identification information and display them on the display unit 67. In this case, the user P1 can more reliably grasp the correspondence between the curve identification information and the user identification information displayed on the display unit 67 by the display control means 45 by visually confirming it. 【0056】 The work performed by the second device 20 includes work in which the melting furnace 100, which is harder than the object 107 being worked on by the second device 20, is located within the range of work performed by the second device 20. This allows the mapping means 40 to be equipped with a change curve corresponding to work in which the second device 20 may come into contact with the melting furnace 100. Specifically, among the change curves C1 to C4, change curve C2 is preferred because it makes it easier to grasp the state of the object 107 and reduces the impact force when the peripheral wall 101 of the melting furnace 100 comes into contact with the second device 20. The control system 1 includes a selection means 55. Therefore, the user P1 can select a desired change curve from among the change curves C1 to C4 using the selection means 55. 【0057】 Furthermore, the control method S1 and control program of this embodiment can achieve the same effects as the control system 1 of this embodiment. 【0058】 Furthermore, the control system 1 may be used for multiple operations in the melting furnace 100. These multiple operations include poking operations, slag scraping operations, and so on. In other words, the second device 20 performs multiple operations. Each of the change curves C1 to C4 corresponds to one of these operations. In this case, multiple curve identification information and multiple task identification information that identifies each of the multiple tasks may be associated with each other and displayed on the display unit 67. 【0059】 In this modified version, appropriate change curves C1 to C4 can be assigned to each of the multiple tasks. Furthermore, for example, the range in which a linear relationship is maintained in the change curve can be made different for each task. In addition, multiple curve identification information and multiple work identification information may be associated and displayed on the display unit 67. In this case, the user P1 can more reliably grasp the correspondence between the curve identification information and the work identification information displayed on the display unit 67 by the display control means 45. 【0060】 (Second Embodiment) Next, a second embodiment of this disclosure will be described with reference to Figure 2. The same reference numerals are used for parts identical to those in the previous embodiment, and their descriptions will be omitted. Only the differences will be described. Although not shown in the figures, the control system of this embodiment is used in polishing devices for burrs, deposits, etc. For example, when the polishing device polishes burrs, the modification curve C11 shown in Figure 2 is used. In the change curve C11, the rate at which the change curve C11 increases increases as the input reaction force information x increases. In the modified curve C11, if the input reaction force information x is less than or equal to a predetermined value, the output reaction force information y is the input reaction force information x attenuated. On the other hand, if the input reaction force information x exceeds the predetermined value, the output reaction force information y is the input reaction force information x amplified. 【0061】 The control system of this embodiment, configured as described above, can achieve the same effects as the control system 1 of the first embodiment. 【0062】 The first and second embodiments of this disclosure and their modifications have been described in detail above with reference to the drawings. However, the specific configurations are not limited to these embodiments and their modifications, and include changes, combinations, deletions, etc., of the configurations that do not depart from the gist of this disclosure. Furthermore, it goes without saying that each of the configurations shown in each embodiment can be used in appropriate combinations. For example, in the first and second embodiments, the control system 1 (control system) does not necessarily have to include at least one of the observation means 35, display control means 45, modification means 50, selection means 55, and main control unit 60. 【0063】 The change curve does not have to be a continuous function. The change curve can be just one of the change curves C1 through C4. The control system 1 may be used by only one user. The second device may be an end effector located at the tip of a robot arm. The control system may include a memory unit, in which change curves C1 to C4, etc., may be stored. For example, the memory unit may be composed of an auxiliary storage device of the computer 65. Furthermore, at least one of the mapping means, display control means, modification means, selection means, and storage unit may be provided in the second device. 【0064】 (Note) (1) Aspect 1 of the present disclosure is a control system for controlling a device system comprising: a first device to which user operations are input; a second device that operates in accordance with the operations; and detection means for detecting input reaction force information indicating the input reaction force received by the second device, the control system comprising: mapping means for mapping the input reaction force information to output reaction force information based on a predetermined change curve; and applying means for applying the output reaction force indicated by the output reaction force information to the first device, wherein the rate at which the change curve increases decreases as the input reaction force information increases, and the change curve is a continuous function. 【0065】 This disclosure allows a second device to be operated in response to user operations input to a first device of the device system. In this case, the ratio at which the change curve increases decreases as the input reaction force information increases. Therefore, when the input reaction force is relatively small, a relatively large output reaction force relative to the input reaction force can be applied, which is easily recognizable by the user inputting the operation to the first device. Furthermore, when the input reaction force is relatively large, a relatively small output reaction force relative to the input reaction force can be applied, which has less impact on the user. Thus, an appropriate output reaction force can be applied to the first device according to the magnitude of the input reaction force. Since the change curve is a continuous function, the control processing of the control system can be simplified, and hunting of the first and second devices can be suppressed. 【0066】 (2) Aspect 2 of the present disclosure is the control system according to (1), wherein the continuous function is represented by one of the following: an exponential function, an arctangent function, and a hyperbolic tangent function. This disclosure makes it possible to converge the ratio of the change in the change curve to the increase in input reaction force information to zero. 【0067】 (3) Aspect 3 of the present disclosure is the control system according to (1), wherein the continuous function is represented by a hyperbolic arcsine function. This disclosure makes it possible to more reliably increase the change curve in response to an increase in input reaction force information, especially when the input reaction force information is relatively large. 【0068】 (4) Aspect 4 of the present disclosure is a modification means that causes the user to change the curvature of the modification curve, The control system is further comprising any one of (1) to (3). In this disclosure, the user can adjust the degree to which the input reaction force information is modified by the modification curve by manipulating the modification means. 【0069】 (5) Embodiment 5 of the present disclosure is a control system according to any one of (1) to (4), further comprising a display control means for causing a curve image showing the modified curve to be displayed on a display unit, wherein the curve image displayed on the display unit changes in accordance with the modification result of the modification means. In this disclosure, the user can view the curve image displayed on the display unit by the display control means in accordance with the results of the user's modification means. 【0070】 (6) Aspect 6 of the present disclosure is a control system according to any one of the multiple (1) to (5) described above, wherein the change curve is a control system according to any one of (1) to (5). This disclosure allows the user to select, for example, a modification curve that defines the extent to which input reaction force information is transformed by the mapping means. 【0071】 (7) Aspect 7 of the present disclosure is a control system according to any one of (1) to (6), wherein there are multiple users, and each of the multiple change curves corresponds to each of the multiple users. This disclosure allows for the adaptation of an appropriate change curve depending on the user. 【0072】 (8) Aspect 8 of the present disclosure is a control system according to any one of (1) to (7), further comprising a display control means for displaying a plurality of curve identification information that identifies each of the plurality of change curves and a plurality of user identification information that identifies each of the plurality of users in association with each of the plurality of users. This disclosure allows the user to more reliably grasp the correspondence between curve identification information and user identification information displayed on the display unit by the display control means by visually confirming it. 【0073】 (9) Aspect 9 of the present disclosure is a control system according to any one of (1) to (8), wherein the second device performs a plurality of operations, and each of the plurality of change curves corresponds to each of the plurality of operations. This disclosure allows for the creation of appropriate change curves for each of the multiple tasks. 【0074】 (10) Aspect 10 of the present disclosure is a control system according to any one of (1) to (9), further comprising a display control means for displaying a plurality of curve identification information that identifies each of a plurality of the change curves and a plurality of work identification information that identifies each of a plurality of the work in association with each of the work. This disclosure allows users to more reliably grasp the correspondence between curve identification information and work identification information displayed on the display unit by the display control means by visually confirming it. 【0075】 (11) Aspect 11 of the present disclosure is a control system according to (9) or (10), wherein a plurality of the operations include an object that is harder than the object being worked on by the second device, and the object is within the range of the operations performed by the second device. In this disclosure, the mapping means may include a change curve corresponding to an operation in which the second device may come into contact with a hard object. 【0076】 (12) Aspect 12 of the present disclosure is a control system according to any one of (6) to (11), further comprising selection means for causing the user to select a change curve from among a plurality of change curves. In this disclosure, the user can select a desired change curve from among several change curves using a selection means. 【0077】 (13) Aspect 13 of the present disclosure is a control method for controlling a device system comprising: a first device to which user operations are input; a second device that operates in accordance with the operations; and a detection means for detecting input reaction force information indicating an input reaction force received by the second device, the control method comprising: a mapping step of mapping the input reaction force information to output reaction force information based on a predetermined change curve; and a provision step of providing the output reaction force indicated by the output reaction force information to the first device, wherein the rate at which the change curve increases decreases as the input reaction force information increases, and the change curve is a continuous function. 【0078】 (14) Aspect 14 of the present disclosure is a control program for a control system for controlling a device system comprising a first device to which user operations are input, a second device that operates in accordance with the operations, and a detection means for detecting input reaction force information indicating an input reaction force received by the second device, wherein the control system functions as a mapping means for mapping the input reaction force information to output reaction force information based on a predetermined change curve, and a granting means for granting the output reaction force indicated by the output reaction force information to the first device, wherein the rate at which the change curve increases decreases as the input reaction force information increases, and the change curve is a continuous function. [Explanation of symbols] 【0079】 1. Control System 6. Equipment System 10 1st device 15. Granting means 20 Second device 30 Detection means 40 Mapping means 45 Display control means 50 Means of modification 55 Selection Methods 67 Display section 100 Melting furnace (object) 107 Object C1, C2, C3, C4, C11 Change Curve I1, I2, I3, I4 curve images P1, P2 users S1 Control Method S10 Mapping process S11 Application Process x Input reaction force information x1 predetermined value y Output reaction force information

Claims

[Claim 1] A first device on which user operations are input, A second device that operates in response to the aforementioned operation, A detection means for detecting input reaction force information indicating the input reaction force received by the second device, A control system for controlling a device system comprising the following: A mapping means for mapping the input reaction force information to output reaction force information based on a predetermined modification curve, A means for applying the output reaction force indicated by the output reaction force information to the first device, Equipped with, The ratio at which the aforementioned change curve increases decreases as the input reaction force information increases. The aforementioned change curve is a continuous function. A control system characterized by the following: [Claim 2] The aforementioned change curve can be represented by one of the following: an exponential function, an arctangent function, or a hyperbolic tangent function. The control system according to claim 1, characterized in that it is as described above. [Claim 3] The aforementioned change curve is represented by a hyperbolic arcsine function, The control system according to claim 1, characterized in that it is as described above. [Claim 4] A means for causing the user to change the curvature of the aforementioned change curve, The control system according to any one of claims 1 to 3, further comprising the following: [Claim 5] Display control means for displaying a curve image showing the aforementioned change curve on a display unit. Furthermore, The curve image displayed on the display unit changes according to the result of the change by the changing means. The control system according to feature 4. [Claim 6] The aforementioned change curves are multiple, The control system according to any one of claims 1 to 3. [Claim 7] There are multiple such users. Each of the multiple change curves corresponds to each of the multiple users, The control system according to claim 6. [Claim 8] Display control means for displaying on a display unit a plurality of curve identification information that identifies each of the plurality of said change curves, and a plurality of user identification information that identifies each of the plurality of said users, in association with each of the plurality of said users. The control system according to claim 7, further comprising the following: [Claim 9] The second device performs several tasks, Each of the multiple change curves corresponds to each of the multiple operations, The control system according to claim 6. [Claim 10] Display control means for displaying on a display unit a plurality of curve identification information that identifies each of the plurality of said change curves and a plurality of work identification information that identifies each of the plurality of said work, in association with each of the said work. The control system according to claim 9, further comprising the following: [Claim 11] Multiple of the operations include operations in which an object harder than the object being worked on by the second device is located within the scope of the operations performed by the second device. The control system according to feature 9. [Claim 12] A selection means that causes the user to select the change curve from among a plurality of the change curves. The control system according to claim 6, further comprising the following: [Claim 13] A first device on which user operations are input, A second device that operates in response to the aforementioned operation, A detection means for detecting input reaction force information indicating the input reaction force received by the second device, A control method for controlling a device system comprising the following: A mapping step of mapping the input reaction force information to output reaction force information based on a predetermined modification curve, A step of applying the output reaction force indicated by the output reaction force information to the first device, Equipped with, The ratio at which the aforementioned change curve increases decreases as the input reaction force information increases. The aforementioned change curve is a continuous function. A control method characterized by the following: [Claim 14] A first device on which user operations are input, A second device that operates in response to the aforementioned operation, A detection means for detecting input reaction force information indicating the input reaction force received by the second device, A control program for a control system that controls a device system comprising the following: The control system described above A mapping means for mapping the input reaction force information to output reaction force information based on a predetermined modification curve, A means for applying the output reaction force indicated by the output reaction force information to the first device. and make it work The ratio at which the aforementioned change curve increases decreases as the input reaction force information increases. The aforementioned change curve is a continuous function. A control program characterized by the following features.

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