Operation support system and operation support device

Abstract

This invention provides an operation support system that can suppress the impact of communication delays on the remote operation of work machinery. [Solution] The drive mechanism comprises an operating unit that receives an operation to activate the drive mechanism, an operating unit recognition unit that recognizes the amount of operation performed on the operating unit, an operating unit value setting unit that sets an operating unit value corresponding to the operating unit recognition unit, an operating direction determination unit that determines the direction of change of the operating unit recognized by the operating unit recognition unit, and a correction unit that corrects the operating unit value set by the operating unit value setting unit so as to shift it in the direction of change determined by the operating direction determination unit, and the drive mechanism operates according to the operating unit value corrected by the correction unit.

Description

Technical Field

[0001] The present disclosure relates to an operation support system and an operation support device.

Background Art

[0002] Citation Document 1 discloses a remote operation system including a display device that displays a captured image of an imaging device provided in a working machine, and an operation mechanism that receives an input of an operation for operating a drive mechanism of the working machine.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when remotely operating a working machine, if a communication delay occurs, the operation of the working machine in response to the operation received by the operation mechanism is delayed, resulting in a problem of reduced work efficiency.

[0005] Therefore, in one aspect, an object of the present invention is to provide an operation support system or the like that can suppress the influence of communication delay on the remote operation of a working machine.

Means for Solving the Problems

[0006] In one aspect, an operation system that supports the operation of a drive mechanism that operates according to an operation command value transmitted by communication means, an operation unit that receives an operation for operating the drive mechanism, an operation amount recognition unit that recognizes the operation amount of the operation with respect to the operation unit, an operation command value setting unit that sets the operation command value so as to correspond to the operation amount recognized by the operation amount recognition unit, An operation direction determination unit that determines the direction of change of the operation amount recognized by the operation amount recognition unit, The correction unit corrects the operation command value set by the operation command value setting unit so that it is shifted in the direction of change determined by the operation direction determination unit, The drive mechanism is provided with an operation support system that operates according to the operation command value corrected by the correction unit. [Effects of the Invention]

[0007] According to this disclosure, the impact of communication delays on the remote operation of work machines can be suppressed. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows one example configuration of the operation support system in this embodiment. [Figure 1A] This figure shows another example configuration of the operation support system in this embodiment. [Figure 2] This diagram shows the correspondence between the operation command value and the action command value when the operating lever constituting the operating unit 101, which is in the neutral position, is tilted at a constant speed from time tA to time tB, moving it away from the neutral position. [Figure 2A] This diagram shows the correspondence between the operation command value and the action command value when the operating lever constituting the operating unit 101, which is in the neutral position, is tilted at a constant speed from time tA to time tB, moving it away from the neutral position. [Figure 2B] This diagram shows the correspondence between the operation command value and the action command value when the operating lever constituting the operating unit 101, which is operated to a position away from the neutral position, is operated at a constant speed in the direction of returning to the neutral position from time tC to time tD. [Figure 2C] This diagram shows the correspondence between the operation command value and the action command value when the operating lever constituting the operating unit 101, which is operated to a position away from the neutral position, is operated at a constant speed in the direction of returning to the neutral position from time tC to time tD. [Figure 3]This is a diagram illustrating a method for correcting an operation command when the operation lever in the neutral position is tilted and operated in a direction away from the neutral position. [Figure 3A] This is a diagram showing the influence of communication delay between the communication unit 15 (communication unit 15A) and the communication unit 25 (communication unit 25A) on the corrected operation command value. [Figure 4] This is a diagram illustrating a method for correcting an operation command when the operation lever is operated in a direction to return it to the neutral position. [Figure 4A] This is a diagram showing the influence of communication delay between the communication unit 15 (communication unit 15A) and the communication unit 25 (communication unit 25A) on the corrected operation command value. [Figure 5] This is a flowchart showing an operation example of the operation support system and the operation support device in the first configuration example. [Figure 5A] This is a flowchart showing an operation example of the operation support system and the operation support device in the second configuration example. [Figure 6] This is a diagram showing an example of correcting the operation command value when the operation lever in the neutral position is tilted at a constant speed from time tA to time tB in the same manner as in FIGS. 2 and 2A and operated in a direction away from the neutral position. [Figure 6A] This is a diagram illustrating the correction of the operation command value. [Figure 7] This is a diagram showing an example of correcting the operation command value when the operation lever is operated at a constant speed in a direction to return it to the neutral position from time tC to time tD in the same manner as in FIGS. 2B and 2C. [Figure 7A] This is a diagram illustrating the correction of the operation command value. [Figure 8] This is a diagram showing an example of offsetting the operation command value only in the vicinity of the dead zone when the operation lever in the neutral position is tilted and operated in a direction away from the neutral position.

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings.

[0010] FIG. 1 is a diagram showing one configuration example of the operation support system and the operation support device of the present embodiment, and FIG. 1A is a diagram showing another configuration example of the operation support system and the operation support device of the present embodiment.

[0011] As shown in FIGS. 1 and 1A, the operation support system of the present disclosure includes an operation lever or an operation pedal as an operation mechanism that receives an operation by an operator for operating the drive mechanism 21, and outputs an operation signal (electrical signal) corresponding to the operation amount of the operation as an operation command value, and outputs an operation signal (electrical signal) corresponding to the operation direction of the operation as an operation direction command value. The operation unit 101 is configured by a device, an operation amount recognition unit 102 that recognizes an operation command value and an operation direction command value based on the operation signal output by the operation unit 101, and an operation command value setting unit 103 that sets an operation command value for operating the drive mechanism 21 at a speed corresponding to the magnitude of the operation command value recognized by the operation amount recognition unit 102 so as to correspond to the magnitude of the operation command value recognized by the operation amount recognition unit 102, an operation direction determination unit 104 that determines the change direction of the operation command value recognized by the operation amount recognition unit 102 as the operation direction, an operation speed determination unit 104A that determines the change speed, which is the amount of change per unit time of the operation command value recognized by the operation amount acquisition unit 102, as the operation speed, a correction unit 105 that corrects the operation command value set by the operation command value setting unit 103 so as to shift in the change direction determined by the operation direction determination unit 104, and a communication status determination unit 106 that determines the communication status related to the transmission of the operation command value by the communication means. The drive mechanism 21 is an actuator that operates according to the operation command value corrected by the correction unit 105. The work machine 20, which is an operation target of the cockpit-side device 10 constituting the operation device, includes, for example, a lower traveling body provided with crawlers, an upper revolving body rotatably mounted on the lower traveling body, and an attachment for performing work. The actuator includes any one of a traveling motor that rotates to drive the crawlers, a revolving motor that rotates to revolve the upper revolving body with respect to the lower traveling body, and a cylinder that expands and contracts to operate the attachment.

[0012] In the first configuration example shown in Figure 1, the cockpit-side device 10 is equipped with an operation unit 101, an operation amount recognition unit 102, an operation command value setting unit 103, an operation direction determination unit 104, an operation speed determination unit 104A, a correction unit 105, and a communication status determination unit 106, as well as a communication unit 15. The work machine 20 is equipped with a drive mechanism 21, a drive control unit 22 that controls the operation of the drive mechanism 21 based on the operation command value, and a communication unit 25. The communication unit 15 constitutes a communication means that performs communication between the cockpit-side device 10 and the work machine 20, and the operation command value corrected by the correction unit 105 is transmitted from the cockpit-side device 10 to the work machine 20 and received by the communication unit 25A. In the first configuration example, the cockpit-side device 10 constitutes an operation support device. The first configuration example has the advantage that it is not necessary to provide a configuration related to the correction unit 105 in each individual work machine 20.

[0013] On the other hand, in the second configuration example shown in Figure 1A, the cockpit-side device 10A is equipped with an operation unit 101, an operation amount recognition unit 102, and an operation command value setting unit 103, as well as a communication unit 15A. The work machine 20A is equipped with a drive mechanism 21, a drive control unit 22 that controls the operation of the drive mechanism 21 based on the operation command value, an operation direction determination unit 104, an operation speed determination unit 104A, a correction unit 105, and a communication status determination unit 106, as well as a communication unit 25A. The communication unit 15A constitutes a communication means that performs communication between the cockpit-side device 10A and the work machine 20A, and the operation command value before correction by the correction unit 105 is transmitted from the cockpit-side device 10 to the work machine 20A and received by the communication unit 25A. The operation direction determination unit 104 determines the direction of change of the operation command value received by the communication unit 25A and recognizes the direction of change of the operation command value based on the determined direction of change of the operation command value. The operation speed determination unit 104A determines the rate of change of the operation command value received by the communication unit 25A and recognizes the rate of change of the operation command value based on the determined rate of change of the operation command value. The correction unit 105 corrects the operation command value received by the communication unit 25A so as to shift it in the direction of change recognized by the operation direction determination unit 104. In the second configuration example, the work machine 20A constitutes an operation support device. In the second configuration example, a normal operating device that does not have a configuration related to the correction unit 105 can be used as the cockpit-side device 10A.

[0014] Figures 1 and 1A show examples of the configuration of the operation support system, but the configuration is arbitrary. That is, the operation unit 101, operation amount recognition unit 102, operation command value setting unit 103, operation direction determination unit 104, operation speed determination unit 104A, correction unit 105, and communication status determination unit 106 can be distributed between the cockpit-side device and the work machine in any way. In addition, devices that constitute the communication means (for example, various communication devices including relay devices and various communication paths) may be added. The devices that constitute the communication means may be equipped with an operation amount recognition unit 102 that recognizes the operation amount based on communication with the cockpit-side device 10A, an operation command value setting unit 103, an operation direction determination unit 104, an operation speed determination unit 104A, and a correction unit 105, and the operation support device may be configured by having the correction unit 105 correct the operation command value and transmit it to the work machine 20. Alternatively, the device constituting the communication means may be provided with a communication unit 25A that receives the operation command value before it is corrected based on communication with the cockpit-side device 10A, an operation direction determination unit 104 that recognizes the direction of change of the operation command value based on the operation command value received by the communication unit 25A, an operation speed determination unit 104A that recognizes the rate of change of the operation command value based on the operation command value received by the communication unit 25A, and a correction unit 105 that corrects the operation command value received by the communication unit 25A, thereby configuring an operation support device.

[0015] Next, we will explain how the operation support system works.

[0016] As described above, the operation command value setting unit 103 sets the operation command value to correspond to the magnitude of the operation command value set by the manipulated variable recognition unit 102. The operation direction determination unit 104 determines the direction of change of the operation command value recognized by the manipulated variable recognition unit 102. The operation speed determination unit 104A determines the rate of change of the operation command value recognized by the manipulated variable recognition unit 102. The correction unit 105 corrects the operation command value set by the operation command value setting unit 103 so as to shift it in the direction of change determined by the operation direction determination unit 104.

[0017] First, we will explain the case where the operating command value is corrected by the shift amount corresponding to the operating speed.

[0018] Figures 2 and 2A show the correspondence between the operation command value and the operating command value when the operating lever constituting the operating unit 101, which is in the neutral position, is tilted at a constant speed from time tA to time tB, moving it away from the neutral position. Figure 2 shows the case when the operating speed of the operating lever is low, and Figure 2A shows the case when the operating speed of the operating lever is high. As shown in Figures 2 and 2A, a dead zone is set in which the operating command value corresponding to the operation command value is zero in the interval from 0 to P0. The same applies to Figures 2A to 2C.

[0019] In Figures 2 and 2A, line 50 shows the correspondence between the operation command (operation command value) and the operating command (operating command value) when no correction is performed by the correction unit 105. Also, in Figures 2 and 2A, line 51 shows the correspondence between the operation command (operation command value) and the operating command (operating command value) when correction is performed by the correction unit 105. Note that in Figures 2 and 2A, the dead zone described above is applied to line 50.

[0020] At time tA, when the operation of the operating lever in the direction away from the neutral position begins, the amount of operation is zero. Line 50 indicates that the operation command value recognized by the amount of operation recognition unit 102 is zero, and the operation command value setting unit 103 sets the operation command value to zero. Furthermore, if the amount of operation applied to the operating lever in the direction away from the neutral position after time tA is less than or equal to the amount of operation corresponding to the dead zone, line 50 indicates that the operation command value recognized by the amount of operation recognition unit 102 is zero, and the operation command value setting unit 103 sets the operation command value to zero. On the other hand, if the amount of operation applied to the operating lever in the direction away from the neutral position after time tA exceeds the amount of operation corresponding to the dead zone, line 50 indicates that the operation command value recognized by the amount of operation recognition unit 102 is equal to the magnitude of the amount of operation applied to the operating lever, and the operation command value setting unit 103 sets the operation command value to a value corresponding to the magnitude of the operation command value.

[0021] In this example, the operation unit 101 outputs an operation command value corresponding to the operation direction, which is the direction away from the neutral position, as shown on line 50, and the operation amount, which increases over time, in response to the operation of the operation lever moving away from the neutral position. The operation amount recognition unit 102 recognizes the operation command value that increases over time based on the operation command value output by the operation unit 101. The operation command value setting unit 103 sets the operation command value that increases over time as shown on line 50 by setting the operation command value to correspond to the magnitude of the operation command value recognized by the operation amount recognition unit 102. The operation direction determination unit 104 recognizes that the direction of change of the operation command value is the direction of change that increases over time, based on the operation command value recognized by the operation amount recognition unit 102. The operation speed determination unit 104A determines the operation speed of the operation lever based on the operation command value recognized by the operation amount recognition unit 102. The correction unit 105 sets the shift amount such that the higher the operating speed of the operating lever determined by the operating speed determination unit 104A, the larger the shift amount of the operation command value corresponding to the operating command value. Based on the set shift amount and the direction of change of the operating command value which increases over time as determined by the operating direction determination unit 104, the correction unit 105 increases the operation command value. That is, as shown in Figure 2, when the operating speed of the operating lever is low, the shift amount is set to be small, so line 51 is closer to line 50 than in the state shown in Figure 2A. On the other hand, as shown in Figure 2A, when the operating speed of the operating lever is high, the shift amount is set to be large, so line 51 is shifted more from line 50 in the operating direction of the operating lever (the direction in which the operation command value increases) than in the state shown in Figure 2.

[0022] Figures 2B and 2C show the correspondence between the operation command value and the operating command value when the operating lever constituting the operating unit 101, which is operated to a position away from the neutral position, is operated at a constant speed in the direction of returning to the neutral position from time tC to time tD. Figure 2B shows the case when the operating speed of the operating lever is low, and Figure 2C shows the case when the operating speed of the operating lever is high. As shown in Figures 2B and 2C, a dead zone is set in which the operating command value corresponding to the operation command value is zero in the interval from zero to P0.

[0023] In Figures 2B and 2C, line 50 shows the correspondence between the operation command (operation command value) and the operating command (operating command value) when no correction is performed by the correction unit 105. Also in Figures 2B and 2C, line 51 shows the correspondence between the operation command (operation command value) and the operating command (operating command value) when correction is performed by the correction unit 105. Note that in Figures 2B and 2C, the dead zone described above is applied to line 50.

[0024] If, at time tC, when operation is initiated to return the operating lever from a position away from the neutral position to the neutral position, the amount of operation exceeds the amount of operation corresponding to the dead zone, then line 50 indicates that the operation command value recognized by the operation amount recognition unit 102 corresponds to the magnitude of the amount of operation applied to the operating lever, and the operation command value setting unit 103 sets the operation command value to a value corresponding to the magnitude of the operation command value. Furthermore, if, after time tC, the amount of operation applied to the operating lever in the direction of returning to the neutral position exceeds the amount of operation corresponding to the dead zone, then line 50 indicates that the operation command value recognized by the operation amount recognition unit 102 corresponds to the magnitude of the amount of operation applied to the operating lever, and the operation command value setting unit 103 sets the operation command value to a value corresponding to the magnitude of the operation command value. On the other hand, if, after time tC, the amount of operation applied to the operating lever in the direction of returning to the neutral position is less than or equal to the amount of operation corresponding to the dead zone, then line 50 indicates that the operation command value recognized by the operation amount recognition unit 102 is zero, and the operation command value setting unit 103 sets the operation command value to zero.

[0025] In this example, the operation unit 101 outputs an operation command value corresponding to the operation direction, which is the direction of returning to the neutral position, as shown on line 50, and the operation amount, which decreases over time, in response to the operation of the operation lever in the direction of returning to the neutral position. The operation amount recognition unit 102 recognizes the operation command value that decreases over time based on the operation command value output by the operation unit 101. The operation command value setting unit 103 sets the operation command value that decreases over time as shown on line 50 by setting the operation command value to correspond to the magnitude of the operation command value recognized by the operation amount recognition unit 102. The operation direction determination unit 104 recognizes that the direction of change of the operation command value is a direction of change that decreases over time, based on the operation command value recognized by the operation amount recognition unit 102. The operation speed determination unit 104A determines the operation speed of the operation lever based on the operation command value recognized by the operation amount recognition unit 102. Similar to the case where the operating lever is moved away from the neutral position, the correction unit 105 sets the shift amount such that the higher the operating speed of the operating lever determined by the operating speed determination unit 104A, the larger the shift amount of the operation command value corresponding to the operating command value. Based on the set shift amount and the direction of change of the operating command value which increases over time as determined by the operating direction determination unit 104, the correction unit 105 corrects the operation command value to decrease. That is, when the operating speed of the operating lever is low, as shown in Figure 2B, the shift amount is set to be small, so line 51 is closer to line 50 than in the state shown in Figure 2C. On the other hand, when the operating speed of the operating lever is high, as shown in Figure 2C, the shift amount is set to be large, so line 51 shifts more from line 50 in the operating direction of the operating lever (the direction in which the operation command value decreases) than in the state shown in Figure 2B.

[0026] Thus, in this embodiment, the greater the absolute value of the operating speed of the operating lever, the greater the amount of shift in the operating direction. This prevents deterioration of responsiveness during quick operations, where the effects of delay are easily noticeable.

[0027] Figure 3 illustrates a method for correcting the operation command when operating an operating lever that is in the neutral position and is moved away from the neutral position.

[0028] In Figure 3, line 70 shows the change in the operating command value without correction by the correction unit 105, and line 71 shows the change in the operating command value with correction by the correction unit 105.

[0029] As shown in Figure 3, when the operating lever is operated at a nearly constant speed in the direction of tilting, the correction unit 105 corrects the operation command value so that the operation command value shifts in the direction of operation of the operating lever (the direction in which the operation command value increases) while the operation continues. That is, as shown in Figure 3, line 71 shifts upward relative to line 70. Specifically, in Figure 3, when the operation command value before correction starts to rise at time t1, the shift amount increases until time t2, and the shift amount is maintained until time t3 when the operation command value before correction becomes constant. Furthermore, the shift amount decreases from time t3, and at time t4, the corrected operation command value matches the operation command value before correction. In this way, the correction unit 105 can correct the operation command value. Note that at time t1, the operating speed of the operating lever is zero within the sampling period up to that point, so the shift amount is zero. Furthermore, from time t1 to time t2, the sampling period up to that point includes cases where the operating speed of the control lever up to time t1 is zero and cases where the operating speed of the control lever is constant from time t1 onward. As the proportion of time during which the operating speed is constant within the sampling period increases over time, the shift amount increases up to time t2. From time t2 to time t3, the operating speed of the control lever is constant within the sampling period up to that point, so the shift amount is maintained. From time t3 to time t4, the sampling period up to that point includes cases where the operating speed of the control lever is constant up to time t3 and cases where the operating speed of the control lever is zero from time t3 onward. As the proportion of time during which the operating speed of the control lever is constant up to time t3 within a unit time decreases over time, the shift amount decreases up to time t4. From time t4 onward, the operating speed of the control lever is zero within the sampling period up to that point, so the shift amount is zero. Figure 3A is a diagram showing the effect of communication delay between the communication unit 15 (communication unit 15A) and the communication unit 25 (communication unit 25A) on the corrected operation command value. In Figure 3A, line 60 shows the change in the operation command value before correction when there is a communication delay, line 61 shows the change in the operation command value before correction when there is no communication delay, and line 62 shows the change in the operation command value after correction when there is a communication delay. Specifically, in the first configuration example, line 60 corresponds to the change in the operation command value before correction when the communication unit 25 receives the operation command value before correction when there is a communication delay and the communication unit 25 receives the operation command value before correction and the communication unit 25 receives the operation command value before correction and the communication unit 25 receives the operation command value before correction and the communication unit 25 receives the operation command value before correction and the communication unit 25 receives the operation command value before correction when there is a communication delay and the communication unit 25 receives the operation command value after correction and the communication unit 25 receives the operation command value after correction and the communication unit 22 receives the operation command value after correction when there is a communication delay. Furthermore, in the second configuration example, line 60 corresponds to the change in the uncorrected operation command value received by the communication unit 25 and applied to the drive control unit 22 when there is a communication delay, line 61 corresponds to the change in the uncorrected operation command value received by the communication unit 25 and applied to the drive control unit 22 when the communication unit 25 receives the uncorrected operation command value in an ideal state without communication delay, and line 62 corresponds to the change in the corrected operation command value corrected by the correction unit 105 based on the uncorrected operation command value received by the communication unit 25 when there is a communication delay.

[0030] As shown by lines 61 and 62 in Figure 3A, if there is a communication delay, the corrected operation command value (line 62) rises later at time t12 (the time the rise is detected) than at time t11 when the rise of the uncorrected operation command value (line 61) begins to rise in the case where there is no communication delay. Then, from time t13 onwards, the corrected operation command value (line 62) follows the case where there is no communication delay (line 61). Note that in Figure 3A, lines 61 and 62 are drawn to coincide from time t13 onwards, but they do not necessarily have to coincide; it is sufficient for line 62 to be close to line 61. When the uncorrected operation command value (line 61) becomes constant at time t14, the corrected operation command value (line 62) begins to decrease from time t15 when it is detected, and at time t16 it matches the uncorrected operation command value (line 61) in the case where there is no communication delay.

[0031] Thus, in this embodiment, even when there is a communication delay, the corrected operating command value can be made to follow the operating command value in the case when there is no communication delay. Therefore, even with a communication delay, smooth operation of the drive mechanism 21 can be ensured for the operating lever that is operated to move away from the neutral position, thereby improving work efficiency.

[0032] Figure 4 illustrates a method for correcting the operation command when operating the control lever in the direction of returning it to the neutral position.

[0033] In Figure 4, line 70 shows the change in the operating command value without correction by the correction unit 105, and line 71 shows the change in the operating command value with correction by the correction unit 105.

[0034] As shown in Figure 4, when the operating lever is operated at a nearly constant speed in the direction of returning it to the neutral position, the correction unit 105 corrects the operating command value so that the operating command value shifts in the direction of operation of the operating lever (the direction in which the operating command value decreases) while the operation continues. That is, as shown in Figure 4, line 71 shifts downward relative to line 70. Specifically, in Figure 4, when the operating command value before correction begins to fall at time t21, the shift amount increases until time t22, and the shift amount is maintained until time t23. Furthermore, from time t23 until time t24, when the operating command value before correction becomes zero, the corrected operating command value is kept constant (zero). Note that at time t21, the operating speed of the operating lever is zero within the sampling period up to that point, so the shift amount is zero. Furthermore, from time t21 to time t22, the sampling period up to that point includes cases where the operating speed of the control lever up to time t21 is zero and cases where the operating speed of the control lever is constant from time t21 onward. As the proportion of time when the operating speed is constant within the sampling period increases over time, the shift amount increases up to time t22. From time t22 to time t23, the operating speed of the control lever is constant within the sampling period, so the shift amount is maintained. From time t23 to time t24, the operating speed is the same as up to time t23, but if the same shift amount as up to time t23 is maintained, the corrected operation command value will become a negative value. Therefore, the shift amount is set so that the corrected operation command value becomes zero. From time t4 onward, the operating speed of the control lever is zero within a single sampling period, so the shift amount is zero. Figure 4A is a diagram showing the effect of communication delay between the communication unit 15 (communication unit 15A) and the communication unit 25 (communication unit 25A) on the corrected operation command value. In Figure 4A, line 60 shows the change in the operation command value before correction when there is a communication delay, line 61 shows the change in the operation command value before correction when there is no communication delay, and line 62 shows the change in the operation command value after correction when there is a communication delay. Specifically, in the first configuration example, line 60 corresponds to the change in the operation command value before correction when the communication unit 25 receives the operation command value before correction when there is a communication delay and the communication unit 25 receives the operation command value before correction and the communication unit 25 receives the operation command value before correction and the communication unit 25 receives the operation command value before correction and the communication unit 25 receives the operation command value before correction when there is an ideal state without a communication delay and the communication unit 25 receives the operation command value before correction and the communication unit 25 receives the operation command value after correction and the communication unit 25 receives the operation command value after correction when there is a communication delay and the communication unit 25 receives the operation command value before correction and the communication unit 22 receives the operation command value before correction. Furthermore, in the second configuration example, line 60 corresponds to the change in the uncorrected operation command value received by the communication unit 25 and applied to the drive control unit 22 when there is a communication delay, line 61 corresponds to the change in the uncorrected operation command value received by the communication unit 25 and applied to the drive control unit 22 when the communication unit 25 receives the uncorrected operation command value in an ideal state without communication delay, and line 62 corresponds to the change in the corrected operation command value corrected by the correction unit 105 based on the uncorrected operation command value received by the communication unit 25 when there is a communication delay.

[0035] As shown by lines 61 and 62 in Figure 4A, if there is a communication delay, the corrected command value (line 62) will fall later at time t32 (the time when the rising edge is detected), than at time t31 when the falling edge of the uncorrected command value (line 61) begins in the case without a communication delay. Then, from time t33 onwards, the corrected command value will follow the case without a communication delay (line 61). Note that in Figure 4A, lines 61 and 62 are drawn to coincide from time t13 onwards, but they do not necessarily need to coincide; it is sufficient for line 62 to be close to line 61.

[0036] If the corrected operating command value (line 62) becomes zero at time t34, the corrected operating command value will remain zero from time t34 onward.

[0037] Thus, in this embodiment, even when there is a communication delay, the corrected operating command value can be made to follow the operating command value in the case when there is no communication delay. Therefore, even with a communication delay, smooth operation of the drive mechanism 21 for the operating lever that is operated to return to the neutral position can be ensured, and work efficiency can be improved.

[0038] In Figures 3 to 4A, an example is shown in which the correction unit 105 corrects the operation command value and the corrected operation command value is reflected in the drive control unit 22. However, the correction unit 105 may be configured to correct the operation command value recognized by the manipulated amount recognition unit 102, input the corrected operation command value to the operation command value setting unit 103, and reflect the operation command value set by the operation command value setting unit 103 in the drive control unit 22.

[0039] Figure 5 is a flowchart showing an example of the operation of the operation support system and operation support device in the first configuration example.

[0040] In step S102 of Figure 5, the manipulated amount recognition unit 102 recognizes the manipulated amount (operation command value) for the operation on the operation unit 101, and the operation command value setting unit 103 sets the operation command value to correspond to the magnitude of the operation command value recognized by the manipulated amount recognition unit 102.

[0041] In step S104, the communication status determination unit 106 measures the communication delay time in the communication means. Here, for example, the communication unit 15 and the communication unit 25 send and receive data (e.g., a timestamp) to each other, and the communication delay time is measured by measuring the time required for sending and receiving.

[0042] In step S106, the correction unit 105 determines whether the communication delay time measured in step S104 is greater than or equal to a predetermined time. If the determination is affirmative, the process proceeds to step S110; otherwise, the process proceeds to step S108.

[0043] In step S108, the operation direction determination unit 104 and the operation speed determination unit 104A determine the operation direction and operation speed (rate of change of the manipulated amount), respectively. Here, the operation direction and operation speed may be determined based on a comparison between the manipulated amount obtained in the previous step and the manipulated amount obtained in the current step (step S102).

[0044] In step S112, the correction unit 105 can calculate a correction amount for the operation command value set by the operation command value setting unit 103 based on the measured communication delay time, the acquired operation amount, the determined operation direction and operation speed, etc.

[0045] The method for calculating the correction amount is arbitrary, but for example, the correction amount may be a value proportional to the operating speed V. Furthermore, the communication delay time may be taken into consideration, and the correction amount may be increased in accordance with the communication delay time. For example, the ratio of the current communication delay time ΔT to the normal communication delay time ΔT0 (ΔT / ΔT0) may be used to set the correction amount to a value proportional to the operating speed V × ratio (ΔT / ΔT0). In this case, increasing the correction amount in accordance with the increase in communication delay time can improve responsiveness to operation. Also, if the communication delay time is small, it is possible to ensure the same level of operability as when actually flying the aircraft.

[0046] In step S114, the correction unit 105 determines whether the correction amount calculated in step S112 is within a certain value. If the determination is positive, the process proceeds to step S120; otherwise, the process proceeds to step S116.

[0047] In step S116, the correction unit 105 sets the correction amount to the above-mentioned constant value and proceeds to step S120. Here, by suppressing the correction amount to the above-mentioned constant value, it is possible to avoid unintended sudden operation of the drive mechanism 21.

[0048] Meanwhile, in step S110, the correction unit 105 performs a predetermined abnormality processing and proceeds to processing step S120.

[0049] The abnormality handling is performed when remote control of the drive mechanism 21 is deemed difficult due to excessively long communication delays. In this case, for example, the correction unit 105 sets the correction amount of the operation command value to zero, or corrects the operation command value to zero and outputs an emergency stop signal. In the latter case, the emergency stop signal is transmitted to the drive control unit 22 of the work machine 20 via the communication means, and the operation of the drive mechanism 21 may be stopped.

[0050] In step S120, the correction unit 105 calculates the operation command value (corrected operation command value). Here, the corrected operation command value is calculated by adding the correction amount calculated in step S112 to the operation command value before correction.

[0051] In step S122, the corrected operation command value is transmitted to the work machine 20 via the communication unit 15. The corrected operation command value received by the communication unit 25 is input to the drive control unit 22 and reflected in the operation of the drive mechanism 21.

[0052] Figure 5A is a flowchart showing an example of the operation of the operation support system and operation support device in the second configuration example.

[0053] In step S202 of Figure 5A, the uncorrected operation command value transmitted from the work machine 20 via the communication unit 15A is received by the communication unit 25A.

[0054] In step S204, the communication status determination unit 106 measures the communication delay time in the communication means. Here, for example, the communication delay time is measured by sending and receiving data (e.g., a timestamp) between the communication unit 15A and the communication unit 25A and measuring the time required for sending and receiving.

[0055] In step S206, the correction unit 105 determines whether the communication delay time measured in step S104 is greater than or equal to a predetermined time. If the determination is affirmative, the process proceeds to step S210; otherwise, the process proceeds to step S208.

[0056] In step S208, the operation direction determination unit 104 determines the direction of change of the operation command value received by the communication unit 25A and recognizes the direction of change of the operation command value based on the determined direction of change of the operation command value. The operation speed determination unit 104A determines the rate of change of the operation command value received by the communication unit 25A and recognizes the rate of change of the operation command value based on the determined rate of change of the operation command value. Here, the direction of change and the operation speed may be determined based on a comparison between the operation command value acquired in the previous step and the operation command value acquired in the current step (step S202).

[0057] In step S212, the correction unit 105 can calculate the correction amount for the operation command value received by the signal unit 25A based on the measured communication delay time, the determined direction of change, and the rate of change.

[0058] The method for calculating the correction amount is arbitrary, but for example, the correction amount may be a value proportional to the rate of change V of the operating command value. Furthermore, the communication delay time may be taken into consideration, and the correction amount may be increased according to the communication delay time. For example, the ratio of the current communication delay time ΔT to the normal communication delay time ΔT0 (ΔT / ΔT0) may be used to set the correction amount to a value proportional to the rate of change V of the operating command value × the ratio (ΔT / ΔT0).

[0059] In step S214, the correction unit 105 determines whether the correction amount calculated in step S212 is within a certain value. If the determination is positive, the process proceeds to step S220; otherwise, the process proceeds to step S216.

[0060] In step S216, the correction unit 105 sets the correction amount to the above-mentioned constant value and proceeds to step S220. Here, by suppressing the correction amount to the above-mentioned constant value, it is possible to avoid sudden and unintended operation of the drive mechanism 21.

[0061] Meanwhile, in step S208, the correction unit 105 performs a predetermined abnormality handling process and proceeds to processing step S220.

[0062] The abnormality handling is performed when remote control of the drive mechanism 21 is deemed difficult due to excessively long communication delays. In this case, for example, the correction unit 105 sets the correction amount of the operation command value to zero, or corrects the operation command value to zero and outputs an emergency stop signal. In the latter case, the operation of the drive mechanism 21 may be stopped when the emergency stop signal is input to the drive control unit 22.

[0063] In step S220, the correction unit 105 calculates the operation command value (corrected operation command value). Here, the corrected operation command value is calculated by adding the correction amount calculated in step S212 to the operation command value before correction.

[0064] In step S222, the corrected operating command value is input to the drive control unit 22, and the drive control unit 22 operates the drive mechanism 21 according to the corrected operating command value.

[0065] Next, we will explain the correction performed by the correction unit 105 using the operation command value corresponding to the operation command value in the operation command characteristics, which are the correspondence between the manipulated variable (operation command value) and the operation command (operation command value).

[0066] Figure 6, similar to Figures 2 and 2A, shows an example of correcting the operation command value when the operating lever, which is in the neutral position, is moved away from the neutral position by tilting it at a constant speed from time tA to time tB. Figure 6A is a diagram illustrating the correction of the operation command value. The operation command value in Figure 6 is the same as the operation command value in Figures 2 and 2A.

[0067] In Figure 6, line 90 shows the correspondence between the operation command value recognized by the manipulated variable recognition unit 102 and the operation command value set by the operation command value setting unit 103 to correspond to the magnitude of the operation command value recognized by the manipulated variable recognition unit 102, while line 91 shows the correspondence between the operation command value recognized by the manipulated variable recognition unit 102 and the corrected operation command after the operation command value set by the operation command value setting unit 103 has been corrected by the correction unit 105. Line 90 has a dead zone where the operation command value corresponding to the operation command value is zero in the interval from zero to P0. Line 91 has a dead zone where the operation command value corresponding to the operation command value is zero in the interval from zero to P1. As shown in Figure 6, the correction unit 105 corrects the operation command value so that the operation command value corresponding to the operation command value becomes larger. By outputting an operation command value according to line 91, which is offset to the left (in the direction of the arrow in Figure 6) from line 90, the correction unit corrects the operation command value so that the operation of the drive mechanism 21 in response to an operation command value in the direction of tilting the operation lever is accelerated. The lateral width between line 91 and line 90 corresponds to the offset amount. The offset amount corresponds to a shift amount which is set to be larger the higher the operating speed of the operation lever as described above.

[0068] As shown in Figure 6A, the offset amount may be configured to increase in proportion to the communication delay time, thereby obtaining an offset amount corresponding to the communication delay time, which can improve work efficiency. However, on the other hand, by saturating the offset amount at the threshold S0, sudden and unintended operation of the drive mechanism 21 is avoided. If the communication status determination unit 106 cannot measure the communication delay time in the communication means, a predetermined communication delay time may be assumed to exist and a predetermined offset amount of a predetermined size may be set.

[0069] Figure 7, similar to Figures 2B and 2C, shows an example of correcting the operation command value when the operating lever is operated at a constant speed in the direction returning to the neutral position from time tC to time tD. Figure 7A is a diagram illustrating the correction of the operation command value. The operation command value in Figure 7 is the same as the operation command value in Figures 2B and 2C.

[0070] In Figure 7, line 90 shows the relationship between the operation command value recognized by the manipulated variable recognition unit 102 and the operation command value set by the operation command value setting unit 103 to correspond to the magnitude of the operation command value recognized by the manipulated variable recognition unit 102. Line 91 shows the relationship between the operation command value recognized by the manipulated variable recognition unit 102 and the corrected operation command after the operation command value set by the operation command value setting unit 103 has been corrected by the correction unit 105. Line 90 has a dead zone where the operation command value corresponding to the operation command value is zero in the interval from zero to P0. Line 91 has a dead zone where the operation command value corresponding to the operation command value is zero in the interval from zero to P1. As shown in Figure 7, the correction unit 105 corrects the operation command value so that the operation command value corresponding to the operation command value becomes smaller, and by outputting an operation command value according to line 91 which is offset to the right (in the direction of the arrow in Figure 7) of line 90, the correction unit corrects the operation command value so that the operation of the drive mechanism 21 in response to operation in the direction of returning the operation lever is accelerated. The lateral width between line 91 and line 90 corresponds to the offset amount. The offset amount corresponds to a shift amount which is set to be larger the higher the operating speed of the operation lever as described above.

[0071] As shown in Figure 7A, the offset amount may be set to increase in proportion to the communication delay time, thereby enabling the acquisition of an offset amount corresponding to the communication delay time, and thereby improving work efficiency. If the communication status determination unit 106 is unable to measure the communication delay time in the communication means, a predetermined communication delay time may be assumed to exist, and an offset amount of a predetermined size may be set.

[0072] As described above, increasing the offset amount in accordance with the increase in communication delay time can improve responsiveness to operations. Furthermore, if the communication delay time is minimal, it is possible to ensure the same level of operability as when actually on board the aircraft.

[0073] Figure 8 shows an example where the operating command value is offset only near the dead zone when the operating lever, which is in the neutral position, is moved away from the neutral position.

[0074] Figure 8, like Figure 6, shows the relationship between the manipulated variable (operation command value) and the operation command (operation command value). Line 90 shows the relationship before correction, and line 91 shows the relationship after correction. In the example in Figure 8, unlike the example in Figure 6, the operation command value is corrected to speed up the operation of the drive mechanism 21 in response to operations in the direction of tilting the operating lever, but only near the dead zone (the region where the operating pressure is zero regardless of the operation command).

[0075] In this way, when controlling the correction amount of the operating command value, the operating command value is offset in the operating command characteristics. By correcting the dead zone setting, the responsiveness can be changed.

[0076] As described above, in the above embodiment, the correction unit 105 compensates for the effects of communication delay by correcting the operation command value to shift in the direction of change of operation. Therefore, the delay in the operation of the drive mechanism 21 in response to the operation received by the operation unit 110 is suppressed. Thus, the effects of communication delay on the remote operation of the work machine can be suppressed. Note that the operation mechanism constituting the operation unit 101 is not limited to an operation lever, but may also include an operation pedal or other operation mechanisms.

[0077] Although the embodiments have been described in detail above, the invention is not limited to any particular embodiment, and various modifications and changes are possible within the scope of the claims. Furthermore, it is possible to combine all or more of the components of the embodiments described above. [Explanation of Symbols]

[0078] 10, 10A Cockpit-side equipment 20, 20A Work Machinery 15, 15A Communications Department 25, 25A Communication Department 101 Operation section 102 Operation amount acquisition section 103 Operation command value setting unit 104 Operation direction determination section 104A Operation speed judgment section 105 Correction section 106 Communication Status Determination Unit

Claims

1. An operating system that assists in the operation of a drive mechanism that operates in accordance with an operating command value transmitted by a communication means, An operating unit that receives operations to activate the aforementioned drive mechanism, An operation amount recognition unit that recognizes the amount of operation performed on the operation unit, An operation command value setting unit sets the operation command value to correspond to the operation amount recognized by the operation amount recognition unit, An operation direction determination unit that determines the direction of change of the operation amount recognized by the operation amount recognition unit, The correction unit corrects the operation command value set by the operation command value setting unit so that it is shifted in the direction of change determined by the operation direction determination unit, The drive mechanism is an operation support system that operates according to the operation command value corrected by the correction unit.

2. The system includes an operating speed determination unit that determines the rate of change of the operating quantity recognized by the operating quantity recognition unit, The correction unit increases the amount of shift in the direction of change as the rate of change of the manipulated amount increases, according to claim 1.

3. The system includes a communication status determination unit that determines the communication status related to the transmission of the operation command value by the communication means, The operation support system according to claim 1, wherein the correction unit corrects the operation command value when the communication status determined by the communication status determination unit satisfies predetermined conditions.

4. The system includes a communication status determination unit that determines the communication status related to the transmission of the operation command value by the communication means, The operation support system according to claim 1, wherein the drive mechanism operates or stops operating according to the operation command value set by the operation command value setting unit when the communication status determined by the communication status determination unit does not meet predetermined conditions.

5. The system includes a communication status determination unit that determines the communication status related to the transmission of the operation command value by the communication means, The correction unit increases the amount of the shift in the direction of change as the communication delay indicated by the communication status determined by the communication status determination unit increases.

6. The operation command characteristics showing the relationship between the manipulated variable and the operation command value have a dead zone where the magnitude of the operation command value is zero. The operation support system according to claim 1, wherein the range of the operating amount corresponding to the dead zone is corrected in accordance with the correction of the operation command value by the correction unit.

7. The communication means transmits the operation command value corrected by the correction unit. The operation support system according to claim 1, wherein the drive mechanism operates in accordance with the operation command value transmitted from the communication means.

8. The communication means transmits the operation command value set by the operation command value setting unit. The operation support system according to claim 1, wherein the correction unit corrects the operation command value transmitted by the communication means to shift it in the direction of change determined by the operation direction determination unit.

9. The communication means transmits the operation command value to the object to be operated, which is equipped with the drive mechanism. The operation support system according to any one of claims 1 to 8, wherein the target of operation includes a drive control unit that controls the operation of the drive mechanism based on the operation command value transmitted from the communication means.

10. An operation support device comprising an operating device having a communication means for supporting the operation of a drive mechanism that operates in accordance with an operation command value transmitted by a communication means, An operating unit that receives operations to activate the aforementioned drive mechanism, An operation amount recognition unit that recognizes the amount of operation performed on the operation unit, An operation command value setting unit sets the operation command value to correspond to the operation amount recognized by the operation amount recognition unit, An operation direction determination unit that determines the direction of change of the operation amount recognized by the operation amount recognition unit, The system includes a correction unit that corrects the operation command value set by the operation command value setting unit so as to shift it in the direction of change determined by the operation direction determination unit, The communication means transmits the operation command value corrected by the correction unit to the target being operated, which is equipped with the drive mechanism. An operational support device is provided.

11. An operation support device comprising an operating target having a drive mechanism for supporting the operation of a drive mechanism that operates in accordance with an operation command value transmitted by a communication means, An operation direction determination unit determines the direction of change of the operation amount of the operation part that receives an operation to activate the drive mechanism provided in the operating device, based on the operation command value set by the operation command value setting unit of the operating device, which recognizes the operation amount of the operation part that receives an operation to activate the drive mechanism provided in the operating device, an operation amount recognition unit which recognizes the operation amount recognized by the operation amount recognition unit, and an operation direction determination unit which determines the direction of change of the operation amount of the operation part that receives an operation to activate the drive mechanism provided in the operating device, A correction unit that corrects the operation command value transmitted from the communication means so that it is shifted in the direction of change determined by the operation direction determination unit, A drive control unit that operates the drive mechanism according to the operating command value corrected by the correction unit, An operational support device is provided.

12. An operation support device having a communication means for supporting the operation of a drive mechanism that operates in accordance with an operation command value transmitted by a communication means, An operating amount recognition unit recognizes the amount of operation of an operating part that receives an operation to activate the drive mechanism provided in the operating device, based on communication with the operating device. An operation direction determination unit that determines the direction of change of the operation amount recognized by the operation amount recognition unit, An operation command value setting unit sets the operation command value to correspond to the operation amount recognized by the operation amount recognition unit, The system includes a correction unit that corrects the operation command value set by the operation command value setting unit so as to shift it in the direction of change determined by the operation direction determination unit, The communication means is an operation support device that transmits the operation command value corrected by the correction unit to an object to be operated that is equipped with the drive mechanism.

13. An operation support device having a communication means for supporting the operation of a drive mechanism that operates in accordance with an operation command value transmitted by a communication means, An operation direction determination unit determines the direction of change of the amount of operation of the operation unit that receives an operation to operate the drive mechanism, based on the operation command value set by the operation command value setting unit of the operation device, which is received based on communication with the operation device, so as to correspond to the amount of operation of the operation unit that receives an operation to operate the drive mechanism provided in the operation device, The system includes a correction unit that corrects the operation command value received based on communication with the operating device so as to shift it in the direction of change determined by the operation direction determination unit, The communication means is an operation support device that transmits the operation command value corrected by the correction unit to an object to be operated that is equipped with the drive mechanism.

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