Operation reaction force control system and operation reaction force control method

Abstract

To provide a system and the like which can achieve improvement of operability of an operation mechanism for an operator.SOLUTION: By the action of an actuator 114 being controlled, operation reaction forces f1(θ), f2(φ) acting on operation levers 2111, 2112 are controlled. At this time, the operation reaction forces f1(θ), f2(φ) are controlled in such a manner that reaction forces F1(θ), F2(φ) in operation directions opposite from each other which are sensed by an operator via the operation levers 2111, 2112 (operation mechanism) are achieved to be symmetrical with an operation amount 0 being a reference, in an operation amount range in a positive operation direction and in an operation amount range in a negative operation direction.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a technique for applying an operation reaction force to an operating mechanism operated by an operator in a positive or negative operating direction in order to operate a work machine or a component thereof in a positive or negative operating direction. [Background technology]

[0002] An operating lever device has been proposed in which, when a vertical and horizontal rotation mechanism with a lever support member located on the left and / or right side of a driver's seat installed on a construction machine is rotated by a lever, the rotation axis of the rotation mechanism is arranged obliquely so that it passes through the center of the lever grip held by the operator (see, for example, Patent Document 1).

[0003] However, because muscle activity differs between the extension / flexion motion of the operator's elbow and the pronation / supination motion, the reaction force felt by the operator for the upward and downward operation differs. This makes it difficult for the operator to grasp the amount of operation of the lever in each direction, which may reduce operability.

[0004] There has been proposed an operating lever device in which a cross-shaped switch consisting of front, back, left and right switch sections that are pressed by the operator with his / her fingertips is provided on the grip side of the operating lever of a construction machine (see, for example, Patent Document 2). This reduces fatigue in the operator's arms when operating a construction machine. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2003-184128 A [Patent Document 2] JP 2000-204599 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, pressing a cross switch with a fingertip requires delicate and accurate finger movements, which can increase the mental burden on the operator and reduce the work efficiency of the construction machine.

[0007] Therefore, an object of the present invention is to provide a system etc. that can improve the operability of an operating mechanism for an operator. [Means for solving the problem]

[0008] The operation reaction force control system of the present invention comprises: An operation reaction force control system configured to control the operation of an actuator so that an operation reaction force of a strength corresponding to an amount of operation detected by an operation mode detection sensor is applied to an operation mechanism operated by an operator in each of positive operation directions and negative operation directions opposite to each other in order to operate a work machine or a component thereof that is an object of control in each of positive operation directions and negative operation directions opposite to each other, in a direction corresponding to the operation direction detected by the operation mode detection sensor, the operation reaction force A sensory reaction force, which is an operation reaction force felt by the operator through the operation mechanism in accordance with the operation amount of the operation mechanism in each of the positive operation direction and the negative operation direction, is applied to the operation mechanism in accordance with the operation amount so that at least partial symmetry is realized with respect to an operation amount of the operation mechanism of 0. , asymmetrically based on the control amount of 0 The actuator is configured to control operation of the actuator so as to act in each of the positive actuation direction and the negative actuation direction.

[0009] According to the operation reaction force control system having the above configuration, the operation of the actuator is controlled according to the operation amount of the operation mechanism in the mutually opposite positive operation direction and negative operation direction, so that the operation reaction force acts on the operation mechanism. In this case, the operation of the actuator, and therefore the operation reaction force acting on the operation mechanism, is controlled so that the reaction force (sense reaction force) felt by the operator through the operation mechanism is at least partially symmetrical with respect to the operation amount 0 in the operation amount range (positive domain) in the positive operation direction and the operation amount range (negative domain) in the negative operation direction. In other words, the operation reaction force f(X) is controlled so that the sense reaction forces F(+X) and F(-X) corresponding to the operation amount +X in the positive operation direction and the operation amount -X in the negative operation direction, which has the same absolute value, are equal to each other. As a result, the operation amount of the operation mechanism and the sense reaction force of the operator are made equal or consistent for each of the mutually opposite positive operation direction and negative operation direction, and the operability of the operation mechanism for the operator is improved accordingly.

[0010] In the operation reaction force control system having the above configuration, It is preferable that the operation of the actuator is controlled so that the sensory reaction force changes linearly depending on the amount of operation of the operation mechanism at which the symmetry is realized.

[0011] According to the operation reaction force control system having this configuration, the operation reaction force f(X) is controlled so that the sensory reaction forces F(+X) and F(-X) corresponding to the operation amount +X in the positive operation direction and the operation amount -X in the negative operation direction, which have the same absolute value, are equal and change linearly (F(X)=αX+β(X>0), =-αX+β(X<0). This makes it easier for the operator to grasp the relationship between the operation amount of the operation mechanism in each of the mutually opposite positive and negative operation directions and the sensory reaction force through the operation mechanism, thereby improving operability for the operator.

[0012] In the operation reaction force control system having the above configuration, It is preferable that the operation of the actuator is controlled in accordance with the sensory reaction force estimated according to an attribute factor representing an attribute of the operator inputted through an input interface.

[0013] According to the operation reaction force control system of this configuration, taking into account the fact that sensory reaction forces vary from operator to operator, equalization or consistency is achieved between the amount of operation of the operating mechanism and the sensory reaction force estimated according to the attributes of the operator for each of the mutually opposite positive and negative operating directions, thereby improving the operability of the operating mechanism for the operator.

[0014] In the operation reaction force control system having the above configuration, It is preferable that the actuator is configured to control the operation of the actuator in accordance with a sensory reaction force, which is an operation reaction force sensed by the operator via the operation mechanism on which the operation reaction force acts, and is input through an input interface.

[0015] According to the operation reaction force control system of this configuration, taking into account the fact that sensory reaction forces vary from operator to operator, equalization or consistency is achieved between the amount of operation of the operating mechanism and the sensory reaction force actually felt by the operator for each of the mutually opposite positive and negative operating directions, thereby improving the operability of the operating mechanism for the operator.

[0016] In the operation reaction force control system having the above configuration, It is preferable that the actuator and the operation mode detection sensor are provided.

[0017] The operation reaction force control system having this configuration can be disposed in the driving operating environment of the operator together with the actuator and the operation mode detection sensor. [Brief description of the drawings]

[0018] [Figure 1]1 is an explanatory diagram illustrating a configuration of an operation reaction force control system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is an explanatory diagram relating to the configuration of a remote control device. [Diagram 3] FIG. 4 is an explanatory diagram regarding the configuration of an operating lever. [Figure 4] FIG. 2 is an explanatory diagram relating to the configuration of a work machine. [Diagram 5] FIG. 2 is an explanatory diagram regarding functions of the remote control system. [Figure 6] FIG. [Figure 7] 4 is an explanatory diagram relating to one embodiment of an operation reaction force control method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] (Configuration of remote control system) An operation reaction force control system 110 as one embodiment of the present invention shown in Fig. 1 is configured with a remote operation assistance server 10 for assisting in remote operation of a work machine 40 by a remote operation device 20. The remote operation assistance server 10 and the remote operation device 20 are configured to be able to communicate with each other via a first network. The remote operation assistance server 10 and the work machine 40 are configured to be able to communicate with each other via a second network. The first network and the second network may be networks with a common communication standard, etc., or may be networks with different communication standards, etc.

[0020] (Configuration of remote operation support server) The remote operation support server 10 includes a database 102, an operation reaction force control system 110, a first support processing element 121, and a second support processing element 122. The database 102 stores captured image data and the like. The database 102 may be configured as a database server separate from the remote operation support server 10. Each support processing element is configured by an arithmetic processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes arithmetic processing (described later) on the data in accordance with the software.

[0021] (Configuration of Operation Reaction Force Control System) 1, an embodiment of the present invention, an operation reaction force control system 110, includes an operation mode recognition element 111, a sensory reaction force recognition element 112, and an operation reaction force recognition element 114. Each element is configured by a calculation processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes calculation processing (described later) on the data in accordance with the software.

[0022] (Configuration of remote control device) The remote operation device 20 includes a remote control device 200, a remote input interface 210, and a remote output interface 220. The remote control device 200 is configured with an arithmetic processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes arithmetic processing on the data according to the software.

[0023] The remote input interface 210 includes a remote operation mechanism 211. The remote output interface 220 includes a remote image output device 221 and a remote wireless communication device 224. The remote output interface 220 may include an audio output device in addition to the remote image output device 221 as an information transmission means.

[0024] The remote operation mechanism 211 includes a traveling operation device, a swing operation device, a boom operation device, an arm operation device, a bucket operation device, an operation mode detection sensor 212, and an actuator 214. Each operation device has an operation lever that receives a rotation operation. The operation lever (travel lever) of the traveling operation device is operated to move the lower traveling body 410 of the work machine 40. The travel lever may also serve as a travel pedal. For example, a travel pedal fixed to the base or lower end of the travel lever may be provided. The operation lever (swing lever) of the swing operation device is operated to move a hydraulic swing motor that constitutes the swing mechanism 430 of the work machine 40. The operation lever (boom lever) of the boom operation device is operated to move the boom cylinder 442 of the work machine 40. The operation lever (arm lever) of the arm operation device is operated to move the arm cylinder 444 of the work machine 40. The operating lever (bucket lever) of the bucket operating device is operated to move the bucket cylinder 446 of the work machine 40.

[0025] The operating levers constituting the remote control mechanism 211 are arranged around a seat St on which the operator sits, as shown in Fig. 2. The seat St is in the form of a high-back chair with armrests, but may be in the form of a low-back chair without a headrest, or in the form of a chair without a backrest, or in any other form on which the operator can sit.

[0026] As shown in Fig. 3, the operating levers 2111, 2112 are cross-shaped operating levers that are configured to be displaceable or tiltable in mutually opposite forward and rearward operating directions (upward and downward in the figure), as well as mutually opposite left and right operating directions (leftward and rightward in the figure) that are perpendicular to the forward and rearward operating directions. The amount of operation of the operating levers 2111, 2112 is determined by the tilt angle θ in the forward operating direction = θ + (>0) and tilt angle θ towards the rear operation direction = θ - (<0), and the tilt angle to the left is φ=φ + (>0) and tilt angle to the right operation direction φ=φ - It is expressed or defined by (<0).

[0027] The operating levers 2111, 2112 may be configured as omnidirectional operating levers that can be tilted diagonally forward right, forward left, backward right, and backward left in addition to forward, backward, and left. For example, when the operating levers 2111, 2112 are tilted diagonally forward right (operated in the forward operating direction and the right operating direction simultaneously), the operation amount of the operating levers 2111, 2112 is the tilt angle θ in the forward operating direction = θ + and the tilt angle to the right operation direction φ=φ - When the operating levers 2111 and 2112 are tilted diagonally forward to the left (operated in both the forward and left operating directions at the same time), the amount of operation of the operating levers 2111 and 2112 is the tilt angle θ in the forward operating direction = θ + and the tilt angle to the left operation direction φ=φ + When the operating levers 2111 and 2112 are tilted diagonally backward to the right (operated in the backward operating direction and in the right operating direction simultaneously), the operation amount of the operating levers 2111 and 2112 is the tilt angle θ in the backward operating direction = θ - and the tilt angle to the right operation direction φ=φ - When the operating levers 2111 and 2112 are tilted diagonally backward to the left (operated in the backward operating direction and the left operating direction simultaneously), the operation amount of the operating levers 2111 and 2112 is the tilt angle θ in the backward operating direction = θ -and the tilt angle to the left operation direction φ=φ + It is defined by:

[0028] A pair of left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat St. One operation lever may serve as multiple operation levers. For example, the left operation lever 2111 provided in front of the left frame of the seat St shown in FIG. 2 may function as an arm lever when operated in the front-rear direction, and may function as a rotation lever when operated in the left-right direction. Similarly, the right operation lever 2112 provided in front of the right frame of the seat St shown in FIG. 2 may function as a boom lever when operated in the front-rear direction, and may function as a bucket lever when operated in the left-right direction. The lever pattern may be arbitrarily changed by an operation instruction from the operator.

[0029] The operation mode detection sensor 212 is configured, for example, by a contact or non-contact angle sensor. The operation mode detection sensor 212 is configured to output signals corresponding to the forward operation direction and the rear operation direction (a pair of operation directions opposite to each other) and the left operation direction and the right operation direction (the same) as the operation directions or tilt directions of the left operation lever 2111 and the right operation lever 2112, respectively, and the magnitude or absolute value of the tilt angle as the operation amount of the left operation lever 2111 and the right operation lever 2112. The output signals are input to the remote control device 20 and stored and held in its storage device.

[0030] When a slide switch that can slide forward, backward, left and right constitutes the remote control mechanism 211 instead of or in addition to the operation levers 2111, 2112, the sliding direction and sliding amount (displacement amount) of the switch may be recognized as the operation mode of the remote control mechanism 211. The tilt angle of the pair of left and right travel levers 2110 or the rotation angle or displacement amount of a member connected thereto may be detected as the operation amount.

[0031] The actuator 214 is formed of, for example, an electric motor. Each of the pair of actuators 214 is connected to the left operation lever 2111 and the right operation lever 2112 via a separate power transmission mechanism. Each actuator 214 is configured to apply an operation reaction force to the left operation lever 2111 and the right operation lever 2112 in a direction opposite to the operation direction of the left operation lever 2111 and the right operation lever 2112, respectively, according to the amount of operation. The operation of the actuator 214 is controlled by the remote control device 20.

[0032] 2, the remote image output device 221 is composed of a central remote image output device 2210, a left remote image output device 2211, and a right remote image output device 2212, each having a substantially rectangular screen, and disposed respectively in front of, diagonally forward left of, and diagonally forward right of, the seat St. The shapes and sizes of the screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be the same or different.

[0033] As shown in Fig. 2, the right edge of the left remote image output device 2211 is adjacent to the left edge of the central remote image output device 2210, such that the screens of the central remote image output device 2210 and the left remote image output device 2211 form an inclination angle θ1 (e.g., 120°≦θ1≦150°). As shown in Fig. 2, the left edge of the right remote image output device 2212 is adjacent to the right edge of the central remote image output device 2210, such that the screens of the central remote image output device 2210 and the right remote image output device 2212 form an inclination angle θ2 (e.g., 120°≦θ2≦150°). The inclination angles θ1 and θ2 may be the same or different.

[0034] The screens of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be parallel to the vertical direction or may be inclined relative to the vertical direction. At least one of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be composed of a plurality of divided image output devices. For example, the central remote image output device 2210 may be composed of a pair of image output devices adjacent to each other above and below, each having a substantially rectangular screen.

[0035] (Work machine configuration) The work machine 40 is equipped with an actual machine control device 400, an actual machine input interface 41, an actual machine output interface 42, and a work mechanism 440. The actual machine control device 400 is configured with an arithmetic processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes arithmetic processing on the data in accordance with the software.

[0036] The work machine 40 is, for example, a hydraulic, electric, or hybrid drive type crawler excavator (construction machine) that combines hydraulic and electric drive systems, and as shown in Fig. 4, includes a crawler type lower traveling body 410 and an upper rotating body 420 that is rotatably mounted on the lower traveling body 410 via a rotating mechanism 430. A cab 424 (operator's cabin) is provided on the front left side of the upper rotating body 420. A work mechanism 440 is provided in the front center of the upper rotating body 420.

[0037] The real machine input interface 41 includes a real machine operation mechanism 411, a real machine image capturing device 412, and a real machine state sensor group 414. The real machine operation mechanism 411 includes a plurality of operation levers arranged around a seat arranged inside a cab 424 in the same manner as the remote control mechanism 211. A drive mechanism or robot that receives a signal according to the operation mode of the remote control lever and moves the real machine operation lever based on the received signal is provided in the cab 424. The real machine image capturing device 412 is installed, for example, inside the cab 424, and captures an image of the environment including at least a part of the working mechanism 440 through the front window and a pair of left and right side windows. The front window (or window frame) and the side windows may be partially or entirely omitted. The actual machine status sensor group 414 is composed of angle sensors for measuring the rotation angle (raising and lowering angle) of the boom 441 relative to the upper rotating body 410, the rotation angle of the arm 443 relative to the boom 441, and the rotation angle of the bucket 445 relative to the arm 443, a rotation angle sensor for measuring the rotation angle of the upper rotating body 420 relative to the lower running body 410, an external force sensor for measuring the external force acting on the bucket 445, and a three-axis acceleration sensor for measuring the three-axis acceleration acting on the upper rotating body 420, etc.

[0038] The actual machine output interface 42 includes an actual machine image output device 421 and an actual machine wireless communication device 422. The actual machine image output device 421 is disposed, for example, inside a cab 424 and near a front window (see FIG. 6 The actual image output device 421 may be omitted.

[0039] The working mechanism 440 includes a boom 441 that is movably attached to the upper rotating body 420, an arm 443 that is rotatably connected to the tip of the boom 441, and a bucket 445 that is rotatably connected to the tip of the arm 443. A boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446 that are configured as extendable and retractable hydraulic cylinders are attached to the working mechanism 440. In addition to the bucket 445, various attachments such as a nibbler, a cutter, and a magnet may be used as the working unit.

[0040] The boom cylinder 442 is interposed between the boom 441 and the upper rotating body 420 so as to extend and retract when supplied with hydraulic oil to rotate the boom 441 in the hoisting direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to extend and retract when supplied with hydraulic oil to rotate the arm 443 about a horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to extend and retract when supplied with hydraulic oil to rotate the bucket 445 about a horizontal axis relative to the arm 443.

[0041] The functions of the remote operation support system configured by the remote operation support server 10, the remote operation device 20, and the work machine 40 configured as described above will be described with reference to the flowchart shown in Fig. 5. The functions include the functions of the operation reaction force control system 110 as one embodiment of the present invention. In the flowchart, a block "C●" is used for the sake of simplicity, and means transmission and / or reception of data, and means a conditional branch in which processing in a branching direction is executed on the condition that the data is transmitted and / or received.

[0042] In the remote operation device 20, it is determined whether or not a designation operation has been performed by the operator through the remote input interface 210 (FIG. 5 / STEP 210). The "designation operation" is, for example, an operation such as tapping on the remote input interface 210 for the operator to designate the work machine 40 that he or she intends to remotely operate. If the determination result is negative (FIG. 5 / STEP 210...NO), the series of processes ends. On the other hand, if the determination result is positive (FIG. 5 / STEP 210...YES), an environment confirmation request is transmitted to the remote operation support server 10 through the remote wireless communication device 224 (FIG. 5 / STEP 212).

[0043] When the environment confirmation request is received in the remote operation support server 10, the first support processing element 121 transmits the environment confirmation request to the corresponding work machine 40 (FIG. 5 / C10).

[0044] When the work machine 40 receives an environment confirmation request via the actual machine wireless communication device 422 (FIG. 5 / C40), the actual machine control device 400 acquires a captured image via the actual machine imaging device 412 (FIG. 5 / STEP 410). The actual machine control device 400 transmits captured image data representing the captured image to the remote operation device 10 via the actual machine wireless communication device 422 (FIG. 5 / STEP 412).

[0045] In the remote operation support server 10, when the first support processing element 121 receives captured image data (FIG. 5 / C11), the second support processing element 122 transmits environmental image data corresponding to the captured image to the remote operation device 20 (FIG. 5 / STEP 110). The environmental image data is not only the captured image data itself, but also image data representing a simulated environmental image generated based on the captured image.

[0046] When the remote operation device 20 receives environmental image data through the remote wireless communication device 224 (FIG. 5 / C21), the remote control device 200 outputs an environmental image corresponding to the environmental image data to the remote image output device 221 (FIG. 5 / STEP 214).

[0047] This allows, for example, 6 As shown in FIG. 1, a boom that is part of a working mechanism 440 An environmental image in which the robot 441 , the arm 443 and the bucket 445 are reflected is output to the remote image output device 221 .

[0048] In the remote operation device 20, the operation mode of the remote operation mechanism 211 is recognized by the remote control device 200 (FIG. 5 / STEP 216), and a remote operation command corresponding to the operation mode is transmitted to the remote operation support server 10 via the remote wireless communication device 224 (FIG. 5 / STEP 218).

[0049] In the remote operation support server 10, when the second support processing element 122 receives the remote operation command, the first support processing element 121 transmits the remote operation command to the work machine 40 (FIG. 5 / C12).

[0050] In the work machine 40, when an operation command is received by the actual machine control device 400 via the actual machine wireless communication device 422 (FIG. 5 / C41), the operation of the work mechanism 440 and the like is controlled (FIG. 5 / STEP 414). For example, the work of scooping up soil in front of the work machine 40 with the bucket 445, rotating the upper rotating body 410, and dropping the soil from the bucket 445 is performed.

[0051] In the remote operation support server 10, when a remote operation command is received by the second support processing element 122 (FIG. 5 / C12), in the operation reaction force control system 110, the operation mode recognition element 111 recognizes (estimates) the operation direction and operation direction of the left operating lever 2111 and the right operating lever 2112 that constitute the remote operation mechanism 211 as the operation mode of the remote operation mechanism 211 reflected in the remote operation command (FIG. 5 / STEP 111).

[0052] For example, the tilt angle θ of the operating levers 2111, 2112 in the neutral position (or the rotation angle or displacement amount of a member connected to the operating levers 2111, 2112) is defined as "0", the tilt angle θ when the operating levers 2111, 2112 are tilted forward is defined as positive (0<θ), and the tilt angle θ when the operating levers 2111, 2112 are tilted backward is defined as negative (θ<0). The tilt angle φ of the operating levers 2111, 2112 in the neutral position (or the rotation angle or displacement amount of a member connected to the operating levers 2111, 2112) is defined as "0", the tilt angle φ when the operating levers 2111, 2112 are tilted leftward is defined as positive (0<φ), and the tilt angle φ when the operating levers 2111, 2112 are tilted rightward is defined as negative (φ<0).

[0053] Next, a sensory reaction force, which is a reaction force felt by the operator, is recognized by the sensory reaction force recognition element 112 in accordance with the operation mode of the remote control mechanism 211 recognized by the operation mode recognition element 111 (FIG. 5 / STEP 112). For example, as shown by a solid line in FIG. 7, the first sensory reaction force F1 is recognized according to a first sensory reaction force characteristic curve F1(θ) having a tilt angle θ in the forward / backward operation direction of the operating levers 2111, 2112 as a main variable. In FIG. 7, the first sensory reaction force characteristic curve F1(θ) is defined as a linear function having symmetry in the positive and negative domains, expressed as F1(θ)=-αθ+β(θ<0(0<α,0≦β)), F1(θ)=αθ+β(0<θ).

[0054] A first sensory reaction force corresponding to the amount of operation θ in the forward operation direction and the backward operation direction of the operation levers 2111 and 2112 characteristics The curve F1(θ) and the second sensory reaction force according to the operation amount φ in the left operation direction and the right operation direction of the operation levers 2111 and 2112, respectively. characteristics The curve F2(φ) may be a function that is common to at least a part of the domain.

[0055] The first sensory reaction force characteristic curve F1(θ) for the forward / backward operation direction (and thus the first sensory reaction force F1 for the forward / backward operation direction) may be defined to have symmetry in the entire negative domain [-Θ,0] and the positive domain [0,Θ] (e.g., Θ is about +25°) as shown in Fig. 7, or may be defined to have symmetry in each of parts [-θ2,-θ1] and [θ1,θ2] (e.g., θ1 is about +5°, θ2 is about 20°). The first sensory reaction force characteristic curve F1(θ) may be defined by a linear function, an exponential function, a logarithmic function, an n-th order function (2≦n), or a combination of these, at least in the range having symmetry in the positive and negative domains. The first sensory reaction force characteristic curve F1(θ) (dependent variable) is defined so that its value continuously increases as the absolute value |θ| of the operation amount θ (primary variable) in the forward / rearward operation direction increases, but it may also be defined so that its value tends to increase as the absolute value |θ| of the operation amount θ (primary variable) increases, but its value locally decreases.

[0056] The second sensory reaction force characteristic curve F2(φ) for the left-right operation direction (and thus the second sensory reaction force F2 for the left-right operation direction) may be defined to have symmetry in the entire negative domain [-Φ,0] and the positive domain [0,Φ] (e.g., Θ is about +25°), or may be defined to have symmetry in each of parts [-Φ2,-Φ1] and [Φ1,Φ2] (e.g., Φ1 is about +10°, Φ2 is about 25°) (see FIG. 7). The second sensory reaction force characteristic curve F2(φ) may be defined by a linear function, an exponential function, a logarithmic function, an n-th order function (2≦n), or a combination of these, at least in the range having symmetry in the positive and negative domains. The second sensory reaction force characteristic curve F2(φ) (dependent variable) is defined so that its value continuously increases as the absolute value |φ| of the operation amount φ (primary variable) in the left / right operation direction increases, but it may also be defined so that its value tends to increase as the absolute value |φ| of the operation amount φ (primary variable) increases, but its value locally decreases.

[0057] Then, based on the first sensory reaction force F1(θ) and / or the second sensory reaction force F2(φ) recognized by the sensory reaction force recognition element 112, the first operation reaction force f1(θ) and / or the second operation reaction force f2(φ) or a control command signal representing these is recognized by the operation reaction force recognition element 114 and transmitted to the remote control device 20 (FIG. 5 / STEP 114). For example, as shown by the dashed line in FIG. 7, the first operation reaction force f1 is recognized according to a first operation reaction force characteristic curve f1(θ) having the tilt angle θ of the operation levers 2111, 2112 in the forward / backward operation direction as a main variable.

[0058] A first operation reaction force corresponding to the operation amount θ of the operation levers 2111 and 2112 in the forward operation direction and the rearward operation direction, respectively. characteristics The curve f1(θ) and the second operation reaction force according to the operation amount φ in the left operation direction and the right operation direction of the operation levers 2111 and 2112, respectively. characteristics The curve f2(φ) and may be functions that are common in at least a part of the domain.

[0059] As shown in FIG. 7, the first operation reaction force characteristic curve f1(θ) is expressed as f1(θ)=f 1- (θ)(θ<0), f 1+ The first operation reaction force characteristic curve f1(θ) is defined as an asymmetric function in the positive and negative domains, expressed as (θ)(0<θ). The first operation reaction force characteristic curve f1(θ) and the first sensory reaction force characteristic curve F1(θ) have a certain correlation. The correlation is defined, for example, according to the relational expression (01).

[0060] f1(θ)=ε1logF1(θ)+δ1‥(01).

[0061] Alternatively, the correlation may be defined according to the relational expression (11) using a coefficient c1(θ) that depends on the operation amount θ in the forward / rearward operation direction.

[0062] f1(θ)=c1(θ)·F1(θ) ‥(11).

[0063] The first operation reaction force characteristic curve f1(θ) in the forward / rearward operation direction (and thus the first operation reaction force f 1) may be defined to have symmetry in at least a part of its negative domain [-Θ,0] and positive domain [0,Θ] (e.g., Θ is about +25°), that is, [-θ2,-θ1] and [θ1,θ2] (e.g., θ1 is about +5°, θ2 is about 20°). The first operation reaction force characteristic curve f1(θ) may be defined by a linear function, an exponential function, a logarithmic function, an n-th order function (2≦n), or a combination of these. The first operation reaction force characteristic curve f1(θ) (dependent variable) is defined to have a continuously increasing value as the absolute value |θ| of the operation amount θ (primary variable) in the forward / rearward operation direction increases, but may be defined to have a locally decreasing value while showing a tendency to increase as the absolute value |θ| of the operation amount θ (primary variable) increases.

[0064] The second operation reaction force characteristic curve f2(φ) is f2(φ)=f 2- (φ)(φ<0), f 2+ The second operation reaction force characteristic curve f2(φ) is defined as an asymmetric function in the positive and negative domains, expressed as (φ)(0<φ) (see FIG. 7). The second operation reaction force characteristic curve f2(φ) and the second sensory reaction force characteristic curve F2(φ) have a certain correlation. The correlation is defined by, for example, relational expression (02).

[0065] f2(φ)=ε2logF2(φ)+δ2‥(02).

[0066] Alternatively, the correlation may be defined according to the relational expression (12) using a coefficient c2(φ) that depends on the operation amount φ in the left / right operation direction.

[0067] f2(φ)=c2(φ)·F2(φ) ‥(12).

[0068] The second operation reaction force characteristic curve f2(φ) (and thus the second operation reaction force f2) for the left-right operation direction may be defined to have symmetry in at least a part of the negative domain [-Φ,0] and the positive domain [0,Φ] (for example, Φ is about +25°), at least in a part of [-φ2,-φ1] and [φ1,φ2] (for example, φ1 is about +10°, φ2 is about 25°). The second operation reaction force characteristic curve f2(φ) may be defined by a linear function, an exponential function, a logarithmic function, an n-th order function (2≦n), or a combination of these. The second operation reaction force characteristic curve f2(φ) (dependent variable) is defined to have a continuously increasing value as the absolute value |φ| of the operation amount φ (main variable) in the left-right operation direction increases, but may be defined to have a locally decreasing value while showing a tendency to increase as the absolute value |φ| of the operation amount φ (main variable) increases.

[0069] In the remote operation device 20, when the first operation reaction force f1(θ) and / or the second operation reaction force f2(φ) or a control command signal representing these is received through the remote wireless communication device 224 (FIG. 5 / C22), the remote control device 200 controls the operation of the actuator 214 so that the first operation reaction force f1(θ) and / or the second operation reaction force f2(φ) (a force that pushes the tilted operation levers 2111, 2112 back in the opposite direction to the operation direction) acts on the corresponding operation levers 2111, 2112 (FIG. 5 / STEP 219). This allows an operator holding the operating levers 2111, 2112 at the grip or gripping portion to feel the first sensory reaction force F1(θ) and / or the second sensory reaction force F2(φ) corresponding to the first operating reaction force f1(θ) and / or the second operating reaction force f2(φ) through the operating levers 2111, 2112.

[0070] (effect) According to the operation reaction force control system 110 constituting the remote operation support system of this configuration, the operation of the actuator 214 is controlled according to the operation amount θ of each of the mutually opposite forward operation direction (positive operation direction) and rearward operation direction (negative operation direction) of the left operation lever 2111 and / or the right operation lever 2112 constituting the remote operation mechanism 211. As a result, a first operation reaction force f1(θ) acts on the left operation lever 2111 and / or the right operation lever 2112 in the direction opposite to the operation direction (see FIG. 7 / broken line). Similarly, the operation of the actuator 214 is controlled according to the operation amount φ of each of the mutually opposite left operation direction (positive operation direction) and right operation direction (negative operation direction) of the left operation lever 2111 and / or the right operation lever 2112 constituting the remote operation mechanism 211. As a result, a second operation reaction force f2(φ) acts on the left operation lever 2111 and / or the right operation lever 2112 in the direction opposite to the operation direction.

[0071] At this time, the reaction force (first sensory reaction force F1(θ)) in each of the backward operating direction and forward operating direction sensed by the operator via the left operating lever 2111 and / or the right operating lever 2112 (operating mechanism) is controlled so that symmetry is realized with respect to the operating amount 0 in the operating amount range (positive domain [0, Θ]) of the forward operating direction (positive operating direction) and the operating amount range (negative domain [-Θ, 0]) of the negative operating direction (see Figure 7 / solid line). Similarly, the operation of the actuator 114, and thus the second operation reaction force F2(φ) acting on the left operation lever 2111 and / or the right operation lever 2112, is controlled so that the reaction force (second sensory reaction force F2(φ)) in each of the right operation direction and the left operation direction sensed by the operator via the left operation lever 2111 and / or the right operation lever 2112 (operation mechanism) is symmetrical with respect to the operation amount 0 in the operation amount range (positive domain [0, Φ]) of the left operation direction (positive operation direction) and the operation amount range (negative domain [-Φ, 0]) of the negative operation direction (see Figure 7 / solid line).

[0072] This ensures that the operating amounts θ, φ of the left operating lever 2111 and / or the right operating lever 2112 and the sensory reaction forces F1(θ), F2(φ) of the operator are equalized or aligned for each of the mutually opposite positive and negative operating directions, thereby improving the operability of the left operating lever 2111 and / or the right operating lever 2112 for the operator.

[0073] Furthermore, the first operation reaction force f1(θ) is controlled so that the first sensory reaction forces F1(+θ) and F1(-θ) corresponding to the operation amount +θ in the forward operation direction (positive operation direction) and the operation amount -θ in the backward operation direction (negative operation direction) having the same absolute value are equal and change linearly (see FIG. 7 / solid line and dashed line). Similarly, the second operation reaction force f2(θ) is controlled so that the second sensory reaction forces F2(+φ) and F2(-φ) corresponding to the operation amount +φ in the left operation direction (positive operation direction) and the operation amount -φ in the right operation direction (negative operation direction) having the same absolute value are equal and change linearly. As a result, the operation amounts θ, φ of the operating levers 2111, 2112 for the mutually opposite positive operation direction and negative operation direction, respectively, and the corresponding Operating lever This makes it easier for the operator to grasp the relationship between the sensory reaction forces F1, F2 through 2111, 2112, and ultimately improves the operability of the operating levers 2111, 2112 for the operator.

[0074] (Another embodiment of the present invention) In the above embodiment, the operation reaction force control system 110 is configured by the remote operation assistance server 10, but in other embodiments, the operation reaction force control system 110 may be configured by the remote operation device 20 and / or the work machine 40. In other words, the remote operation device 20 and / or the work machine 40 may have the functions of the operation mode recognition element 111, the sensory reaction force recognition element 112, and the operation reaction force recognition element 114.

[0075] The work machine 40 may not be remotely operated by an operator via the remote operation mechanism 211 constituting the remote operation device 20, but may be actually operated by an operator on board the work machine 40 via the actual machine operation mechanism 411. In this case, the remote operation assistance server 10 and the remote operation device 20 may be omitted. The operation reaction force control system 110 may be mounted on the work machine 40 together with an operation mode detection sensor 212 for detecting the operation mode (operation direction and operation amount) by the operator of an actual machine operation lever constituting the actual machine operation mechanism 411. The operation reaction force control system 110 may include the actual machine operation mechanism 411 (or an actual machine operation lever constituting the actual machine operation mechanism 411) and the operation mode detection sensor 212.

[0076] The operation reaction force control system 110 may be configured to control the operation of the actuator 114 according to a sensory reaction force estimated according to an attribute factor representing an attribute of the operator inputted through a remote input interface 211 (e.g., a touch panel device). The "attribute factor" may be, for example, the operator's height, limb length, grip strength, arm strength, leg strength, eyesight, Hearing, body fat and / or weight In addition to physical attributes such as those mentioned above, factors or parameters representing social attributes such as place of residence, years of experience as an operator (work history), and exercise history may also be included. n ), the first sensory reaction force characteristic curve F1(θ) is expressed as a multivariate function F1(θ, γ1, γ2, . . . γ n ) and / or the second sensory reaction force characteristic curve F2(φ) is estimated according to a multivariate function F2(φ, γ1, γ2, . . . γ n ) is estimated according to

[0077] For example, one attribute factor γ p (e.g., muscle activity), the amount of operation θ of the operation levers 2111 and 2112 in the forward and backward operation directions, and the first operation reaction force f1(θ) are calculated according to the relational expression (21). Similarly, the θ dependence of each of the coefficients ξ1(θ) and η1(θ) is calculated based on the first operation reaction force f1(θ) and the operation amount θ of the operation levers 2111 and 2112 in the forward and backward operation directions. pBased on the amount of operation φ of the operating levers 2111, 2112 in the left and right operating directions and the second operation reaction force f2(φ), the φ dependence of the coefficients ξ2(φ) and η2(φ) is found according to the relation (22).

[0078] Gamma p =ξ1(θ)f1(θ)+η1(θ)‥(21).

[0079] Gamma p =ξ2(φ)f2(φ)+η2(φ)‥(22).

[0080] Then, based on the coefficients ξ1(θ) and η1(θ), the θ dependence of at least one of the coefficients ξ1, η1, a1, and b1 is obtained according to relation (31). Similarly, based on the coefficients ξ2(φ) and η2(φ), the φ dependence of at least one of the coefficients ξ2, η2, a2, and b2 is obtained according to relation (32).

[0081] c1(θ) =ξ1(a1log{(ξ1(θ)f1(θ)+η1(θ)-η1) / ξ1}+b1) ÷(ξ1(θ)f1(θ)+η1(θ)-η1) ‥(31).

[0082] c2(φ) =ξ2(a2log{(ξ2(φ)f2(φ)+η2(φ)-η2) / ξ2}+b2) ÷(ξ2(φ)f2(φ)+η2(φ)-η2) ‥(32).

[0083] Based on the operation amount θ of the operating levers 2111, 2112 in the forward / rearward operation direction, the coefficient c1(θ) and, in turn, the first operation reaction force f1(θ) are recognized and controlled in accordance with the θ dependency of the coefficient group (see relational expression (11)). Based on the operation amount φ of the operating levers 2111, 2112 in the left / right operation direction, the coefficient c2( φ ), and thus the first operation reaction force f2( φ ) is recognized and controlled (see relation (12)).

[0084] According to the operation reaction force control system 110 having this configuration, taking into consideration the fact that there are individual differences in sensory reaction force between operators, equalization or consistency is achieved between the amount of operation of the operating levers 2111, 2112 and the sensory reaction force estimated according to the attributes of the operator for each of the mutually opposite positive and negative operating directions, thereby improving the operability of the operating levers 2111, 2112 for the operator.

[0085] The operation reaction force control system 110 may be configured to control the operation of the actuator 114 according to a sensory reaction force sensed by the operator via the left operation lever 2111 and / or the right operation lever 2112, to which an operation reaction force is acting, which is input via a remote input interface 211 (e.g., a touch panel device).

[0086] For example, the sensory reaction force F in a state where a reference reaction force f=f0 (≠0) is applied to the operation levers 2111 and 2112 by the actuator 114 is set to "100" and the operator is made to recognize this through the remote image output device 221. Then, one or more test reaction forces f=κ1f0, κ2f0, ..., κ m f0(0<κ1<κ2<‥<κ m ) is applied to the operating levers 2111 and 2112, the reaction force F=ζ1, ζ2, ..., ζ m The operator inputs the above into the remote input interface 211. One or more coefficient values ​​(κ1, κ2, ..., κ m ) and the coefficient values ​​(ζ1, ζ2, ..., ζ m ), the coefficients (ε1, δ1) in the aforementioned relational expression (01) and / or (ε2, δ2) in the relational expression (02), or the coefficients c1(θ) in the relational expression (11) and / or c2(φ) in the relational expression (12) are determined.

[0087] As a result, in addition to the first sensory reaction force characteristic curve F1(θ) (see FIG. 7 / solid line) which is a target or reference, a first operation reaction force characteristic curve f1(θ) is estimated based on the coefficients (ε1, δ1) or coefficient c1(θ) (see relations (01), (11), FIG. 7 / dashed line). Similarly, in addition to the second sensory reaction force characteristic curve F2(φ) (see FIG. 7 / solid line) which is a target or reference, a second operation reaction force characteristic curve f2(φ) is estimated based on the coefficients (ε2, δ2) or coefficient c2(φ) (see relations (02), (12), FIG. 7 / dashed line). Then, the operation of the actuator 114 is controlled so that the operation reaction force f1(θ) and / or f2(φ) is realized.

[0088] According to the operation reaction force control system 110 having this configuration, taking into consideration the fact that there are individual differences in sensory reaction force between operators, an attempt is made to equalize or match the amount of operation of the left operating levers 2111, 2112 and the sensory reaction force actually felt by the operator for each of the mutually opposite positive and negative operating directions, thereby improving the operability of the operating levers 2111, 2112 for the operator. [Explanation of symbols]

[0089] 10: Remote operation server, 20: Remote operation device, 24: Remote control device, 40: Work machine, 110: Operation reaction force control system, 111: Operation mode recognition element, 112: Sensory reaction force recognition element, 114: Operation reaction force recognition element, 210: Remote input interface, 211: Remote operation mechanism, 220: Remote output interface, 221: Remote image output device (information output device), 224: Remote wireless communication device, 410: Actual machine input interface, 412: Actual machine imaging device, 414: Status sensor group, 420: Actual machine output interface, 421: Actual machine image output device (information output device), 422: Actual machine wireless communication device, 440: Work mechanism (work attachment), 445: Bucket (working part), 2111: Left side operation lever, 2112: Right side operation lever.

Claims

1. An operation reaction force control system configured to control the operation of an actuator so that an operation reaction force of a strength corresponding to an amount of operation detected by an operation mode detection sensor is applied to an operation mechanism operated by an operator in each of positive operation directions and negative operation directions opposite to each other in order to operate a work machine or a component thereof that is an object of control in each of positive operation directions and negative operation directions opposite to each other, in a direction corresponding to the operation direction detected by the operation mode detection sensor, the operation reaction force The actuator is configured to control the operation of the actuator so that an operation reaction force corresponding to the operation amount of the operation mechanism is applied asymmetrically in each of the positive operation direction and the negative operation direction with respect to an operation amount of 0, so that a sensory reaction force, which is an operation reaction force felt by the operator via the operation mechanism in accordance with each operation amount of the operation mechanism in the positive operation direction and the negative operation direction, is at least partially symmetric with respect to an operation amount of 0 of the operation mechanism. Operation reaction force control system.

2. 2. The actuation reaction force control system according to claim 1, The actuator is configured to control the operation of the actuator so that the sensory reaction force changes linearly in accordance with the amount of operation of the operation mechanism at which the symmetry is realized. Operation reaction force control system.

3. 3. The actuation reaction force control system according to claim 1, and controlling an operation of the actuator according to the sensory reaction force, the sensory reaction force being estimated according to an attribute factor representing an attribute of the operator inputted through an input interface. Operation reaction force control system.

4. In the operation reaction force control system according to any one of claims 1 to 3, and controlling the operation of the actuator in accordance with a sensory reaction force, which is an operation reaction force sensed by the operator through the operation mechanism on which the operation reaction force is acting and is input through an input interface. Operation reaction force control system.

5. In the actuation reaction force control system according to any one of claims 1 to 4, The actuator and the operation mode detection sensor are provided Operation reaction force control system.

6. an operation mode detection step for detecting an operation direction and an operation amount of an operation mechanism operated by an operator in mutually opposite positive operation directions and negative operation directions, respectively, in order to operate a work machine or a component thereof that is an object of control in mutually opposite positive operation directions and negative operation directions, respectively; a reaction force control step of controlling an operation of the actuator so as to apply to the operation mechanism a reaction force of a strength corresponding to an amount of operation detected in the operation mode detection step in a direction corresponding to the operation direction detected in the operation mode detection step; An operation reaction force control method including: The reaction force control process includes: The operation of the actuator is controlled so that a reaction force corresponding to the amount of operation of the operation mechanism is applied asymmetrically in each of the positive operation direction and the negative operation direction with respect to an amount of operation of the operation mechanism being zero, so that a reaction force, which is an operation reaction force felt by the operator through the operation mechanism, is at least partially symmetric with respect to an amount of operation of the operation mechanism being zero. Operation reaction force control method.

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