Remote Handling Joystick Counterforce Feedback
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Solution Overview
Problem
Conventional remote handling apparatuses for nuclear power generation facilities impose excessive operational load on operators due to the need for constant visual and tactile attention to accurately manage load objects, as camera angles can be obstructed and load sensor values require vigilant monitoring, limiting the effectiveness of bilateral control in recognizing contact information between the load object and peripheral objects.
Innovation Solution
The implementation of a remote handling apparatus with a joystick device connected to a counterforce generator, which produces counterforces based on calculated time rates of change and deviation amounts of dynamic load values, allowing operators to recognize contact information through tactile feedback, thereby reducing operator load and enhancing handling precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual monitoring through camera and load sensor values is used to manage load objects, then operational precision can be maintained, but operator load increases due to constant visual and tactile attention required
Solution Approach 1:
The patent implements bilateral control with force feedback that provides tactile information to the operator about contact between the load object and peripheral objects. The counterforce generator creates resistive forces that simulate the actual contact forces, allowing operators to sense contact through tactile feedback rather than relying solely on visual monitoring of load sensor values.
Solution Approach 2:
The patent introduces a counterforce generator as an intermediary device that translates load sensor data into tactile feedback forces. This intermediary converts the information from visual/domain of measurement into tactile/domain of sensation, reducing the cognitive and visual load on operators while maintaining operational precision.
2Loss of information
If camera is positioned to monitor load object, then visual information can be provided, but camera angles may be obstructed limiting effective monitoring
Solution Approach 1:
The patent uses force feedback from the counterforce generator to compensate for limited camera visibility. When the load object contacts peripheral objects, the tactile feedback provides information about contact that may not be visible through obstructed camera angles, ensuring continuous situational awareness regardless of camera positioning constraints.
Solution Approach 2:
The patent replaces reliance on visual information from cameras with tactile information from force feedback. This substitution allows operators to detect contact conditions through touch rather than sight, bypassing the limitations of camera obstruction and positioning complexity.
3Ease of operation
If bilateral control with counterforce feedback is implemented, then operator load is reduced through tactile feedback, but system complexity increases
Solution Approach 1:
The patent implements bilateral control where the counterforce generator receives load sensor signals and generates corresponding counterforces that provide tactile feedback to the operator. This feedback loop reduces operator load by providing intuitive tactile information about contact conditions, making the increased system complexity worthwhile.
Solution Approach 2:
The counterforce generator serves multiple functions: it provides tactile feedback about contact conditions, reduces operator load, and maintains operational precision. This multi-functionality justifies the added system complexity by delivering multiple benefits from a single integrated component.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution significantly decreases the operational load on operators by providing enhanced tactile feedback, enabling them to recognize contact information with high certainty, even in complex nuclear power generation facility environments, where sensitive handling of load objects is critical.
Implementation Method 1
a counterforce generator, which generates a counterforce to allow an operator to recognize the same via a stick for accepting manual operation according to a counterforce command value indicated by a received-counterforce command signal
Implementation Method 2
A load sensor 740 for measuring the dynamic load value of the load object 500 is attached to the lifting device 730
Data Source
AI summary
A remote handling apparatus includes a joystick device, a load lifting device and a counterforce controller. The joystick device includes a counterforce generator that generates operation counterforce via a stick that accepts manual operation. The counterforce controller includes a pulsed counterforce controller and/or a deviation counterforce controller. The pulsed counterforce controller calculates a time rate of change of a dynamic load value of the load object, and outputs a counterforce command signal indicating a counterforce command value for generating pulsed counterforce. The deviation counterforce controller calculates a deviation amount of a dynamic load value from a static load value, and outputs a counterforce command signal indicating a counterforce command value for generating a counterforce. Embodiments may be implemented as an auxiliary apparatus, which is attached to an existing remote handling apparatus.