JP7723544B2 - Remote control training device - Google Patents
Remote control training deviceInfo
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Description
本発明は、遠隔操縦訓練装置に関する。 The present invention relates to a remote control training device.
従来、パワーショベル等の重機は、運転者が運転席に着座し、操作レバーを操作することで、掘削及び運搬等の作業を実施している。一方、災害時の危険地域等における運転者が立ち入り困難な場所において、操作レバーを遠隔地から操縦できる遠隔操縦装置が提案されている（例えば、特許文献１参照）。 Traditionally, heavy machinery such as power shovels are operated by an operator seated in the driver's seat who operates control levers to perform tasks such as excavation and transport. Meanwhile, remote control devices have been proposed that allow operators to operate control levers from a remote location in places that are difficult for operators to access, such as in dangerous areas during disasters (see, for example, Patent Document 1).
遠隔操縦装置により重機を操縦するためには、重機に搭乗して操縦を行う場合とは異なる訓練をする必要がある。また、遠隔操縦の訓練を行う場合には、重機を誤って操縦しないように安全性を高めることも求められている。 Operating heavy machinery using a remote control device requires different training than operating heavy machinery from inside the vehicle. Furthermore, when training for remote operation, there is also a need to enhance safety measures to prevent the heavy machinery from being operated by mistake.
従って、本発明は、遠隔操縦装置の操縦の訓練の安全性を高められる遠隔操縦訓練装置を提供することを目的とする。 Therefore, the present invention aims to provide a remote control training device that can improve the safety of training in operating remote control devices.
本発明は、所定の可動態様を有する重機の操作部に取り付けられ、該操作部を動かす操作部動作装置と、前記操作部と同じ可動態様を有する第１操作部を備える第１遠隔操縦装置と、前記操作部と同じ可動態様を有する第２操作部を備える第２遠隔操縦装置と、前記操作部動作装置の接続対象を前記第１遠隔操縦装置又は前記第２遠隔操縦装置に切り替える第１切替部を有する切替装置と、前記操作部動作装置、前記第１遠隔操縦装置及び前記第２遠隔操縦装置の動作を制御する制御部と、を備え、前記制御部は、前記第１操作部の動きを取得する第１動作取得部と、前記第２操作部の動きを取得する第２動作取得部と、前記切替装置の切替操作に応じて、前記第１動作取得部により取得された前記第１操作部の動き又は前記第２動作取得部により取得された前記第２操作部の動きと同じ動きで前記操作部が動くように前記操作部動作装置を動作させる動作指示部と、を備える遠隔操縦訓練装置に関する。 The present invention relates to a remote control training device that includes an operation unit operation device attached to an operation unit of heavy equipment having a predetermined movable form and that operates the operation unit; a first remote control device having a first operation unit that has the same movable form as the operation unit; a second remote control device having a second operation unit that has the same movable form as the operation unit; a switching device having a first switching unit that switches the connection target of the operation unit operation device between the first remote control device and the second remote control device; and a control unit that controls the operation of the operation unit operation device, the first remote control device, and the second remote control device, wherein the control unit includes a first action acquisition unit that acquires the movement of the first operation unit, a second action acquisition unit that acquires the movement of the second operation unit, and an action instruction unit that operates the operation unit operation device so that the operation unit moves in the same way as the movement of the first operation unit acquired by the first action acquisition unit or the movement of the second operation unit acquired by the second action acquisition unit, in response to the switching operation of the switching device.
また、遠隔操縦訓練装置は、前記重機の傾動状態及び／又は振動状態を含む状態情報を検知する状態検知部を更に備え、前記第１遠隔操縦装置及び／又は前記第２遠隔操縦装置は、操縦者が着座する着座部と、前記着座部を傾動及び／又は振動させる着座部可動部と、を更に備え、前記制御部は、前記状態検知部により検知された前記状態情報を取得し、該取得した前記状態情報に基づいて前記着座部可動部を可動させる着座部可動制御部を更に備えることが好ましい。 It is also preferable that the remote control training device further comprises a status detection unit that detects status information including the tilting and/or vibration status of the heavy equipment, and that the first remote control device and/or the second remote control device further comprise a seat on which the operator sits and a seat movable unit that tilts and/or vibrates the seat, and that the control unit further comprises a seat movable control unit that acquires the status information detected by the status detection unit and moves the seat movable unit based on the acquired status information.
また、遠隔操縦訓練装置は、前記第１操作部に取り付けられ、該第１操作部を動かす第１操作部動作装置を更に備え、前記切替装置は、前記第１操作部動作装置と前記第２遠隔操縦装置とを接続又は切断する第２切替部を更に備え、前記動作指示部は、前記第２切替部により前記第１操作部動作装置と前記第２遠隔操縦装置とが接続された状態において、前記第２動作取得部により取得された前記第２操作部の動きと同じ動きで前記第１操作部が動くように前記第１操作部動作装置を動作させることが好ましい。 Furthermore, it is preferable that the remote control training device further includes a first operation unit operating device attached to the first operation unit and operating the first operation unit, the switching device further includes a second switching unit that connects or disconnects the first operation unit operating device and the second remote control device, and the operation instruction unit, when the first operation unit operating device and the second remote control device are connected by the second switching unit, operates the first operation unit operating device so that the first operation unit moves in the same manner as the movement of the second operation unit acquired by the second operation acquisition unit.
本発明の遠隔操縦訓練装置によれば、遠隔操縦装置の操縦の訓練の安全性を高められる。 The remote control training device of the present invention can improve the safety of training in operating remote control devices.
以下、本発明の遠隔操縦訓練装置の好ましい実施形態について、図面を参照しながら説明する。
遠隔操縦訓練装置１は、パワーショベルやホイールローダー等の重機を遠隔操縦装置により操縦する訓練を行う場合に用いられる。
遠隔操縦訓練装置１は、操作部動作装置（図示せず）と、状態検知部（図示せず）と、第１遠隔操縦装置としての訓練生用操縦装置１０と、訓練生用操縦装置１０に取り付けられる第１操作部動作装置（図示せず）と、第２遠隔操縦装置としての教官用操縦装置２０と、切替装置（図示せず）と、制御部を含むサーバ４０と、表示部としてのディスプレー５０と、を備える。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the remote control training device of the present invention will now be described with reference to the drawings.
The remote control training device 1 is used when training to operate heavy machinery such as a power shovel or a wheel loader using a remote control device.
The remote control training device 1 comprises an operation unit operating device (not shown), a status detection unit (not shown), a trainee control device 10 as a first remote control device, a first operation unit operating device (not shown) attached to the trainee control device 10, an instructor control device 20 as a second remote control device, a switching device (not shown), a server 40 including a control unit, and a display 50 as a display unit.
操作部動作装置は、所定の可動態様を有する重機の操作部（例えば、操作レバー、ハンドル、各種スイッチ）に取り付けられる。操作部動作装置は、後述の遠隔操縦装置（訓練生用操縦装置１０又は教官用操縦装置２０）の操作に応じて、これらの操作部を動作（操作レバーの傾動やハンドルの回動、スイッチの押圧等）させる各種機構（モータ、リンク機構等。図示せず）を備える。 The control unit operating device is attached to the operating units (e.g., control levers, handles, various switches) of heavy equipment that have predetermined movable modes. The control unit operating device is equipped with various mechanisms (motors, link mechanisms, etc., not shown) that operate these operating units (tilting control levers, rotating handles, pressing switches, etc.) in response to operation of the remote control device (trainee control device 10 or instructor control device 20) described below.
状態検知部は、重機に取り付けられ、重機の状態情報を検知する。状態検知部は、各種センサやカメラにより構成され、状態情報として、重機（操縦席）の傾動状態や振動を検知する。また、状態検知部としてのカメラは、操縦席から作業場所に向けて設置されるカメラや、操縦席の各種計器に向けて設置されるカメラを含み、状態情報として作業場所の映像や計器の映像を撮影する。 The status detection unit is attached to the heavy equipment and detects the equipment's status information. The status detection unit is composed of various sensors and cameras, and detects the tilting state and vibration of the heavy equipment (cockpit) as status information. The cameras that serve as the status detection unit include cameras installed from the cockpit facing the work area and cameras installed facing the various instruments in the cockpit, and capture images of the work area and instruments as status information.
訓練生用操縦装置１０は、例えば、遠隔操縦装置の訓練を行う訓練設備等、重機から離れた場所に設置される。訓練生用操縦装置１０は、操作部と同じ可動態様を有する第１操作部１１０と、第１操作部１１０の操作状態を検出する操作状態検出部と、を備える。実施形態では、第１操作部１１０として、図３に示すように、重機の操作レバーと同じ可動態様を示す遠隔操縦用レバー１１１及び重機の電装関連スイッチと同じ可動態様を示す遠隔操縦用スイッチ１１２を備える。操作状態検出部は、各種センサにより構成され、第１操作部１１０の操作状態（操作レバーの傾動状態や操作ハンドルの回動角度等）を検出する。 The trainee control device 10 is installed in a location away from heavy machinery, such as a training facility for remote control device training. The trainee control device 10 comprises a first operation unit 110 that has the same movable state as the operation unit, and an operation state detection unit that detects the operation state of the first operation unit 110. In this embodiment, as shown in FIG. 3, the first operation unit 110 comprises a remote control lever 111 that exhibits the same movable state as the operation lever of the heavy machinery, and a remote control switch 112 that exhibits the same movable state as the electrical equipment switch of the heavy machinery. The operation state detection unit is composed of various sensors and detects the operation state of the first operation unit 110 (such as the tilt state of the operation lever and the rotation angle of the operation handle).
本実施形態では、訓練生用操縦装置１０は、図３に示すように、着座部１２０と、着座部１２０の下部に配置される着座部可動部１３０と、を備える。
着座部１２０は、重機の操縦席に模擬された構造を有し、この着座部１２０に第１操作部１１０は取り付けられる。
In this embodiment, the trainee control device 10 includes a seat 120 and a seat movable part 130 disposed below the seat 120, as shown in FIG.
The seating section 120 has a structure simulating the cockpit of a heavy machine, and the first operating section 110 is attached to the seating section 120 .
着座部可動部１３０は、着座部１２０と床面との間に配置される。着座部可動部１３０は、後述の制御部の制御により、着座部１２０を可動させる。より具体的には、着座部可動部１３０は、重機に設置された状態検知部により検知された状態情報に基づいて、重機における操縦席の状態を再現するように着座部１２０を可動させる。即ち、重機の操縦席が傾動した場合には、着座部可動部１３０は、着座部１２０が重機の操縦席の形状状態と同じ傾動状態となるように着座部１２０を可動させる。また、重機の操縦席が振動した場合には、着座部可動部１３０は、着座部１２０が重機の操縦席の振動状態と同じ振動状態となるように着座部１２０を振動させる。
本実施形態では、着座部可動部１３０は、４軸で着座部を支持し、着座部を上下移動、前後傾動、左右傾動及び旋回可能としている。
The seating section movable unit 130 is disposed between the seating section 120 and the floor surface. The seating section movable unit 130 moves the seating section 120 under the control of a control unit (described later). More specifically, the seating section movable unit 130 moves the seating section 120 to reproduce the state of a cockpit in a heavy machine, based on status information detected by a status detection unit installed in the heavy machine. That is, when the cockpit of the heavy machine tilts, the seating section movable unit 130 moves the seating section 120 so that the seating section 120 assumes the same tilted state as the shape and state of the cockpit of the heavy machine. Furthermore, when the cockpit of the heavy machine vibrates, the seating section movable unit 130 vibrates the seating section 120 so that the seating section 120 assumes the same vibration state as the cockpit of the heavy machine.
In this embodiment, the seat movable portion 130 supports the seat on four axes, allowing the seat to move up and down, tilt forward and backward, tilt left and right, and rotate.
第１操作部動作装置は、第１操作部１１０に取り付けられる。第１操作部動作装置は、操作部動作装置と同様の構成を備える。第１操作部動作装置は、後述の教官用操縦装置２０の操作に応じて、第１操作部を動作させる各種機構を備える。 The first operation unit operating device is attached to the first operation unit 110. The first operation unit operating device has the same configuration as the operation unit operating device. The first operation unit operating device has various mechanisms that operate the first operation unit in response to operation of the instructor control device 20, which will be described later.
教官用操縦装置２０は、例えば、訓練生用操縦装置１０と同様に、遠隔操縦装置の訓練を行う訓練設備等、重機から離れた場所に設置される。実施形態では、教官用操縦装置２０は、訓練生用操縦装置１０が設置された場所と同じ場所における訓練生用操縦装置１０の後方に設置される。尚、教官用操縦装置２０は、訓練生用操縦装置１０とは異なる場所に設置されていてもよい。この場合、教官用操縦装置２０の設置個所には、訓練生用操縦装置１０を撮影した映像を表示する表示装置が設置される。 The instructor control device 20, like the trainee control device 10, is installed in a location away from heavy machinery, such as a training facility for remote control device training. In this embodiment, the instructor control device 20 is installed behind the trainee control device 10 in the same location as the trainee control device 10. The instructor control device 20 may also be installed in a different location from the trainee control device 10. In this case, a display device that displays video captured of the trainee control device 10 is installed at the location where the instructor control device 20 is installed.
教官用操縦装置２０は、重機の操作部及び訓練生用操縦装置１０の第１操作部１１０と同じ可動態様を有する第２操作部２１０と、操作状態検出部と、を備える。本実施形態では、教官用操縦装置２０は、図２に示すように、着座部及び着座部可動部を備えない箱状に構成され、テーブル等に設置されて用いられる。第２操作部２１０は、第１操作部１１０と同様に、重機の操作レバーと同じ可動態様を示す遠隔操縦用レバー２１１及び重機の電装関連スイッチと同じ可動態様を示す遠隔操縦用スイッチ２１２を備える。操作状態検出部は、各種センサにより構成され、第２操作部２１０の操作状態（操作レバーの傾動状態や操作ハンドルの回動角度等）を検出する。 The instructor control device 20 comprises a second control unit 210 that has the same movable configuration as the heavy equipment control unit and the first control unit 110 of the trainee control device 10, and an operation status detection unit. In this embodiment, the instructor control device 20 is configured in a box shape without a seat or movable seat unit, as shown in FIG. 2, and is used by being placed on a table or the like. Like the first control unit 110, the second control unit 210 comprises a remote control lever 211 that exhibits the same movable configuration as the heavy equipment control lever, and a remote control switch 212 that exhibits the same movable configuration as the heavy equipment's electrical equipment switch. The operation status detection unit is composed of various sensors and detects the operation status of the second control unit 210 (such as the tilt state of the control lever and the rotation angle of the control handle).
切替装置は、重機の操作部に取り付けられた操作部動作装置の接続対象を訓練生用操縦装置又は教官用操縦装置に切り替える第１切替部と、第１操作部動作装置と教官用操縦装置２０とを接続又は切断する第２切替部と、を備える。
本実施形態では、切替装置は、教官用操縦装置２０と一体的に構成される。即ち、教官用操縦装置２０が切替装置を備えるとも言える。
The switching device includes a first switching unit that switches the connection target of the operation unit operating device attached to the operation unit of the heavy equipment to a trainee control device or an instructor control device, and a second switching unit that connects or disconnects the first operation unit operating device and the instructor control device 20.
In this embodiment, the switching device is configured integrally with the instructor control device 20. In other words, it can be said that the instructor control device 20 is equipped with the switching device.
サーバ４０は、パーソナルコンピュータ（ＰＣ）に代表される端末等により構成されるサーバ４０は、１台のコンピュータで構成されていてもよいし、複数台のコンピュータで構成されていてもよい。複数台のコンピュータを用いる場合には、これらのコンピュータは、例えば、通信ネットワークＮを介して接続される。また、サーバ４０は、例えばクラウド上に設けられる仮想サーバ（仮想マシン）として構成してもよい。 Server 40 is configured from a terminal such as a personal computer (PC). Server 40 may be configured from a single computer or multiple computers. When multiple computers are used, these computers are connected via a communications network N, for example. Server 40 may also be configured as a virtual server (virtual machine) provided on the cloud, for example.
サーバ４０は、通信ネットワークＮを介して操作部動作装置、訓練生用操縦装置１０、教官用操縦装置２０等と接続され、制御部と、記憶部と、通信ＩＦ（インタフェース）部とを備えている。
制御部は、情報の演算、処理を行う情報演算処理装置（ＣＰＵ）であり、当該サーバ４０の全体の制御を行う。制御部は、記憶部に記憶されたオペレーティングシステム（ＯＳ）や各種のアプリケーションプログラムを適宜読み出して実行することにより、上述のハードウェアと協働し、各種機能を実行する。
The server 40 is connected to the operation unit operating device, the trainee control device 10, the instructor control device 20, etc. via a communication network N, and is equipped with a control unit, a memory unit, and a communication IF (interface) unit.
The control unit is an information processing unit (CPU) that calculates and processes information, and performs overall control of the server 40. The control unit appropriately reads and executes the operating system (OS) and various application programs stored in the storage unit, thereby cooperating with the above-mentioned hardware and executing various functions.
制御部は、第１動作取得部と、第２動作取得部と、動作指示部と、着座部可動制御部と、を備える。 The control unit includes a first action acquisition unit, a second action acquisition unit, an action instruction unit, and a seat movement control unit.
第１動作取得部は、訓練生用操縦装置１０（操作状態検出部）を介して第１操作部１１０の動きを取得する。第２動作取得部は教官用操縦装置２０（操作状態検出部）を介して第２操作部２１０の動きを取得する。 The first movement acquisition unit acquires the movement of the first operating unit 110 via the trainee control device 10 (operation state detection unit). The second movement acquisition unit acquires the movement of the second operating unit 210 via the instructor control device 20 (operation state detection unit).
動作指示部は、切替装置の切替操作に応じて、第１動作取得部により取得された第１操作部１１０の動き又は第２動作取得部により取得された第２操作部２１０の動きと同じ動きで操作部が動くように操作部動作装置を動作させる。
また、動作指示部は、第２切替部により第１操作部動作装置と教官用操縦装置２０とが接続された状態において、第２動作取得部により取得された第２操作部２１０の動きと同じ動きで第１操作部１１０が動くように第１操作部動作装置を動作させる。
The operation instruction unit operates the operation unit operating device in accordance with the switching operation of the switching device so that the operation unit moves in the same movement as the movement of the first operation unit 110 acquired by the first operation acquisition unit or the movement of the second operation unit 210 acquired by the second operation acquisition unit.
In addition, when the first operating unit operating device and the instructor's control device 20 are connected by the second switching unit, the operation instruction unit operates the first operating unit operating device so that the first operating unit 110 moves in the same manner as the movement of the second operating unit 210 acquired by the second operation acquisition unit.
着座部可動制御部は、重機に取り付けられた状態検知部（センサ）により検知された重機の状態情報（傾動状態や振動状態）を取得し、この取得した状態情報に基づいて着座部可動部１３０を可動させる。 The seat movement control unit acquires heavy equipment status information (tilting status and vibration status) detected by a status detection unit (sensor) attached to the heavy equipment, and moves the seat movement unit 130 based on this acquired status information.
ディスプレー５０は、訓練生用操縦装置１０の前方に配置される。ディスプレー５０には、重機に取り付けた状態検知部としてのカメラにより撮影された映像が表示される。 The display 50 is located in front of the trainee control device 10. The display 50 displays images captured by a camera attached to the heavy equipment as a status detection unit.
以上説明した本実施形態の遠隔操縦訓練装置１によれば、訓練生用操縦装置１０を使用して遠隔操縦装置の訓練を行う訓練生は、教官用操縦装置２０を使用する教官の監視のもと、遠隔操縦装置の操作を訓練でき、安全性高く遠隔操縦装置の操作を取得できる。 With the remote control training device 1 of this embodiment described above, a trainee using the trainee control device 10 to train in remote control operation can practice operating the remote control device under the supervision of an instructor using the instructor control device 20, and can acquire operation of the remote control device in a highly safe manner.
また、切替装置（第１切替部）を操作することで、重機の操作部を操作する操作部動作装置と訓練生用操縦装置１０又は教官用操縦装置２０との接続状態を切り替えられるので、教官は訓練生の操作状況を確認し、危険な状況では教官用操縦装置２０により操作部動作装置を操作できる。よって、遠隔操縦訓練装置１の安全性をより高められる。 Furthermore, by operating the switching device (first switching unit), the connection state between the operation unit operating device that operates the heavy equipment's operation unit and the trainee control device 10 or the instructor control device 20 can be switched, allowing the instructor to check the trainee's operation status and, in dangerous situations, operate the operation unit operating device using the instructor control device 20. This further enhances the safety of the remote control training device 1.
また、訓練生用操縦装置１０を、着座部１２０及び着座部可動部１３０を含んで構成することで、重機の操縦席の傾動状態や振動状態を訓練生用操縦装置１０に再現できるため、実際に重機に搭乗した間隔で訓練を行える。 Furthermore, by configuring the trainee control device 10 to include the seat 120 and the movable seat 130, the tilting and vibration conditions of the cockpit of a heavy machine can be reproduced on the trainee control device 10, allowing training to be carried out at the same intervals as when actually riding in a heavy machine.
また、教官用操縦装置２０を箱状に構成することで、教官は例えば卓上に教官用操縦装置２０を設置して訓練を監視できる。また、遠隔操縦訓練装置１の製造コストを低減できる。 Furthermore, by configuring the instructor control device 20 in a box shape, the instructor can install the instructor control device 20 on a table, for example, and monitor the training. This also reduces the manufacturing costs of the remote control training device 1.
また、操作部動作装置を多種の重機に取り付け、遠隔操縦する対象の操作部動作装置を切り替える機能を切替装置に備えさせた場合には、多種の重機の操作の習得を容易に行える。 Furthermore, if the operation unit operating device is attached to various types of heavy machinery and the switching device is equipped with a function to switch between the operation unit operating devices to be remotely controlled, it will be easy to learn how to operate various types of heavy machinery.
また、教官用操縦装置２０を、操作部動作装置の動作を停止させる緊急停止スイッチを含んで構成した場合には、緊急時に重機の操作部の操作を停止させられるので、安全性を更に高められる。 Furthermore, if the instructor's control device 20 is configured to include an emergency stop switch that stops the operation of the control unit operating device, operation of the heavy equipment's control unit can be stopped in the event of an emergency, further enhancing safety.
また、訓練生用操縦装置１０の第１操作部１１０に第１操作部動作装置を取り付けた場合には、第２切替部により第１操作部動作装置と教官用操縦装置２０とを接続することで、教官による第２操作部２１０の操作を訓練生用操縦装置１０に伝達できるので、教官の操作を訓練生に体感させられる。よって、遠隔操縦装置の高度な操作技術の習得が可能となる。 Furthermore, when a first operating unit operating device is attached to the first operating unit 110 of the trainee control device 10, the second switching unit can be used to connect the first operating unit operating device to the instructor control device 20, transmitting the instructor's operation of the second operating unit 210 to the trainee control device 10, allowing the trainee to experience the instructor's operation. This makes it possible to acquire advanced remote control device operating techniques.
また、サーバ４０に各種映像や訓練生用操縦装置１０の操作履歴を保存することで、訓練生の技術習得レベルの評価を行える。 In addition, by storing various videos and the operation history of the trainee control device 10 on the server 40, it is possible to evaluate the trainee's skill acquisition level.
また、制御部を、重機の位置情報を取得する位置情報取得部と、位置情報取得部により取得された重機の位置情報が予め設定された設定エリアを外れた場合に操作部動作装置の動作又は重機の動作を停止させる緊急停止部と、を含んで構成することで、遠隔操縦訓練装置１の安全性を一層高められる。 Furthermore, the safety of the remote control training device 1 can be further enhanced by configuring the control unit to include a location information acquisition unit that acquires location information about the heavy equipment, and an emergency stop unit that stops the operation of the operation unit operating device or the operation of the heavy equipment if the location information of the heavy equipment acquired by the location information acquisition unit falls outside a predetermined setting area.
また、制御部を、状態検知部により検知された重機の状態情報（例えば傾動状態情報）が予め設定された安全状態の範囲を超えた場合に操作部動作装置の動作を停止させる、又は安全状態の範囲に戻るように操作部動作装置を動作させる異常検知部を含んで構成することで、遠隔操縦訓練装置１の安全性をより一層高められる。 Furthermore, the safety of the remote control training device 1 can be further enhanced by configuring the control unit to include an abnormality detection unit that stops operation of the operation unit operating device when the heavy equipment status information (e.g., tilt status information) detected by the status detection unit exceeds a preset safe state range, or operates the operation unit operating device to return to the safe state range.
以上のように遠隔操縦訓練装置１の安全性を高めることで、例えば、一人の教官が複数の訓練生を指導することも可能となる。 By improving the safety of the remote control training device 1 as described above, it becomes possible, for example, for one instructor to instruct multiple trainees.
以上、本発明の遠隔操縦訓練装置１の好ましい一実施形態について説明したが、本発明は、上述した実施形態に制限されるものではなく、適宜変更が可能である。
例えば、本実施形態では、訓練生用操縦装置１０を、着座部１２０及び着座部可動部１３０を含んで構成したが、これに限らない。即ち、訓練生用操縦装置を、教官用操縦装置２０のような箱状の装置としてもよい。また、教官用操縦装置を着座部及び着座部可動部を含んで構成してもよい。
Although a preferred embodiment of the remote control training device 1 of the present invention has been described above, the present invention is not limited to the above-described embodiment and can be modified as appropriate.
For example, in this embodiment, the trainee control device 10 is configured to include the seat 120 and the movable seat part 130, but this is not limited to this. That is, the trainee control device may be a box-shaped device like the instructor control device 20. Furthermore, the instructor control device may be configured to include a seat and a movable seat part.
また、本実施形態では、遠隔操縦訓練装置１を使用して教官が訓練生を訓練する場合について説明したが、これに限らない。例えば、実際の現場作業で未熟なオペレータを熟練オペレータが監視しながら施工する場合に、遠隔操縦訓練装置を用いてもよい。即ち、遠隔操縦訓練装置における訓練には、訓練用の現場において行う訓練のみならず、実際の現場においてオペレータが技術の向上を目的として行う施工作業も含まれる。 In addition, while this embodiment has been described as using the remote control training device 1 for an instructor to train a trainee, this is not limited to this. For example, the remote control training device may be used when an experienced operator is supervising an inexperienced operator during actual on-site work. In other words, training using the remote control training device includes not only training conducted at a training site, but also construction work performed by operators at an actual site with the aim of improving their skills.
１ 遠隔操縦訓練装置
１０ 訓練生用操縦装置（第１遠隔操縦装置）
２０ 教官用操縦装置（第２遠隔操縦装置）
１１０ 第１操作部
１１１ 遠隔操縦用レバー
１１２ 遠隔操縦用スイッチ
１２０ 着座部
１３０ 着座部可動部
２１０ 第２操作部
２１１ 遠隔操縦用レバー
２１２ 遠隔操縦用スイッチ
1 Remote control training device 10 Trainee control device (first remote control device)
20 Instructor control device (second remote control device)
110 First operation unit 111 Remote control lever 112 Remote control switch 120 Seat 130 Movable seat part 210 Second operation unit 211 Remote control lever 212 Remote control switch
Claims (2)
前記操作部と同じ可動態様を有する第１操作部を備える第１遠隔操縦装置と、
前記操作部と同じ可動態様を有する第２操作部を備える第２遠隔操縦装置と、
前記操作部動作装置の接続対象を前記第１遠隔操縦装置又は前記第２遠隔操縦装置に切り替える第１切替部を有する切替装置と、
前記操作部動作装置、前記第１遠隔操縦装置及び前記第２遠隔操縦装置の動作を制御する制御部と、を備え、
前記制御部は、
前記第１操作部の動きを取得する第１動作取得部と、
前記第２操作部の動きを取得する第２動作取得部と、
前記切替装置の切替操作に応じて、前記第１動作取得部により取得された前記第１操作部の動き又は前記第２動作取得部により取得された前記第２操作部の動きと同じ動きで前記操作部が動くように前記操作部動作装置を動作させる動作指示部と、
を備え、
前記第１操作部に取り付けられ、該第１操作部を動かす第１操作部動作装置を更に備え、
前記切替装置は、前記第１操作部動作装置と前記第２遠隔操縦装置とを接続又は切断する第２切替部を更に備え、
前記動作指示部は、前記第２切替部により前記第１操作部動作装置と前記第２遠隔操縦装置とが接続された状態において、前記第２動作取得部により取得された前記第２操作部の動きと同じ動きで前記第１操作部が動くように前記第１操作部動作装置を動作させる遠隔操縦訓練装置。 an operation unit operating device attached to an operation unit of a heavy machine having a predetermined movable state and for operating the operation unit;
a first remote control device including a first operating unit having the same movable form as the operating unit;
a second remote control device including a second operating unit having the same movable form as the operating unit;
a switching device having a first switching unit that switches a connection target of the operation unit operation device between the first remote control device and the second remote control device;
a control unit that controls operations of the operation unit operating device, the first remote control device, and the second remote control device,
The control unit
a first motion acquisition unit that acquires a motion of the first operation unit;
a second motion acquisition unit that acquires a motion of the second operation unit;
an operation instruction unit that operates the operation unit operation device so that the operation unit moves in the same motion as the movement of the first operation unit acquired by the first operation acquisition unit or the movement of the second operation unit acquired by the second operation acquisition unit, in response to a switching operation of the switching device;
Equipped with
a first operation unit actuation device attached to the first operation unit and configured to move the first operation unit;
the switching device further includes a second switching unit that connects or disconnects the first operation unit operation device and the second remote control device,
The operation instruction unit is a remote control training device that, when the first operation unit operation device and the second remote control device are connected by the second switching unit, operates the first operation unit operation device so that the first operation unit moves in the same manner as the movement of the second operation unit acquired by the second operation acquisition unit .
前記第１遠隔操縦装置及び／又は前記第２遠隔操縦装置は、
操縦者が着座する着座部と、
前記着座部を傾動及び／又は振動させる着座部可動部と、を更に備え、
前記制御部は、
前記状態検知部により検知された前記状態情報を取得し、該取得した前記状態情報に基づいて前記着座部可動部を可動させる着座部可動制御部を更に備える請求項１に記載の遠隔操縦訓練装置。 Further, a state detection unit is provided that detects state information including a tilt state and/or a vibration state of the heavy equipment,
The first remote control device and/or the second remote control device,
a seating section on which a pilot sits;
and a seating portion movable portion that tilts and/or vibrates the seating portion,
The control unit
2. The remote control training device according to claim 1, further comprising a seat movement control unit that acquires the state information detected by the state detection unit and moves the seat movement unit based on the acquired state information.
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