JP5465522B2 - Operation support device for work machine - Google Patents

Description

  The present invention relates to a device that supports operation of a work machine such as a manipulator represented by an industrial robot, a crane, and a lifting device.

  Conventionally, as shown in Patent Document 1, an operation of a work machine including an image display unit that displays an image imitating an actual work machine and an operation unit that performs an operation with reference to an image in the image display unit Support devices are known. In this operation support device, a part indicating a part to be moved in the image displayed on the image display unit is identified and displayed in a color different from other parts by an operation by the operation unit, so that the operator can easily operate the work machine. To be able to. Moreover, according to the operation assistance apparatus shown in patent document 2, how each part operates by displaying an arrow superimposed on a part corresponding to each movable part in the image displayed on the image display unit. The operator can grasp it. As a result, the operator can easily grasp which part is operated by the operation, and the operability is improved.

JP 2007-334551 A JP-A-7-295625

By the way, the operation support device as described above is particularly problematic when the work machine does not operate during the input operation by the operation unit and the work machine operates according to the input signal after the input operation ends (so-called teaching operation). However, when the actuator is immediately activated by the operation of the operation unit, the operability is lowered.
Specifically, in the operation support device shown in Patent Document 1, when the operation unit is operated, all the parts that are moved by the input operation are identified and displayed. In other words, when a large number of movable members are connected, by actuating a predetermined part by the actuator, the other part (movable member) also moves in conjunction. At this time, if all the moving parts are identified and displayed, the operator cannot grasp the part (movable member) directly operated by the actuator. In a work machine where an actuator is immediately activated by an operation of the operation unit, if the operator cannot grasp the actuator being driven or the part that is directly operating (movable member), it cannot be determined whether the desired operation can be executed. And there was a problem that an erroneous operation occurred.

  Further, when operating the operation unit with reference to the display of the image display unit, as shown in Patent Document 2, if a large number of arrows are superimposed on the image showing each movable part, the visibility is lowered. As a result, there was a problem that the operability deteriorated. Such a problem becomes particularly serious in a work machine configured by connecting a large number of movable members, such as an articulated manipulator, and when operating a large number of actuators at the same time, any part is indicated by the superimposed arrows. There was a problem that it was difficult to grasp how it was operating.

  An object of the present invention is to provide an operation support device for a work machine that makes it difficult for an operator to erroneously operate by allowing an operator to reliably grasp a portion that is directly operated by driving of an actuator.

  The present invention includes an operation unit that receives an operation of an operator, a plurality of actuators that are driven based on an operation that the operation unit receives, and a plurality of movable members that are operated by driving the plurality of actuators. It is premised on an operation support device for a work machine that is connected to a machine and displays the operating states of a plurality of movable members that are operated by the plurality of actuators on an image display unit.

Based on the above configuration, the invention according to claim 1 is arranged in the image display unit by approximating a plurality of movable part images associated with the plurality of movable members to a relative positional relationship of the movable members. An image display means for displaying, a movable member specifying means for specifying a movable member to which a force that is directly actuated by an actuator driven by an operation of the operating means among the plurality of movable members is provided, and the movable member specifying And an identification display unit configured to display a predetermined movable part image corresponding to the movable member specified by the unit on the image display unit so as to be distinguishable from other movable part images.

  The invention described in claim 2 is characterized in that, on the premise of the configuration described in claim 1, the identification display means changes the display mode within the display range of the specific movable part image.

According to a third aspect of the present invention, on the premise of the configuration of the first or second aspect, the movable member specifying means is operable among the movable members to which a force that directly operates by driving of the actuator is applied. A specific movable member is specified.
According to a fourth aspect of the present invention, on the premise of the configuration of the first or second aspect, the movable member specifying means is the actuator among the movable members to which a force that directly operates by driving of the actuator is applied. It is characterized in that a movable member whose operation is restricted by restricting the driving of is specified.
According to a fifth aspect of the present invention, on the premise of the configuration of the first or second aspect, the movable member specifying means is operable among the movable members to which a force that directly operates by driving of the actuator is applied. The movable member and the movable member whose operation is restricted by the drive of the actuator being restricted are respectively identified, and the identification display means is restricted in the movable part image corresponding to the operable movable member and the operation. A movable part image corresponding to the movable member is displayed on the image display unit in an identifiable manner.

  The invention according to claim 6 specifies the operation direction of the movable member or the regulation direction of the operation to which the force that directly operates by driving of the actuator is applied on the premise of the configuration of any one of the above-described first to fifth aspects. Direction identification means for displaying the direction identified by the direction identification means in a predetermined movable part image corresponding to the movable member identified by the movable member identification means. The operation direction of the movable member or the regulation direction of the operation is notified.

  The invention according to claim 7 is based on the configuration according to any one of claims 1 to 6, wherein the identification display means is a predetermined movable part corresponding to the movable member specified by the movable member specifying means. The image is displayed on the image display unit in a color different from that of other movable part images.

  According to the first aspect of the present invention, among the plurality of movable part images displayed on the image display unit, the movable part image corresponding to the movable member to which the force that directly operates by driving the actuator is applied is identified. Displayed as possible. Therefore, in a work machine in which the actuator is immediately activated by an operation by the operation means, the operator can surely grasp the operation status, and the operation accuracy is improved and an erroneous operation is less likely to occur.

In particular, according to the invention described in claim 2, since the display mode is changed within the display range of the specific movable part image, even if a large number of movable part images are displayed in a complex manner on the image display unit. Visibility can be ensured.
In particular, according to the third aspect of the present invention, since the movable member that can be operated can be grasped, the operability of the operator is further improved.
In particular, according to the fourth aspect of the present invention, the movable member whose operation is restricted can be grasped, so that the operability of the operator is further improved.
In particular, according to the fifth aspect of the present invention, the movable member that can be actuated and the movable member that is restricted in operation can be grasped, so that the operability of the operator is further improved.

In particular, according to the invention described in claim 6, the operating direction is grasped only by the display mode of the movable part image (that is, within the display area of the movable part image) without causing the arrow or the like to be superimposed on the movable part image. Therefore, the visibility in the image display unit is improved and the operability is further improved.
In particular, according to the seventh aspect of the present invention, since the movable member in operation can be grasped by the change in the color of the movable part image, the operability is improved by improving the visibility.

1 is an overall perspective view of a disaster rescue robot applied to an operation support apparatus according to an embodiment of the present invention. It is a perspective view which shows the operation means of an operation assistance apparatus. It is a perspective view of an operation lever. It is a block diagram which shows a control system. It is a table | surface which shows operation | movement of the disaster rescue robot corresponding to operation of an operation lever, a pushbutton switch, and a seesaw switch. It is a figure of the image display part on which the image of the disaster rescue robot was displayed. It is a figure of the image display part in operation | movement of the movable member of a disaster rescue robot. It is a flowchart which shows operation | movement of the robot side control part in the case of operating the movable member of a disaster rescue robot, and an operation side control part. It is a figure of the image display part in the action | operation of the movable member of the disaster rescue robot which shows other embodiment of this invention. It is a flowchart which shows operation | movement of the robot side control part when the action | operation of the movable member of a disaster rescue robot is restrict | limited. It is a figure of the image display part which shows the other example which alert | reports the operating direction of the member to act | operate. It is a figure of the image display part which shows the other example which alert | reports the operating direction of the member to act | operate. It is a figure of the image display part which shows the other example which alert | reports the operating direction of the member to act | operate.

  1 to 10 show an embodiment of the present invention.

  This operation support device for a work machine is applied to remote operation of the disaster rescue robot 100 used for searching and rescue of a victim at the time of a disaster such as an earthquake.

  As shown in FIG. 1, the disaster rescue robot 100 includes a pair of widthwise endless track type traveling devices 120 provided at the lower portion of the main body 110 and four legs provided on the left and right sides of the front and rear of the main body 110. 121 and two arms 140 provided on the upper surface of a turntable 130 rotatably provided on the front side of the upper surface of the main body 110. The disaster rescue robot 100 moves by performing traveling by the traveling device 120 or walking by the four legs 121 according to the environment, and grips an object by the hand 150 provided at the tips of the two arms 140. Or remove obstacles. Further, the disaster rescue robot 100 is provided with a camera 160 between two arms 140 on the upper surface of the turntable 130, and each hand 150 is provided with a camera 161 shown in the block diagram of FIG. . The operator can perform an operation while viewing an image display unit of an operation support apparatus, which will be described later, on which images taken by the cameras 160 and 161 are displayed. The camera 160 is provided so that its orientation can be changed in the vertical and horizontal directions so that it can be operated by an operator.

  The two arms 140 are disposed on both the left and right sides of the upper surface of the turntable 130. The right arm 140 of the two arms 140 will be described. The right arm 140 includes a first arm 141 provided so as to extend upward from the upper surface of the turntable 130. The first arm 141 has a vertical axis as the rotation center axis, and is provided to be rotatable with respect to the turntable 130. One end of the second arm 142 is rotatably connected to the upper end of the first arm 141, and the other end side can be moved up and down around the one end of the second arm 142 as an axis. One end of the third arm 143 is rotatably connected to the other end of the second arm 142, and the other end side can be moved up and down around one end of the third arm 143. The base end of the hand 150 is connected to the other end of the third arm 143. The hand 150 has a distal end side that moves in the vertical direction and the horizontal direction, and is rotatably provided with the axial direction of the third arm 143 as the direction of the rotation center axis.

  Next, the actuator that operates the rotary table 130, the first arm 141 to the third arm 143, and the hand 150 will be described with reference to FIGS. The main body 110 is provided with a first actuator 171 (not shown in FIG. 1) for rotating the turntable 130 with respect to the main body 110. The turntable 130 is provided with a second actuator 172 (not shown in FIG. 1) for rotating each first arm 141 with respect to the turntable 130. The arm 140 includes a third actuator 173 for operating the second arm 142 with respect to the first arm 141, a fourth actuator 174 for operating the third arm 143 with respect to the second arm 142, A fifth actuator 175 for moving the hand 150 up and down with respect to the three arms 143 is provided. Similarly, the arm 140 includes a sixth actuator 176 for moving the hand 150 left and right with respect to the third arm 143, a seventh actuator 177 for rotating the hand 150 with respect to the third arm 143, An eighth actuator 178 for causing the hand 150 to perform a gripping operation is provided (in FIG. 1, the exterior parts in which the seventh and eighth actuators 177 and 178 are housed are indicated). Here, for the first to eighth actuators 171 to 178, for example, devices for converting the hydraulic pressure, such as a hydraulic cylinder and a hydraulic motor, into a linear motion and a rotational motion are used.

  The disaster rescue robot 100 also includes various sensors for detecting the state of the robot. That is, as shown in FIG. 4, the disaster rescue robot 100 detects the rotation angle of each first arm 141 relative to the turntable 130 and the first angle sensor 181 for detecting the rotation angle of the turntable 130 relative to the main body 110. The second angle sensor 182 for detecting the angle, the third angle sensor 183 for detecting the angle of the second arm 142 with respect to each first arm 141, and the angle for detecting the angle of the third arm 143 with respect to the second arm 142. A fourth angle sensor 184. The disaster rescue robot 100 also includes a fifth angle sensor 185 for detecting the vertical angle of the hand 150 with respect to the third arm 143 and a first angle for detecting the horizontal angle of the hand 150 with respect to the third arm 143. A six-angle sensor 186, a seventh angle sensor 187 for detecting the rotation angle of the hand 150 with respect to the third arm 143, and an eighth angle sensor 188 for detecting the opening / closing operation of the hand 150 are provided. Here, each of the first to eighth angle sensors 181 to 188 uses a rotary encoder capable of measuring a rotation angle.

  The disaster rescue robot 100 also includes a robot-side control unit 190 for controlling the operation of each arm 140 and camera 160. The robot side control unit 190 is configured by a microcomputer having a CPU, a RAM, a ROM, and the like. As shown in FIG. 4, the robot-side control unit 190 includes cameras 160 and 161, first to eighth actuators 171 to 178, first to eighth angle sensors 181 to 188, and an operation-side control unit of the operation support device described later. Is connected to a wireless communication unit 191 for performing wireless communication of signals relating to operation and image display.

  As shown in FIG. 2, the operation support device is provided with an operation table 200 formed in a vertically long box shape, and a pair of operations provided to receive the operation of the operator, provided on the front side of the upper surface of the operation table 200. The lever 210 and an image display unit 220 such as an LCD or CRT provided on the rear side of the upper surface of the operation console 200 for displaying the operation status of the disaster rescue robot 100 are provided.

  Each operation lever 210 is provided so as to extend upward from the upper surface of the operation table 200, and can be inclined at a predetermined angle in the circumferential direction. Each operation lever 210 inputs a direction to an operation side control unit described later. Further, as shown in FIG. 3, a first push button switch 211 and a second push button switch 212 that are turned on and off each time the push operation is performed are arranged on the upper surface of each operation lever 210. As the first push button switch 211 and the second push button switch 212, for example, an illuminated push button switch that performs illumination display in an ON state is used. Further, a first seesaw switch 213 is provided on the upper front side of each operation lever 210. The first seesaw switch 213 can be pressed by pressing either of the left and right sides, and is turned on when the left or right button is released. ing. Further, a second seesaw switch 214 is provided on the upper rear side of each operation lever 210. The second seesaw switch 214 is turned on when either of the upper and lower sides is pressed, and turned off when released. ing. In each operation lever 210, the operation lever 210 located on the right side when the operation table 200 is viewed from the front side corresponds to the operation of the right arm 140 of the disaster rescue robot 100, and the operation lever 210 located on the left side is the disaster rescue robot 100. Corresponds to the left arm 140.

  In addition, the operation support apparatus includes an operation side control unit 230 for controlling the operation of the disaster rescue robot 100 and the display of the image display unit 220. The operation side control unit 230 is configured by a microcomputer having a CPU, a RAM, a ROM, and the like. As shown in FIG. 4, the operation side control unit 230 captures image data to be displayed on each operation lever 210, each push button switch 211, 212, each seesaw switch 213, 214, the image display unit 220, and the image display unit 220. A wireless communication unit 232 for performing wireless communication of signals related to operation and image display is connected to the storage unit 231 such as a hard disk and the robot-side control unit 190.

  Here, the operation of the arm 140 on the right side of the disaster rescue robot 100 corresponding to the operation of each operation lever 210, each push button switch 211, 212 and each seesaw switch 213, 214 will be described using the table shown in FIG. .

In the present embodiment, any one of “camera image-based hand single operation mode”, “arm individual operation mode”, and “camera image-based hand movement operation mode” is selected by the first pushbutton switch 211 and the second pushbutton switch 212. The mode can be switched.
When both the first pushbutton switch 211 and the second pushbutton switch 212 are turned on, the camera 161 provided in the hand 150 is in the camera image-based hand single operation mode. In this hand single operation mode, when the operation lever 210 is operated in the left-right direction, the direction of the hand 150 is changed in the left-right direction with respect to the third arm 143 based on the image captured by the camera 161. Further, when the operation lever 210 is operated in the front-rear direction, the direction of the hand 150 is changed in the vertical direction with respect to the third arm 143 with reference to the image captured by the camera 161. When the first seesaw switch 213 is operated to the left and right, the seventh actuator 177 is driven based on the image captured by the camera 161, and the hand 150 is rotated with respect to the third arm 143. At this time, it is desirable that only the hand 150 rotate with respect to the third arm 143 without the camera 161 rotating. Further, when the second seesaw switch 214 is operated up and down, the eighth actuator 178 is driven and the hand 150 is gripped.

  When the first pushbutton switch 211 is turned off and the second pushbutton switch 212 is turned on, the arm individual operation mode is set. In this individual arm operation mode, when the operation lever 210 is operated in the left-right direction, the second actuator 172 is driven, and the first arm 141 is rotated with respect to the turntable 130. Further, when the operation lever 210 is operated in the front-rear direction, the third actuator 173 is driven, and the second arm 142 is moved up and down with respect to the first arm 141. When the first seesaw switch 213 is operated left and right, the first actuator 171 is driven to rotate the turntable 130 with respect to the main body 110. Further, when the second seesaw switch 214 is operated up and down, the fourth actuator 174 is driven and the third arm 143 is operated up and down with respect to the second arm 142.

When the first pushbutton switch 211 is turned on and the second pushbutton switch 212 is turned off, the camera image-based hand movement operation mode is set. In this camera image-based hand movement operation mode, when the operation lever 210 is operated in the left-right direction, the first to seventh actuators 172 to 177 are driven in a composite manner, and the hand 150 is moved using the image captured by the camera 161 as a reference. Operate left and right. Further, when the operation lever 120 is operated in the front-rear direction, the first to seventh actuators 172 to 177 are driven in a composite manner, and the hand 150 is operated in the front-rear direction based on the image captured by the camera 161 (the optical axis of the camera Move forward and backward in the direction). Further, when the first seesaw switch 213 is operated to the left and right, the seventh actuator 177 is driven based on the image captured by the camera 161 and the hand 150 is rotated with respect to the third arm 143. At this time, similarly to the above, it is desirable that only the hand 150 is rotated with respect to the third arm 143 without the camera 161 rotating. Further, when the second seesaw switch 214 is operated up and down, the first to seventh actuators 172 to 177 are driven in a complex manner, and the hand 150 is moved up and down based on the image captured by the camera 161.
In this hand movement operation mode, the robot-side control unit 190 performs an operation based on the input operation, and drives a plurality of actuators based on the operation result. At this time, when any one of the actuators reaches the stroke end, the operation is restricted so that the entire combined operation is restricted.

When both the first push button switch 211 and the second push button switch 212 are turned off, a so-called non-operation mode in which neither actuator is driven is set. In this way, if both the first push button switch 211 and the second push button switch 212 are turned off, it is possible to prevent an erroneous operation when the operation lever 210 is accidentally contacted.
The hand single operation mode and the hand movement operation mode may be modes that operate based on the vertical and horizontal directions of the robot body instead of the image reference of the camera 161 provided in the hand 150.

  In the work machine operation support apparatus configured as described above, the image display unit 220 displays an image 100 ′ simulating the disaster rescue robot 100 that is the operation target, as shown in FIG. 6. The turntable 130 ′, the first to third arms 141 ′ to 143 ′ and the hand 150 ′ of the image 100 ′ are the same as those of the turntable 130, the first to third arms 141 to 143 and the hand 150 of the actual disaster rescue robot 100. Displayed by approximating the relative positional relationship. That is, the image 100 ′ is displayed on the image display unit 220 with substantially the same posture as the actual disaster rescue robot 100. Note that the relative positional relationship among the turntable 130, the first to third arms 141 to 143, and the hand 150 of the actual disaster rescue robot 100 is specified based on the detection values of the first to eighth angle sensors 181 to 188. . The operator can operate the disaster rescue robot 100 while viewing the image 100 ′ imitating the disaster rescue robot 100 displayed on the image display unit 220.

  Here, as an example of the operation of the disaster rescue robot 100, the operations of the robot side control unit 190 and the operation side control unit 230 when the right arm 140 is operated alone will be described with reference to the flowchart of FIG.

When the third arm 143 is operated upward with respect to the second arm 142, the fourth actuator 174 is driven in the individual operation mode.
First, the first push button switch 211 is turned off and the second push button switch 212 is turned on to select the individual operation mode. Thereafter, the second seesaw switch 214 is operated upward to drive the fourth actuator 174. When the operation side control unit 230 detects the operation of the third arm (step S1), the third arm 143 that operates in response to the operation of the second seesaw switch 214 is specified (step S2), and the third arm 143 The operating direction is specified (step S3). Next, as shown in FIG. 7, the operation-side control unit 230 sets the operation direction front side of the portion 143 ′ corresponding to the third arm 143 displayed on the image display unit 220 to the operation direction rear side and the other side. Displayed in a color (yellow) different from the color of the part (white) (step S4). In this case, the upper part of the third arm 143 is forward in the operation direction.
Then, the robot-side control unit 190 drives the fourth actuator 174 (step S5), and the operation-side control unit 230 updates and displays the posture of the part 143 ′ corresponding to the third arm 143 operated by driving the fourth actuator 174. (Step S6).
When the operation of the second seesaw switch 214 is released (step S7), the robot-side control unit 190 stops driving the fourth actuator 174 (step S8), and the operation-side control unit 230 moves to the image display unit 220. The part displayed in a different color (yellow) of the part 143 ′ corresponding to the displayed third arm 143 is displayed in the color (white) of the other part (step S9).
As described above, when the third arm 143 is moved upward, the movement of the third arm 143 and the direction of movement of the third arm 143 change in color in the portion 143 ′ corresponding to the third arm 143 displayed on the image display unit 220. Is displayed. Thereby, it can grasp | ascertain instantaneously that the 3rd arm 143 was operated in the arm 140 whole, and its operating direction.

  Further, when operating the third arm 143 with respect to the second arm 142, the hand 150 connected to the third arm 143 is also interlocked, but the color of the portion 150 ′ corresponding to the hand 150 does not operate. Displayed in the same color (white) as the member. As a result, only the third arm 143 is displayed in a different color (yellow) from the other members, and thus the third arm 143 that directly operates by driving the fourth actuator 174 is specified.

  In addition, the part 143 ′ corresponding to the actuating third arm 143 is displayed on the image display unit 220 in the same shape before and after being identified. In addition, when the shape of the part 143 ′ displayed on the image display unit 220 is the same before and after the specification, it is limited to the case where the planar shape of the part 143 ′ displayed on the image display unit 220 is the same before and after the specification. I can't. That is, when the shape of the part 143 ′ displayed on the image display unit 220 is the same before and after the specification, it is displayed on the image display unit 220 when the part 143 ′ is displayed three-dimensionally on the image display unit 220. The case where the part 143 ′ can be recognized as the same shape as a three-dimensional shape is included.

  Further, when the hand 150 is moved in the camera image-based hand movement operation mode, the operation is a composite operation in which a plurality of members (130, 141, 142, 143, 150, etc.) are simultaneously operated. In this case, the operation direction front of the parts (130 ′, 141 ′, 142 ′, 143 ′, 150 ′, etc.) corresponding to all the operating members is displayed on the image display unit 220 in a color different from the operation direction rear.

  Further, when rotating members such as the turntable 130, the first arm 141, and the hand 150 are operated, the rotation direction side of the portions 130 ′, 141 ′, and 150 ′ corresponding to the rotating members 130, 141, and 150 Is displayed in a different color from the opposite side of the rotation direction.

  Further, as shown in FIG. 7, the image 100 ′ imitating the disaster rescue robot 100 is the disaster rescue robot 100 displayed from the viewpoint from the front right side, but operates (for example, the left rear leg 121). If the part (121 ') corresponding to) does not appear from the right front viewpoint, the viewpoint is switched from the left front viewpoint or the side viewpoint.

  As described above, according to the operation support device for a work machine of the present embodiment, the part associated with the member to be actuated is displayed on the image display unit 220 by approximating the relative positional relationship of the actual member, and the actuator A part corresponding to a member that is directly operated by driving 171 to 178 is displayed on the image display unit 220 so as to be distinguishable from other parts. As a result, in the disaster rescue robot 100 in which the actuators 171 to 178 are immediately operated by the operation of the operation lever 220 and the seesaw switches 213 and 214, the operator can surely grasp the operation status, and the operation accuracy is improved. It becomes possible to reduce erroneous operations.

  In addition, the shape of the part on the image display unit 220 corresponding to the specified member is displayed before and after the specification. As a result, the display mode of the part on the image display unit 220 can be changed only within the range of the display area of the part. For example, the display is similar to the third arm with the movable member as the third arm. When a rectangular parallelepiped is displayed in a shape viewed obliquely from the front, the display mode of the image is changed by changing the display color within the range of the outline of the rectangular parallelepiped). Even if is displayed in a complicated manner, it is possible to ensure visibility.

  Moreover, the member which can be act | operated among the members to which the force act | operated directly by the drive of the actuators 171-178 is provided is specified. Thereby, since the member which can be act | operated can be grasped | ascertained, an operator's operativity improves further.

  Further, the operation direction of the member is displayed by causing the image display unit 220 to display the operation direction front side of the portion corresponding to the member that is directly operated by driving the actuators 171 to 178 in a manner different from the operation direction rear side. I am trying to inform you. As a result, since the operation direction can be grasped only by displaying the part without displaying an arrow or the like superimposed on the part, the visibility in the image display unit 220 can be improved and the operability can be further improved. Become.

  9 and 10 show another embodiment of the present invention. FIG. 9 is a diagram of an image display unit during operation of the movable member of the disaster rescue robot, and FIG. 10 shows the operation of the movable member of the disaster rescue robot. It is a flowchart which shows operation | movement of the robot side control part and operation side control part in the case of being restrict | limited. In the present embodiment, the same components as those in the above embodiment are denoted by the same reference numerals.

  The operation support apparatus according to the present embodiment has a function of causing the image display unit 220 to identify and display a member whose driving is restricted when the operation of the member of the disaster rescue robot 100 is restricted. Operations of the robot-side control unit 190 and the operation-side control unit 230 at this time will be described with reference to the flowchart of FIG.

First, the disaster rescue robot 100 moves the hand 150 rearward along the optical axis of the camera 161 from the same posture as the image 100 ′ displayed on the image display unit 220 shown in FIG. 9. In this case, the operation of operating the second arm 142 downward, the operation of operating the third arm 143 upward, and the operation of operating the hand 150 downward are performed simultaneously. At this time, as shown in FIG. 9, the operation directions of the second arm 142, the third arm 143, and the hand 150 are displayed on the image display unit 230.
When a restriction on the operation of the third arm 143 (fourth actuator 174) is detected during the operation of the disaster rescue robot 100 as described above (step S11), the third arm 143 whose operation is restricted is specified. (Step S12). Next, the regulation direction of the operation of the third arm 143 is specified (step S13), and the upper part in front of the operation regulation direction of the portion 143 ′ corresponding to the third arm 143 displayed on the image display unit 220 is highlighted in yellow. Displayed in red (step S14). Thereafter, when the restriction on driving of the fourth actuator 174 is released by the operation of the operator (step S15), the red part of the part 143 ′ corresponding to the third arm 143 displayed on the image display unit 220 is changed to another part. (Step S16).
On the other hand, the parts 142 ′ and 150 ′ corresponding to the second arm 142 and the hand 150 whose operation is not regulated display the front side in the operation direction in yellow as shown in the flowchart of FIG.
As a result, the member whose operation is restricted and its direction are identified and displayed with respect to other members whose operation is not restricted, so that the operator can instantly distinguish the member whose operation is restricted. Further, since the direction in which the operation of the member is restricted is displayed, it is possible to instantaneously determine the direction of the operation for releasing the state in which the operation is restricted.

  It is determined based on the detection value of the third angle sensor 183 that the driving of the third actuator 173 is limited. That is, when the operation signal is received and the detection value of the third angle sensor 183 does not change for a predetermined time or more, it is determined that the driving of the third actuator 173 is restricted.

  As described above, according to the operation support device for a work machine of the present embodiment, among the members to which the force that directly operates by the actuators 171 to 178 is applied, the drive of the actuators 171 to 178 is limited. A member whose operation is restricted is specified. As a result, since the member whose operation is restricted can be grasped, the operability of the operator can be further improved.

  Further, the movable part image corresponding to the operable member and the movable part image corresponding to the member whose operation is restricted are displayed on the image display unit 220 so as to be identifiable. Thereby, since the member which can be act | operated and the member to which operation | movement is restrict | limited can each be grasped | ascertained, it becomes possible to improve an operator's operativity further.

  In the embodiment, as the operation means of the disaster rescue robot 100, a pair of operation levers 210, a first push button switch 211, a second push button switch 212, and a first seesaw switch 213 provided on each operation lever 210 are provided. And the second seesaw switch 214 are shown. However, the present invention is not limited to this. For example, the operation means may be composed of only a push button switch, or the operation means may be configured by an operation display unit using a GUI. May be configured.

  Moreover, although the thing which applied the disaster rescue robot 100 as an operation target working machine was shown in the said embodiment, it is not limited to this, Manipulators, such as industrial robots and medical devices, cranes, elevators, etc. It can be widely applied to all work machines.

  In the above-described embodiment, the image display unit 220 is displayed with the image 100 ′ in the form simulating the actual disaster rescue robot 100. However, the present invention is not limited to this. An image that is simply expressed, for example, by expressing the robot 100 with a single line, may be displayed on the image display unit 220.

  In the above-described embodiment, the image display unit 220 displays the entire disaster rescue robot 100 as the image 100 '. However, the present invention is not limited to this, and can be recognized by an operator, for example. Within the range, only the part corresponding to the actuating member may be displayed on the image display unit 220.

  Moreover, in the said embodiment, what showed only the display aspect of the site | part corresponding to the member which act | operates directly by the drive of an actuator was shown, However, It is not limited to this, It is not directly And a member that moves in conjunction with a member that operates directly, a part that corresponds to a member that operates directly by driving an actuator, and a member that operates directly You may make it change a display mode, respectively, about the site | part corresponding to the member to move.

  Further, in the above-described embodiment, when a plurality of members are operated simultaneously, the part on the image display unit 220 corresponding to all the operated members is identified and displayed. However, the present invention is not limited to this. However, only a portion corresponding to a part of the operating members may be identified and displayed.

  Moreover, in the said embodiment, although what showed the member which act | operates by displaying the site | part on the image display part 220 corresponding to the member to act | operate by the color different from another site | part was shown, it is limited to this. For example, by changing the pattern of the part corresponding to the member to be operated and the thickness of the line, the aspect is changed, or the member that is operated by displaying larger than the display of other parts It may be specified. Moreover, in order to identify the member to act | operate, you may make it make the site | part corresponding to the actuating member conspicuous by displaying the site | part which does not correspond to the actuating member darkly or displaying it with a dotted line.

  Moreover, in the said embodiment, although what showed the action | operation direction of the member act | operated by displaying the action direction front side of the site | part corresponding to the member to act | operate with the color different from the action direction back side was shown. However, the present invention is not limited to this. For example, as shown in FIG. 11, the operation direction of the member that operates by performing a gradation display that gradually changes the color of the portion 143 ′ corresponding to the member that operates directly from the rear in the operation direction toward the front in the operation direction. May be notified. Moreover, as shown in FIG. 12, you may alert | report the operation direction of the member act | operated by attaching | subjecting a pattern to the operation direction front side of site | part 143 'corresponding to the member which act | operates directly. Further, as shown in FIG. 13, the operating direction of the member that operates by informing the portion 143 ′ corresponding to the member that operates directly in front of the operating direction becomes thicker than the rear side in the operating direction. May be. Further, the operation direction front side of the portion 143 ′ corresponding to the directly operated member may be displayed larger than the operation direction rear side. The same applies to a member whose operation is restricted.

  Further, as described above, in addition to displaying the operation direction front side of the part corresponding to the movable member in a mode different from the operation direction rear side, the corresponding part and its vicinity are displayed with an arrow to be movable. You may make it make the site | part corresponding to a member more conspicuous. For example, when a plurality of movable members are operated simultaneously by a composite operation, arrows may be attached to portions corresponding to several movable members to such an extent that the image display unit does not become difficult to see.

  Moreover, in the said embodiment, in order to specify the states of the actuators 171 to 178 and the operating members, the one using the first to eighth angle sensors 181 to 188 made of a rotary encoder was shown. Although not specified, a stroke sensor or a pressure sensor that detects the states of the actuators 171 to 178 may be used, or an inclination sensor that detects the state of an operating member may be used.

  Moreover, in the said embodiment, the site | part corresponding to the member by which operation | movement was restrict | limited by the drive of actuators 171-178 being restrict | limited is the display mode before an operation | movement is restrict | limited, and the display mode of the image of another part. Although what was displayed with a different color was shown, it is not specific to this, for example, the mode is changed by changing the pattern of the part corresponding to the member whose operation is restricted or the thickness of the line Or may be displayed larger than the display of other parts.

  The image display means according to claim 1 corresponds to the operation of step S6 of the robot side control unit 190 and the operation side control unit 230 in the embodiment. Further, the movable member specifying means according to claims 1, 3 and 5 corresponds to the operation of step S2 of the robot side control unit 190 and the operation side control unit 230 in the embodiment. Further, the movable member specifying means according to claims 1, 4 and 5 corresponds to the operation of step S12 of the robot side control unit 190 and the operation side control unit 230 in the embodiment. The identification display means according to claims 1, 2, 5, 6, and 7 corresponds to the operations of steps S <b> 4 and S <b> 14 of the robot-side control unit 190 and the operation-side control unit 230 in the embodiment. The direction specifying means according to claim 6 corresponds to steps S3 and S13 of the robot-side control unit 190 and the operation-side control unit 230 in the embodiment.

  DESCRIPTION OF SYMBOLS 130 ... Turntable, 140 ... Arm, 141 ... 1st arm, 141 '... Image of 1st arm, 142 ... 2nd arm, 142' ... Image of 2nd arm, 143 ... 3rd arm, 143 '... 3rd Arm image, 150 ... hand, 150 '... hand image, 171 ... first actuator, 172 ... second actuator, 173 ... third actuator, 174 ... fourth actuator, 175 ... fifth actuator, 176 ... sixth actuator 177: 7th actuator, 178: 8th actuator, 181: 1st angle sensor, 182 ... 2nd angle sensor, 183 ... 3rd angle sensor, 184 ... 4th angle sensor, 185 ... 5th angle sensor, 186 ... Sixth angle sensor, 187 ... seventh angle sensor, 188 ... eighth angle sensor, 190 ... robot side control unit, 191 ... none Communication unit, 220 ... image display unit, 230 ... operating-side control unit, 232 ... wireless communication unit.

Claims (7)

Connected to a work machine comprising operating means for receiving an operator's operation, a plurality of actuators driven based on the operation received by the operating means, and a plurality of movable members operated by driving the plurality of actuators In the operation support device of the work machine for displaying the operation state of the plurality of movable members operated by the plurality of actuators on the image display unit,
Image display means for arranging and displaying a plurality of movable part images associated with the plurality of movable members on the image display unit by approximating the relative positional relationship of the movable members;
Movable member specifying means for specifying a movable member to which a force that is directly actuated by an actuator driven by the operation of the operating means is provided among the plurality of movable members;
An operation comprising: identification display means for displaying a predetermined movable part image corresponding to the movable member specified by the movable member specifying means on the image display unit so as to be distinguishable from other movable part images. Machine operation support device.   2. The operation support device for a work machine according to claim 1, wherein the identification display means changes a display mode within a display range of the specific movable part image.   The operation of the work machine according to claim 1, wherein the movable member specifying unit specifies an operable movable member among movable members to which a force that directly operates by driving of an actuator is applied. Support device.   The movable member specifying means specifies a movable member whose operation is restricted by restricting the drive of the actuator among movable members to which a force that directly operates by driving of the actuator is applied. The operation support device for a work machine according to claim 1 or 2. The movable member specifying means includes a movable member operable and a movable member whose operation is restricted by restricting driving of the actuator among movable members to which a force that directly operates by driving of the actuator is applied. Identify,
The identification display means causes the image display unit to display a movable part image corresponding to the operable movable member and a movable part image corresponding to the movable member whose operation is restricted so as to be identifiable. The operation support device for a work machine according to 1 or 2. A direction specifying means for specifying an operation direction of a movable member to which a force that directly operates by driving of the actuator is applied or a regulation direction of the operation;
The identification display means displays the direction specified by the direction specifying means in a predetermined movable part image corresponding to the movable member specified by the movable member specifying means so as to be identifiable, and the operating direction of the movable member Or the operation | movement assistance apparatus of the Claims 1-5 which alert | reports the regulation direction of an action | operation.   2. The identification display unit displays a predetermined movable part image corresponding to the movable member specified by the movable member specifying unit on an image display unit in a color different from other movable part images. The operation assistance apparatus of the working machine in any one of -6.