JP2005309773A - Gain adjusting method and device for remote positioning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide the gain adjusting method of a remote positioning device for arbitrarily changing a gain under operation. <P>SOLUTION: This gain adjusting method for deciding the amounts of operation of a positioning device based on an operation commanding control added to an operation end part is provided to extract the operational intention of an operator in a moment according to the features of the operation commanding control added to the operation end part during the operation of the positioning device in order to vary the gain as necessary during the operation of the remote positioning device. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a gain adjustment method and apparatus for determining an operation amount of a remote positioning device that is operated based on an operation command operation applied to an operation end.

  The remote positioning device refers to a device that is operated by an operator applying an operation to an operation end and operated so that a target positioning portion matches a position intended by the operator. As specific examples, remote control robots, teaching pendant industrial robots, and the like are known. In addition, cranes, power shovels, etc. are also operated by the operator applying operations to the operation ends of switches, levers, etc., and the applied operations are specifically operated as movements of electric switches, hydraulic valves, air valves, etc. Since this is a machine that is converted into a command and finally operates a target positioning portion, that is, a hanger, a bucket, or the like so as to match the target position, it is a kind of remote positioning device according to the present invention. Hereinafter, the “target positioning portion” is referred to as an “operation end”.

As described above, the specific state of the operation end of the conventional remote positioning device is a switch, a lever, etc., and the applied operation is specifically converted into an operation command as a movement of an electric switch, a hydraulic valve, an air valve, etc. However, paying attention to the gain of which the movement amount of the operation end is relative to a certain operation applied to the operation end, in any case, although the specific state of the operation end varies. The gain could not be changed during operation. This caused common inconvenience. That is, in applications where the amount of movement of the operating end is large and precise position setting is required, if the gain is high, the amount of operation to be added to the operating end in the rough movement of the operating end position is small but accurate. The position setting is difficult, and conversely, if the gain is low, precise position setting is easy, but in order to move the operation end, it is necessary to add a large amount of operation to the operation end. However, they have disadvantages that conflict with each other and are difficult to solve. These are fundamentally because the gain was not arbitrarily variable during operation. That is, in the conventional remote positioning device, as a general operation mode, the operator performs a required operation by adding an operation of moving a lever gripping hand, a switch or the like with a finger, which is a specific form of the operation end. In response to the input, the remote positioning device operates to move the operating end as determined in advance. How to set the amount to move the operating end with respect to the amount of operation applied to the lever or switch is determined at the time of device design and can be changed from moment to moment during device operation. There wasn't.
JP 2002-149343 A

  On the other hand, in order to solve the problem similar to the above, the inventor of the present invention has provided a response magnification setting device, etc. so that the response magnification can be arbitrarily changed during operation. The input method of the input device and the electronic computer has already been clarified in Patent Document 1. The present invention also proposes a gain adjustment method for a remote positioning device that can arbitrarily change the gain during operation from the same viewpoint.

  In view of the above-described circumstances, an object of the present invention is to provide a gain adjustment method for a remote positioning device in which a gain can be arbitrarily changed during operation.

  In order to solve the above-described problems, in the gain adjusting method and apparatus of the remote positioning device of the present invention, the gain adjustment for determining the operation amount of the positioning device in the remote positioning device based on the operation command operation applied to the operation end. To do. The feature of the operation command operation applied to the operation end during the operation of the positioning device is detected, and the gain is automatically adjusted accordingly.

  In the present invention, a gripping force detector is provided at the operation end of the remote positioning device, and the gain is adjusted according to the gripping force applied to the operation end by the operator detected by the gripping force detector. To do.

  The present invention also provides a perspiration detector that detects the perspiration amount of the hand during operation of the operating end, and adjusts the gain according to the perspiration state of the operator transmitted from the perspiration detector.

  According to the gain adjusting method and apparatus of the remote positioning device having the above-described configuration, the gain is high when the operating end position is roughly moved, and the moving amount of the operating end is small, and the gain is set when the operating end is precisely set. Therefore, it is possible to provide a method for adjusting the gain of the remote positioning device which is low and easy to work.

  The present invention is relatively simple in structure and can be easily implemented, and the gain can be arbitrarily changed during operation. In addition, the gain change is performed automatically based on the characteristics of the operation, and in particular, the gripping force or sweating phenomenon that occurs unconsciously from the operator's intention. It is not necessary to provide a gain adjustment method for the remote positioning device that adjusts the gain according to a natural feeling of operation.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a block diagram showing the basic configuration of the present invention. However, in the actual operation end configuration, when performing remote positioning in a multi-degree-of-freedom space, each degree-of-freedom has substantially the same configuration, so in the figure, only one degree of freedom is shown. It is.

  The operation applied to the operation end 1 in FIG. 1 is detected by a detector provided at the operation end 1, converted into an operation command 6 by a calculation unit, and the operation end drive device 5 such as a motor is operated to operate the operation end. 4 is driven. At this time, the present invention detects the feature of the operation command operation applied to the operation end during the operation of the positioning device, and automatically adjusts the gain accordingly. Specifically, the gain is when an operation applied to the operation end of the remote positioning device composed of a switch, a lever, etc. is converted into an operation command as a movement of an electric switch, a hydraulic valve, an air valve, etc. It can be expressed as a movement amount of the operation end with respect to a certain operation applied to the operation end. Based on the adjusted gain, the calculation unit converts the operation command 6.

  The remote positioning device according to the prior art does not have the gain adjustment shown in FIG. 1 regardless of the specific form of the operation unit. Therefore, the operating end drive unit is always driven by a predesigned gain. It was supposed to work.

  The present inventor has already disclosed in Patent Document 1 that an input signal generator generates an input signal to be input to an electronic computer body by calculating a signal from a plane motion detector and a signal from a response magnification setting unit. The operating end type input device and input method were clarified and the advantages were clarified. Similarly, in the present invention, for example, when the operating end is far from the target position, the operator operates so that the operating end quickly reaches the vicinity of the target position, that is, to operate with an emphasis on the moving speed rather than the arrival position accuracy. While the operation applied to the end is fast or large, when the operation end is in the vicinity of the target arrival position, the operation is performed with an emphasis on precisely reaching the target position even if the moving speed is small. Therefore, in contrast to the above, the intention that the operator has at each moment regarding the operation of the positioning device is determined from the characteristics of the operation so that the operation applied to the operation end is slow or small. The gain is automatically adjusted to match the intention of the operator at each moment according to the operation command operation applied to the operation end during the operation of the positioning device. By adjusting the position of the remote positioning device, the gain is high and the amount of movement of the operation end is small when the movement end position is roughly moved, and the gain is low and the work is easy when setting the precise position of the movement end. A gain adjustment method can be provided. In this case, a gain adjustment unit that controls the gain according to the operator's intention that is determined based on what operation feature amount is determined and the operator's intention that is determined from the extracted feature value. The designer may freely design whether to install the drive device or any other position related to both.

  FIG. 2 is a cross-sectional view showing the action of the holding force during use of the operation end 1. As described above, the operation end 1 detects an operation applied thereto as a main function, converts it into an operation command, operates an operation end drive device such as a motor, and drives the operation end. In addition to performing such a driving operation with the operation end 1, a holding force 3 and other operation forces act on the operation end 1 from the hand 2 of the operator. The gain can be adjusted by detecting this gripping force, which is a phenomenon that occurs unintentionally from the operator's intention as a feature of the operation command operation applied to the operation end. That is, when the operating end is far from the target position, the operating force applied to the operating end in order for the operating end to reach the target position quickly, that is, to operate with an emphasis on the moving speed rather than the arrival position accuracy is Even if it is large, the tension is low, that is, the operation with a small gripping force, but when the movement end is in the vicinity of the target arrival position, the operation is focused on reaching the target position precisely even if the movement speed is small. In contrast to the above, the operator has the operation of the positioning device at every moment so that the operation force applied to the operation end is small but the tension is high, that is, the operation has a large gripping force. The intention is discriminated from the characteristics of the operation and adapted to the intention of the operator at each moment according to the operation command operation applied to the operation end during the operation of the positioning device By adjusting the gain automatically, the gain is high and the movement amount of the operation end is small when the operation end position is roughly moved, and the gain is low when the operation end is precisely set. An easy gain adjustment method for a remote positioning device can be provided.

  Further, when tension is generated in the operator, sweat is generated in the hand 2 that holds the operation end 1, and therefore, if the sweating detector is provided in the operation end 1, the tension can be detected. An arithmetic circuit that switches the gain in stages according to the perspiration state obtained by the perspiration detector may be provided, and the gain may be set by the arithmetic circuit. In addition, the perspiration detector itself can be installed, for example, by detecting an electrical resistance between a plurality of contact portions generated on the surface of the operation end 1 when the operator's hand 2 holds the operation end 1. .

  In general, when trying to operate with particular care, for example, when positioning the operating end precisely, the operator creates mental tension to consciously pay attention and sweats. If there is a relationship between the intention to operate the operation end 1 and sweating in this way, the gain setting unit sets a gain in accordance with the above relationship. Thus, it is possible not only to make the gain variable during the operation, but also to realize an operation end type input device that has a gain function in accordance with a natural operation feeling and is more easily usable.

It is a block diagram which shows the signal flow of the remote positioning apparatus which provided the gain adjustment function which makes the basic concept of this invention. It is sectional drawing which shows the effect | action of the holding force in use of an operating end type | mold input device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Operation end 2 Hand 3 Holding power 4 Operation end 5 Operation end drive device 6 Operation command

Claims (4)

In a gain adjustment method for determining an operation amount of a remote positioning device operated based on an operation command operation applied to an operation end,
As a feature of the operation command operation applied to the operation end during the operation of the remote positioning device, a phenomenon that occurs unintentionally from the operator's intention is detected, and the gain is automatically adjusted accordingly. A gain adjustment method for a remote positioning device. In a gain adjustment device that determines an operation amount of a remote positioning device that is operated based on an operation command operation applied to an operation end,
As a feature of the operation command operation applied to the operation end during the operation of the remote positioning device, a device is provided for detecting a phenomenon that occurs unintentionally from the operator's intention, and the gain is automatically set according to the detected feature. Adjusting the gain of the remote positioning device. A gripping force detector is provided at the operation end of the remote positioning device,
The gain adjusting device of the remote positioning device according to claim 2, wherein the gain is adjusted according to the gripping force detected by the gripping force detector and applied to the operation end by the operator. At the operation end of the remote positioning device, a perspiration detector that detects the amount of perspiration in the hand during operation is provided,
The gain adjusting device of the remote positioning device according to claim 2, wherein the gain is adjusted according to a sweating state of the operator transmitted from the sweating detector.