JP2016136192A - Operation system and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation system and a control device that can suppress malfunction of a work device based on a human error.SOLUTION: There is provided an operation system comprising a work device and a plurality of operation devices for operating the work device, where provided that the details of operation in the plurality of operation devices match with each other, the work device performs an action corresponding to the details of operation. An operation unit of the present invention, when the details of operation in the plurality of operation device match with each other, preferably includes a first display device that performs display corresponding to the details of operation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an operation system and a control device.

  Conventionally, an operation system including a plurality of operation devices and one work device is known (see Patent Documents 1 to 3). In this operation system, by giving priority to operation to only one operation device, the work device is substantially operated using one operation device.

JP-A-1-285594 JP 2004-313035 A JP 9-242124 A

  When the human error of the operator occurs, the work device performs an incorrect operation in the conventional operation system. The present invention has been made in view of the above points, and an object thereof is to provide an operation system and a control device that can solve the above-described problems.

  The operation system of the present invention includes a work device and a plurality of operation devices for operating the work device, and the work device is configured on the condition that operation contents in the plurality of operation devices match. It is characterized by performing an operation corresponding to the operation content.

  In the operation system of the present invention, the operation corresponding to the operation content is performed on condition that the operation content in the plurality of operation devices matches. Therefore, it is possible to suppress the work device from performing an erroneous operation compared to a case where a single operator operates alone.

It is a block diagram showing the structure of the operation system 100 in 1st Embodiment. It is a block diagram showing the structure of the operation system 100 in 2nd Embodiment. It is a block diagram showing the structure of the operation system 100 in 3rd Embodiment. It is a block diagram showing the structure of the operation system 100 in 4th Embodiment. It is explanatory drawing showing an example of the work environment where the operation system 100 in 4th Embodiment is used. It is explanatory drawing showing the operator's standing position in the work environment in 4th Embodiment. It is explanatory drawing showing the example of arrangement | positioning of the display apparatus group in 5th Embodiment. It is a perspective view showing the composition of the overhead type hoist type overhead crane in a 1st embodiment. It is a perspective view showing the whole operation system 100 composition in a 6th embodiment. FIG. 10A is a perspective view illustrating the configuration of the crane mechanism CL, the transverse rail R1, and the longitudinal rail R2 in the sixth embodiment, and FIG. 10B is a block diagram illustrating the electrical configuration of the operation system 100. 11A to 11D are explanatory diagrams illustrating an example of display contents displayed on the display device. 12A to 12D are explanatory diagrams illustrating examples of display contents displayed on the display device. It is explanatory drawing showing the example of a display with the display apparatus in 7th Embodiment.

An embodiment of the present invention will be described. First, terms in the present invention will be described.
(1) About working device As a working device, a working device provided with a drive mechanism is mentioned, for example. Examples of the working device provided with the drive mechanism include a cargo handling machine, a construction machine, a transport machine, and a civil engineering machine. Specific examples thereof include, for example, self-propelled machines such as power shovels, bulldozers, forklifts, various conveyor transfer devices using belts, chains, rollers, etc., cargo handling machines such as tower cranes, portal cranes, and unloaders, machines In addition, as a working device equipped with a drive mechanism, various product manufacturing facilities, a warning light device equipped with a warning indicator light and a drive device that drives its turning, a digital speaker, and the like A digital audio device, a game machine, an amusement device, etc. provided with the drive device are mentioned. Examples of game machines and entertainment devices include game machines in which players aim to win prizes or points, and game machines that compete with other players for high scores (including electronic devices with video games or computer games installed). Can be mentioned.

  Further, the working device may be a device in which part or all of an actual working device is simulated by at least one of hardware and software. Further, the work device may be a work simulator. Examples of such work devices include the following.

  (I) A loading / unloading apparatus having a vehicle transport mechanism that is a component of one vehicle in an actual mechanical parking facility, and a basic operation of the loading apparatus simulated by a simpler apparatus.

  (Ii) A virtual portal crane displayed on the display device when the operation of the portal crane is simulated using computer simulation technology and the simulation result is displayed on the display device.

  (Iii) In an “overhead crane including a hoisting device for raising and lowering a load and a traveling body that moves on the horizontal plane together with the hoisting device”, the hoisting device for raising and lowering the load is operated by an electric motor for raising and lowering a dummy weight. Simulates the remaining parts including the running body using computer simulation technology and displays the result on the display device in conjunction with the operation of the electric motor.

  Further, the work device may perform an operation other than physical driving. Such operations include, for example, sound generation, light emission, transmission / reception of electromagnetic waves, image display, generation of heat, heating or cooling of an object, manufacture of an article (for example, formation of a thin film on a substrate, etc.) And computer processing.

(2) Regarding the operation device The operation device refers to a device for performing an operation related to the operation of the work device. The operating device may be, for example, a module that controls operations related to the operation of the work device. The method of transmitting the operation content in the operation device to the work device side may be a wireless method, a wired method, or another method. The operation device may be a machine-side operation device or a remote operation device. The operation device may be incorporated as an operation panel of the work device, may be a separate body from the work device, or may be detachable from the work device.

  The operation device includes, for example, an operation input unit that can input operation content corresponding to the operation of the work device. Examples of the operation input means include buttons, joysticks, other switch mechanisms, and the like. In addition, the operation device may perform an operation input by, for example, turning or tilting the housing of the operation device (see, for example, Japanese Patent Application Laid-Open Nos. 2009-208919 and 2012-25591). In addition, the operation device may perform operation input by voice input, for example.

  When there are a plurality of operation devices, the plurality of operation devices may be arranged adjacent to each other or may be arranged apart from each other. Moreover, a part of several operating device may be arrange | positioned adjacently and the remainder may be arrange | positioned mutually spaced apart.

  The operating device is a display means installed at a position that can be visually recognized by an operator who operates the operating device, an informing means for notifying the operator of an emergency, accident, failure, malfunction, etc., and the operator's hand and visual field direction. Illuminating means for illuminating can be provided.

(3) About operation content The operation content in an operating device may differ with work apparatuses. For example, the working device is “an overhead crane including a hoisting device for lifting and lowering a load and a traveling body that moves on the horizontal plane together with the hoisting device or an apparatus that simulates the overhead crane”, and an operating device for operating the working device Is equipped with an operation input means that enables operation input corresponding to the movement of “up / down / left / right / front / back (or up / down / east / west / south / north)” The operations for instructing the movement to “up / down / left / right / front / back (or up / down / east / west / south / north)” correspond to the operation content of the operating device.

  In addition, the working device is attached to the lower traveling body, the upper revolving body connected to the upper portion of the lower traveling body via a revolving device, the telescopic mast attached to the upper revolving body, and the top of the mast. Hydraulic excavator comprising at least a telescopic arm and a gripping device attached to the distal end of the telescopic arm via a swing device, and an operation device for operating the working device is “swivel right / swivel left / When equipped with operation input means that enable operation input corresponding to the operation of “mast up, mast down, arm up, arm down, tilt up, tilt down”, turn right, turn left, mast up, The operation for instructing the operation of “mast down / arm up / arm down / tilt up / tilt down” corresponds to the operation content in the operating device.

(4) About the operation contents in a plurality of operation devices being matched “Operation contents in a plurality of operation devices are matching” means that the operation contents in each of the plurality of operation devices are all “same operation in the work device”. It corresponds to "".

  Here, the “same operation” means, for example, when an operator operating a certain operating device requests an operation of a certain physical quantity by the operation input means of the operating device, the physical quantity (or the physical quantity and This means that the parameters having the correlation) are the same.

  Examples of the physical quantity include azimuth, time, speed, acceleration, and distance, and their ranges (for example, azimuth angle as a azimuth range, period as a time range, area as a distance range, etc.), movement The path, the working device, or the driving device included in the route, on and off, etc.

  Here, in order to avoid complication of explanation, for the sake of convenience, it is assumed that a plurality of operating devices are composed of two devices, a first operating device and a second operating device, and the unit or scale of time t is not limited. An operator operating the first operating device performs an ascending operation input from time t = 0 to time t = 2 by using the operation input means of the operating device, and from time t = 2 to time t = 4. During the time period, the left turn operation input is performed, and during the time t = 4 to the time t = 5, the lower operation input is performed, while the operator who operates the second operation device inputs the operation input of the operation device. By means, no input is made between time t = 0 and time t = 1, and ascending operation input is made between time t = 1 and time t = 3, and from time t = 3 to time t = 5. Suppose that a left turn operation input is performed during

  In this case, “the operation contents of a plurality of operation devices are coincident” is from time t = 1 to time t = 2 for ascending, and from time t = 3 to time t = 4 for left turn. Between. Therefore, the work device performs an ascending operation from time t = 1 to time t = 2, and performs a left-turning operation from time t = 3 to time t = 4.

  It should be noted that, in this example, “from time t = 0 to time t = 1, from time t = 2 to time t = 3, and from time t = 4 to time t = 5” It is possible to appropriately set how the work device is operated when the condition that “the operation content in the operation device matches” is not satisfied. For example, the operation may be stopped, one of the two operation devices may be given priority over the other, and the work device may be operated according to the operation input from one of the priority operation devices, Basically, the operation is performed according to the operation input from one of the priority operation devices, but the work device may be operated at a lower speed.

  The degree of matching of the operation contents in “the operation contents of a plurality of operation devices match” can be set as appropriate, and may be a strict match or a substantial match. May be in agreement if they are within a certain range.

  For example, as in the above example, it is assumed that the plurality of operation devices are composed of two of a first operation device and a second operation device. The operation input means of the first operating device performs an operation input of advancing in a specific direction of 10 degrees to the right from the reference direction. On the other hand, the operation input means of the second operating device performs an operation input of advancing in the direction at each time point while changing the direction in increments of 2 degrees from the reference direction to 16 degrees (case 1).

  Further, the operation content of the first operating device is the same as in case 1, and the operation input means of the second operating device continuously changes the direction from the reference direction up to 16 degrees and arbitrarily at each time point. It is assumed that an operation input of forward movement in the direction is performed (case 2).

  At this time, if the design is such that strict matching is required for the matching of the operation content, the operation device in the second operating device can be operated from the reference direction in either case 1 or case 2. When moving forward in the direction of exactly 10 degrees, an operation corresponding to moving forward in that direction is performed.

  On the other hand, a design that does not require strict coincidence between the operation contents, for example, the difference between the operation contents in the first operation device and the operation contents in the second operation device is within a range of plus or minus 3 degrees. If the design is such that if there is a match, in the case 1 case, the work device is advanced in the direction of 8 degrees, 10 degrees, and 12 degrees from the reference direction in the operation content of the second operation device. Then, an operation corresponding to advance in a preset direction is performed. Further, in the case 2, when the operation content in the second operating device is a forward movement in a direction within a range of 7 degrees to 13 degrees from the reference direction, the work apparatus moves in a preset direction. The operation corresponding to the forward movement is performed.

  Here, the preset direction is, for example, a direction corresponding to the operation content in the first operation device, a direction corresponding to the operation content in the second operation device, or a direction other than those directions. is there.

  In case 1, the operation content in the second operation device is not 8 degrees, 10 degrees, or 12 degrees from the reference direction. In case 2, the operation content in the second operation device is 7 degrees from the reference direction. When the condition that “the operation contents of the plurality of operation devices match” is not satisfied as in the case where the operation device is not within the range of 13 degrees from the angle, it is possible to appropriately set how the work device is operated. For example, the operation of the work device may be stopped so that either one of the two operation devices has priority over the other, and the work device operates according to the operation input from one of the priority operation devices. Basically, the operation is performed according to the operation input from one of the priority operation devices, but the work device may be operated at a lower speed.

  Furthermore, “the operation contents of the plurality of operation devices match” may be that a signal related to an operation input by the operation input unit of each of the plurality of operation devices satisfies a “predetermined condition”.

  For example, it is assumed that a plurality of operation devices are R operation devices, and signals related to operation input by operation input means of each operation device and their intensities are Sm and Pm (R is a natural number of 2 or more, m is It is a natural number of 1 or more and R or less). For an arbitrary Sm, an upper limit value Sm + Um, a lower limit value Sm-Lm, and a range [Sm-Lm, Sm + Um] having Sm + Um and Sm-Lm as both ends are set. Here, Um and Lm are functions having an integer greater than or equal to zero (0) or a value greater than or equal to zero (0). For example, Sm or time t is a variable. At least one of Um and Lm may be 0 (zero), and Um = Lm may not be satisfied.

  In addition, the “predetermined condition” is that “there is a non-zero value or range that is common to the range [Sm−Lm, Sm + Um] related to all Sm”. In this case, Um and Lm are set to 0 (zero) if a strict match is required for the operation content match, and to a value close to 0 (zero) if a slightly strict match is required, If a substantial match is sufficient without obtaining a somewhat strict match, the absolute values of Um and Lm may be set to values not close to 0 (zero).

  Further, “the operation contents of the plurality of operation devices match” may be that the operation contents of each of the plurality of operation devices match at different times. For example, when the operation content of the first operating device at an arbitrary time t1 is the same as the operation content of the second operating device at a time t2 different from the time t1, or the difference between the two is within a certain range, “Operation contents in a plurality of operation devices may coincide” may be used.

  Further, “the operation contents of the plurality of operation devices match” may mean that the operation contents of each of the plurality of operation devices match within a certain time. For example, the operation content of the first controller device at time t1 is the same as the operation content of the second controller device at time t2, or the difference between the two is within a certain range, and the time t1 and the time t2 When the time difference is within a preset range, “the operation contents in a plurality of operation devices may be matched”.

(5) About operation | movement corresponding to operation content In the operation system of this invention, it can be comprised so that a mode may be switched between several modes with which the said operation system is provided. For example, in an operating system including two operating devices, the mode can be switched between the first mode and the second mode.

  Examples of the first mode include a mode in which only the first operator is involved in the operation of the operation system. As the second mode, for example, a mode in which the first operator and the second operator are involved in the operation of the operation system, or a mode in which the operation of the second operation device by the second operator is prioritized. Etc.

  As an opportunity to shift from the second mode to the first mode, for example, only the first operator operates the first operating device, and the second operator does not operate the second operating device. In addition, the second operator may leave the operating environment of the second operating device.

  In addition, as an opportunity to shift from the first mode to the second mode, for example, the second operator starts the operation of the second operating device, or the operation contents in the two operating devices match. And so on.

  In addition, the operation corresponding to the fact that the operation content is matched may be set as non-operation. That is, some operation may be performed when the operation contents do not match, and the operation may be stopped or stopped when the operation contents match.

(6) Display corresponding to matching operation contents The display corresponding to matching operation contents is, for example, a display that allows a person who sees the display to identify whether or not the operation contents match. can do. The display content may be a notification by direct text expression, or may display a specific line width, image, or the like when the operation content matches.

  The display corresponding to the operation content matching may be set to non-display. That is, some display may be performed when the operation contents do not match, and the display may be hidden when the operation contents match.

  Further, when “some signal” is generated in response to the operation contents in a plurality of operation devices, and the generation of the “some signal” relates to the display on the display device, the generation of such a signal This corresponds to the display corresponding to the fact that the operation content in the operation device of FIG. Note that an operation signal g, a drive signal u, a display signal c, and a signal a, which will be described later, are examples of the above “some signal”.

The operation system of the present invention can switch modes among a plurality of modes, for example. In this case, when a part of the modes is set, a display corresponding to the fact that the operation contents match can be performed. In other modes, such display may not be performed.
<First Embodiment>
1. Configuration of Operation System 100 and Process to be Performed The configuration of the operation system 100 and the process to be executed will be described with reference to FIGS. 1 and 8. As shown in FIG. 1, the operation system 100 includes operation devices 111 and 112, a control device 120, and a work device 130. The control device 120 is obtained by installing a program for executing processing to be described later on a known computer. The control device 120 functionally includes a calculation unit F and a control unit 121. The work device 130 includes a drive device 131. The working device 130 is an overhead crane.

  The operation devices 111 and 112 are devices for operating the work device 130, respectively. An operator can operate the operation devices 111 and 112. In the following description, an operator who operates the operation device 111 is a first operator, and an operator who operates the operation device 112 is a second operator.

  When operated by an operator, the operation devices 111 and 112 generate and output an operation input signal x corresponding to the operation content. Hereinafter, the operation input signal generated and output by the controller device 111 is x1, and the operation input signal generated and output by the controller device 112 is x2.

  The generation of the operation input signal x widely corresponds to the operation performed by the work device 130. For example, the absence or zero signal of the operation input signal x is also included in the generation of the operation input signal x.

  For example, the first operator generates an operation input signal corresponding to the right turn operation of the work device 130 by pressing a right turn operation button provided in the operation device 111, and the operation input signal When the work device 130 is turned to the right, the generation of the operation input signal corresponds to the generation of the operation input signal x1.

  Further, it is assumed that the operation of the work device 130 is stopped by stopping the first operator from pressing the operation button for turning right and making the operation input signal not exist. To do. Since the absence of the operation input signal corresponds to the operation of the work device 130 (stop of the operation of turning right), this also corresponds to the generation of the operation input signal x1.

  Further, when the second operator stops pressing the operation button for movement in a certain direction provided in the operation device 112, the work device 130 that has moved in the certain direction while the operation button is being pressed. Assume that the operation system 100 is configured to move in the opposite direction and return to the origin position.

  Stopping the second operator from pressing the above-described operation button and setting the operation input signal corresponding to the operation of moving the work device 130 in a certain direction to the state where the operation device 130 does not exist in the reverse direction of the work device 130 Since this corresponds to the movement operation, this also corresponds to the generation of the operation input signal x2.

  As shown in FIG. 8, the operation devices 111 and 112 include a plurality of operation buttons 111p, 111q, 112p, and 112q, respectively, for performing operation input. The operation contents of the operation devices 111 and 112 differ depending on which operation button is selected and pressed or how the selected button is pressed.

  As shown in FIG. 1, the operation input signal x1 generated by the operation of the operation device 111 is transmitted to the control device 120 through the first signal transmission path 111L, and the operation input signal x2 generated by the operation of the operation device 112 is performed. Is transmitted to the control device 120 via the second signal transmission path 112L.

  In FIG. 1 and FIG. 8, the first signal transmission path 111L and the second signal transmission path 112L are depicted as wired signal transmission cables, but signals between the operation device 111 and the control device 120 are illustrated. At least one of transmission and signal transmission between the operation device 112 and the control device 120 may be performed by a wireless method.

  As shown in FIG. 1, the control device 120 receives operation input signals x1 and x2 and generates a drive signal u. More specifically, the calculation unit F receives the operation input signal x1 from the operation device 111 and the operation input signal x2 from the operation device 112, and generates an operation signal g.

  The operation signal g includes an operation signal gp generated when the operation content corresponding to the operation input signal x1 matches the operation content corresponding to the operation input signal x2, and the operation signal gq generated in other cases. There is. When the operation content corresponding to the operation input signal x1 matches the operation content corresponding to the operation input signal x2, for example, the operation buttons having the same meaning in the operation device 111 and the operation device 112 are the same in the same manner. May have been operated. The operation signal gp differs for each operation content corresponding to the operation input signals x1 and x2 that are the sources of the operation signal gp. Therefore, the operation content can be specified from the operation signal gp. The operation signal gq includes a non-generation of the operation signal g or a zero operation signal g.

  The control unit 121 receives the operation signal g and generates a drive signal u. There are two types of drive signals u: a drive signal up generated when the operation signal gp is received, and a drive signal uq generated in other cases. The drive signal up differs for each operation content corresponding to the operation input signals x1 and x2 from which the drive signal is generated. Therefore, the operation content can be specified from the drive signal up. The drive signal uq includes a non-generated drive signal u or a zero drive signal u.

  The control device 120 outputs a drive signal u. The driving device 131 receives the driving signal u, performs driving corresponding to the driving signal u, and causes the work device 130 to perform an operation. When the drive device 131 receives the drive signal up, the operation device 130 is caused to perform an operation corresponding to the drive signal up (that is, corresponding to the operation content).

  When the drive device 131 does not receive the drive signal up or receives the drive signal uq, what kind of drive the drive device 131 performs and what operation the work device 130 performs can be set as appropriate. For example, it can be as follows.

(A-1) The driving performed until immediately before can be continued by the drive device 131, and the operation performed until just before can be continued by the work device 130.
(A-2) The driving device 131 stops the driving performed just before, and the working device 130 stops the operation performed just before.

(A-3) The drive that has been performed until immediately before is stopped by the drive device 131, another drive device (not shown) is driven, and another operation is performed by the work device 130.
The driving of the driving device 131 and the operation of the working device 130 when the driving device 131 does not receive the driving signal up or receives the driving signal uq, as described in (a-1) to (a-3), for example, The control unit 121 may continue until the next operation signal g is received, or may continue for a preset time.

  The drive signal u is a signal for controlling the drive of one drive device 131 if the work device 130 includes only one drive device 131, and the work device 130 includes a plurality of drive devices 131. In the case of a plurality of driving devices 131, the signal is a signal for controlling the driving of a specific driving device 131. The specific driving device 131 can be selected from a plurality of driving devices 131. In any case, the drive device 131 that has received the drive signal up drives the work device 130 according to the drive signal up, and as a result, the work device 130 corresponds to the matched operation content in the operation devices 111 and 112. Perform the action.

  The working device 130 is an overhead hoist overhead crane as shown in FIG. The work device 130 includes a hoist H, a transverse rail R1, and a longitudinal rail R2.

  The hoist H drives the traveling along the traverse rail R1 by the hoisting motor M that enables the hoisting and lowering of the load block with the hook Q attached to the lower end by winding and unwinding the wire rope C, and the first driving motor m1. And a first drive mechanism D1. The transverse rail R1 is provided with a second drive mechanism D2 that drives traveling along the longitudinal rail R2 by the second drive motor m2 at both ends thereof.

  The operation system 100 includes a communication unit that enables communication between a first operator who operates the operation device 111 and a second operator who operates the operation device 112. The communication may be unidirectional or bidirectional. Further, the communication unit may further enable communication with a third party (for example, a work supervisor in the central monitoring facility).

2. Effects produced by the operation system 100 (1A) In the operation system 100, the work device 130 responds to the operation content on the condition that the operation content of the first operator matches the operation content of the second operator. Perform the operation. Therefore, it is possible to suppress the work device 130 from performing an incorrect operation compared to a case where a single operator operates alone.

  In particular, the above effect is particularly remarkable when there is a risk that the malfunction of the work device 130 may harm the safety of the operator or the surrounding people, such as a construction site or an article manufacturing factory.

  (1B) In the operation system 100, in order for the work device 130 to perform work, it is necessary to match the operation content of the first operator with the operation content of the second operator. Therefore, one or both operators can learn the correct operation method by trying to match their own operation content with the operation content of the other operator.

  In particular, when one operator is experienced and the other operator has insufficient operating experience, the former can lead the latter and allow the latter to learn the correct operation method. Moreover, even if both operators are experienced, it is possible to notice the self-confidence (believing) that veterans tend to fall, and to further improve the operational skills.

(1C) Since the operation system 100 includes a communication system, one-way or two-way communication can be performed between operators. Therefore, for example, even when the surrounding noise is large or the distance between the operators is large, it is possible to communicate between the operators and operate the work device 130 appropriately.
<Second Embodiment>
1. Configuration of Operation System 100 and Processing to be Performed The configuration of the operation system 100 according to this embodiment and the processing to be executed are basically the same as those in the first embodiment. Below, description is abbreviate | omitted about a common structure and it demonstrates centering around difference.

As shown in FIG. 2, the operation system 100 of this embodiment further includes a display control unit 140, a display device 150, and a recording device 160.
The recording device 160 stores operation input signals x1, x2, operation signals g (gp, gq), drive signals u (up, uq), signals a, display signals c, and position coordinate information h as time series data. The display control unit 140 can read out the data stored in the recording device 160 and displays the display content based on the data on the display device 150 as described later.

  Here, the signal a is a signal generated by the calculation unit F, or a signal generated by the operation devices 111 and 112 and transferred by the calculation unit F, and an example thereof is a plurality of operation input signals x. Assigned attribute information (for example, information related to an expression format (for example, color, line width, font, identification mark, etc.) when the operation input signal x is displayed on the display device 150). The attribute information includes the type of the operation input signal x (for example, the operation input signal x corresponding to the right turn of the work device 130, the operation input signal x corresponding to the left turn, the operation input signal x corresponding to the rise, the lowering For each operation input signal x etc. corresponding to.

  The display signal c is a display signal for displaying an image on the display device 150, as will be described later. Further, the position coordinate information h is position coordinate information in driving of the drive device 131 and / or position coordinate information in operation of the work device 130.

  In addition, the recording device 160 also stores performance data of operations performed on the work device 130 performed in the past by an operator (including at least one of the first operator and the second operator) as time-series data. The display control unit 140 can read the performance data stored in the recording device 160 and can display the display content based on the data on the display device 150.

  The signal b is selectively read out from signals (including the signal a) and information stored in the recording device 160 as necessary for signal processing in the display control unit 140. The display control unit 140 receives the signal b from the recording device 160 or receives the signal a and the signal b from the calculation unit F and the recording device 160, respectively, generates a display signal c, and outputs the display signal c to the display device 150. To do. The display device 150 is a display device that can display an image. The display device 150 performs display corresponding to the display signal c.

The display device 150 performs one or more displays selected from the following (b-1) to (b-4) based on the display signal c, for example.
(B-1) Display corresponding to the operation content in at least one of the operation devices 111 and 112 is performed.

(B-2) When the operation contents in the operation devices 111 and 112 coincide with each other, a display corresponding thereto is performed.
(B-3) The operation of the work device 130 is displayed in real time.

(B-4) From the signals and information stored in the recording device 160, the information regarding the operation of the work device 130 performed by each operator in the past is read out afterwards and visually reproduced and displayed.
The display mode on the display device 150 can be set as appropriate. For example, it can be displayed as one of the following (c-1) to (c-4).

  (C-1) Temporal change in operation content in the operation device 111 (for example, time-series data of the operation input signal x1) and temporal change in operation content in the operation device 112 (for example, in the case of the operation input signal x2) Series data) are displayed in parallel and displayed in different colors.

  (C-2) Temporal change in operation content in the operation device 111 (for example, time-series data of the operation input signal x1) and temporal change in operation content in the operation device 112 (for example, in the case of the operation input signal x2) The display data at the time when the operation contents of the operation devices 111 and 112 match (for example, the generation time of the operation signal gp) is displayed in another color and highlighted. To do.

  (C-3) Temporal change in operation content in the operation device 111 (for example, time-series data of the operation input signal x1) and temporal change in operation content in the operation device 112 (for example, in the case of the operation input signal x2) The display at the time when the operation contents of the operation devices 111 and 112 coincide (for example, the generation time of the operation signal gp) can be identified.

  (C-4) The ratio of the total time (Ta) of the operation time (Tm) of the operation devices 111 and 112 occupying the operation contents in both operation devices (match rate (Ta / Tm × 100 [%] ) And) are displayed in an identifiable manner.

2. Effects produced by the operation system 100 According to the operation system 100 of the present embodiment, in addition to the effects (1A) to (1C) of the first embodiment, the following effects can be obtained.

(2A) The operation system 100 of this embodiment can perform the display corresponding to it in the display apparatus 150, when the operation content in the operation apparatuses 111 and 112 corresponds. Thereby, the operator can easily know the coincidence of the operation content.
<Third Embodiment>
1. Configuration of Operation System 100 and Processing to be Performed The configuration of the operation system 100 according to this embodiment and the processing to be executed are basically the same as those in the second embodiment. Below, description is abbreviate | omitted about a common structure and it demonstrates centering around difference. The operation system 100 of this embodiment includes two display devices 151 and 152 as shown in FIG.

  The recording device 160 uses the operation input signals x1, x2, the operation signal g (gp, gq), the drive signal u (up, uq), the signal a, the display signals c1, c2, and the position coordinate information h as time series data. Store. The display control unit 140 can read out data stored in the recording device 160 and displays display contents based on the data on the display devices 151 and 152 as will be described later. The display signal c1 is a display signal for the display device 151, and the display signal c2 is a display signal for the display device 152.

  The display control unit 140 receives the signal b from the recording device 160, or receives the signal a and the signal b from the calculation unit F and the recording device 160, respectively, and generates display signals c1 and c2, which are directed to the display device 151. The display signal c1 is output, and the display signal c2 is output toward the display device 152. The display device 151 performs display corresponding to the display signal c1, and the display device 152 performs display corresponding to the display signal c2.

The display devices 151 and 152 can display the same display contents as in the second embodiment in the same manner.
2. Effects produced by the operation system 100 According to the operation system 100 of the present embodiment, in addition to the effects (1A) to (1C) and (2A) of the second embodiment, the following effects can be obtained.

(3A) Since the operation system 100 of this embodiment includes the two display devices 151 and 152, the operator can more easily visually recognize the display contents.
<Fourth Embodiment>
1. Configuration of Operation System 100 and Processing to be Performed The configuration of the operation system 100 according to this embodiment and the processing to be executed are basically the same as those in the second embodiment. Below, description is abbreviate | omitted about a common structure and it demonstrates centering around difference.

  The operation system 100 according to the present embodiment includes three display devices 151, 152, and 153 as shown in FIG. In addition, the operation system 100 according to the present embodiment includes a display preprocessing unit G for reducing the calculation load on the display control unit 140.

  The recording device 160 displays the operation input signals x1, x2, the operation signal g (gp, gq), the drive signal u (up, uq), the signal a, the display signals c1, c2, c3, and the position coordinate information h in time series. Store as data. The display control unit 140 can read out data stored in the recording device 160 and displays display contents based on the data on the display devices 151, 152, and 153 as will be described later. The display signal c1 is a display signal for the display device 151, the display signal c2 is a display signal for the display device 152, and the display signal c3 is a display signal for the display device 153.

  The display control unit 140 receives the signal b from the recording device 160 or receives the signal a and the signal b from the calculation unit F and the recording device 160, respectively, and generates display signals c1, c2, and c3, and the display device 151. The display signal c1 is output toward the display device, the display signal c2 is output toward the display device 152, and the display signal c3 is output toward the display device 153. The display device 151 performs display corresponding to the display signal c1, the display device 152 performs display corresponding to the display signal c2, and the display device 153 performs display corresponding to the display signal c3.

The display devices 151, 152, and 153 can display the same display contents as in the second embodiment in the same manner.
The display preprocessing unit G reduces the calculation load on the display control unit 140 by generating a signal J necessary for signal processing in the display control unit 140. That is, the display preprocessing unit G receives the operation input signals x1 and x2 and the operation signal g, or receives the operation input signals x1 and x2, the operation signal g and the signal a, generates a signal J, and displays it. Output to the control unit 140. The input signals (x1, x2, g, a) in the display preprocessing unit G may be read from the recording device 160.

2. Working Environment in which Operation System 100 is Used and Standing Position of Operator FIG. 5 is an explanatory diagram illustrating an example of a working environment in which the operation system 100 is used. FIG. 6 is an explanatory diagram of the operator's standing position in the work environment.

  In FIG. 5, OP1 and OP2 are a first operator and a second operator, respectively, and Wk is a moving article to be moved by the working device 130 (the structural elements of the working device 130 move together with the moving article Wk). In that case, the component is also included in the moving article Wk).

  Pw (ti) and rw (ti) are the position and moving direction of the moving article Wk at time t = ti, respectively. Pw (n) is the final position of the moving article Wk. P1 (ti), v1 (ti) and rop1 (ti) are respectively the position of the first operator OP1 at time t, the direction in which the first operator OP1 observes the moving article Wk, and the first operation. This is the moving direction of the person OP1. P2 (ti), v2 (ti) and rop2 (ti) are respectively the position of the second operator OP2 at the time ti, the direction in which the second operator OP2 observes the moving article Wk, and the second operation. This is the moving direction of the person OP2.

  The first operator OP1 and the second operator OP2 operate the work device 130 using the operation devices 111 and 112, respectively, and as a result of the operation, the moving article Wk is in the direction of rw (ti). Move to. The first operator OP1 and the second operator OP2 continue to operate while moving in the directions of rop1 (ti) and rop2 (ti), respectively, and move the moving article Wk to the final position Pw (n). Move.

  When moving the moving article Wk to the final position Pw (n), at least at the time ti, the first operator OP1 and the second operator OP2 are separated from each other at positions P1 (ti) and P2 (ti). When standing and observing the moving article Wk from different directions v1 (ti) and v2 (ti), a blind spot is less likely to occur than when a single operator moves the moving article Wk.

  In addition, the first operator OP1 is positioned on one side and the second operator OP2 is positioned on the other side with the trajectory along which the moving article Wk moves as the first operation. When the operator OP1 and the second operator OP2 observe the moving article Wk, a blind spot is less likely to occur than when a single operator moves the moving article Wk.

  As shown in FIG. 6, at almost all times during the movement time of the moving article Wk (the time required to move from the first position to the final position Pw (n)), the first operator OP1 and the second operator It is preferable that the operator OP2 stands at positions P1 (t) and P2 (t) separated from each other and observes the moving article Wk from different directions v1 (t) and v2 (t). In this case, blind spots are less likely to occur.

  Therefore, according to the operation system 100, since a blind spot is less likely to occur than when operated by a single operator, it is possible to suppress a human error caused by the occurrence of a blind spot, and the operation system 100 and its surroundings can be suppressed. The work environment can be made safer.

  In the work environment shown in FIG. 5, the first operator OP1 can easily see the display devices 152 and 153, and the second operator OP2 can easily see the display devices 151 and 153. be able to. The operation content of the second operator OP2 is displayed on at least one of the display devices 152 and 153. In addition, the operation content of the first operator OP1 is displayed on at least one of the display devices 151 and 153.

3. Effects produced by the operation system 100 According to the operation system 100 of the present embodiment, in addition to the effects (1A) to (1C) and (2A) of the second embodiment, the following effects can be obtained.

(4A) Since the operation system 100 of this embodiment includes the three display devices 151, 152, and 153, the operator can more easily visually recognize the display contents.
<Fifth Embodiment>
1. Configuration of Operation System 100 and Processing to be Performed The configuration of the operation system 100 according to this embodiment and the processing to be executed are basically the same as those in the fourth embodiment. Below, description is abbreviate | omitted about a common structure and it demonstrates centering around difference.

  As illustrated in FIG. 7, the operation system 100 according to the present embodiment includes display devices 151C, 151R, 151L, 152C, 152R, 152L, 153C, 153R, 153L, 154C, 154R, and 154L. Hereinafter, these may be collectively referred to as a display device group. The operation system 100 according to the present embodiment is a system for training the operation of the work device 130.

  The display device group is arranged so as to surround the first operator OP1 and the second operator OP2, and the first operator OP1 and the second operator OP2 stand at which position and in which direction the line of sight. The display contents of any of the display devices are arranged so that they can be visually recognized even when facing.

  Each display device belonging to the display device group is displayed when the operation contents of the operation devices 111 and 112 match (hereinafter referred to as operation content match display). Therefore, the first operator OP1 and the second operator OP2 can visually recognize the operation content matching display regardless of the position and the direction of the line of sight.

  For example, when the first operator OP1 moves, the operation content matching display moves within the screen of one display device or moves between screens of adjacent display devices as the first operator OP1 moves. By doing so, even if the first operator OP1 moves, the first operator OP1 can easily visually recognize the operation content matching display.

  Similarly, in the operation content matching display, for example, when the second operator OP2 moves, it moves within the screen of one display device or moves between screens of adjacent display devices. Or By doing so, even if the second operator OP2 moves, the second operator OP2 can easily visually recognize the operation content matching display.

  The operation system 100 can include, for example, sensors (not shown) that detect the positions of the first operator OP1 and the second operator OP2 and the direction of the line of sight. As described above, the position of the operation content matching display is moved in accordance with the movement of the first operator OP1 and the second operator OP2 by moving the position of the operation content matching display according to the detection result of the sensor. Can be moved.

  In particular, if the operation content matching display position on the screen of the display device is on the extension line of v1 (ti) or in the vicinity thereof when viewed from the viewpoint of the first operator OP1, the first operator OP1 , V1 (ti), the operation content matching display can be visually recognized without greatly moving the line of sight.

  Similarly, if the operation content matching display position on the screen of the display device is on the extension line of v2 (ti) or in the vicinity thereof when viewed from the viewpoint of the second operator OP2, the second operator OP2 Can visually recognize the operation content matching display without largely moving the line of sight from v2 (ti).

  The working device 130 may be a real device, hardware that simulates part or all of the real device, or a virtual device that is simulated by software. When the work device 130 is a virtual device, the operation system 100 is a system that allows an operator to perform image training. When the work device 130 is an actual device or hardware simulating part or all of the actual device, the operation system 100 is a system that allows the user to experience the actual movement of the work device 130.

  When the operation system 100 is a work simulator, an image displayed on any one or more display devices of the display device group is displayed on a small display or a head mounted type wearable display that can be carried by the operator. You may comprise as follows.

3. Effects produced by the operation system 100 According to the operation system 100 of the present embodiment, in addition to the effects (1A) to (1C) and (2A), the following effects can be obtained.

  (5A) According to the operation system 100, by viewing the display content of the display device, a plurality of operators (first operator OP1, second operator OP2) can operate the operation devices 111 and 112, respectively. Can understand whether the contents match. And each operator can try so that the operation content in the operation apparatuses 111 and 112 may correspond more.

  In the process, the first operator OP1 determines how the second operator OP2 is using the operating device 112, and the second operator OP2 uses the operating device 112 to perform various operations in the work device 130. It is possible to learn and learn consciously or unconsciously how the operation is performed.

  (5B) When the first operator OP1 is inferior to the second operator OP2 in terms of the skill or experience in the operation of the work device 130, the first operator OP1 uses the operation system 100 to set the second operator OP1. The skill or experience possessed by OP2 can be efficiently learned and acquired.

  Further, when the first operator OP1 is at the same level as the second operator OP2 in terms of skill or experience in the operation of the work device 130, or when the first operator OP2 is superior to the second operator OP2, the first operator OP1 can pass on the skill or experience it has to the second operator OP2.

  Furthermore, the first operator OP1 obtains a new awareness in the operation of the work device 130 from the second operator OP2, thereby making the human error occurrence probability constant by the effort of the first operator OP1 alone. Even in situations where it is difficult to reduce below a level, there is an opportunity to reduce it.

  (5C) Regardless of whether the first operator OP1 and the second operator OP2 are superior or inferior in terms of skill or experience in the operation of the work device 130, both operators can breathe each other. You can learn suitable operations. This is extremely useful when the work device 130 must be operated with high attention.

(5D) In the operation system 100, the work device 130 operates on the condition that the operation contents in the operation devices 111 and 112 are the same.
When the first operator OP1 and the second operator OP2 switch between a state in which the operation contents match and a state in which the operation details do not match, the work device 130 can be operated in small steps. Therefore, the operation of the work device 130 can be finely adjusted.

The effects (5C) and / or (5D) are extremely useful when the work device 130 has to be operated with high attention. For example, when transporting large, heavy, and / or expensive or dangerous objects, carefully adjust the operation of the conveying device little by little, or sometimes in small increments, using the acquired operation. Therefore, it is possible to reduce the risk of transporting the transported object.
<Sixth Embodiment>
1. Configuration of Operation System 100 and Processing to be Performed The configuration of the operation system 100 according to this embodiment and the processing to be executed are basically the same as those in the fourth embodiment. Below, description is abbreviate | omitted about a common structure and it demonstrates centering around difference.

  As shown in FIG. 9, the operation system 100 accommodates a lower layer K1 that also serves as a base and a prize T, and is surrounded by a transparent plate so that the player can view the prize T and confirm the position from the outside. A middle layer portion K2 and an upper layer portion (not shown) that covers the middle layer portion K2 from above.

  A crane mechanism CL, a transverse rail R1, and a longitudinal rail R2 shown in FIG. 10A are provided between the middle layer portion K2 and the upper layer portion. The longitudinal rail R2 is movable along the transverse rail R1. In addition, the crane mechanism CL includes a gripping portion GR that moves up and down along the Z direction by a drive mechanism (not shown), and the gripping portion GR has a function of gripping the prize T. In the operation system 100 of the present embodiment, the crane mechanism CL, the transverse rail R1, and the longitudinal rail R2 correspond to the work device 130.

  As shown in FIG. 9, operating devices 111, 112, and 113 are attached to each of the three surfaces around the upper outside of the lower layer portion K <b> 1. Therefore, the operation system 100 can be operated by three players. The operation devices 111, 112, and 113 are the same model. Note that an operating device may be attached to the remaining one surface outside the upper portion of the lower layer portion K1 so that it can be operated by a total of four players.

  Each operation device is a device for operating movement of the crane mechanism CL in the X direction and Y direction, movement of the gripping portion CR in the Z direction, and gripping of the prize T by a gripping function provided in the gripping portion CR. Each operation device includes operation input means for performing each operation described above. The operation input means may perform a plurality of operations by one operation input.

  The operation input means of the operation device 111 is 111p, 111q, the operation input means of the operation device 112 is 112p, 112q, and the operation input means of the operation device 113 is 113p, 113q. Further, the operation devices 111, 112, and 113 include display devices 151, 152, and 153, respectively.

  The operation system 100 is provided with three communication passages that allow the prize T to move from the inlets 171, 172, 173 of the middle layer K 2 to the outlets 181, 182, 183 of the lower layer K 1. Therefore, the player can take out the prize T from the outlets 181, 182, and 183 by moving the prize T using the crane mechanism CL and dropping it into the insertion ports 171, 172, and 173.

  As shown in FIG. 10B, when the player operates a specific operation input unit, the operation devices 111, 112, and 113 output operation input signals x1, x2, and x3 corresponding to the specific operation input unit, respectively. .

  The control device 120 receives the operation input signals x1, x2, and x3 and generates a drive signal u. More specifically, the calculation unit F receives the operation input signals x1, x2, and x3 and generates an operation signal g.

  The operation signal g includes an operation content corresponding to the operation input signal x1, an operation content corresponding to the operation input signal x2, and an operation signal gp generated when the operation content corresponding to the operation input signal x3 matches. And an operation signal gq generated in other cases. The operation signal gp differs for each operation content corresponding to the operation input signals x1, x2, and x3 that are the sources of the operation signal gp. The operation signal gq includes the absence of the operation signal g or the zero operation signal g.

  The control unit 121 receives the operation signal g and generates a drive signal u. There are two drive signals u: a drive signal up generated in the control unit 121 when the operation signal gp is received, and a drive signal uq generated in other cases. The drive signal up differs for each operation content corresponding to the operation input signals x1, x2, and x3 from which the drive signal is generated. The drive signal uq includes the absence of the drive signal u or a zero drive signal u.

  The control device 120 outputs a drive signal u. The crane mechanism CL receives the drive signal u and performs an operation corresponding to the drive signal u. When the crane mechanism CL receives the drive signal up, an operation corresponding to the operation content corresponding to the drive signal up is executed. When the drive device 131 does not receive the drive signal up or receives the drive signal uq, what operation the crane mechanism CL performs can be set as appropriate. For example, it can be any one of (a-1) to (a-3).

  The recording device 160 includes operation input signals x1, x2, x3, operation signals g (gp, gq), drive signals u (up, uq), signals a, display signals c1, c2, c3, and position coordinate information h. Store as time series data. The display control unit 140 can read out data stored in the recording device 160 and displays display contents based on the data on the display devices 151, 152, and 153 as will be described later. Here, the display signals c1, c2, and c3 are display signals for the display devices 151, 152, and 153, respectively.

  The display control unit 140 receives the signal b from the recording device 160, or receives the signal a and the signal b from the calculation unit F and the recording device 160, respectively, and generates display signals c1, c2, and c3, and displays the display signal c1. Are output toward the display device 151, the display signal c2 is output toward the display device 152, and the display signal c3 is output toward the display device 153. The display devices 151, 152, and 153 perform displays corresponding to the display signals c1, c2, and c3, respectively.

The display contents on the display devices 151, 152, and 153 are displays indicating that the operation contents on the operation devices 111, 112, and 113 are the same.
3. Effects produced by the operation system 100 According to the operation system 100 of the present embodiment, in addition to the effects (1A) to (1C), (2A), and (4A), the following effects can be obtained.

  (6A) According to the operation system 100 of the present embodiment, when the operation contents in the plurality of operation devices 111, 112, and 113 match, an operation corresponding to the operation contents is executed. Therefore, it is possible to suppress malfunction due to human error (unintentional operation mistake of the player) in the operator (player).

  (6B) According to the operation system 100 of this embodiment, in order to operate the crane mechanism CL, it is necessary to match the operation content of each player. Each player can learn the operation technique and the skill to acquire the prize T by trying to match the operation contents with other players.

  (6C) The operation system 100 according to the present embodiment performs display corresponding to the operation contents of the operation devices 111, 112, and 113 when they match. As a result, the player can easily know the matching of the operation contents.

(6D) It is also possible to obtain a secondary effect of providing a new team-matching game machine that competes for simultaneity and synchronism of operations of a plurality of players, or improving playability by competing for it.
<Seventh Embodiment>
1. Configuration of Operation System 100 and Processing to be Performed The configuration of the operation system 100 according to this embodiment and the processing to be executed are basically the same as those in the second embodiment. Below, description is abbreviate | omitted about a common structure and it demonstrates centering around difference.

  The operation system 100 of this embodiment is a Japanese drum performance game machine. In the present embodiment, the operation devices 111 and 112 perform operation input by hitting with a drum of Japanese drums. The operation devices 111 and 112 include a pad plate portion and a rim portion (not shown) as places to apply impact. In addition, the work device 130 is a device that can generate a sound effect as an example of an operation.

  When the operation contents on the operation devices 111 and 112 match, the work device 130 generates a sound effect. Further, when the operation contents on the operation devices 111 and 112 coincide with each other, the display device 150 performs a display corresponding thereto. When the operation contents on the operation devices 111 and 112 do not match, what operation the work device 130 performs and what display the display device 150 performs can be set as appropriate.

2. Display on Display Device 150 The display on display device 150 can be, for example, as shown in FIG. In FIG. 13, an annular batting instruction display RT is for instructing the timing, strength, striking location, etc. of batting with a Japanese drum drumstick.

Of the batting instruction display RT, a relatively large one instructs to hit the pad plate portion, and a relatively small one instructs to hit the rim portion.
On the display device 150, a plurality of batting instruction displays RT are displayed side by side in a row. The plurality of batting instruction displays RT move in the MD direction shown in FIG. 13 (the direction from the right side to the left side in FIG. 13) while being arranged in a line. In the process, each hit instruction display RT sequentially passes the hit instruction position BP.

  When an arbitrary batting instruction display RT passes through the batting instruction position BP, an operation input (hitting with a bee) that matches the instruction content of the batting instruction display RT is performed on both operation devices 111 and 112. The operation system 100 counts the hit as an effective hit.

On the other hand, in other cases, it is counted as an invalid hit. Other cases include the following.
(1) In at least one of the operation devices 111 and 112, the timing at which an operation input (battering with a bee) was made was before or after the batting instruction display RT passed the batting instruction position BP.

(2) In at least one of the operation devices 111 and 112, the operation content (blow timing, strength, hit location, etc.) was not indicated by the hit instruction display RT.
(3) The operation content on the operation device 111 does not match the operation content on the operation device 112.

  When an effective hit is counted for an arbitrary hit instruction display RT, the display mode of the hit instruction display RT changes to the hit instruction display CB after passing the hit instruction position BP. When an invalid hit is counted for an arbitrary hit instruction display RT, the display mode of the hit instruction display RT changes to the hit instruction display WB after passing the hit instruction position BP.

  The batting instruction display CB and the batting instruction display WB have different display modes (for example, different shapes, sizes, colors, etc.). Therefore, each player sees the batting instruction display CB and the batting instruction display WB, and whether the effective batting is counted or the invalid batting is counted (the operation content of the operation device 111 and the operation content of the operation device 112). Can be easily understood. And each player can correct the method of the operation input to the operating devices 111 and 112 based on the understanding. As a result, each player can acquire the experience and skill of operation and can pass on.

  In addition, the degree of matching of the operation contents in the plurality of operation devices 111 and 112 may be digitized and displayed on the screen of the display device 150. For example, in the period from the operation start time (t = 0) to time t, when the total number of batting instruction displays CB is Nc (t) and the total number of batting instruction displays WB is Nw (t), a plurality of operations The degree of coincidence of operation contents (SCORE (t)) in the devices 111 and 112 is defined by the following mathematical formula (1).

Formula (1) SCORE (t) = Nc (t) / {Nc (t) + Nw (t)} × 100 [%]
Then, SCORE (t) is displayed on the screen of the display device 150 (see the frame portion of SCORE [%] in the upper right of FIG. 13). If the degree of coincidence is used as an evaluation index, the degree of coincidence (simultaneity and synchronization) of operation contents among a plurality of operators (first operator OP1, second operator OP2) can be quantified. This makes it possible to objectively know the experience of operation, the acquisition of skills, and the degree of lore. Also, this Japanese drum playing game machine can be a team-matching game machine that competes for superiority or inferiority of SCORE [%] between teams.

3. Effects produced by the operation system 100 According to the operation system 100 of the present embodiment, the effects (1A) to (1C), (2A), and (6D) of the second embodiment can be obtained.
<Eighth Embodiment>
1. Configuration of Operation System 100 and Processing to be Performed The configuration of the operation system 100 according to this embodiment and the processing to be executed are basically the same as those in the second embodiment. Below, description is abbreviate | omitted about a common structure and it demonstrates centering around difference.

  The operation system 100 of this embodiment is a dance game machine. In the present embodiment, the operating devices 111 and 112 are provided with a pressure sensitive mat, and the player inputs an operation by stepping on the pressure sensitive mat with his / her foot.

  The work device 130 is a device capable of displaying an image as an example of an operation. When the operation contents in the operation devices 111 and 112 match, the work device 130 performs a display specific to that case. Further, when the operation contents on the operation devices 111 and 112 coincide with each other, the display device 150 performs a display corresponding thereto. When the operation contents on the operation devices 111 and 112 do not match, what kind of display the work device 130 performs and what kind of display the display device 150 performs can be set as appropriate.

  For example, as in the case of the seventh embodiment, if the degree of coincidence (simultaneity and synchronization) of the operation contents is digitized and the numerical value is displayed on the display device 150, the dance experience and skill acquisition and transmission Can be more objectively known. In addition, this dance game machine can be a team-matching game machine that competes for superiority or inferiority in the degree of coincidence (simultaneity and synchronization) of the operation contents between teams.

2. Effects produced by the operation system 100 According to the operation system 100 of the present embodiment, the effects (1A) to (1C), (2A), and (6D) of the second embodiment can be obtained.
<Ninth Embodiment>
1. Configuration of Operation System 100 and Processing to be Performed The configuration of the operation system 100 according to this embodiment and the processing to be executed are basically the same as those in the second embodiment. Below, description is abbreviate | omitted about a common structure and it demonstrates centering around difference.

  The operation system 100 of this embodiment is a language learning device. In the present embodiment, the operation devices 111 and 112 are voice detection devices that detect the pronunciation of the operator (language learner). An operation input is when an operator sounds a sound and the operating devices 111 and 112 detect the sound.

  In the present embodiment, the display device 150 also serves as a work device. When the operation contents (detected sound) in the operation devices 111 and 112 match, the display device 150 performs a display corresponding thereto. What operation the display device 150 performs when the operation contents of the operation devices 111 and 112 do not match can be appropriately set.

  For example, if the degree of coincidence (simultaneity and synchronization) of the operation content is digitized and displayed on the display device 150, the experience of speech, the acquisition of accurate pronunciation and the degree of transmission can be known more objectively. it can. In addition, the language learning device can be provided with a scoring function, and the motivation and efficiency of learning can be improved.

2. Effects produced by the operation system 100 According to the operation system 100 of the present embodiment, the effects (1A) to (1C) and (2A) of the second embodiment can be obtained.
<Other embodiments>
(1) In the first to fourth embodiments, the display content displayed by the display device may be as follows. The display in FIG. 11D is a three-dimensional representation of the trajectory along which the moving article Wk moves from the operation start point s to the operation end point e in the XYZ coordinate system. The display in FIG. 11A represents the same locus as that shown in FIG. 11D in the XY plane. The display in FIG. 11B represents the same locus as that shown in FIG. 11D in the YZ plane. The display in FIG. 11C represents the same locus as that shown in FIG. 11D in the ZX plane.

  When the moving article Wk moves only when the operation contents on the plurality of operation devices 111 and 112 match, the locus starting from the start point s and ending at the end point e is the operation content on the operation devices 111 and 112. Is a locus generated as a result of the operation corresponding to the operation content performed by the work apparatus 130, and corresponds to a display corresponding to the operation content match.

  In addition, the display content of FIG. 11A-FIG. 11D represents the state where the moving article Wk has already reached the end point e. The content displayed by the display device may display a state where the moving article Wk has not yet reached the end point e. In this case, the trajectory extends toward the end point e over time.

  By displaying the display contents of FIGS. 11A to 11D, a plurality of operators (first operator OP1 and second operator OP2) can recognize the match / mismatch of the operation contents up to that point in time, The operation of moving the moving article Wk can be continued while making necessary corrections.

In the first to fourth embodiments, the display content described above may be displayed on the display device as follows.
(i) One of the display contents of FIGS. 11A to 11D is displayed on the display device.

(ii) One of the display contents of FIGS. 11A to 11D is displayed on the display device, and one or more selected display contents of the other display contents are displayed on the other display device.
In addition, displaying each display content on a plurality of display devices is, for example, connecting a commercially available graphic board to an expansion slot on the motherboard of the computer that implements the control device 120, and installing driver software for the graphic board This can be achieved.

  (2) In the first to fourth embodiments, the content displayed by the display device may be as follows. The display in FIG. 12D is a three-dimensional representation of the trajectory along which the moving article Wk moves from the operation start point s to the operation end point e in the XYZ coordinate system. The display in FIG. 12A represents the same locus as that shown in FIG. 12D in the XY plane. The display in FIG. 12B represents the same locus as that shown in FIG. 12D in the YZ plane. The display in FIG. 12C represents the same locus as that shown in FIG. 12D in the ZX plane.

  Of the trajectories in FIGS. 12A to 12D, US is a portion where the work device 130 performs an operation corresponding to the operation content when the operation content in the plurality of operation devices 111 and 112 coincides, and FL is a plurality of This is a portion in which the work device 130 operates according to the operation content in one of the operation devices 111 (or 112) when the operation content in the operation devices 111 and 112 does not match. US is an example of a display indicating the timing at which the operation contents of a plurality of operation devices match.

  It is preferable that the display mode of US and FL be a mode in which a viewer of the display device can instantly identify the difference between the two. For example, on a black background, US can be displayed with a light blue thick line, and FL can be displayed with high brightness yellow and bold.

  12A to 12D, TR represents a trajectory in the past operation. The past operation may be performed by one of the first operator OP1 and the second operator OP2, or may be performed by another operator. The control signal 120 creates a display signal c for displaying TR by signal processing using data read from the recording device 160. At least one display device displays TR according to the display signal c.

  A plurality of operators (first operator OP1 and second operator OP2) use the plurality of operating devices 111 and 112 to trace the past trajectory TR or realize the trajectory TR, respectively. The work device 130 is operated so that the operation content necessary for the operation is obtained. Then, when the operation contents in the plurality of operation devices 111 and 112 match, US is displayed on the display device, and when the operation contents in the plurality of operation devices 111 and 112 do not match, FL is displayed on the display device. As a result, from the start point s, the trajectory constituted by the US or FL extends substantially following the past trajectory TR as time passes. The display device displays a trajectory extending in such a manner. At this time, FL and US are displayed in an identifiable manner.

  According to the display as described above, a plurality of operators (the first operator OP1 and the second operator OP2) can immediately feel the difference between the operation performed by the operator and the operation performed by the other party, You can make necessary modifications to the operations you perform. Therefore, an appropriate operation can be learned more effectively.

  In the display contents shown in FIGS. 12A to 12D, the degree of matching of the operation contents in the plurality of operation devices 111 and 112 may be digitized and displayed on the screen of the display device. For example, when the total line length of US and the total line length of FL are Lu (t) and Lf (t), respectively, in the period from the operation start time (t = 0) to time t, a plurality of operation devices 111 are used. , 112, the degree of matching of the operation contents (SCORE (t)) is defined by the following equation (2).

Formula (2) SCORE (t) = Lu (t) / {Lu (t) + Lf (t)} × 100 [%]
Then, SCORE (t) is displayed on the screen of the display device. If the degree of coincidence is used as an evaluation index, the degree of coincidence of operations among a plurality of operators (first operator OP1 and second operator OP2) can be quantified. You can know the degree of acquisition or tradition more objectively.

  (3) In each of the above embodiments, the number of operating devices can be any natural number n of 2 or more (for example, 2, 3, 4, 5, 6, 7, 8,...). The operation system can perform an operation corresponding to the operation content for m (m ≦ n) of the n operation devices if the operation content matches.

  (4) In each of the embodiments described above, the control device 120 may not output the drive signal u when the operation content does not match among the operation input signals x received from a plurality of operation devices.

(5) In each embodiment described above, the work device 130 may include the control device 120 (the control device 120 may be a part of the work device 130).
(6) The functions of one component in each of the embodiments may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. In addition, at least a part of the configuration of each embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of each said embodiment. In addition, at least a part of the configuration of each of the embodiments may be added to or replaced with the configuration of the other embodiments. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  (7) In addition to the above-described operation system and control device, the system includes the operation system, a program for causing a computer to function as the control device, a medium on which the program is recorded, a method for operating the work device, and the like. The present invention can also be realized.

DESCRIPTION OF SYMBOLS 100 ... Operation system, 111, 112, 113 ... Operation apparatus, 120 ... Control apparatus, 121 ... Control part, 130 ... Working apparatus, 131 ... Drive apparatus, 140 ... Display control part, 150, 151, 152, 153 ... Display apparatus 160, recording device, 171, 172, 173 ... inlet, 181, 182, 183 ... outlet, CL ... crane mechanism, D1 ... first drive mechanism, D2 ... second drive mechanism, F ... arithmetic unit, G: Display preprocessing unit, GR: Gripping unit, H: Hoist, K1: Lower layer, K2: Middle layer, M ... Hoisting motor, m1 ... First drive motor, m2 ... Second drive motor, Q ... Hook, R1 ... traverse rail, R2 ... longitudinal rail, RT, CB, WB ... batting instruction display, TR ... trajectory, Wk ... moving article

Claims (8)

A working device;
A plurality of operating devices for operating the working device;
With
The operation system performs an operation corresponding to the operation content on condition that the operation content in the plurality of operation devices matches.   2. The operation system according to claim 1, further comprising: a first display device that performs a display corresponding to the operation contents in the plurality of operation devices when matching.   2. The apparatus according to claim 1, further comprising: a second display device that displays a timing at which the operation content in at least a part of the plurality of operation devices and / or the operation content in the plurality of operation devices match. 2. The operation system according to 2.   The operation system according to claim 3, wherein the second display device is in a position that is visible to an operator who operates at least a part of the plurality of operation devices.   The second display device is in a position that is visible to an operator who operates at least a part of the plurality of operation devices, and displays the operation content of the operation devices other than the part. The operation system according to claim 3.   The operation system according to claim 1, further comprising a communication unit that enables communication between a plurality of operators who operate the plurality of operation devices. A control device that receives operation input signals from a plurality of operation devices and outputs a drive signal for performing an operation according to the operation input signals to the work device,
A control device that outputs a drive signal corresponding to the operation content on condition that the operation content matches in the operation input signals received from the plurality of operation devices.   When the operation content does not match in the operation input signals received from the plurality of operation devices, a drive signal corresponding to the operation content is not output or a drive signal different from the drive signal corresponding to the operation content is output. The control device according to claim 7, wherein: