JP2020086959A - Operation support device and operation support method - Google Patents

Abstract

To enable shortening of duration from a time of recognition of a dangerous state to a time at which a person performs a predetermined operation.SOLUTION: A mounting unit 3A having a stimulation pulse generator 33 for generating an EMS pulse and electrodes 32a, 32b for application is mounted on a forearm or wrist of a driver 1. Then, when receiving danger detection information during driving of a vehicle, a control unit 3B generates a stimulus control signal at a timing shorter than a recognition/reaction time of the driver 1 from the point of the reception, and supplies the signal to the stimulation pulse generator 33 to give an initial stimulus to a flexor digitorum that contributes to a hand-holding motion of the driver 1, causing the driver 1 to initiate a risk avoidance operation.SELECTED DRAWING: Figure 3

Description

The present invention relates to an operation support device and an operation support method for supporting a driving operation of a vehicle or a production device by a person, for example.

For example, while driving a vehicle or a production device, a person visually monitors the surrounding conditions or the operating state of the device, and moves a hand or foot when a dangerous state is detected to operate the vehicle or the production device. The operation to stop or avoid is being performed. In addition, recently, in order to support such a person's operation, for example, a sensor provided in a vehicle or a production apparatus is used to monitor the surrounding situation and the operation state of the apparatus, and when a dangerous state is detected, that effect is detected. There has also been proposed a technique of urging a person to perform a stop or avoidance operation by informing the person of an alarm by an alarm (for example, see Patent Document 1).

JP, 2017-114256, A

However, in general, it takes a certain amount of time from when a person recognizes that a dangerous state has occurred visually or through an alarm to actually stop or avoid an operation. For example, when recognizing a dangerous state, a person analyzes the content of the danger, judges the operation content based on the analysis result, operates a hand or foot, and performs a stop or avoidance operation. Therefore, it takes a relatively long time from recognizing the dangerous state to actually moving the hands or feet to stop or avoid the operation. This time is called cognition/reaction time, and the average cognition/reaction time of a general adult is about 1 second. Therefore, depending on the type and situation of the danger that has occurred in the vehicle or the production apparatus, or the age and physical condition of the person, even if the person actually recognizes the danger and then actually performs the operation, stop or avoidance may not be in time.

The present invention has been made in view of the above circumstances, and its purpose is to provide an operation support capable of shortening the time from when a dangerous state is recognized to when a person performs a predetermined operation. An object is to provide an apparatus and an operation support method.

In order to achieve the above object, a first aspect of an operation support device and an operation support method according to the present invention is a monitoring in which the risk avoidance operation is required when supporting a risk avoidance operation of a person on an operation target object. Acquiring the detection information indicating the situation of the target, depending on the acquisition of the detection information, within a time shorter than the recognition/reaction time of the person defined in advance from the time when the detection information is acquired, to the person, The initial stimulus for the danger avoiding operation is given.

A second aspect of the operation support device and the operation support method according to the present invention obtains motion detection information corresponding to the danger avoidance operation of the person after applying the initial motion stimulus, and responds to the acquisition of the motion detection information. Then, the person is given re-stimulation for the danger avoidance operation.

A third aspect of the operation supporting device according to the present invention is, in order to generate the initial stimulation or restimulation, an electrode attached to a portion corresponding to the muscle of the person related to the danger avoiding operation, and the electrode. And a first control unit connected to the stimulation pulse generation unit and a stimulation pulse generation unit connected to the electrode for applying an electrical stimulation pulse to the electrode. Then, the first control unit causes the stimulation pulse generation unit to generate the electrical stimulation pulse within a time shorter than a predefined recognition/reaction time of the person from the time when the detection information is acquired. It was done.

A fourth aspect of the operation support device according to the present invention is such that the electrode is attached to a site corresponding to the flexor digitorum of the person.

In a fifth aspect of the operation support device according to the present invention, the stimulation pulse generation unit generates a burst wave within the pulse width as the electrical stimulation pulse, and the first control unit controls the frequency and current of the burst wave. At least one of the value or voltage value and the pulse width is variably controlled.

A sixth aspect of the operation support device according to the present invention is, as the stimulus generation unit, an electromagnet attached to either one of the operation part of the person operating during the danger avoidance operation and the operation target, and the person. Of a magnetic body, which is arranged at the operation part of the operation target or a part of the operation target facing the electromagnet, and an excitation pulse for causing the electromagnet to perform an attracting operation on the magnetic body. And an excitation pulse generator and a second controller connected to the stimulation pulse generator. Then, the second control unit is configured to cause the excitation pulse generation unit to generate the excitation pulse within a time shorter than a predefined recognition/reaction time of the person from the time when the detection information is acquired. It is a thing.

A seventh aspect of the operation support device according to the present invention is such that the electromagnet or the magnetic body is attached to the finger of the person.

An eighth aspect of the operation support device according to the present invention is connected to the vibrating section, and at least one vibrating section that is provided in the operation target object as the stimulation generating section and performs asymmetrical vibration along a vibration axis. And a third control unit. Then, the third control unit outputs a stimulus control signal for causing the vibrating unit to perform asymmetric vibration within a time shorter than the predefined recognition/reaction time of the person from the time when the detection information is acquired. It is designed to be output.

According to the first aspect of the present invention, when the detection information indicating the situation of the monitoring target that requires the risk avoidance operation is acquired, the recognition of the person defined in advance from the time when the detection information is acquired. Within a time shorter than the reaction time, an initial stimulus for danger avoidance operation is given to a person. Therefore, by receiving the initial stimulus, the person can start the danger avoidance operation at a timing shorter than his/her recognition/reaction time after recognizing the detection information.

According to the second aspect of the present invention, after the initial stimulus is given, the detection information indicating the motion related to the danger avoidance operation of the person is acquired, and the person is re-stimulated according to the acquisition of the motion detection information. Is given. Therefore, if the person does not react to the initial stimulus for some reason, the person can be more surely performed the danger avoidance operation by re-stimulating the person.

According to the third aspect of the present invention, when the detection information is acquired, the electrical stimulation pulse is applied to the human muscle. As a result, upon receiving the electrical stimulation, the person can start the danger avoidance operation earlier than his/her own recognition/reaction time by using the electrical stimulation as a trigger.

According to the 4th aspect of this invention, an electrode is attached to the site|part corresponding to a person's digital flexor. For this reason, a person's finger bends due to electrical stimulation to the flexor muscles of the finger, and the person can start a danger avoiding operation using his/her finger or hand by using this bending movement as a trigger.

According to the fifth aspect of the present invention, a burst wave is used as the electrical stimulation pulse, and at least one of the frequency, current value or voltage value, and pulse width of the burst wave can be variably controlled. Become. For this reason, for example, it becomes possible to give an appropriate electrical stimulus to each person so that the stimulus is surely and does not become excessive in response to the human's stress to the electrical stimulus.

According to the sixth aspect of the present invention, an excitation pulse generator and an electromagnet operated by the excitation pulse generator are used to stimulate a person, and when danger detection information is acquired, the person previously defined from that point Within a time shorter than the recognition/reaction time, the exciting pulse is generated from the exciting pulse generating section, and the electromagnet operates so as to bend a human finger, for example. As a result, when a danger is detected, it becomes possible to give an initial stimulus for a danger avoidance operation to the person by the operation of the electromagnet, and the person receives the initial stimulus by the operation of the electromagnet, whereby the detection information is obtained. It becomes possible to start the danger avoidance operation at a timing shorter than the recognition/reaction time of oneself after recognizing.

According to the eighth aspect of the present invention, the asymmetric vibration generated by the vibrating section is transmitted to the fingers or the palm of the person through the operation target object, and thereby a pseudo force sense is presented to the person. .. As a result, it becomes possible to give the initial stimulus for the danger avoidance operation to the person by the pseudo force presentation, and the person recognizes the detection information by receiving the initial stimulus by the presentation of the force sense. After that, it becomes possible to start the danger avoidance operation at a timing shorter than one's own recognition/reaction time. Further, since the vibrating section is provided on the operation target object, it is not necessary to directly attach the initial stimulus means to the human hand, forearm, or the like. Therefore, there is no concern that the operability of the person will be impaired or the discomfort will be caused.

That is, according to each aspect of the present invention, it is possible to provide an operation support device and an operation support method capable of shortening the time from when a dangerous state is recognized until a person performs a predetermined operation. ..

FIG. 1 is a diagram showing a schematic configuration of an operation support device according to a first embodiment of the present invention. FIG. 2 is a diagram showing an internal configuration of a mounting unit of the operation support device shown in the figure. FIG. 3 is a block diagram showing the functional configurations of the mounting unit and the control unit of the operation support device shown in FIG. FIG. 4 is a flowchart showing the control procedure and control contents of the control unit shown in FIG. FIG. 5 is a diagram showing a schematic configuration of an operation support device according to the second embodiment of the present invention. FIG. 6 is a block diagram showing the functional configurations of the mounting unit and the control unit of the operation support device shown in FIG. FIG. 7 is a flowchart showing the control procedure and control contents of the control unit shown in FIG.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
[First Embodiment]
The operation support device according to the first embodiment of the present invention attaches a mounting unit having a stimulation pulse generator using EMS (Electric Muscle Stimulation) to a forearm or a wrist of a person (hereinafter also referred to as a driver), When, for example, the automatic driving control device detects a dangerous state while driving a vehicle, fingers that contribute to the action of holding the driver's hand by the stimulation pulse generator at a timing shorter than the driver's recognition/reaction time from the detection time. An initial stimulus is applied to the flexor muscle, and this triggers the driver to start a risk avoidance operation.

(Constitution)
FIG. 1 is a schematic configuration diagram of an operation support device according to a first embodiment of the present invention.
The operation support device 3 includes a mounting unit 3A and a control unit 3B, and these units 3A and 3B are connected by, for example, a signal cable 3C. Incidentally, reference numeral 2 in the drawing denotes a steering wheel of the vehicle.

The mounting unit 3A is mounted on the forearm portion 11 or the wrist portion 12 of the driver 1 as shown in FIG. 1, for example. As the mounting means, for example, a band provided with Velcro (registered trademark) is suitable, but not limited to this, various bands such as a stretchable band using a rubber material and a buckle type band can be used. ..

FIG. 2 is a side view showing the internal configuration of the mounting unit 3A. The mounting unit 3A has a plurality of electrodes 32a and 32b arranged on the back surface side of the substrate 31, and a stimulation pulse generator 33 and a motion sensor 34 arranged on the front surface side of the substrate 31. The electrodes 32a and 32b are arranged in positions so that the electrodes 32a and 32b face the flexor digital flexor (FDS) and flexor pollicis longus (FPL), for example, with the mounting unit 3A mounted on the forearm or wrist of a general person. Has been done.

The positions of the electrodes 32a and 32b may be any positions as long as they are positions facing the flexor digitorum that contributes to the action of gripping the hand. Further, the arrangement positions of the electrodes 32a and 32b on the substrate 31 may be configured to be adjustable within a predetermined range. This makes it possible to absorb individual differences in the position of the flexor digitorum teres.

The stimulation pulse generator 33 generates an EMS (Electric Muscle Stimulation) pulse for applying an electrical stimulation to the flexor digitorum that contributes to the action of grasping the hand. The EMS pulse is generated, for example, by generating a sine wave in a burst in a predetermined pulse generation period. The stimulation pulse generator 33 has a function of variably setting the current value or voltage value of the sine wave and the pulse generation period (pulse width).

As an example, the frequency of the sine wave is set to 11 kHz, and the effective value of current is variably set to 0 to 150 mA and the effective value of voltage is set to 0 to 75 V under a load of 500 Ω. Further, the pulse width is variably set within the range of 0.01 to 0.35 msec.

The motion sensor 34 is composed of, for example, a triaxial acceleration sensor, and detects the motion of the wrist 12 or the forearm 11 of the driver 1 and outputs the detection information.

FIG. 3 is a block diagram showing the functional configurations of the mounting unit 3A and the control unit 3B. The control unit 3B is installed, for example, on the dashboard of the vehicle. The control unit 3B may be mounted on the seat, the arm of the driver 1, or the like, or may be integrated with the mounting unit 3A. In addition to the signal cable 3C, it is possible to connect the control unit 3B and the mounting unit 3A using a wireless interface. As the wireless interface, for example, a wireless interface adopting a low power wireless data communication standard such as Bluetooth (registered trademark) can be used, but the wireless interface is not limited to this. Further, the wireless interface may be used for the connecting means between the automatic driving control device and the like and the control unit 3B.

The control unit 3B is composed of, for example, a microcomputer, and includes a control unit 35, a storage unit 36, and an input/output interface unit 37. These are connected to each other via a bus. The input/output interface unit 37 transmits/receives a stimulation control signal and sensor data to/from the stimulation pulse generator 33 and the motion sensor 34 of the mounting unit 3A.

The storage unit 36 is, as a storage medium, a non-volatile memory such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) capable of writing and reading at any time, and a non-volatile memory such as a ROM (Read Only Memory). , RAM (Random Access Memory) and other volatile memories. A program storage area and a data storage area are provided in the storage area. The program storage area stores programs necessary for executing various control processes according to the first embodiment of the present invention.

A control parameter storage unit 361 is provided in the data storage area. The control parameter storage unit 361 stores the control parameter of the electrical stimulation pulse (EMS pulse) preset for each driver 1. The control parameters include, for example, the pulse width of the EMS pulse and the current value or voltage value. The above-mentioned control parameters are set so that, for example, before the operation is started, the stress sensitive to the EMS pulse is checked for each driver 1, and the optimum value is obtained according to the stress. The control parameter may be fixedly set to an average value of general drivers.

The control unit 35 includes a hardware processor such as a CPU (Central Processing Unit). The control function for realizing the first embodiment of the present invention includes a danger detection information acquisition unit 351, a stimulation pulse generation control unit 352, and a motion detection information acquisition unit 353. Each of these control function units is realized by causing the CPU to execute a program stored in the program storage area of the storage unit 36.

The danger detection information acquisition unit 351 acquires danger detection information via the input/output interface unit 37 from, for example, an automatic driving control device (not shown) installed in the vehicle. The danger detection information is, for example, information indicating that an obstacle is detected in the traveling direction of the vehicle. In addition, in this embodiment, the case where the danger detection information is acquired from the automatic driving control device will be described as an example. However, when the automatic driving control device is not installed, for example, the danger detection information is acquired from the automatic braking system. When the automatic braking system is not provided, for example, the image of the drive camera may be acquired and the dangerous state may be detected by itself based on the image.

The motion detection information acquisition unit 353 acquires the motion detection information output from the motion sensor 34 of the mounting unit 3A via the input/output interface unit 37.

The stimulation pulse generation controller 352 has the following control functions.
(1) When a danger detection signal is acquired by the danger detection information acquisition unit 351, an EMS pulse is generated in the stimulation pulse generator 33 based on the control parameter stored in the control parameter storage unit 361 of the storage unit 36. A stimulus control signal for instructing is generated, and the generated stimulus control signal is output from the input/output interface unit 37 to the stimulus pulse generator 33 of the mounting unit 3A. Here, the time from the acquisition of the danger detection information to the output of the stimulation control signal is set to be sufficiently shorter than the recognition/reaction time of an average driver.

(2) It is monitored whether or not the motion detection information can be acquired by the motion detection information acquisition unit 353 within a preset time after the output of the stimulation control signal. Then, when it cannot be acquired, a process of regenerating the stimulus control signal and outputting it to the mounting unit 3A. In this case, the stimulation pulse generation control unit 352 generates a stimulation control signal for generating an EMS pulse having stronger stimulation than the first EMS pulse based on the restimulation control parameter stored in advance in the control parameter storage unit 361. Generate and output.

(motion)
Next, the operation of supporting the driving operation of the driver by the operation supporting device 3 configured as described above will be described.
(1) Initial setting of control parameters It is considered that the driver's sense of stress with respect to the EMS pulse varies among drivers. Therefore, prior to the operation of the operation support device 3, the control parameter is set so that an appropriate EMS pulse is generated for the driver 1. In this example, a pulse width and a current value or voltage value are set as control parameters.

First, the mounting unit 3A is mounted on the forearm or wrist of the driver 1. At this time, the mounting position of the mounting unit 3A is adjusted so that the electrodes 32a and 32b are opposed to the flexor digitorum that contributes to the operation of grasping the hand of the driver 1. Next, the control unit 3B, under the control of the control unit 35, causes the stimulation pulse generator 33 to generate an EMS pulse having a pulse width and a current value or a voltage value set to standard values. Then, the detection information of the movement of the hand or arm of the driver 1 at this time is received from the movement sensor 34, and it is determined whether or not the amount of movement and the timing of movement are within preset proper ranges. If the result of this determination is that the amount of movement and the timing of movement are within the proper range, the pulse width and the standard value of the current value or voltage value at this time are used as the appropriate control parameters for the driver 1, and the control parameters in the storage unit 36 are controlled. It is stored in the storage unit 361.

On the other hand, as a result of the above determination, if the amount of movement and the timing of movement are outside the proper range, either one of the pulse width and the current value or the voltage value is changed from the standard value by a predetermined amount. At this time, the direction to be changed is determined based on, for example, whether the detected amount of movement and the timing of movement deviate from the proper range in the positive or negative direction, and based on the determination result. When the hand or arm movement detection information is not detected, one of the pulse width and the current value or the voltage value is unconditionally set to a value larger than the standard value by a predetermined amount.

Then, under the control of the control unit 35, the control unit 3B causes the stimulation pulse generator 33 to generate an EMS pulse in which either the pulse width and the current value or the voltage value is variably set, and the finger flexor muscles of the driver 1 are electrically driven. Inspire. Then, the control unit 35 receives the detection information of the hand or arm movement of the driver 1 after applying the electrical stimulation from the movement sensor 34, and determines whether the movement amount and the movement timing are within the appropriate range. .. If the result of this determination is that the amount of movement and the timing of movement are within the proper range, the pulse width and current value or voltage value at this time are stored in the control parameter storage section 36 as appropriate control parameters for the driver 1. It is stored in the unit 361.

Similarly thereafter, the control unit 35 sets either the pulse width and the current value or the voltage value until the movement amount and the movement timing of the hand or arm of the driver 1 after the electrical stimulation is applied are within the proper range. The generation control of the EMS pulse is repeated while changing the amount by a fixed amount. If the movement amount and the timing of the movement of the hand or arm of the driver 1 are not within the proper range even if the pulse width and the current value or the voltage value are changed to the upper limit values, the mounting unit 3A is moved to an appropriate position. An alarm is generated because it is not mounted. As the alarm, for example, a sound from a speaker or a voice message may be generated, but a method in which a display is provided in the mounting unit 3A to blink the light or to display a warning message may be considered.

(2) Assistance in driving operation in an emergency For example, when the ignition key is pressed, the control unit 3B starts the driving operation assistance operation as follows. FIG. 4 is a flowchart showing the control procedure and control contents.

First, in step S11, the control unit 35 of the control unit 3B monitors the occurrence of danger detection information under the control of the danger detection information acquisition unit 351. In this state, for example, in a not-shown automatic driving control device, when a danger of a pedestrian, a vehicle, an obstacle, etc. is detected in front of the vehicle and the danger detection information is output from the automatic driving control device, the danger detection information acquisition unit 351. Acquires the danger detection information via the input/output interface unit 37.

Next, under the control of the stimulation pulse generation control unit 352, the control unit 35 reads the control parameter from the control parameter storage unit 361 of the storage unit 36 in step S12, and generates the EMS pulse according to the control parameter in step S13. A stimulus control signal for generating the stimulus is generated and output from the input/output interface unit 37 to the stimulus pulse generator 33 of the mounting unit 3A.

Upon receiving the stimulation control signal, the stimulation pulse generator 33 of the wearing unit 3A operates to generate an EMS pulse having a pulse width and a current value or a voltage value specified by the stimulation control signal, and the EMS pulse is applied to the electrode 32a. , 32b. By the application of the EMS pulse, the flexor digitorum that contributes to the action of gripping the hand of the driver 1 is electrically stimulated, and as a result, the flexor digitorus contracts. This contraction of the flexor digitorum becomes the initial action of the danger avoiding operation, and thereafter the driver 1 starts the risk avoiding operation under his own judgment.

At this time, the time from when the control unit 3B receives the danger detection information to when the stimulation pulse generator 33 of the wearing unit 3A gives the EMS pulse to the flexor digitorum of the driver 1 is shorter than the recognition/reaction time of the driver 1. Is set to be For this reason, the driver 1 can start the danger avoidance operation at a timing earlier than the recognition/reaction time of the driver 1.

(3) Response of Driver to Electrical Stimulation and Restimulation After the application of the EMS pulse, the control unit 35 of the control unit 3B controls the movement sensor 34 of the mounting unit 3A under the control of the movement detection information acquisition unit 353 in step S14. To monitor the reception of motion detection signals. Then, if the motion detection information is received within a preset time after the application of the EMS pulse, the driver 1 receives the electrical stimulation and determines that the danger avoiding operation is started, and ends the support operation.

On the other hand, when the motion detection information is not received within the above time after the application of the EMS pulse, the control unit 35 determines that the driver 1 has not started the danger avoidance operation, and returns to step S12 to restimulate. Control to run. For example, under the control of the stimulation pulse generation control unit 352, first, in step S12, the control parameter for restimulation is read from the control parameter storage unit 361. The control parameter for this restimulation is set to a value in which the pulse width and the current value or the voltage value are larger than those of the control parameter used for the first stimulation. In step S13, the stimulation pulse generation control unit 352 generates a stimulation control signal based on the control parameter for restimulation, and outputs the stimulation control signal to the stimulation pulse generator 33 of the mounting unit 3A.

As a result, an EMS pulse for restimulation is generated from the stimulation pulse generator 33 and applied to the electrodes 32a and 32b, and initial stimulation for promoting the danger avoiding operation is performed on the driver 1. Therefore, even if the driver 1 does not respond to the first stimulus, it is possible to urge the driver 1 to perform the risk avoiding operation more reliably by the restimulation set stronger than the first stimulus.

The restimulation operation may be performed only once, or may be repeated intermittently until the driver 1 performs the danger avoidance operation.

(effect)
As described above in detail, in the first embodiment, the mounting unit 3A having the stimulation pulse generator 33 that generates the EMS pulse and the electrodes 32a and 32b for application is mounted on the forearm or wrist of the driver 1. Then, in the control unit 3B, when the danger detection information is received during the driving of the vehicle, a stimulus control signal is generated at a timing shorter than the recognition/reaction time of the driver 1 from that point, and the stimulation pulse generator 33 is generated. By giving the initial stimulus to the flexor of the fingers that contributes to the action of gripping the hand of the driver 1, the driver 1 is caused to start the risk avoidance operation.

Therefore, by receiving the initial stimulus by the EMS pulse, the driver 1 can start the danger avoidance operation at a timing shorter than the recognition/reaction time of himself/herself after recognizing the danger. Moreover, an appropriate control parameter is set in advance for the driver 1, and the EMS pulse according to this control parameter is generated. For this reason, it becomes possible to perform appropriate electrical stimulation corresponding to the sensed stress for each driver 1.

Further, after performing the first stimulation, the movement of the hand or arm of the driver 1 is monitored based on the movement detection information of the movement sensor 34, and if the movement of the arm is not detected within a predetermined time, The EMS pulse stronger than the first time is generated to re-stimulate the driver. Therefore, even if the driver does not react to the initial stimulation, it is possible to more reliably avoid the danger avoiding operation.

[Second Embodiment]
An operation support device according to a second aspect of the present invention mounts a mounting unit including an electromagnet and an excitation drive circuit thereof on a forearm of a person (hereinafter also referred to as a worker), and is used in a production line of a factory or a distribution warehouse. While operating the work line of, for example, when the monitoring device detects a dangerous state, by operating the electromagnet by the excitation drive circuit at a timing shorter than the recognition/reaction time of the worker from the detection time, The initial flexion stimulus is given to the flexor digitorum that contributes to the hand-holding motion, and this is used as a trigger to cause the operator to perform the line stop operation.

(Constitution)
FIG. 5 is a diagram showing a schematic configuration of an operation support device according to the second embodiment of the present invention.
The operation support device 5 includes a mounting unit 5A and a control unit 5B, and these units 5A and 5B are connected by a signal cable 5C, for example.

As shown in FIG. 5, for example, the mounting unit 5A includes an excitation drive circuit 51 mounted on the worker's forearm 11 or wrist 12 by a band or the like, and an electromagnet 52 mounted on the worker's thumb or the like. ing. The excitation drive circuit 51 and the electromagnet 52 are connected via a signal line 53, for example. The excitation drive circuit 51 excites the electromagnet 52 by generating an excitation pulse according to a stimulation control signal sent from the control unit 5B described later. When excited, the electromagnet 52 gives an initial stimulus to the thumb of the worker by adsorbing to a metal part made of a magnetic material provided on the grip switch 4, for example.

The control unit 5B is attached to, for example, the waist or the belt of the abdomen of the worker. As shown in FIG. 6, the control unit 5B includes a control unit 54, an input/output interface unit 55, and a storage unit (not shown), and these are connected via a bus. The input/output interface section 37 outputs a stimulation control signal to the excitation drive circuit 51 of the mounting unit 5A. A program required for executing various control processes according to the second embodiment of the present invention is stored in the program storage area of the storage unit.

The control unit 54 includes, for example, a hardware processor such as a CPU (Central Processing Unit). Then, as a control function for realizing the second embodiment of the present invention, a danger detection information acquisition unit 541 and an excitation pulse generation control unit 542 are provided. Each of these control function units is realized by causing the CPU to execute a program stored in the program storage area of the storage unit.

The danger detection information acquisition unit 541 acquires the danger detection information via the input/output interface unit 55 from a monitoring device that monitors the operation of a monitoring target device such as a production line or a physical distribution line. The danger detection information is information output from the monitoring device when, for example, an obstacle is detected on the production line or the distribution line or a product jam is detected.

The excitation pulse generation control unit 542 generates a stimulation control signal when the danger detection information is acquired, and outputs the generated stimulation control signal from the input/output interface unit 55 to the excitation drive circuit 51 of the mounting unit 5A. Here, the time from the acquisition of the danger detection information to the output of the stimulation control signal is set to be sufficiently shorter than the average recognition/reaction time of the worker.

In addition to the signal cable 5C, the control unit 5B and the mounting unit 5A can be connected using a wireless interface. As the wireless interface, for example, a wireless interface adopting a low power wireless data communication standard such as Bluetooth (registered trademark) can be used, but the wireless interface is not limited to this.

In the above example, the mounting unit 5A having the electromagnet is mounted on the hand or finger of the worker. However, the mounting unit 5A is provided on the grip switch side, and the worker's hand or finger is made of a metal member made of a magnetic material. May be attached. With this configuration, the member to be attached to the hand or finger of the worker can be downsized, and the operability of the worker can be kept high.

(motion)
Next, the operation of supporting the operation of the worker by the operation support device 5 configured as described above will be described.
For example, when the power of the control unit 5B is turned on, the control unit 5B starts a driving operation support operation in the production line or the physical distribution line as follows. FIG. 7 is a flowchart showing the control procedure and control contents.

First, in step S21, the control unit 54 of the control unit 5B monitors the occurrence of danger detection information under the control of the danger detection information acquisition unit 541. In this state, for example, when a failure or product clogging occurs on the production line or distribution line, and the danger detection information is output from the sensing device, the danger detection information acquisition unit 541 outputs the danger detection information to the input/output interface unit 55. To get through.

Next, under the control of the excitation pulse generation control unit 542, the control unit 54 generates a stimulation control signal for generating the excitation pulse in step S22, and the input/output interface unit 55 causes the excitation drive circuit 51 of the mounting unit 5A. Output to.

When the stimulation control signal is received, the excitation drive circuit 51 of the mounting unit 5A generates an excitation pulse, and the excitation pulse is supplied to the electromagnet 52. The electromagnet 52 is excited by the excitation pulse and is attracted to the metal portion of the grip switch 4. As a result, the initial stimulus is given to the thumb of the worker, and the worker autonomously moves the thumb by using the initial stimulus as a trigger, and presses the line stop button provided on the grip switch 4, for example.

At this time, the time from when the control unit 5B receives the danger detection information to when the excitation drive circuit 51 of the mounting unit 5A excites the electromagnet 52 is set to be shorter than the recognition/reaction time of the worker. ing. Therefore, the worker can start the risk avoiding operation such as stopping the line at a timing earlier than his/her own recognition/reaction time.

The excitation time of the electromagnet 52 is set to be shorter than the recognition/reaction time, for example. Therefore, the attraction operation of the electromagnet 52 is released before the operator autonomously presses the line stop button. Therefore, the attraction operation of the electromagnet 52 does not hinder the operator's pressing operation of the line stop button.

(effect)
As described above in detail, in the operation support device according to the second embodiment, the mounting unit 5A including the electromagnet 52 and its excitation drive circuit 51 is mounted on the forearm or wrist of the worker. Then, in the control unit 5B, when the danger detection information is received during the operation of the production line or the distribution line, a stimulation control signal is given to the excitation drive circuit 51 at a timing shorter than the worker's recognition/reaction time from that point. The electromagnet 52 is operated by this to give an initial stimulus to the thumb of the operator, thereby causing the operator to press the line stop button of the grip switch 4.

Therefore, by receiving the initial stimulus by the attracting operation of the electromagnet 52, the worker can start the line stop operation at a timing shorter than his/her recognition/reaction time after the danger is recognized.

[Other Embodiments]
(1) In the first and second embodiments, the mounting units 3A and 5A are mounted on a person's forearm or wrist, and stimulation pulses are generated by the mounting unit 3A under the control of the control units 3B and 5B. The device 33-EMS pulse is generated, or the electromagnet 52 is operated by the excitation drive circuit 51 to give the initial stimulus to the muscle that contributes to the action of grasping the hand to start the danger avoidance operation. However, the operation of the human foot is not limited to this, but by mounting the mounting unit on a person's ankle or lower limb and causing the mounting unit to generate an EMS pulse or operate an electromagnet under the control of the control unit. The risk avoiding operation may be started by applying an initial stimulus to the muscle that contributes to.

(2) In the first and second embodiments, an EMS and an electromagnet are used as means for giving an initial stimulus to a person. However, the present invention is not limited to these, and can be realized by using, for example, a device that generates a pseudo force sense.

The pseudo force sense generating device is configured, for example, by internally or externally providing at least one vibrating section on a handle or a grip switch that a person is gripping. The vibrating unit is configured by using, for example, a linear actuator, and linearly asymmetrically vibrates along the vibration axis according to the input of the stimulation control signal from the control unit. This asymmetrical vibration is transmitted to a person's finger or the level of the hand through the handle or the housing of the grip switch, thereby presenting a force sense to the person. The vibration frequency of the asymmetrical vibration is, for example, 40 to 200 Hz when a force sense is presented to a human fingertip, and 5 to 10 Hz when a force sense is presented to the palm of a person.

It is preferable to provide a plurality of the vibrating parts. For example, the handle or the grip switch may be arranged on both sides of the gripped portion of the person, and at positions separated from the gripped portion by a predetermined distance. By doing so, the resultant force generated by the asymmetrical vibrations of the two vibrating parts is transmitted to the finger of the person, and it is possible to present a more distinct force sense to the person. At that time, by setting the arrangement direction of the vibrating portions so that the directions of the asymmetrical vibrations of the two vibrating portions are the same or substantially the same, the magnitude of the strength of each asymmetrical vibration can be maximized.

Further, the phases of the asymmetrical vibrations by the vibrating sections may be synchronized by controlling the phases of the control signals given to the plurality of vibrating sections. For example, the phases of the asymmetrical vibrations of the plurality of vibrating parts are set so that the magnitude of the resultant force (for example, the average value or the maximum value of the magnitude of the resultant force) generated by the asymmetrical vibrations of the plurality of vibrating parts becomes maximum. It may be controlled. Alternatively, the phases of the asymmetrical vibrations of the plurality of vibrating parts may be controlled so that the magnitude of the resultant force generated by the asymmetrical vibrations of the plurality of vibrating parts becomes equal to or more than the threshold value. The magnitude of the resultant force generated by the asymmetrical vibrations of the plurality of vibrating portions means the magnitude of the vector obtained by combining the force vectors of the asymmetrical vibrations of the plurality of vibrating portions. It is also possible to control the magnitude of force using the magnitude of acceleration as an index.

The directions of the asymmetric vibrations of the plurality of vibrating parts may be different from each other. For example, the directions of the asymmetric vibrations of the plurality of vibrating portions may be the directions along each side of the polygon. By controlling such asymmetric vibration of the vibrating section, it is also possible to control the direction and magnitude of the force sense presented as a whole.

By using the pseudo force sense generator described above, the vibrating unit can be provided on the operation target, and therefore it is not necessary to directly attach the initial motion stimulating means to the four limbs of the person, such as the hand, forearm, and lower limbs. Therefore, there is no fear of impairing human operability or causing discomfort.

In addition, the type and configuration of the operation target, the installation positions and configurations of the mounting unit and the control unit, the control procedure, the control content, and the like can be variously modified and implemented without departing from the scope of the present invention.

In short, the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements within a range not departing from the gist of the invention at an implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in each of the above embodiments. For example, some constituent elements may be deleted from all the constituent elements shown in each embodiment. Furthermore, the constituent elements of different embodiments may be combined appropriately.

DESCRIPTION OF SYMBOLS 1... Driver, 2... Steering wheel, 3, 5... Operation support device, 4... Grip switch, 3A, 5A... Mounting unit, 3B, 5B... Control unit, 3C, 5C... Signal cable, 11... Forearm part, 12... Wrist part, 31... substrate, 32a, 32b... electrode, 33... stimulation pulse generator, 34... motion sensor, 35... control part, 36... storage part, 37... input/output interface part, 51... excitation drive circuit, 52... Electromagnet, 53... Signal line, 54... Control unit, 55... Input/output interface unit, 351, 541... Danger detection information acquisition unit, 352... Stimulation pulse generation control unit, 353... Motion detection information acquisition unit, 542... Excitation pulse generation Control unit, 361... Control parameter storage unit.

Claims (10)

An operation support device for supporting a risk avoidance operation of a person on an operation target,
An acquisition unit that acquires detection information indicating the status of the monitoring target that requires the risk avoidance operation,
It operates according to the acquisition of the detection information, and the initial stimulus for the risk avoidance operation is performed on the person within a time shorter than the predefined recognition/reaction time of the person from the time when the detection information is acquired. An operation support device comprising: After giving the initial stimulus, a motion detection information acquisition unit that acquires motion detection information corresponding to the risk avoidance operation of the person,
The operation support device according to claim 1, further comprising: a restimulation unit that gives restimulation to the person for the danger avoiding operation by the stimulation generation unit in response to the acquisition of the motion detection information. The stimulus generator is
An electrode attached to a portion corresponding to the muscle of the person related to the risk avoidance operation,
A stimulation pulse generator connected to the electrode and applying an electrical stimulation pulse to the electrode;
A first pulse generator connected to the stimulation pulse generator to generate the electrical stimulation pulse from the stimulation pulse generator within a time shorter than a predefined recognition/reaction time of the person from the time when the detection information is acquired; The operation support device according to claim 1, further comprising: The operation support device according to claim 3, wherein the electrode is attached to a site corresponding to the flexor digitorum of the person. The stimulation pulse generator generates a burst wave within a pulse width as the electrical stimulation pulse,
The operation support device according to claim 3, wherein the first control unit has a function of variably controlling at least one of a frequency, a current value or a voltage value of the burst wave, and the pulse width. The stimulus generator is
An electromagnet attached to either one of the operation part of the person operating at the time of the danger avoidance operation and the operation target,
A magnetic body, which is arranged at a portion of the person's moving portion or the operation target that faces the electromagnet, and which forms a pair with the electromagnet;
An excitation pulse generator that applies an excitation pulse for causing the electromagnet to perform an adsorption operation on the magnetic body,
The second pulse generator is connected to the stimulation pulse generation unit and causes the excitation pulse generation unit to generate the excitation pulse within a time shorter than a predefined recognition/reaction time of the person from the time when the detection information is acquired. The operation support device according to claim 1, further comprising a control unit. The operation support device according to claim 6, wherein the electromagnet or the magnetic body is attached to a finger of the person. The stimulus generator is
At least one vibrating section provided on the operation target object and performing asymmetrical vibration along the vibration axis;
The stimulation unit is connected to the vibrating unit and outputs a stimulus control signal for causing the vibrating unit to perform asymmetric vibration within a time shorter than the previously defined recognition/reaction time of the person from the time when the detection information is acquired. The operation support device according to claim 1, further comprising a third control unit. An operation support method executed by an operation support device for supporting a risk avoidance operation of a person on an operation target,
A step of acquiring detection information indicating the situation of the operation target object requiring the danger avoiding operation,
It operates according to the acquisition of the detection information, and the initial stimulus for the risk avoidance operation is performed on the person within a time shorter than the predefined recognition/reaction time of the person from the time when the detection information is acquired. An operation support method comprising: A step of obtaining motion detection information corresponding to the danger avoidance operation of the person after giving the initial stimulus;
The operation assistance method according to claim 9, further comprising: a step of restimulating the person for the danger avoiding operation in response to the acquisition of the motion detection information.