JP5487822B2 - Haptic display type joystick and operation control method for omnidirectional moving object - Google Patents

Description

  The present invention relates to a joystick, an operation control device, and an operation control method for operating an object movable in all directions, and more particularly, to a haptic joystick, an operation control device using the joystick, and an operation control method. Is.

  A general joystick is used to operate a planar movement, and operates a movement in two orthogonal directions (front-rear direction and left-right direction). And there exist some which have a function which presents a force sense with respect to the operation of such two orthogonal directions (refer patent documents 1 and 2).

  However, the moving object that can move in all directions may be movable not only in the front-rear direction and the left-right direction, but also in the rotational direction (turning direction). Although an operation-type joystick is required, at present, a joystick that allows three-way operation has been developed mechanically, but this type of joystick has not been presented with force (patented) Reference 3).

JP 2003-33405 A JP 2009-15567 A JP 2000-226198 A

  By the way, many force-sensing joysticks have been developed to give the operator a feeling of resistance such as frictional resistance, which is an extremely rapid operation when the operation is smooth. It is to avoid becoming. Moreover, except for Patent Document 1, the operation for avoiding contact between the moving object and the obstacle is not limited.

  However, even though there is a possibility of contact with an obstacle such as a wheelchair or a crane, for example, contact with the obstacle is avoided exclusively by the operator. Development of a function that can avoid contact with various obstacles was expected. In particular, with respect to the rotation direction (turning), it has been desired to realize an operation restriction mechanism as in the linear movement direction.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a haptic presentation type joystick that enables operation restriction in a plurality of directions including a rotation direction, and to move in all directions. An object of the present invention is to provide an operation control device and an operation control method capable of restricting an operation of an object in a direction including a rotation direction.

  Therefore, the present invention relating to the force sense presentation type joystick includes an operation lever that can be tilted and rotated about an axis, a support shaft that is rotatably supported while restricting the tilt of the operation lever in a predetermined direction, and First detection means for detecting an angular velocity and a rotation angle of the support shaft, a first motor for applying a driving force to the support shaft, and a second detection for detecting an angular velocity and a rotation angle around the axis of the operation lever Means, a second motor for applying a driving force in the rotational direction to the operation lever, and the first and second motors based on a comparison between the detected value by the first and second detecting means and a desired value. The gist of the present invention is a force sense joystick characterized by comprising a control means for controlling and capable of presenting a desired reaction force to both the motors with respect to the tilting and rotation of the operation lever.

  With the above configuration, when the operation lever is tilted or rotated, the tilt or rotation is detected as an angular velocity and a rotation angle of the support shaft and the operation lever, and a reaction force for the operation can be output by the motor. Therefore, when the operation of the operation lever is incorrect or when attention is required, the reaction force by the motor can be presented to the operation lever. Furthermore, by increasing the driving force of the motor, it becomes possible to stop an operation (tilting or turning) more than necessary.

  In the above invention, the support shaft is composed of two support shafts that restrict tilting in two orthogonal directions, and the first detection means and the first motor are provided independently on each of the two support shafts. It can be set as the structure currently provided.

  With such a configuration, it is possible to configure a joystick that can be operated in three directions of rotation in addition to the two directions of front and rear and left and right. Also in this case, since the front-rear direction and the left-right direction are operated by tilting the operation lever, the detection means for detecting the rotation of the support shaft and the installation of the motor are similarly provided.

  In the above invention, the support shaft may include a rotation shaft that rotates in the axial direction of the operation lever via a bevel gear and is connected to the rotation shaft of the motor.

  With such a configuration, the rotation of the support shaft and the operation lever are rotated on the same axis or a parallel axis, so that the joystick can be made compact. That is, the rotary shaft and the motor are connected in the longitudinal direction of the operation lever (that is, the longitudinal direction of the joystick), and it is not necessary to connect the rotary shaft and the motor in the width direction.

  The present invention relating to an operation control device for an omnidirectional moving object is an operation control device for an omnidirectional moving object using the haptic joystick described in each of the above-mentioned inventions, An environment recognition sensor that is provided at a position and measures a distance and an angle between the omnidirectional moving object and the obstacle, a detection value of a tilt angle and a rotation angle of the operation lever, and a measurement value by the environment recognition sensor The gist of the operation control device for an omnidirectional moving object is provided with an arithmetic device that calculates a driving force to be applied to the motor.

  With the above configuration, both the obstacle information detected by the external sensor provided on the omnidirectional moving object and the information indicating the state of the operation lever are calculated by the calculation device, and the desired reaction force is applied to the motor built in the joystick. Can be granted.

  Further, the present invention according to the method for controlling an omnidirectional moving object is an operation control method for an omnidirectional moving object using the haptic joystick described in each of the above-described inventions, The environment recognition sensor provided at an appropriate position measures the distance and angle between the omnidirectional moving object and the obstacle, and the measured value and the detected value indicating the state of tilting and turning of the operating lever by the detecting means, By comparing the above, there is a need for an operation control method for an omnidirectional moving object characterized in that the omnidirectional moving object is processed to increase the reaction force against the motor as it approaches the obstacle. Yes.

  With the above configuration, the relative positional relationship between the obstacle and the moving object is detected, and the obstacle is detected by applying an appropriate reaction force to the operation lever while determining the degree of tilting or turning of the operation lever. Contact with can be avoided. In particular, when the distance from the obstacle is small, a large reaction force is applied to the operation lever, and contact with the obstacle is avoided step by step.

  In the above invention, the reaction force against the motor may be due to impedance control.

  With such a configuration, it is possible to adjust the driving force of the motor while feedback controlling the proportional gain and the differential gain.

  Moreover, in the said invention, the reaction force of the said motor can be set as the structure which makes the driving force which can stop this operating lever in a base point with respect to tilting and rotation of the said operating lever to the maximum.

  With the above configuration, even if the omnidirectional moving object may come into contact with the obstacle due to an erroneous operation, the tilting or turning of the operation lever is restricted by the reaction force of the motor. Can be reliably avoided.

  According to the force sense presentation type joystick of the present invention, it is possible to limit the operation by the reaction force of the motor acting in two or three directions including the rotation direction. In addition, since the force sense presentation type joystick of the present invention can provide force sense in the rotation direction, it can be used as a joystick for operating a wheelchair or a crane that moves in all directions.

  According to the operation control device of the present invention, it is possible to restrict the operation in a plurality of directions including the rotation direction in the operation of the omnidirectional moving object. In addition, since the reaction force can be applied while comparing the detection value of the sensor provided on the moving object with the angular velocity and rotation angle of the operation lever, it is possible to accurately control according to the moving state of the omnidirectional moving object. Is possible.

  According to the operation control method of the present invention, it is possible to perform control that can avoid contact with an obstacle when moving an omnidirectional moving object in a plurality of directions including a rotation direction. In addition, the impedance control makes it possible to accurately present a force sense to the operation lever while performing feedback control of the proportional gain and the differential gain.

It is explanatory drawing which shows the outline of embodiment of the invention concerning a force sense presentation type joystick. It is explanatory drawing which shows the structure of embodiment of this invention concerning a force sense presentation type joystick. It is a block diagram which shows embodiment of the invention concerning an operation control apparatus. It is a block diagram which shows the control method in a rotation direction. It is explanatory drawing which shows the relationship between a moving target object and an obstruction. It is explanatory drawing which shows the relationship between a moving target object and an obstruction.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2 show an embodiment of the present invention relating to a haptic joystick. As shown in these figures, the outline of the joystick JS is as follows. The operation lever 1 is allowed to tilt and rotate, and the motors 2, 3, and 4 and the rotary encoders 5, 6, and 7 disposed therein. It is configured. In this specification, “tilting” means tilting the joystick, and “turning” means rotating in the forward and reverse directions.

  In the joystick JS of this embodiment, the operation lever 1 includes a main shaft 11 in the center, and the main shaft 11 is rotatably supported by support shafts 12 and 13. The axes of the support shafts 12 and 13 are orthogonal to each other. Has been placed. Thereby, the operation lever 1 can be tilted in two directions perpendicular to each other. The support shafts 12 and 13 change the tilt of the operation lever 1 into rotation, and the rotation directions of the support shafts 12 and 13 are further rotated by the bevel gears 14, 15, 16, and 17 to the same rotation direction as the main shaft 11. Has changed. The changed rotating shafts 18 and 19 are directly connected to the motors 3 and 4. The rotating shafts 18 and 19 use motor shafts of the motors 3 and 4.

  Since the rotating shafts 18 and 19 that rotate in response to the tilting of the operating lever 1 use the motor shafts of the motors 3 and 4, the driving force of the motors 3 and 4 causes the rotating shafts 18 and 19 to rotate. It will act on the operating lever 1 via. Further, the motors 3 and 4 are provided with rotary encoders 6 and 7 so that the angular speeds and rotation angles of the motor shafts (rotating shafts) 18 and 19 can be detected. Therefore, the tilting state of the operating lever 1 is detected by the encoders 6 and 7 via the motor shafts (rotating shafts) 18 and 19, and a desired reaction force is applied to the motors 3 and 4 by the control means (not shown). The operating lever can be applied by a driving force.

  Further, the main shaft 11 of the operation lever 1 is connected to the support shafts 12 and 13 through the coupling 8, and can rotate around the shaft independently of the support shafts 12 and 13. The main shaft of the operation lever 1 is also used as the motor shaft of the motor 2, and the driving force by the motor 2 is transmitted to the operation lever via the main shaft 11. Further, the motor 2 is provided with a rotary encoder 5 so that the angular velocity and the rotation angle of the main shaft 11 can be detected. Accordingly, the rotation state of the operation lever 1 is detected by the encoder 5 via the motor shaft (main shaft) 11 and the motor 2 can be driven by the control means (not shown).

  Here, the tilt and rotation of the operation lever 1 are detected by the rotary encoders 5, 6 and 7 as described above, and the detected angular velocity and rotation angle are controlled by a control means (not shown). Is output to the drive system. Accordingly, the forward and backward movement of the object to be moved is performed by tilting the operation lever 1 in the front-rear direction, the movement to the left and right is performed by tilting the operation lever 1 in the left-right direction, and the turning is performed by rotating the operation lever 1 It can be operated.

  However, when the object to be moved moves according to the above operation, for example, when it is necessary to avoid contact with an obstacle, the motors 2, 3 and 4 are operated by the control means to counteract the tilting and rotation of the operating lever 1. It gives power. Various control means used in the present embodiment are assumed, but an arithmetic unit described later can also be used.

  Since the present embodiment is configured as described above, the motors 2, 3 and 4 do not generate a driving force in a normal operation state with respect to the moving object, and respond to the tilt and rotation of the operation lever 1. Operation is possible, but when it is necessary to limit the movement according to the operation lever 1, the motors 2, 3, and 4 are activated to limit the free operation of the operation lever 1. The reaction force by the motors 2, 3, 4 maximizes the degree to which the operation lever 1 stops at a position (base point) where the operation lever 1 is vertical with respect to the operation force that tilts or rotates the operation lever 1. The degree to which the operating lever 1 can be tilted and rotated with a slight resistance is minimized. Moreover, although the above demonstrated embodiment which enables operation of three directions, when controlling only two directions of the front-back direction and a rotation direction, it becomes possible by making two orthogonal directions into one direction.

  Next, an embodiment of the present invention relating to an operation control device for an omnidirectional moving object will be described. FIG. 3 is a block diagram showing an outline of the control device. As shown in this figure, this embodiment uses the above-described joystick JS, and an angular velocity and a rotation angle due to the tilting and turning of the operation lever 1 are input to the arithmetic device (control means). On the other hand, the external sensor (environment recognition sensor and speed sensor) detects the moving speed information and the obstacle information of the omnidirectional moving object, and the detected values are input to the arithmetic unit (control means).

  The environment recognition sensor includes a laser range sensor, an ultrasonic sensor, and an omnidirectional camera, and can measure the presence / absence of an obstacle and a direction and a distance at a long distance and a short distance. Moreover, a speed sensor is provided as an external sensor so that the traveling speed of the omnidirectional moving object itself can be detected.

  From the above configuration, the arithmetic device (control means) calculates the positional relationship between the omnidirectional moving object and the obstacle based on the detection value of the external sensor, and further detects the tilting and turning states of the operating lever 1. From the detected value, the moving direction of the omnidirectional moving object is calculated, and when there is a possibility of contact, the motors 2, 3 and 4 are operated to apply a reaction force to the operation lever 1. In particular, if the distance between the omnidirectional moving object and the obstacle becomes short, contact with the obstacle can be avoided by increasing the driving force.

Here, the operation control method will be described. The control of the present embodiment is based on impedance control. FIG. 4 is a block diagram showing the impedance control. As shown in this figure, the angular velocities and rotation angles due to the rotations of the respective shafts 11, 12, and 13 are detected by the rotary encoders 5, 6, and 7, and the rotation angle information is input to the arithmetic unit. The feedback control is configured with a differential element. Proportional gain k _p and derivative gain k _d at this time is variable gain. The coefficient related to the angular velocity is a direct speed coefficient c and a differential gain k _d , and the coefficient related to the rotation angle is a proportional gain k _p .

Therefore, in the state where there is no obstacle, the coefficient k _p related to the rotation angle and the coefficient k _d + c related to the angular velocity are reduced, and the reaction force due to the driving of the motors 2, 3 and 4 is reduced. On the other hand, in the state where an obstacle exists nearby, the coefficient k _p related to the rotation angle increases, and when the moving object moves at high speed, the coefficient k _d + c related to the angular velocity increases, The motors 2, 3, and 4 are driven to apply a reaction force to the operation lever 1.

  The proportional gain and differential gain are calculated together with the detected values related to the distance and direction of the obstacle by the external sensor. If there is an obstacle in the moving direction of the moving object, the proportional gain and the differential gain depend on the positional relationship with the obstacle. The output values for the motors 2, 3, and 4 are changed. If this relationship is shown as a function, it is as shown in Equation 1.

Therefore, as shown in FIG. 5, when the traveling direction of the moving object is inclined by θ from the front of the moving object and there is an obstacle at a distance R in the traveling direction, The proportional gain at the time of movement is calculated as the inverse proportion of (R / R _max ) ^κ . In this case, the proportional gain element in the front-rear direction is sin θ times, the proportional gain element in the left-right direction is calculated as cos θ times, and the driving force for the motors 3 and 4 is controlled as an element of the rotation angle of the operation lever 1.

  Therefore, when the distance R to the obstacle is small, the proportional gain increases in inverse proportion to this, and the reaction force against the operation lever 1 by driving the motors 2 and 3 increases. As a result, the tilting of the operation lever 1 in the direction in which the obstacle exists is limited, and contact with the obstacle is avoided.

This can be expressed by the equation shown in Equation 2. In the equation, K ₀ is a parameter for generating a reaction force for restoring the operation lever 1 to the origin (base point), and κ adjusts the magnitude of the reaction force with respect to the distance to the obstacle. It is an adjustment parameter.

Further, as shown in FIG. 6, in the case where the obstacle exists at a position rotated by an angle θ _t in the direction of turning, the proportional gain at the time of turning is calculated as the inverse proportion of (θ _t / θ _tmax ) ^κ. . As a result, when an obstacle is present close to the turning direction, θ _t becomes small, and the proportional gain becomes inversely proportional to this. Therefore, a large reaction force acts on the operation lever 1 by the motor 2 and restricts the operation. On the contrary, when θ _t is large, that is, when the angle to the obstacle is large, the proportional gain becomes small and the operation of the operation lever 1 becomes smooth. If this is shown in the equation, it becomes as shown in Equation 3. K _t0 and κ are the same as those in Equation 2 above.

On the other hand, the differential gain is calculated by multiplying the square root of the upper limit value (k _pmax ) of the proportional gain by the damping coefficient ζ and further subtracting the speed coefficient c related to the angular speed of the control lever 1. Thereby, when the moving object is at a low speed, the reaction force against the operation lever 1 is small, and when it is at a high speed, the differential gain increases and the reaction force against the operation lever 1 increases.

  As described above, the control method constitutes feedback control including a proportional element and a differential element with respect to the rotational speed of the motor, and the control lever 1 is tilted and changed while sequentially changing the output of the motor by impedance control. The rotation can be limited.

  As described above, according to the embodiment of the present invention relating to the joystick, the tilting and turning of the operation lever 1 can be detected as the angular velocity and the rotation angle of the main shaft 11 or the support shafts 12 and 13 and controlled thereby. By performing the control while comparing with the detected value of the external sensor, the erroneous operation of the operation lever 1 can be avoided. That is, in the operation of the omnidirectional moving object, the force sense can be presented not only in the front and rear and left and right directions but also in the operation in the rotation direction (turning direction). In the embodiment of the control device using the joystick, information from an external sensor necessary for the control can be input to the arithmetic device, so that a control device based on desired information can be realized. .

  Furthermore, according to the embodiment of the present invention relating to the control method, when there is an obstacle in the moving direction (straight direction or turning direction) of the omnidirectional moving object, the operation lever according to the positional relationship with the obstacle Since the magnitude of the reaction force with respect to 1 can be changed, it becomes possible to present a force sense in accordance with the relative positional relationship between the moving object and the obstacle. And in this control method, since it is set as the control method according to the state of operation (tilting or rotation) of the main axis | shaft 11 and the support shafts 12 and 13, an operator's extreme operation can be prevented. .

The embodiments of the present invention are as described above, but various forms can be taken without departing from the spirit of the present invention. For example, although shown in the description of the embodiment, the embodiment of the joystick describes an operation that allows operation in three directions, but either one of the front-rear direction or the left-right direction and the two directions of the rotation direction It may constitute a joystick that operates on. In this case, only one of the motors 3 and 4 and the rotary encoders 6 and 7 provided on the support shafts 12 and 13 is provided, and either of the motors output by the control device and the control method is provided. It becomes. In this case, the proportional gain k _p does not need to be decomposed in the front-rear direction and the left-right direction.

  Of the bevel gears that change the rotation direction of the support shafts 12 and 13 around the same axis as the main shaft 11, those connected to the support shafts 12 and 13 are not engraved with teeth on the entire circumference. It has a sector shape with a quarter circumference (FIG. 1). This has the advantage that a wide-angle tilt of 45 ° can be mechanically permitted with respect to the tilt of the operation lever 1, and the inside of the joystick JS can be formed small. In addition, when there is no request | requirement of size reduction, you may use the bevel gear wheel which engraved the tooth | gear all over. In addition, although the range in which the operation lever 1 of the embodiment can be rotated is not clearly shown, the operation lever 1 is coaxial with the motor shaft, and thus can be rotated all around. Whether to limit or not can be appropriately changed according to the application.

  Furthermore, in the embodiment according to the control method, the relationship with the speed of the moving object by the speed sensor is not described. However, when a constant speed is generated in the moving object, the distance R to the obstacle is What is necessary is just to perform the calculation which added the correction value.

1 Operation levers 2, 3, 4 Motors 5, 6, 7 Rotary encoder 8 Coupling 11 Main shafts 12, 13 Support shafts 14, 15, 16, 17 Bevel gears 18, 19 Rotating shaft JS Joystick

Claims (7)

A force-sensing joystick for operating an omnidirectional moving object movable in the front-rear direction, the left-right direction, and the turning direction,
An operation lever capable of tilting and turning around the shaft, a first motor built in the operation lever and applying a driving force in the turning direction to the operation lever, and a motor shaft of the first motor are combined. And a main shaft disposed in the center of the operation lever and rotatable around the axis of the operation lever; first detection means for detecting an angular velocity and a rotation angle around the axis of the operation lever; Two support shafts that rotatably support the tilt in two orthogonal directions, and the two support shafts in the same rotational direction as the main shaft when the operation lever is not tilted via a bevel gear. Two rotating shafts that rotate, and a second and a third that are connected to the two rotating shafts and are arranged in parallel inside the operating lever and below the rotating shaft, and apply driving force to the support shaft. With motor Comprising a second and third detecting means for detecting an angular velocity and rotation angle of the support shaft, and control means for controlling said first to third motor,
The main shaft operates to move in the turning direction by rotation, and the two support shafts operate to move in the front-rear direction or the left-right direction by rotation,
The control means is divided into control in the turning direction and control in the front-rear direction and the left-right direction on the basis of the measured values of the distance and angle from the omnidirectional moving object to the obstacle. The first motor is driven while comparing the detection value and the measurement value by one detection means, and the detection value and the measurement value by the second and third detection means are used for the control in the front-rear direction and the left-right direction. by driving the second and third motor in comparison, force feedback, characterized by comprising a reaction force so as to avoid contact with the tilting and rotation of the operation lever enables Hisage shows Type joystick.   The bevel gear is divided into one connected to the support shaft and one connected to the rotating shaft, and the bevel gear connected to the support shaft has a 45-degree wide-angle tilt of the operation lever. The force-sensing joystick according to claim 1, wherein the force-sensing joystick has a fan-like shape.   The control means is provided to the motor based on an environment recognition sensor for measuring a distance and an angle with an obstacle, a detected value of a tilt angle and a rotation angle of the operation lever, and a measured value by the environment recognition sensor. The haptic joystick according to claim 1, further comprising an arithmetic device that calculates a driving force to be operated.   An operation control method for an omnidirectional moving object using the force sense presentation type joystick according to any one of claims 1 to 3, wherein an environment recognition sensor is provided at an appropriate position of the omnidirectional moving object. The distance and angle between the omnidirectional moving object and the obstacle are measured, and based on the measured value, the control of the turning direction of the omnidirectional moving object and the longitudinal and lateral directions of the omnidirectional moving object are performed. The control with respect to the turning direction is compared with the measured angle and the detection value by the first detection means to give a reaction force to the rotation of the operation lever by the first motor, For the control in the front-rear direction and the left-right direction, the measured distance is compared with the detection values by the second and third detection means, and the operation lever is tilted by the second and third motors. Operation control method omnidirectional object is processing to impart a reactive force, characterized by comprising the.   The reaction force applied to the operation lever is increased as the proportional gain or differential gain in the measured value of the angle or the distance increases, and the reaction force against the motor is increased as the omnidirectional moving object approaches the obstacle. The operation control method for an omnidirectional moving object according to claim 4, wherein arithmetic processing is performed so as to increase force.   The operation control method for an omnidirectional moving object according to claim 4 or 5, wherein the reaction force to the motor is based on impedance control.   7. The reaction force of the motor maximizes a driving force that can stop the operation lever at a base point with respect to tilting and rotation of the operation lever. Operation control method for moving objects in all directions.

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