JP6375399B1 - Attitude detection mechanism, control method using the same, and lever device - Google Patents

Abstract

An attitude detection mechanism that realizes a long life while enabling control of an operation target requiring high accuracy, and a control method using the same. An attitude detection mechanism is a mechanism for detecting the attitude of a tiltable lever body, and includes a position detection unit 61, a first light emitting unit 62, and an interlocking unit 63. The position detection unit 61 has a light receiving surface 61a and detects the light receiving position of light on the light receiving surface 61a. The first light emitting unit 62 emits light toward the position detecting unit 61. The interlocking unit 63 operates between the position detection unit 61 and the first light emitting unit 62 along the light receiving surface 61a according to the tilt of the lever body. The interlocking portion 63 is provided with a through-hole 63b that allows a part of the light traveling from the first light emitting portion 62 to the position detecting portion 61 to pass therethrough, and the interlocking portion 63 operates according to the tilt of the lever body. Thus, the position of the through hole 63b is moved along the light receiving surface 61a. [Selection] Figure 4

Description

  The present invention relates to a posture detection mechanism and a control method using the same, and more particularly to a technique for detecting a posture of a tiltable lever body.

  Conventionally, a technique for remotely operating a heavy machine such as a crane as an operation target has been proposed (see, for example, Patent Document 1). Specifically, communication is performed between the operation target and the remote control device, and an operation signal is transmitted from the remote control device to the operation target, thereby controlling the operation of the operation target. As such a remote control device, there is one which enables remote operation by lever operation.

  Many lever devices used for lever operation are provided with a tiltable lever body. Such a lever device includes a type in which the posture (tilt angle) of the lever body is changed in stages (hereinafter referred to as “stage type”) and a posture (tilt angle) of the lever body. There are types that are continuously changed (hereinafter referred to as “continuous types”). And the technique applied to the attitude | position detection of a lever main body changes with types of a lever apparatus.

  The stage type lever device includes a defining plate that defines the posture of the lever body. The regulating plate is pivotally supported by an installation target of the lever device (for example, the device main body of the remote control device), and rotates around the pivot axis according to the tilting of the lever main body. A plurality of notches that can be engaged with engagement pins fixed to the installation target are formed at the edge of the defining plate. Specifically, these notches are formed such that any one notch engages with the engaging pin in accordance with the tilting of the lever body.

  The following mechanism for detecting the posture of the lever body is applied to the stage type lever device. That is, this mechanism includes a light emitting unit that moves in accordance with the tilting of the lever body, and a plurality of light receiving units that respectively correspond to the plurality of notches of the defining plate. Here, each of the light receiving parts is configured such that when the lever body is tilted and the engaging pin is engaged with any one notch, only the light receiving part corresponding to the notch detects light from the light emitting part. , Provided. Then, the attitude of the lever body is detected by determining which light receiving unit has detected the light.

  On the other hand, the following mechanism for detecting the posture of the lever body is applied to the continuous lever device. That is, this mechanism includes a variable resistance element (potentiometer) that continuously changes the resistance value according to the continuous tilting of the lever body (see, for example, Patent Document 2). Then, the posture of the lever body is detected based on the resistance value of the variable resistance element.

JP 07-31146 A JP-A-10-222294

  However, in the step type lever device, the posture of the lever main body is detected only in steps, and therefore this type of lever device is not suitable for controlling an operation target requiring high accuracy. In the continuous type lever device, the variable resistance element is a contact type sensor. That is, the variable resistance element has a knob for changing the resistance value, and the knob is connected to the lever body so as to rotate according to the tilt of the lever body. Such a contact-type sensor has a shorter lifetime than a non-contact type sensor.

  In order to extend the life of the sensor, it is conceivable to use a magnetic sensor in place of the variable resistance element in the continuous lever device (see, for example, Patent Document 2). However, the magnetic sensor may cause erroneous detection when used in a strong magnetic field environment. For this reason, in a remote control device that may be used in a strong magnetic field environment, a magnetic sensor cannot be used for the lever device.

  Accordingly, an object of the present invention is to provide a posture detection mechanism that realizes a long life while enabling control of an operation target that requires high accuracy, and a control method using the same.

  The posture detection mechanism according to the present invention is a mechanism for detecting the posture of a tiltable lever body, and includes a position detection unit, a first light emitting unit, and an interlocking unit. The position detection unit has a light receiving surface and detects a light receiving position of light on the light receiving surface. The first light emitting unit emits light toward the position detecting unit. The interlocking unit operates along the light receiving surface between the position detection unit and the first light emitting unit according to the tilt of the lever body. And the through-hole which allows a part of light which goes to a position detection part from a 1st light emission part to pass through is provided in the interlocking | linkage part, and an interlocking | linkage part operate | moves according to inclination of a lever main body, and a through-hole Is moved along the light receiving surface.

  According to the posture detection mechanism, the spot light that illuminates the light receiving surface of the position detection unit is formed by the light that has passed through the through hole. Then, the position of the spot light on the light receiving surface moves according to the tilt of the lever body, and as a result, the position of the spot light detected by the position detection unit and the posture of the lever body are associated with each other. Therefore, it is possible to accurately detect the posture of the lever body by causing the position detection unit to detect the position of the spot light. Further, since the position detection unit is a non-contact type sensor, the lifetime is longer than that of the contact type sensor.

  In a specific configuration of the attitude detection mechanism, the attitude detection mechanism further includes a linkage mechanism that interlocks the lever body and the interlocking unit. The lever body has a first pivot that enables the tilting, and the interlocking portion has a second pivot that enables the pivoting. In such a configuration, the linkage mechanism rotates the interlocking unit around the second pivot axis in accordance with the tilting of the lever body around the first pivot axis.

  In another specific configuration of the attitude detection mechanism, the attitude detection mechanism further includes a light receiving unit and a second light emitting unit that emits light toward the light receiving unit. Here, the light receiving part and the second light emitting part are arranged so that the interlocking part passes between them. The interlocking unit includes a light blocking unit that blocks light from the second light emitting unit when the lever body is in a neutral position, and a light that passes through the second light emitting unit when the lever body is tilted from the neutral position. A through hole is provided. According to this configuration, it is possible to detect the neutral posture of the lever body separately from the detection of the posture of the lever body based on the position detection by the position detector.

  In the control method using this attitude detection mechanism, it is preferable to execute the following steps (i) to (iii). In step (i), the second light emitting unit emits light and the light receiving unit detects light. Then, when the light detection signal cannot be acquired from the light receiving unit in spite of the second light emitting unit emitting light, the light receiving position detected by the position detecting unit is predetermined in step (ii). It is determined whether or not it matches the position. Here, the predetermined position is set in advance as a light receiving position of light to be detected by the position detection unit when the lever body is in the neutral posture. When it is determined in step (ii) that “the light receiving position does not match the predetermined position”, the operation of the lever body is invalidated in step (iii).

  According to such a control method, it is confirmed whether or not the detection result of the light receiving unit and the detection result of the position detection unit match each other. If these results do not match, a failure such as a failure of the position detection unit or a position shift is estimated. If such a problem is left unattended, an operation signal having a content contrary to the operator's intention is transmitted from the remote control device, and as a result, there is a possibility that an operation target malfunctions. However, according to the above control method, it is detected whether or not a defect has occurred in the position detection unit, and when the defect is detected, the operation of the lever body is invalidated. Thereby, the malfunction of the operation target is prevented.

  In the control method using the attitude detection mechanism, it is preferable to execute the following steps (I) to (III). In step (I), the first light emitting unit is caused to emit light and the position detecting unit is caused to detect the light receiving position. In step (II), using the detection result of the position detection unit in step (I), the amount of light received on the light receiving surface when the light receiving position is detected is calculated. In step (III), if the amount of received light calculated in step (II) is less than or equal to a predetermined value, the operation of the lever body is invalidated.

  In such a control method, when the calculated amount of received light is less than or equal to a predetermined value, there may be a failure of the position detection unit, adhesion of foreign matter to the position detection unit, clogging of the through hole, or the like. If such a problem is left unattended, there is a risk that an operation with a content contrary to the operator's intention may be executed. Therefore, when the calculated amount of received light is equal to or less than the predetermined value, the operation of the lever main body is invalidated to prevent the operation target from malfunctioning.

  According to the attitude detection mechanism and the control method using the same according to the present invention, it is possible to extend the service life and control an operation target that requires high accuracy.

It is a perspective view of a remote control device to which the posture detection mechanism of the present invention is applied. It is a block diagram of a remote control device. It is the schematic which showed the state of the attitude | position detection mechanism when a lever main body exists in a neutral attitude | position. FIG. 4 is an enlarged view (a) of the IVa region shown in FIG. 3 and a cross-sectional view (b) along the IVb-IVb line shown in the drawing. It is the schematic which showed the state of the attitude | position detection mechanism when a lever main body tilts from a neutral attitude | position. It is the enlarged view (a) of the VIa area | region shown by FIG. 5, and sectional drawing (b) which follows the VIb-VIb line | wire shown by the figure. It is the flowchart which showed the flow of control performed with a remote control apparatus. It is a block diagram of a remote control device to which a posture detection mechanism according to a modification is applied. It is the schematic which showed the state of the attitude | position detection mechanism when a lever main body exists in a neutral attitude | position about the attitude | position detection mechanism which concerns on a modification. It is the expanded view (a) of the Xa area | region shown by FIG. 9, and sectional drawing (b) which follows the Xb-Xb line | wire shown by the figure. It is the schematic which showed the state of the attitude | position detection mechanism when a lever main body tilts from a neutral attitude | position about the attitude | position detection mechanism which concerns on a modification. It is the enlarged view (a) of the XIIa area | region shown by FIG. 10, and sectional drawing (b) which follows the XIIb-XIIb line | wire shown by the figure. It is the flowchart which showed the flow of control performed with a remote control apparatus.

  Hereinafter, embodiments in which the present invention is applied to a remote control device will be specifically described with reference to the drawings.

[1] Configuration of Remote Control Device As shown in FIG. 1, the remote control device includes a device main body 1, a left lever device 2, and a right lever device 3. This remote control device is used when remotely operating an operation target such as a crane. The operation target is not limited to a heavy machine such as a crane, but may be a device such as a robot. Further, the communication performed between the remote control device and the operation target may be wireless communication or wired communication.

  The operator usually carries the remote control device at the position on the front surface of the abdomen and uses the remote control device in that state. In FIG. 1, the side surface 1b of the apparatus main body 1 is usually a surface that contacts the operator. For example, a strap and a belt (both not shown) are used for carrying the remote control device. Both the strap and the belt are attached to the apparatus main body 1. The strap is used around the operator's neck and shoulders, and the belt is used by wrapping around the operator's waist. Note that only one of the strap and the belt may be used for carrying the remote control device.

  Both the left lever device 2 and the right lever device 3 are provided on the top surface 1 a of the device body 1. Specifically, the left lever device 2 and the right lever device 3 are provided so as to be positioned on the left and right as viewed from the operator when the remote control device is in use. That is, the left lever device 2 is arranged at a position where the operator can operate with the left hand, and the right lever device 3 is arranged at a position where the operator can operate with the right hand.

  The left lever device 2 includes a left lever main body 20 and an operation permission switch 21. The left lever body 20 is provided on the top surface 1a so that the left lever body 20 can be tilted from the neutral posture with the posture in which the extending direction is perpendicular to the top surface 1a as a neutral posture. Specifically, the left lever main body 20 has a pivot 20a that enables its tilting (see FIG. 3). More specifically, a pivot 20 a is provided on the shaft portion 203 of the left lever body 20. Note that the neutral posture of the left lever body 20 may be set to be tilted from a posture in which the extending direction of the left lever body 20 is perpendicular to the top surface 1a.

  In the left lever device 2, the operation permission switch 21 allows the operation of the left lever body 20 through the control described later while the switch is being pressed. That is, the operation permission switch 21 functions as a safety switch, thereby giving the left lever device 2 safety. The specific configuration is as follows.

  In the left lever device 2, the operation permission switch 21 is a button switch provided on the head 201 of the left lever body 20, and is operated with the thumb of the left hand while the left lever body 20 is gripped with the left hand. is there.

  Specifically, the button 210 of the operation permission switch 21 is turned off when the operation permission switch 21 is turned off, and when the operation permission switch 21 is turned on by being pushed in from the off position. It is possible to reciprocate between the ON position that is The button unit 210 is biased from the on position to the off position by a biasing means such as a spring. Therefore, when the button unit 210 is pressed from the off position to the on position, a repulsive force is applied to the button unit 210 to return it to the off position. Therefore, when the operator releases the operation permission switch 21, the button section 210 returns to the off position, so that the operation permission switch 21 is automatically switched from the on state to the off state.

  A head ring 201 of the left lever body 20 is provided with a guard ring 23 that prevents the operation permission switch 21 from being inadvertently pressed. The guard ring 23 surrounds the button part 210, while the guard ring 23 has a clip for passing the thumb so that the button part 210 can be pressed by the thumb while holding the left lever body 20. A notch 23a is provided.

  The right lever device 3 includes a right lever body 30 and an operation permission switch 31. The right lever main body 30 is provided on the top surface 1a so that the posture in which the extending direction is perpendicular to the top surface 1a is a neutral posture, and tilting from the neutral posture is possible. Specifically, like the left lever body 20, the right lever body 30 has a pivot that enables tilting. Note that the neutral posture of the right lever body 30 may be set to be inclined from a posture in which the extending direction of the right lever body 30 is perpendicular to the top surface 1a.

  In the right lever device 3, the operation permission switch 31 allows the operation of the right lever body 30 through the control described later while the switch is pressed. That is, the operation permission switch 31 functions as a safety switch, thereby giving the right lever device 3 high safety. The specific configuration is as follows.

  In the right lever device 3, the operation permission switch 31 is a button switch provided on the head 301 of the right lever body 30 and is operated by the thumb of the right hand while the right lever body 30 is held by the right hand. is there. The operation permission switch 31 of the right lever device 3 has the same configuration as the operation permission switch 21 of the left lever device 2. Similarly to the left lever device 2, the right lever device 3 is also provided with a guard ring 33. Therefore, the detailed description regarding the operation permission switch 31 and the guard ring 33 is omitted.

[2] Configuration of Attitude Detection Mechanism As shown in FIG. 2, two attitude detection mechanisms 6 and 7 are mounted on the remote control device described above. These posture detection mechanisms 6 and 7 are constructed inside the apparatus main body 1. Here, the posture detection mechanism 6 is a mechanism that detects the posture of the left lever body 20, and the posture detection mechanism 7 is a mechanism that detects the posture of the right lever body 30. As an example, the posture detection mechanism 6 detects the inclination angle from the neutral posture of the left lever body 20 as the posture of the left lever body 20. Further, the posture detection mechanism 7 detects an inclination angle from the neutral posture of the right lever body 30 as the posture of the right lever body 30.

  Since the posture detection mechanisms 6 and 7 have the same configuration, the posture detection mechanism 6 will be specifically described below, and the description of the posture detection mechanism 7 will be omitted. However, in FIG. 2, a position detection unit 71 and a first light emission unit 72 are shown as corresponding to a position detection unit 61 and a first light emission unit 62 described later in the posture detection mechanism 7.

  As shown in FIG. 3 to FIG. 6B, the posture detection mechanism 6 includes a position detection unit 61, a first light emitting unit 62, an interlocking unit 63, and a linkage mechanism 64. 3 to 4B show the state of the posture detection mechanism 6 when the left lever body 20 is in the neutral posture. 5 to 6B show the state of the posture detection mechanism 6 when the left lever body 20 is tilted from the neutral posture.

  The position detection unit 61 has a light receiving surface 61a and detects the light receiving position of light on the light receiving surface 61a. As an example, the position detection unit 61 is a PSD (Position Sensitive Detector), calculates a centroid position based on a light amount distribution of light received by the light receiving surface 61a, and outputs the centroid position as a light reception position. In the present embodiment, the position detection unit 61 detects a light receiving position in a one-dimensional coordinate system. Note that the position detection unit 61 may detect a light receiving position in a two-dimensional coordinate system. Further, the position detection unit 61 is not limited to PSD, and various sensors capable of optically detecting the position may be used.

  The 1st light emission part 62 emits light toward the position detection part 61 (refer FIG.4 (b) and FIG.6 (b)). Specifically, the first light emitting unit 62 includes a plurality of light emitting elements 621. Here, these light emitting elements 621 are arranged so that the entire light receiving surface 61a can be illuminated with an appropriate illuminance, assuming that light is not blocked by the interlocking portion 63. In the present embodiment, the light emitting elements 621 are arranged in a line along the light receiving surface 61a, and are arranged so that each of their optical axes is orthogonal to the light receiving surface 61a (see FIG. 4B). As an example, the light emitting element 621 is an LED (Light Emitting Diode).

  In addition, even if the left lever body 20 is in any tilting posture (including a neutral posture), if the later-described spot light can be formed, the interlocking unit 63 does not block the light. The region to be illuminated when assumed is not necessarily the entire light receiving surface 61a, but may be a part thereof. Further, if such a region can be illuminated with a suitable illuminance, various modifications of the first light emitting unit 62 are allowed. For example, the 1st light emission part 62 may be comprised not only from what was comprised from the some point light source but from 1 point light source, and was comprised from the 1 or several surface light source. It may be.

  The interlocking portion 63 has a pivot 63a that enables its rotation, and is passed between the position detection portion 61 and the first light emitting portion 62 (see FIGS. 4B and 6B). . Here, the pivot 63a of the interlocking portion 63 is arranged in parallel to the pivot 20a at a position different from the pivot 20a of the left lever body 20 (see FIGS. 3 and 5). The interlocking unit 63 is interlocked with the operation of the left lever body 20 through the linkage mechanism 64. That is, the interlocking part 63 rotates around the pivot 63a according to the tilt of the left lever body 20.

  The linkage mechanism 64 rotates the interlocking portion 63 around the pivot 63a in the direction opposite to the tilting direction of the left lever body 20 in accordance with the tilt of the left lever body 20 around the pivot 20a. Specifically, the linkage mechanism 64 includes an engagement receiving portion 641 and an engagement portion 642 engaged therewith.

  In the present embodiment, the engagement receiving portion 641 is a groove 641 a, and the groove 641 a is provided in the shaft portion 203 of the left lever body 20. Specifically, the shaft portion 203 extends to the opposite side of the body portion 202 of the left lever body 20 (the portion gripped by the operator, see FIG. 1) with respect to the pivot 20a, and a groove is formed in the extended portion 204. 641a is provided. More specifically, the groove 641 a extends along an imaginary straight line 20 b set in the left lever body 20. Here, the virtual straight line 20 b is a straight line that is orthogonal to the pivot 20 a and extends along the shaft portion 203.

  In the present embodiment, the engaging portion 642 is a pin that engages with the groove 641 a and is provided in the interlocking portion 63. And the engaging part 642 moves according to rotation of the interlocking | linkage part 63 around the pivot 63a. That is, the engaging portion 642 is only allowed to rotate around the pivot 63a while maintaining a constant distance from the pivot 63a.

  According to such a linkage mechanism 64, the direction in which the groove 641a extends is changed around the pivot axis 20a according to the tilt of the left lever body 20, and the engagement portion 642 is moved around the pivot axis 63a. It can be slid along the groove 641a while being accompanied. Therefore, when the left lever body 20 is tilted, the position of the engaging portion 642 changes around the pivot 63a, and as a result, the interlocking portion 63 rotates around the pivot 63a.

  Note that various modifications of the linkage mechanism 64 are allowed as long as such an operation can be realized. For example, if the position of the engaging portion 642 can be changed around the pivot 63a in accordance with the tilt of the left lever body 20, various modifications are allowed for the groove 641a. Further, the left lever body 20 may be provided with an engaging portion, and the interlocking portion 63 may be provided with an engaging receiving portion.

  As shown in FIGS. 4A and 4B, the interlocking unit 63 is provided with a through hole 63 b that allows a part of the light traveling from the first light emitting unit 62 to the position detecting unit 61 to pass therethrough. Here, the through-hole 63b allows a part of light corresponding to the tilting posture to pass even when the left lever body 20 is in any tilting posture (including a neutral posture) (FIG. 4B). ) And FIG. 6B). And the through-hole 63b forms a spot light by selectively passing a part of the light, and partially illuminates the light receiving surface 61a of the position detector 61 with the spot light.

  On the other hand, the interlocking unit 63 itself blocks the light traveling from the first light emitting unit 62 to the position detecting unit 61 except for a part of the light passing through the through hole 63b. Then, the interlocking portion 63 moves the position of the through hole 63 b along the light receiving surface 61 a of the position detecting portion 61 by interlocking with the tilting of the left lever body 20.

  In the present embodiment, when the left lever body 20 is in a neutral posture (see FIG. 3), the posture detection mechanism 6 is constructed so that the virtual straight line 63c set in the interlocking unit 63 matches the virtual straight line 20b. Yes. Here, the virtual straight line 63c is a straight line that is orthogonal to the pivot 63a and intersects with the engaging portion 642. The position of the position detector 61 and the position of the position detector 61 are set so that the relationship between the projection image of the light receiving surface 61a on the interlocking unit 63 and the virtual straight line 63c is as follows when the left lever body 20 is in the neutral posture. The posture is determined. That is, the position and orientation of the position detector 61 are determined so that the basic axis of the coordinate system of the light receiving surface 61a is perpendicular to the virtual straight line 63c and the virtual straight line 63c passes through the center of the light receiving surface 61a or the vicinity thereof. It has been. Further, the position of the light emitting element 621 constituting the first light emitting unit 62 is determined according to the position and orientation of the position detecting unit 61 determined in this way.

  Further, the through hole 63b is formed so that a part of the light receiving surface 61a looks into the through hole 63b even when the left lever body 20 is in any tilting posture (including a neutral posture). (See FIG. 4 (a) and FIG. 6 (a)). In the present embodiment, the through hole 63b is a slit-shaped hole along the virtual straight line 63c, and has an appropriate length along the virtual straight line 63c.

  Note that the configuration of the posture detection mechanism 6 of this embodiment is an example, and various modifications are possible. For example, the posture detection mechanism 6 may be constructed such that the virtual straight line 63c is inclined with respect to the virtual straight line 20b when the left lever body 20 is in a neutral posture (see FIG. 3). However, it is preferable to adopt a method of determining the positions of the position detection unit 61 and the through hole 63b based on the above-described virtual straight line 63c.

  According to the posture detection mechanism 6 of the present embodiment, the position of the spot light on the light receiving surface 61a moves according to the tilt of the left lever body 20, and as a result, the spot light detected by the position detection unit 61 The position and the posture of the left lever body 20 are associated with each other. Therefore, the position of the left lever body 20 can be detected with high accuracy by causing the position detection unit 61 to detect the position of the spot light. Similarly, according to the posture detection mechanism 7, the position of the spot light detected by the position detection unit 71 and the posture of the right lever body 30 are associated with each other. Therefore, it is possible to accurately detect the posture of the right lever body 30 by causing the position detector 71 to detect the position of the spot light. Further, since the position detection units 61 and 71 are non-contact type sensors, their lifetimes are longer than those of the contact type sensors.

[3] Control by Remote Control Device and Lever Device As shown in FIG. 2, the left lever device 2 further includes a control unit 25. When the power source of the remote control device is turned on and the lever operation is enabled, the control unit 25 executes control based on the flowchart shown in FIG.

  First, the control unit 25 causes the first light emitting unit 62 to emit light, and causes the position detecting unit 61 to detect the position of the spot light formed at that time (step S11).

  Next, the control unit 25 acquires the detection result from the position detection unit 61, and based on the position of the spot light (light reception position) that is the detection result, which position the left lever body 20 is in (for example, An inclination angle from the neutral posture is derived (step S12). As an example, the control unit 25 derives the posture of the left lever body 20 from the acquired detection result by referring to a correspondence table in which the detection result and the posture are associated in advance. The correspondence table is stored in, for example, a storage unit (not shown), and the control unit 25 reads and uses the correspondence table from the storage unit as necessary.

  Next, the control unit 25 determines whether or not the operation permission switch 21 of the left lever device 2 is in an on state (step S13). When the control unit 25 determines that “the operation permission switch 21 is in an on state (Yes)”, the control unit 25 outputs an operation signal corresponding to the posture of the left lever body 20 derived in step S12. (Step S14). Here, the posture of the left lever body 20 derived in step S12 corresponds to the operation of the left lever body 20 by the operator, and the control unit 25 outputs an operation signal corresponding to the operation of the left lever body 20. . Thereafter, the control unit 25 causes the transmission unit 4 to transmit the output operation signal (step S15).

  On the other hand, when the control unit 25 determines that “the operation permission switch 21 is not in the ON state (No)” in step S13, the control unit 25 does not output an operation signal.

  After the operation signal is transmitted in step S15, or when the control unit 25 determines in step S13 that "the operation permission switch 21 is not in the on state (No)", the lever operation is maintained in an effective state. If yes (Yes in step S16), the control unit 25 returns to step S11. Then, as long as the lever operation is valid, steps S11 to S15 are repeatedly executed.

  In this way, the control unit 25 outputs an operation signal corresponding to the operation of the left lever body 20 by the operator during the period when it is detected that the operation permission switch 21 is in the on state (pressed state). The output operation signal is transmitted toward the operation target through the transmission unit 4 provided in the remote control device. As a result, the operation of the left lever body 20 is permitted while the operation permission switch 21 is being pressed. Note that the control unit 25 may cause the transmission unit 4 to transmit a signal indicating that when the operation permission switch 21 is in the off state (not pressed). However, such a signal is distinguished from an operation signal corresponding to the operation of the left lever body 20.

  Similarly, the right lever device 3 further includes a control unit 35. The control unit 35 determines whether or not the operation permission switch 31 of the right lever device 3 is in the on state. When the power of the remote control device is turned on and the lever operation becomes valid, the control unit 35 executes control based on the flowchart shown in FIG. That is, the control unit 35 outputs an operation signal corresponding to the operation of the right lever body 30 by the operator during the period when it is detected that the operation permission switch 31 is in the on state (pressed state). Then, the output operation signal is transmitted to the operation target through the transmission unit 4. As a result, the operation of the right lever body 30 is permitted while the operation permission switch 31 is being pressed. The details are the same as the above-described control, and thus the description thereof is omitted.

  According to such control, the postures of the left lever body 20 and the right lever body 30 can be detected with high accuracy. Then, by continuously changing the content of the operation signal in accordance with the continuous change in posture, it is possible to control the operation target that requires high accuracy.

[4] Modification [4-1] First Modification <Configuration of Attitude Detection Mechanism>
As shown in FIGS. 8 to 12B, the posture detection mechanism 6 may further include a light receiving unit 65 and a second light emitting unit 66 different from the first light emitting unit 62. 9 to 10B show the state of the posture detection mechanism 6 when the left lever body 20 is in the neutral posture. FIGS. 11 to 12B show the state of the posture detection mechanism 6 when the left lever main body 20 is tilted from the neutral posture.

  Unlike the position detecting unit 61, the light receiving unit 65 does not need to detect the light receiving position, and may simply detect the presence or absence of light. The light receiving unit 65 outputs a detection signal toward the control unit 25 when detecting light. The light receiving unit 65 may output a signal indicating that there is no detection to the control unit 25 during a period in which no light is detected. However, such a signal is distinguished from a detection signal indicating that light has been detected.

  The 2nd light emission part 66 is a light emitting element which emits light toward the light-receiving part 65 (refer FIG.10 (b) and FIG.12 (b)). As an example, the second light emitting unit 66 is an LED (Light Emitting Diode).

  The light receiving part 65 and the second light emitting part 66 are arranged so that the interlocking part 63 passes between them (see FIGS. 10B and 12B). The interlocking portion 63 is provided with a light shielding portion 631 and a through hole 632. Here, when the left lever body 20 is in a neutral posture (see FIG. 9), the light shielding unit 631 blocks light traveling from the second light emitting unit 66 to the light receiving unit 65 (see FIG. 10B). Specifically, the light shielding part 631 is a part of the interlocking part 63 and is a part facing the second light emitting part 66 when the left lever body 20 is in the neutral posture.

  On the other hand, when the left lever body 20 is tilted from the neutral position (see FIG. 11), the through-hole 632 allows light traveling from the second light emitting unit 66 to the light receiving unit 65 (see FIG. 12B). . Specifically, the through holes 632 are formed on both sides of the light shielding portion 631 along the virtual curve 63d (see FIGS. 10A and 12A). Here, the virtual curve 63d is a curve that extends in an arc shape around the pivot 63a and intersects with the light shielding portion 631. Therefore, when the light shielding unit 631 moves from a position facing the second light emitting unit 66 in conjunction with the tilting of the left lever body 20, the light traveling from the second light emitting unit 66 to the light receiving unit 65 is blocked by the light shielding unit 631. It is released from the blockage due to and passes through the through hole 632.

  The configuration of the first modification is not limited to the posture detection mechanism 6 and may be applied to the posture detection mechanism 7 as shown in FIG. In FIG. 8, the light receiving unit 75 and the second light emitting unit 76 of the posture detection mechanism 7 correspond to the light receiving unit 65 and the second light emitting unit 66 of the posture detection mechanism 6, respectively.

<Control with remote control device>
In such a configuration, the control unit 25 of the left lever device 2 executes control based on the flowchart shown in FIG. This control is executed when the lever operation is enabled as the power source of the remote control device is turned on, as in the above embodiment. Steps S11 to S16 are the same as those in the above embodiment (see FIG. 7), and thus the description thereof is omitted.

  After executing steps S11 and S12, the control unit 25 causes the second light emitting unit 66 to emit light and causes the light receiving unit 65 to detect light (step S21). Thereafter, the control unit 25 determines whether or not a light detection signal is acquired from the light receiving unit 65 as a result of Step S21 (Step S22).

  Specifically, when the left lever main body 20 is tilted from the neutral posture, the light receiving unit 65 detects light from the second light emitting unit 66. As a result, the control unit 25 acquires a light detection signal from the light receiving unit 65, and determines in step S22 that “the detection signal has been acquired (Yes)”. On the other hand, when the left lever main body 20 is in a neutral posture, the light receiving unit 65 cannot detect light from the second light emitting unit 66. As a result, the control unit 25 cannot acquire the light detection signal from the light receiving unit 65 (including the case of acquiring a signal indicating that there is no detection). Not (No) ".

  When the control unit 25 determines that “the detection signal is acquired (Yes)” in step S22, the control unit 25 executes steps S13 to S15. That is, when the operation permission switch 21 is in the ON state (pressed state), the control unit 25 outputs an operation signal corresponding to the operation of the left lever body 20 by the operator. If the lever operation is maintained in an effective state (Yes in step S16), the control unit 25 returns to step S11.

  On the other hand, when the control unit 25 determines that “the detection signal is not acquired (No)” in step S22, the control unit 25 detects the position (light) of the spot light detected by the position detection unit 61 in step S11. It is determined whether or not the light receiving position of the light is coincident with a predetermined position (step S23). Here, the predetermined position is set in advance as a light receiving position of light to be detected by the position detection unit 61 when the left lever body 20 is in the neutral posture. The predetermined position is stored in, for example, a storage unit (not shown), and the control unit 25 reads and uses the predetermined position from the storage unit as necessary.

  When the control unit 25 determines that “matches (Yes)” in step S23, the control unit 25 executes steps S13 to S15. That is, when the operation permission switch 21 is in the ON state (pressed state), the control unit 25 outputs an operation signal corresponding to the operation of the left lever body 20 by the operator. If the lever operation is maintained in an effective state (Yes in step S16), the control unit 25 returns to step S11.

  On the other hand, when the control unit 25 determines that “does not match (No)” in step S23, the control unit 25 invalidates the operation of the left lever body 20 (step S24). That is, the control unit 25 cannot acquire the light detection signal from the light receiving unit 65 even though the second light emitting unit 66 emits light (acquires a signal indicating that there is no detection). In addition, when it is determined that the light receiving position does not coincide with the predetermined position, the operation of the left lever body 20 is invalidated.

  After execution of step S24, the control unit 25 ends the control. Thereafter, the control unit 25 maintains the invalidity of the operation of the left lever body 20. Therefore, even when the operation permission switch 21 is pressed, the operation of the left lever body 20 is not permitted.

  By executing such steps S21 to S24, it is confirmed whether or not the detection result of the light receiving unit 65 and the detection result of the position detection unit 61 match each other. If these results do not match, it is assumed that the position detection unit 61 has a malfunction or a misalignment. If such a problem is left unattended, an operation signal having a content contrary to the operator's intention is transmitted from the remote control device, and as a result, there is a possibility that an operation target malfunctions. However, according to the above-described control, it is detected whether or not a problem has occurred in the position detection unit 61, and when the problem is detected, the operation of the left lever body 20 is invalidated. Thereby, the malfunction of the operation target is prevented.

  Similarly, the control unit 35 of the right lever device 3 executes control based on the flowchart shown in FIG. 13 when the power source of the remote control device is turned on and the lever operation is enabled. That is, the control unit 35 cannot acquire the light detection signal from the light receiving unit 75 even though the second light emitting unit 76 emits light (acquires a signal indicating that there is no detection). In addition, when it is determined that the light receiving position does not coincide with the predetermined position, the operation of the right lever body 30 is invalidated. The details are the same as the above-described control, and thus the description thereof is omitted.

  According to such control, it is detected whether or not a defect has occurred in the position detection unit 71, and when the defect is detected, the operation of the right lever body 30 is invalidated. Thereby, the malfunction of the operation target is prevented.

[4-2] Second Modification The control unit 25 of the left lever device 2 may perform the following control. That is, the control unit 25 causes the position detection unit 61 to detect light without causing the first light emitting unit 62 to emit light, and then acquires a detection result from the position detection unit 61. Next, the control unit 25 calculates an average value or a maximum value of the received light amount based on the acquired detection result, and determines whether or not the calculated value is equal to or greater than a first predetermined value. Here, the first predetermined value is set as follows. That is, even if the position detection unit 61 receives light different from the light from the first light emitting unit 62, the value is smaller than the upper limit value of the light amount that does not adversely affect the position detection of the spot light by the position detection unit 61. In addition, the first predetermined value is set.

  Here, when the calculated value is greater than or equal to the first predetermined value, it is considered that external light has entered the device due to damage to the remote control device (mainly device body 1). If such a problem is left unattended, an operation signal having a content contrary to the operator's intention is transmitted from the remote control device, and as a result, there is a possibility that an operation target malfunctions.

  Therefore, when the control unit 25 determines that “the calculated value is equal to or greater than the first predetermined value” in the above determination, the control unit 25 invalidates the operation of the left lever body 20. Thereafter, the control unit 25 maintains the invalidity of the operation of the left lever body 20. Therefore, even when the operation permission switch 21 is pressed, the operation of the left lever body 20 is not permitted. Thereby, the malfunction of the operation target is prevented. In the right lever device 3, the control unit 35 can perform the same control for the operation of the right lever body 30.

[4-3] Third Modification The control unit 25 of the left lever device 2 may perform the following control. That is, the control unit 25 acquires a detection result from the position detection unit 61 after executing the above-described step S11 (see FIGS. 7 and 13). And the control part 25 calculates the average value and minimum value of light reception amount using the acquired detection result, and judges whether the calculated value is below a 2nd predetermined value. Here, the second predetermined value is set to a value larger than the lower limit value of the light amount that enables the position detection unit 61 to accurately detect the position of the spot light.

  Here, when the calculated value is equal to or less than the second predetermined value, a failure of the position detection unit 61, adhesion of a foreign substance to the position detection unit 61, clogging of the through hole 63b, or the like can be considered. If such a problem is left unattended, an operation signal having a content contrary to the operator's intention is transmitted from the remote control device, and as a result, there is a possibility that an operation target malfunctions.

  Therefore, when the control unit 25 determines that “the calculated value is equal to or less than the second predetermined value” in the above determination, the control unit 25 invalidates the operation of the left lever body 20. Thereafter, the control unit 25 maintains the invalidity of the operation of the left lever body 20. Therefore, even when the operation permission switch 21 is pressed, the operation of the left lever body 20 is not permitted. Thereby, the malfunction of the operation target is prevented. In the right lever device 3, the control unit 35 can perform the same control for the operation of the right lever body 30.

[4-3] Fourth Modification The control unit 25 of the left lever device 2 may perform the following control. That is, in step S11 (see FIGS. 7 and 13), the control unit 25 causes the position detection unit 61 to execute the position detection of the spot light a plurality of times in a short time, and all the detection results are positioned. Obtained from the detector 61. And the control part 25 calculates the average value of received light quantity from each of the acquired detection result, and judges whether there is any abnormality in a detection result based on all the calculated values. For example, the control unit 25 determines that there is an abnormality in the detection result when there is a large variation in the calculated value.

  When the control unit 25 determines that “the detection result is abnormal” in the above determination, the control unit 25 invalidates the operation of the left lever body 20. Thereafter, the control unit 25 maintains the invalidity of the operation of the left lever body 20. Therefore, even when the operation permission switch 21 is pressed, the operation of the left lever body 20 is not permitted. Thereby, the malfunction of the operation target is prevented. In the right lever device 3, the control unit 35 can perform the same control for the operation of the right lever body 30.

[4-3] Other Examples According to the remote control device described above, the postures of the left lever body 20 and the right lever body 30 can be detected continuously. Then, by continuously changing the content of the operation signal in accordance with the continuous change in posture, it is possible to control the operation target that requires high accuracy. However, the content of the operation signal is not limited to this. For example, continuously detected postures (for example, tilt angles) may be divided into several ranges, and the contents of the operation signal may be changed for each range. According to such control, a step-type lever device is realized in each of the left lever device 2 and the right lever device 3.

  Moreover, each part structure of the remote control device described above can be applied to a remote control device having only one lever device, a remote control device including three or more lever devices, and the like. Moreover, each part structure of the attitude | position detection mechanism 6 and 7 mentioned above is applicable not only to a remote control apparatus but to various apparatuses which require high precision regarding control by lever operation.

  The above description of the embodiment is to be considered in all respects as illustrative and not restrictive. The scope of the present invention is shown not by the above embodiments but by the claims. Further, the scope of the present invention is intended to include all modifications within the meaning and scope equivalent to the scope of the claims.

DESCRIPTION OF SYMBOLS 1 Apparatus main body 1a Top surface 1b Side surface 2 Left lever apparatus 3 Right lever apparatus 4 Transmitters 6 and 7 Attitude detection mechanism 20 Left lever main body 20a Axis 20b Virtual straight line 21 Operation permission switch 23 Guard ring 23a Notch 25 Control part 30 Right lever Main body 31 Operation allowance switch 33 Guard ring 35 Control part 61 Position detection part 61a Light receiving surface 62 First light emitting part 63 Interlocking part 63a Pivot 63b Through hole 63c Virtual straight line 63d Virtual curve 64 Linking mechanism 65 Light receiving part 66 Second light emitting part 71 Position Detection unit 72 First light emitting unit 75 Light receiving unit 76 Second light emitting unit 201, 301 Head 202 Body 203 Shaft part 210 Button part 621 Light emitting element 631 Light blocking part 632 Through hole 641 Engagement receiving part 641a Groove 642 Engaging part

Claims (7)

A mechanism for detecting the posture of the tiltable lever body,
A position detector that has a light receiving surface and detects a light receiving position on the light receiving surface;
A first light-emitting unit that emits light toward the position detection unit, and an interlocking unit that operates along the light-receiving surface between the position detection unit and the first light-emitting unit according to the tilt of the lever body;
With
The position detection unit is composed of one PSD (Position Sensitive Detector),
The interlocking part is provided with a through-hole that allows a part of the light traveling from the first light emitting part to the PSD to pass through, and the interlocking part operates according to the tilting of the lever body, Moving the position of the through hole along the light receiving surface of the PSD ;
The through hole is a slit-shaped hole, and the through hole extends to a position that does not overlap the light receiving surface in a direction intersecting the PSD when viewed from a direction perpendicular to the light receiving surface. mechanism. The front Symbol interlocking portion, the through hole is provided one for the position detection,
The first light emitting unit allows a part of light to pass through the through hole regardless of the position of the through hole in the movement range of the through hole corresponding to the tilting range of the lever body. That form
In the position detection unit, the light receiving surface can detect the position of the spot light formed by the through hole regardless of the position of the through hole in the moving range. The posture detection mechanism according to claim 1, wherein the posture detection mechanism is formed. A linkage mechanism for interlocking the lever body and the interlocking portion with each other;
The lever body has a first pivot that allows its tilting;
The interlocking portion has a second pivot that enables its rotation,
The posture detection mechanism according to claim 1 or 2, wherein the linkage mechanism rotates the interlocking unit around the second pivot axis in accordance with the tilt of the lever body around the first pivot axis. A mechanism for detecting the posture of the tiltable lever body,
A position detector that has a light receiving surface and detects a light receiving position on the light receiving surface;
A first light emitting unit that emits light toward the position detecting unit;
An interlocking unit that operates along the light receiving surface between the position detection unit and the first light emitting unit according to the tilting of the lever body,
A light receiving unit different from the position detecting unit ;
A second light emitting unit that emits light toward the light receiving unit ;
With
The position detector is a PSD (Position Sensitive Detector),
The interlocking part is provided with a through-hole that allows a part of the light traveling from the first light emitting part to the PSD to pass through, and the interlocking part operates according to the tilting of the lever body, Moving the position of the through hole along the light receiving surface of the PSD;
The light receiving part and the second light emitting part are arranged so that the interlocking part passes between them,
The interlocking unit includes a light shielding unit that blocks light from the second light emitting unit when the lever main body is in a neutral posture, and a second light emitting unit from which the lever main body is tilted from the neutral posture. of a through hole through which light passes, is provided, attitude detection mechanism. A tiltable lever body,
The posture detection mechanism according to any one of claims 1 to 4, which detects the posture of the lever body,
A lever device comprising: A control method using the posture detection mechanism according to claim 4,
(I) causing the second light emitting unit to emit light and causing the light receiving unit to detect light;
(Ii) When the light detection signal cannot be acquired from the light receiving unit despite the second light emitting unit emitting light, the light receiving position detected by the position detecting unit is set to a predetermined position. Determining whether they match, and
(Iii) invalidating the operation of the lever body when it is determined in step (ii) that the light receiving position does not match the predetermined position;
Run
The control method, wherein the predetermined position is set in advance as a light receiving position of light to be detected by the position detection unit when the lever body is in the neutral posture. A control method using the posture detection mechanism according to claim 1,
(I) causing the first light emitting unit to emit light and causing the position detecting unit to detect the light receiving position;
(II) using the detection result of the position detection unit in the step (I), calculating a received light amount on the light receiving surface at the time of detecting the light receiving position;
(III) when the received light amount calculated in the step (II) is a predetermined value or less, invalidating the operation of the lever body;
Execute the control method.

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