JPH07160310A - Controller - Google Patents

Abstract

PURPOSE:To change the shape, place, interface, etc., of the controller as a user demands and provide a controller for a large-scale device in a small space by providing a virtual control board generating device and a control information management device and controlling an object through a virtual control board. CONSTITUTION:This controller is equipped with the input/output interface 1, the virtual control board generating device 2, the control information management device 3, a plant information extraction device 4, and an equipment operation information output device 5 and further equipped with a control means management device 6, a virtual model operation device 7 for a controlled system itself, an information communication device 8 for other operators, and a robot 9. The virtual control board generating device 2 generates the virtual control board as a virtual space offering device. The control information management device 3 outputs a control signal based upon the operation signal of the virtual control board. Then, a control signal is generated by directly operating the virtual model for the controlled system itself, the object is controlled through the virtual control board, and the object is operated by the virtual model for the controlled system itself.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to various control devices such as a control device for controlling a nuclear power plant.

[0002]

2. Description of the Related Art Conventionally, in order for a human to control various objects, a method of directly controlling the object using actual hardware such as a switch, a lever and a handle has been used. In addition to that, through the control computer with the target, the switches on the computer keyboard, mouse,
A method of controlling using a touch panel or the like has also been used in recent years. Furthermore, recently, I created a virtual space on a computer,
Using the technology of artificial reality that humans work as if they entered the space, we construct a target to be controlled in the virtual space and directly control it to control the target. A method as shown in "Man-machine interface for working in three-dimensional space using artificial reality" (4th Human Interface Symposium Proceedings) has also been proposed. In addition, by linking the robot to the movements of the customer, the customer can experience the operation of the product exhibited in a remote location and the appearance confirmation, and the same feeling of satisfaction as if the customer actually touched the product. A system for providing the above is described in Japanese Patent Laid-Open No. 5-192067.

[0003]

Among the above-mentioned conventional examples, the method of directly controlling an object has a problem that it is difficult to control the entire system when the object to be controlled is a complicated system. In order to solve this problem, a control computer is installed between the target and a control panel connected to the computer and equipped with control switches and instruments for displaying the target status. , A method of controlling an object was devised. However, when the control target is a large-scale system, the space occupied by the control panel alone becomes large, and a wide range of movement is required to control the target, or multiple people are required to control the target. There was a problem that it became difficult to understand the situation of the whole controlled object. Therefore, a touch panel method that uses software switches on a computer as a control panel, an information presentation method that uses a large screen, and the like have been devised. Although the space occupied by the control panel has been reduced by using the switch on the software,
There is a big difference from the form of the control panel used conventionally, so it is difficult to intuitively understand the positions and operating methods of the switches and instruments, and the software switches do not give the feeling of operating the switches, or For example, in the case of an operation such as increasing the flow rate, when controlling using an actual device, one-action operation such as turning the switch by the amount you want to control is required, but when using the touch panel, selecting the device There is a problem that it becomes a two-step operation of inputting the control amount. In order to solve the above problems, we considered creating a control panel that applies the method of artificial reality. As a method of controlling an object using artificial reality, the method shown in the above-mentioned conventional example is conventionally used. However, the above method is a method of directly controlling the controlled object itself, and is insufficient to be applied to control using a control panel. Further, the technique described in the above publication is a method of directly operating or confirming a product, that is, a target itself, does not virtualize the target, and the product cannot be made smaller than the actual product. Therefore, the space occupied by products cannot be reduced. An object of the present invention is to connect a computer between an operator and a controlled object,
Realization of a method of controlling an object using a virtual control panel using the technology of artificial reality, and control that combines a method of using a virtual control panel and a method of directly operating a virtual model of a control object To realize the method.

[0004]

The above-mentioned object is to provide means for forming a virtual control board, means for producing a signal for controlling an object from information of the virtual control board, and the controlled object itself. And a means for creating a control signal by directly operating the virtual model, controlling the target with the virtual control panel, and operating the target with the virtual model of the control target itself.

[0005]

According to the present invention, the shape, location, interface, etc. of the control device can be changed according to the requirements of the user of the device, or a control device for a large-scale device which requires a large space can be made small in practice. It has the effect that it can be realized with the same operation feeling in a space.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 35 show an example in which the present invention is applied to a control device for a nuclear power plant. FIG. 1 shows the basic configuration of a system according to an embodiment of the present invention. This system is basically composed of an input / output interface (1), a virtual control panel creation device (2), a control information management device (3), a plant information extraction device (4), and an equipment operation information output device (5). It Here, the system shown in FIG. 1 is the most basic system composed of only those essential for carrying out the present invention. Therefore, as an embodiment for explaining the present invention, a device having an expansion function as shown in FIG. 2 is used. In addition to the configuration of the system of FIG. 1, the system of FIG. 2 includes a control means management device (6), a virtual model operating device (7) of the controlled object itself, an information communication device (8) with other operators, a robot ( 9).

Each device will be described in detail below. First, the input / output interface (1) will be described in detail. A detailed configuration of the input / output interface (1) is shown in FIG. In this system, the motion input device (1-) is used as the input / output interface (1) between the operator and the control means management device (6).
1), an information providing device (1-2), and an operation real space reduction device (1-3). Hereinafter, these three devices will be described in detail.

FIG. 4 shows the detailed structure of the motion input device (1-1).
Shown in. In this system, the operation input device (1-
The following is used as 1). First, as shown in FIG. 5, magnetic sensors (1-1-1) are attached to the operator's head, upper back, back of the right hand, back of the left hand, back of the right foot, and back of the left foot. . Magnetic sensor (1-1-1)
Consists of orthogonal coils as shown in FIG. Magnetic sensor (1-
Magnetic field generator (1-1-) installed separately from 1-1)
2) The magnetic field generated by the magnetic sensor (1-1-
1) the magnitude of the current value generated in the current value measuring device (1-
1-3), and the magnetic sensor (1-
The relative three-dimensional position and direction from the magnetic field generator (1-1-2) of 1-1) is calculated as a position and direction calculator (1-1-).
4)) (McDonnell Douglas, Japan Patent No. 95474/84). By mounting this sensor at the above-mentioned six locations, the three-dimensional position and direction of each location can be detected. Further, an optical fiber (1-1-5) whose light transmittance is reduced by bending is attached on the loop at the place shown in FIG. 5 of the driver's body as shown in FIG. And these optical fibers (1-1-5)
The light is input from the optical input device (1-1-6) to the optical input device (1-1-6), and the light emitted through the optical fiber (1-1-5) is measured by the output light measuring device (1-1-7). At this time, if the joint in which the optical fiber (1-1-5) is installed is bent, the input light is attenuated and output at a rate according to the bending angle. The attenuation factor determination device (1-
1-8), and using the data, calculate the joint angle of each joint in which the optical fiber (1-1-5) is installed by the joint angle calculator (1-1-9) (VPL patent). .
Further, as shown in FIG. 5, a device (1-1-10) for measuring the position of the operator's pupil and a device (1-1-11) for inputting voice are attached. By using this device, it is possible to identify what the operator is looking at in the virtual space, to give instructions by voice, input, and have a conversation. By using the above devices, input the posture of the system user, the position and orientation of the body, the position of the hands and feet, the posture of the fingers of the hand, what the operator sees and what the operator is talking about. be able to.
As the motion input device (1-1), in addition to the above-described devices, a strain gauge is installed at each joint of the body, and a bending angle is measured from a change in resistivity of the strain gauge. An exoskeleton device that moves according to the actual bending of the joint is installed in the joint, the actual bending angle is measured from the bending angle of the device, the method of detecting the posture by measuring the current flowing through the muscle, the electroencephalogram There is a method of inputting all the motions by directly inputting and analyzing it.

Next, FIG. 8 shows a detailed configuration of the information providing apparatus (1-2). In this system, the following devices are used as an information providing device for operators. First, as the image presentation device (1-2-1), a device as shown in FIG. 9 is used, which is attached to the head of a driver and displays different images for both eyes using a high-definition liquid crystal display. This device has a balancer in the rear part and is made to eliminate discomfort when worn. Further, as the display device, it is also possible to use a plasma type display, a cathode ray tube type display or the like. In addition, the audio output device (1-
As 2-2), a headphone is used in combination with the video presentation device as shown in FIG. Further, in order to present the touch feeling, the touch feeling presentation device (1-2-3) is used. FIG. 10 shows a detailed configuration of the touch feeling presentation device (1-2-3). In the present device, when the control means management device (6) outputs information that the operator's body is in contact with any object in the virtual space, the information is used as the contact position determination device (1-2.
3-1), and enter the database (1-2
-3-2) is used to determine which part of the operator's body the object is in contact with, based on the coordinates of the operator and the control target in the virtual space. Then, the corresponding projection control signal output device (1-2-3-3) outputs a control signal to the projection of the portion determined to be in contact with the object. In response to this signal, the contact feeling providing protrusion (1-2-3-4) projects to give the operator a contact feeling. FIG. 11 shows an overview of the protrusions (1-2-3-4) for providing a feeling of touch used in this device.
Further, when the contact feeling is provided, it is possible to present the cool feeling to the driver by giving the projection a cool feeling. Further, the joint angle control device (1-2-4) is used in order to give a feeling of grasping an object. Joint angle control device (1
-2-4) shows the detailed configuration of FIG. In this device, when the control means management device (6) outputs information that the operator is gripping some object in the virtual space, the information is used as the contact joint determination device (1-2-4-1). ) And using the determination method database (1-2-4-2), which joint of the operator's body the object is in contact with based on the coordinates of the operator and the controlled object in the virtual space. To judge. Then, how much the bending amount of the corresponding joint should be limited is calculated from the size of the grasped object using the joint angle limiting amount calculation device (1-2-4-3). Then, in order to limit the bending angle of the corresponding joint according to the calculation result, how much air is sent to the air tube (1-2-4-5) installed in each joint of the operator as shown in FIG. Is calculated using an air tube control signal calculation device (1-2-4-4). In response to this signal, the air tube (1-2-4-5) swells and limits the bending angle of the corresponding joint. The device (1
-2-3) and the device (1-2-4), it is possible to present a feeling of touching an object in a virtual space or a feeling of grasping a lever or the like. .

Next, FIG. 14 shows a detailed configuration of the operation real space reducing apparatus (1-3). In this device, the signals of the movement direction and the movement amount of the operator outputted from the control means management device (6) are used as the movement direction determination device (1-3-1) and the movement amount determination device (1-3-2). To enter. Then, based on these signals, the direction control signal output device (1-3-3) and the position movement control signal output device (1-3-4) cancel the movement of the operator in the virtual space in the real space. As described above, the belt conveyor (1-3-5) and the motor (1-3-6) installed as shown in FIG. Move in the opposite direction. By using this device, the size of the real space required for operating the plant can be reduced. In addition, in order to reduce the amount of movement in the real space, in addition to the method shown here, resistance is added to the movements of each joint of the operator to reduce the actual movement range. To support the operation by the operator, freely indicate the direction of movement while the operator is sitting in the chair, and use the muscle current or EEG to perform the operation while feeling as if it is moving It is also possible to use a method such as "set".

Next, the control means management device (6) will be described in detail. FIG. 16 shows the detailed configuration of the control means management device (6). First, in the input method selection device (6-1), an operation input method is selected. In this system, as the operation input method, "using a virtual control panel",
There are two patterns: "a control object is directly operated in a virtual space". FIG. 17 shows the detailed structure of the input method selection device (6-1). In this apparatus, the input method selection request recognition device (6-1-1) extracts the input method selection request from the normal operation input of the operator. The request from the operator in this case is made by inputting "select input method" by a voice signal. When the system recognizes the above request, the menu display device (6-1-2) uses the data in the database (6-1-3) to drive the menu as shown in FIG. 18 for selecting the input method. It appears in the virtual space on the side of the member. Then, the operator reads aloud the desired input method, touches the corresponding part of the menu in the virtual space, and sees the desired item on the menu by voice, "OK".
Input method is selected by inputting.
The selection result is judged by the selection result judgment device (6-1-4), and the information thereof is the input information management device (6-2), the provided information management device (6-3), the real space reduction information management device. It is output to (6-4). The input signal from the input / output interface (1) is input to the input information management device (6-
2) and is output to either the virtual model operating device (7) of the controlled object itself or the virtual control panel creating device (2) according to the selection result of the input method selection device (6-1). In addition, the information output from the virtual model operating device (7) of the controlled object itself and the virtual control panel creating device (2) is used for reducing the real space according to the provided information management device (6-3) according to the content of the information. Information is input to the information management device (6-4), and information from the selected input method is output to the input / output interface (1) according to the selection result of the input method selection device (6-1).

Next, the virtual control panel creation device (2) will be described in detail. FIG. 19 shows the detailed configuration of the virtual control panel creation device (2). In the virtual control panel creation device (2), the coordinates of the control panel and the operator in the virtual space are respectively assigned to the virtual control panel coordinate management device (2-1) and the virtual operator coordinate management device (2-
2) is used for management. That is, the device (2-2) records the position of the operator in the virtual space, the coordinates of all joints, and the directions of the hands, feet, etc., and the device (2-1) controls all the controls in the virtual space. The size, position, orientation, etc. of the panel and the coordinates of all devices and instruments are recorded. Then, when the coordinates of the operator's finger in the virtual space move so as to operate the device or instrument, the operation determination device (2-3) determines that the device or instrument has been operated. , The control information management device (3) and control means management device (6)
Output to. A detailed determination method in that case is shown in the flowchart of FIG. First, 50c from the coordinates of the operator's hand
It is determined whether or not there is a device (for example, a switch) within m (this numerical value is set arbitrarily). If the operator's finger touches the device, the information "the operator is touching the device" is output. Next, it is determined whether or not the state of the device has changed from that at the time of the previous sampling, and if the device, for example, the switch has changed from the previous on to the current off, the coordinate relationship between the operator's finger and the device. Identify the operation details. Then, the information "the operator is operating the device" is output. In this device, not only the information that the operator has operated the device but also the limbs and body of the operator touching the control panel, the device, and the instrument as shown in FIG. 20 are simultaneously determined. By using this information, the input / output interface (1) can present a sense of touch to the operator. Then, based on the information of the device (2-1) and the device (2-2), the computer graphic (CG of the virtual control panel viewed from the operator's point of view by using the virtual control panel image creating device (2-4). ) Create a video and output it to the control means management device (6). At that time, the device operated by the operator within the past 30 minutes is displayed in different colors. Further, a virtual operator image creation device (2) is used to generate a CG image of the operator's own hand or body that enters the operator's viewpoint and a CG image of the work situation of another operator.
-5), and synthesize with the image of the device (2-4). FIG. 21 shows an example of an image when performing work using this device.
Shown in. FIG. 21 shows the reactor core state (2-4-
1), switch (2-4-2), lever (2-4-
3), lever operation indicator light (2-4-4), graph (2-
4-5), the trend graph (2-4-6), and the operator's hand (2-5-1) are displayed. Furthermore, when the operator requests information by the method described below, the information is created using the operator request information image creation device (2-7), and the information is created in the virtual space on the operator's side as shown in FIG. To display. FIG. 22
Then, it indicates that the operator has requested the display of the trend graph (2-7-1). Furthermore, in this system, in addition to the operation method of actually performing an operation using the hand in the virtual space as described above, operation input using voice using the operator request input device (2-6), It is also possible to perform an operation input using the point of gaze, change the function of the virtual space, and request information required by the operator. Operator request input device (2-
The detailed configuration of 6) is shown in FIG. In this device, first, by using the special input selection recognition device (2-6-1), among the information input from the control means management device (6), inputs other than normal operation input (setting change menu) It is determined whether or not a call, a voice input, a gazing point input, a motion input other than device operation, and a required information request) have been performed. Specifically, the operator inputs voices such as "put out a menu", "start HPCI", "I want to see information of SR valve", etc. After specifying the combination of voice input and a certain device,
This is the operation input, such as moving a certain device to your side by raising only your right thumb and pointing it toward yourself. At this time, in order to determine whether these inputs are normal actions or conversations or special inputs, the history of the actions and conversations of the operator is stored in the database (2-6-2).
Management, and make that judgment by analyzing the data. If the content of the special input is to issue a menu for changing the setting, the menu display device (2-6
-3) is used to display a menu as shown in FIG. 24 in the virtual space on the operator's side. Then, the operator's special input including correspondence to this menu is performed by the voice input recognition device (2-6-4), the gazing point input device (2-6-5), and the motion input device (2-6-6). Recognize with. Then, in some cases, the operator's request is sent to the above-mentioned database (2-6-
2), the input information recognition device (2-
6-7) for identification. When the result is related to the operation of the device, the operation determination device (2-
3), information is output to the control information management device (3) in the case of a request for information, and virtual operator position changing device (2-) in the case of a setting change request of the virtual space.
8), information is output to the virtual control panel shape changing device (2-9) and the virtual control panel position changing device (2-10). The virtual operator position changing device (2-8) instantly changes the operator's coordinates in the virtual space in response to the operator's request. The destination is specified by voice such as "Move in front of main board", "Move 10 meters forward", "Move in front of shift manager", voice input "Move" while watching main board Then, there is a method of combining the gazing point and the voice, and so on. At this time, the operator in the virtual space can move through a control panel, a wall, or the like, or can stand still while floating in the air. The virtual control panel shape changing device (2-9) changes the shape, size, color, and function of the control panel and equipment in the virtual space. Specifically, the size of each device, instrument, and control panel should be about 10 times the size of the actual product, and the lever type of various switches should have a shape that is easy to operate, for example, as shown in FIG. The color of each device or instrument is changed to match the CG, and each function such as the information presentation method is changed to match the virtual space. Then, by recording the data of the virtual control panel for each operator, the control panel according to the preference of each operator is realized. FIG. 26 is a flow chart showing the method of changing the equipment and instrument at this time.
In FIG. 26, when the operator voice-inputs a change in the shape of a device or instrument, the system outputs a voice message "Please touch the device you want to change". When the operator touches the equipment to change, "size", "color", "shape", and function "
A menu such as is displayed, and the operator selects this menu to change the equipment and instruments. The virtual control panel position changing device (2-10) changes the position or orientation of the control panel or device in the virtual space, or temporarily erases the control panel or device from the virtual space. As a change method, you can enter the position change mode, hold the object you want to actually move in the virtual space, move it, and end the position change mode, such as "move the main board closer" There is a method such as specifying by voice.

Next, the control information management device (3) will be described in detail. The detailed configuration of the control information management device (3) is shown in FIG.
7 shows. In this system, a virtual control panel creation device (2)
The operation information thus obtained is input to the operation information input device (3-1), and the operation information is input to the plant control information creation device (3
-2) is used to convert into a plant control signal, which is output to the equipment operation information output device (5). Furthermore, in the present device, the operator request input device (3-3) is used to recognize the operator request obtained from the virtual control panel creation device (2), and the operator request information extraction device ( 3-4), the plant information obtained by the plant information extracting device (4) is extracted from the plant information requested by the operator and is output to the virtual control panel creating device (2). Further, the coordinates of the operator in the virtual space obtained from the operator coordinate management device (3-5), the utterance data of the operator obtained from the operator request input device (3-3), and the operation information input device (3- The operation status of the operator obtained from 1) is sent to the database of the system used by the other operator via the information communication device (8) with the other operator, and the information of the other operator is sent to the other operation. The coordinate management device (3-6) of another virtual operator and the operation status management device (3-) of another operator via the information communication device (8) with the operator.
7) Inputting using the conversation input device (3-8) of another operator, displaying the state of another operator who controls the same target in CG in the virtual space, or another operation The worker changes the color of the device being used, displays the device used by another operator in a different color, and has a conversation with another operator.

Next, the virtual model operating device (7) of the controlled object itself will be described in detail. FIG. 28 shows the detailed configuration of the virtual model operating device (7) of the controlled object itself. In this operation method, the control target itself (valves, piping, etc.) is constructed in a virtual space, and when an operator operates it in the virtual space (turns valves, replaces piping, etc.), the plant actually responds. The robot in the field performs the same operation as the operator and controls the target. Specifically, the virtual operator coordinate management device (7-1) and the virtual control target coordinate management device (7-
2) is used to manage the coordinates of the operator and the controlled object in the virtual space. Then, the information for actually controlling the robot is created by using the target control information creation device (7-3) by comparing the coordinates of the operator's hand or finger in the virtual space with the coordinates of the control target. . FIG. 29 shows a flowchart of the detailed information creating method. In FIG. 29, a control signal for controlling from the coordinates of the operator's body and limbs is created. Next, the device is 5 from the coordinates of the operator's hand.
It is determined whether or not it exists within 0 cm (arbitrarily set). If the device is within 50 cm, then it is determined whether the operator's finger is touching the device. If the operator's finger touches the device, the information "the operator is touching the device" is output. Here, in addition to creating the control signal, it is also possible to provide a touch feeling to the operator by determining whether or not the operator's finger touches the device. Further, by using the virtual operator image creating device (7-4) and the virtual control target image creating device (7-5), a CG image as shown in FIG. 30 of the virtual space viewed from the operator's viewpoint is created. And outputs it to the control means management device (6). In FIG. 30, the operator's hand (7-4-1), valve (7-5-1), pipe (7-5-2), control box (7-5-3), trend graph (7-). 5-4) is displayed. Further, the present apparatus uses the virtual operator position moving device (7-6) to move the position of the operator in the virtual space in an instant. At this time, only the place where the robot is in the actual plant can move instantly,
When the position movement of the operator is requested, the location of the robot that is not used by other operators at that time is given as a candidate, and by selecting one of them, the instantaneous movement is performed. . Further, when the robot moves inside the plant, the movement form of the robot is not exactly the same as the movement form of the human, and therefore it is a heavy burden on the operator to directly move the robot by the movement of the human. Therefore, when moving within the plant, a virtual vehicle that fits the movement form of the robot (a virtual motorcycle if the robot is a tire moving type, a virtual horse if the robot moves four legs, etc.)
Move as if you were riding. Therefore, a virtual vehicle is managed in the virtual space by using the virtual vehicle management device (7-7) and the virtual vehicle coordinate management device (7-8), and is set in the virtual space using the virtual vehicle. Move through the plant. In that case, for example, when using the virtual motorcycle shown in FIG. 31, movement is determined by the handle (7-7-1), speed is adjusted by the accelerator (7-7-2), and other reverse switches (7-7-) are used. 3) Specify the reverse drive, etc. These operating devices, switches, and the radar (7-7-4) that shows where you are in the entire plant image are placed on the virtual bike console (7-7-5) as shown in FIG. Has been done. In FIG. 31, (7-7-6) is a brake, and (7-7-7) is a speedometer. The situation of these virtual vehicles is expressed by CG by using the virtual vehicle image creating device (7-9) and is displayed by being superimposed on the image created by the device (7-5). .

Next, the plant information extracting device (4) will be described in detail. FIG. 32 shows the detailed configuration of the plant information extraction device (4). The current status of the plant is always recorded in the plant information database (4-5).
As the information of the plant information database (4-5),
All measurement signals of the plant and operating status of all equipment are recorded. First, all the measurement signals are sampled by the measurement signal monitoring device (4-1) every 0.1 seconds, and among those measurement signals, the measurement signal that has changed by 1% or more from the time of the previous sampling is Only the data extracted by the measurement signal extraction device (4-2) is rewritten in the plant information database. Unless otherwise specified, only the data is the control information management device (3) and the virtual model operation device of the control target itself. It is output to (7). In addition, the operation status of all devices is monitored every 0.1 seconds by the operation status monitoring device (4-3).
The equipment newly sampled by the operation status extraction device (4-4) after being sampled by the operation status extraction device (4-4) is rewritten in the plant information database, and is particularly requested. Unless there is, only that data is control information management device (3)
Is output to the virtual model operating device (7) of the controlled object itself. In the plant image input device (4-6),
Video from ITVs installed at various places in the plant is input and output to the control information management device (3).

Next, the device operation information output device (5) will be described in detail. The detailed configuration of the device operation information output device (5) is shown in FIG. This apparatus first inputs the target control signal output from the control information management apparatus (3) and the virtual model operating apparatus (7) of the controlled object itself to the abnormal work check apparatus (5-1). FIG. 34 shows the detailed configuration of the abnormal work check device. In this device, the target control signal output from the control information management device (3) and the virtual model operating device (7) of the controlled object itself is the control signal input device (5-1-).
Input by 1). Then, the signal is used by the control signal check device (5-1-2) using the data of the database (5-1-3) regarding the plant operation method and the plant information obtained from the plant information extraction device (4),
It is determined whether or not the operation can be performed on the current plant state. As a result, when it is determined that the operation is not to be performed, the information is returned to the control information management device (3) and the virtual model operation device (7) of the control target itself together with the reason for the determination, and the operator is notified to that effect. To display. The above determination is performed by dividing the state of the plant into some typical patterns, setting devices that should not be operated for each pattern, and checking whether or not they correspond. Next, the operation result prediction device (5-2) makes a check. The detailed configuration of the operation result prediction device (5-2) is shown in FIG. In this device, the control signal input device (5
-2-1), input the information of abnormal work check device (5-1), and the information and simulator database (5-
By using the data of 2-2) and the data of the current plant obtained from the plant information extraction device (4),
The simulator execution device (5-2-3) instantaneously simulates what state the control signal will be in when input to the plant. Then, the simulation result is compared with the database of the determination method (5-2
Using the data of 4), the simulation result determination device (5-2-5) determines. When it is determined that the control signal does not adversely affect the plant, the signal is output to the control signal determination device (5-2-6), and it is expected that the control signal will be adversely affected. In this case, the information is returned to the control information management device (3) and the virtual model operating device (7) of the controlled object itself together with the reason for the determination, and the fact is displayed to the operator. Then, the control signal determination device (5-
In 2-6), the control signal is output to either the plant control signal output device (5-3) or the robot control signal output device (5-4) according to the type of the control signal.

Next, an information communication device (8) with another operator.
Will be described in detail. In this device, as information of the operator, which virtual space, position and posture in the virtual space, operation state, conversation state, personal information (name, affiliation, etc.) of the operator, etc. are used by using an information network. Interact. Moreover, the plant is controlled from a remote place by using this network.

The present invention is applicable not only to the control of a nuclear power plant as described here, but also to other fields. Specifically, it includes control of other large-scale plants such as a thermal power plant, a hydroelectric power plant, a chemical plant, a steel plant, etc., as well as control of rockets and planetary exploration equipment.

[0019]

As described above, according to the present invention,
By changing the shape, location, interface, etc. of the control device according to the demands of the user of the device, and providing the same operation feeling as a large control device in a small space,
It is possible to obtain more effective work support for the user of the apparatus and reduction of the space occupied by the control apparatus.

[Brief description of drawings]

FIG. 1 shows a basic configuration of an embodiment of the present invention.

FIG. 2 shows a configuration of an embodiment of the present invention.

FIG. 3 shows a detailed configuration of an input / output interface.

FIG. 4 shows a detailed configuration of a motion input device.

FIG. 5 is a diagram illustrating a method of installing a motion input device.

FIG. 6 shows a structure of a magnetic sensor.

FIG. 7 is a diagram illustrating a method of measuring a bending angle using an optical fiber.

FIG. 8 shows a detailed configuration of an information providing device.

FIG. 9 shows a structure of a video presentation device.

FIG. 10 shows a detailed configuration of a touch feeling presentation device.

FIG. 11 shows a structure of a touch feeling presentation device.

FIG. 12 shows a detailed configuration of a joint angle limiting device.

FIG. 13 shows a structure of a joint bending angle limiting device.

FIG. 14 shows a detailed configuration of a real space reducing apparatus for operation.

FIG. 15 shows a structure of an operation real space reduction device.

FIG. 16 shows a detailed configuration of a control means management device.

FIG. 17 shows a detailed configuration of an input method selection device.

FIG. 18 shows a display example of an input method selection menu.

FIG. 19 shows a detailed configuration of a virtual control panel creation device.

FIG. 20 shows a flowchart of an operation determination method.

FIG. 21 shows a screen example of an operation using a virtual control panel.

FIG. 22 shows a display example of operator request information.

FIG. 23 shows a detailed configuration of an operator request input device.

FIG. 24 shows a display example of a setting change menu.

FIG. 25 shows an example of changing the shape of the lever.

FIG. 26 shows a flowchart of a method for changing equipment and instruments.

FIG. 27 shows a detailed structure of a control information management device.

FIG. 28 shows a detailed configuration of a virtual model operating device of a control target itself.

FIG. 29 shows a flowchart of a target control information creation method.

FIG. 30 shows a screen example of a direct device operation.

FIG. 31 shows an operation panel of the virtual bike.

FIG. 32 shows a detailed structure of the plant information extraction device.

FIG. 33 shows a detailed configuration of a device operation information output device.

FIG. 34 shows a detailed configuration of an abnormal work check device.

FIG. 35 shows a detailed configuration of the operation result prediction device.

[Explanation of symbols]

 1 I / O interface 2 Virtual control panel creation device 3 Control information management device 4 Plant information extraction device 5 Equipment operation information output device 6 Control means management device 7 Virtual model operation device of control target itself 8 Information communication device with other operators 9 robots

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Kazuhiko Ishii 5-2-1 Omika-cho, Hitachi City, Ibaraki Hitachi Ltd. Omika Plant, Ltd. (72) Inventor Shigeo Hashimoto 5-2-1 Omika-cho, Hitachi City, Ibaraki Prefecture No. 1 Omika Plant, Hitachi, Ltd. (72) Inventor, Hitoshi Fujihira 3-1-1, Sachimachi, Hitachi City, Ibaraki Prefecture Hitachi Co., Ltd., Hitachi, Ltd. (72) Shunsuke Tai, Sankocho, Hitachi City, Ibaraki Prefecture No. 1-1 No. 1 Hitachi Ltd. Hitachi factory

Claims (24)

[Claims] 1. A control device comprising an input / output interface, a virtual space providing device, a plant information extracting device, and a device operation information output device, and a virtual control panel for creating a virtual control panel as the virtual space providing device. A control characterized by having a creation device (first device) and a control information management device (second device) that outputs a control signal based on an operation signal of a virtual control panel, and performing control of a target with a virtual control panel. apparatus. 2. A control device comprising an input / output interface, a virtual space providing device, a plant information extracting device, and a device operation information outputting device, wherein the virtual space providing device is a first device, a second device and a control device. It has a virtual model operating device (third device) of the control target itself that outputs a control signal by operating the virtual model of the target itself, and controls the target with a virtual control panel. A control device characterized by performing a target operation on a model. 3. The first device or the third device according to claim 2.
A control device comprising a control means management device that selects any one of the devices and recognizes information of each device according to a selection result. 4. The first device according to claim 1, claim 2, or claim 3, wherein the first device constructs a virtual control panel in a virtual space, and means for providing information of the virtual control panel to a user. And a control device having means for operating a virtual control panel. 5. The apparatus according to claim 1, 2 or 3, wherein the second device includes means for inputting operation information of the virtual control panel, and a control signal for controlling an object based on the operation information. Control having a means for creating and outputting a control signal of a target, a means for inputting target information, and a means for outputting display information to be displayed on a virtual control panel from the input information apparatus. 6. The apparatus according to claim 1, claim 2 or claim 3, wherein the second device recognizes that a plurality of users control the same target using respective virtual spaces. A control device comprising means and means for displaying that the device is currently in use when another user tries to operate the device being operated by one user. 7. The device according to claim 1, 2, or 3, wherein the second device has means for displaying a state of another user who is simultaneously using the control target in a virtual space. A control device having. 8. The device according to claim 1, 2, or 3, wherein the second device has means for having a conversation with another user who is using the controlled object at the same time. Control device. 9. The method according to claim 2 or claim 3,
The apparatus comprises means for constructing a virtual model of the controlled object itself and a virtual user in a virtual space, means for providing the virtual model and information of the virtual user to the user, and operation of the virtual model by the virtual user. A control device comprising means for performing. 10. The device according to claim 9, wherein the third device is provided with means for constructing a virtual vehicle in the virtual space, and the user freely moves around in the virtual space while riding on the virtual vehicle. A control device characterized by directly operating an object. 11. The size, shape, color of all or part of a virtual object in a virtual space provided by the first device or the third device according to claim 1, claim 2, or claim 3. A control device having means for changing a function. 12. The moving panel, operating device, instrument, etc. in the virtual space provided by the first device or the third device according to claim 1, 2 or 3 for moving in the virtual space. A control device comprising: 13. The method according to claim 1, 2, or 3, wherein the orientation of an operation panel, an operating device, an instrument, etc. in a virtual space provided by the first device or the third device is changed in the virtual space. A control device comprising means for performing. 14. The display according to claim 1, 2 or 3, wherein the display of the operation panel, operation device, instrument, etc. in the virtual space provided by the first device or the third device is erased from the virtual space. A control device comprising means for performing. 15. The virtual device according to claim 1, claim 2 or claim 3, wherein the first device or the third device provides a means for inputting a user's request and necessary information according to the request. A control device having means for displaying in space. 16. The means for inputting an image of a real space to be controlled and the image on a virtual space provided by the first device or the third device according to claim 1, claim 2, or claim 3. A control device having means for displaying. 17. The size, shape, and color of a device or instrument operated by a virtual user in a virtual space provided by the first device or the third device according to claim 1, claim 2, or claim 3. A control device having means for changing the display and the like. 18. The input / output interface according to claim 1, wherein the input / output interface has means for inputting a motion of a user, and as the means, main rotation of a rotation axis of each joint of the body is performed. An optical cable that attenuates light by bending on the outer circumference of the direction was installed so as to reciprocate on the joint, and the light emitted from the return side of the optical cable when the joint was bent was input from the outward side. A means to measure the bending angle from the attenuation rate against light, a strain gauge is installed at each joint of the body, a means to measure the bending angle from the change in the resistivity of the strain gauge, and to the actual bending of each joint of the body An exoskeleton type means that moves in conjunction is installed, a means for measuring the actual bending angle of the joint from the bending angle of that means, magnetic sensors are installed in various parts of the body, and the position of each part of the body is determined from the information of the sensor. Means for detecting direction, A means to estimate the bending angle of the joint by measuring the muscle current flowing through each muscle that moves the joints of the body, a means to estimate the posture of the body by analyzing the electroencephalogram of the user, and the position of the pupil of the user At least one of the means for inputting and the means for inputting the voice of the user is used. 19. The input / output interface according to claim 1, claim 2 or claim 3, wherein the input / output interface has means for providing information to the user, and is installed as the means so as to cover the field of view of the user. Image presenting means, image presenting means installed so as to separately cover the visual fields of both eyes of the user, audio output means, means for limiting the movement of each joint of the body, means for giving a feeling of contact to the skin of the body A control device characterized by using at least one or more of means for giving a warm feeling and a cold feeling to the skin of the body. 20. The input / output interface according to claim 1, 2, or 3, wherein the input / output interface has means for reducing the size of the real space for control, and the user of the virtual space serves as the means. The means to move the floor in the direction opposite to the direction in which the user actually moved so as to cancel the amount of movement of the user, the means to add resistance to the movement of each joint of the user, and to reduce the actual movement range, the user To support the body in the air, to indicate the direction of movement while the user is sitting in a chair, and to feel as if they are actually moving by using electric currents and brain waves flowing through muscles A control device characterized by using at least one or more of means for performing an operation while operating. 21. The device operation information output device according to claim 1, wherein the device operation information output device uses the current information of the control target to determine whether or not the control target can be operated. A control device comprising means for rejecting the operation when it is determined that the operation should not be performed, and means for displaying that effect. 22. The device operation information output device according to claim 1, claim 2 or claim 3, and means for simulating what will happen to the controlled object currently under control by performing a certain operation, and the result thereof. A control device comprising means for rejecting an operation when it is determined that the operation adversely affects the controlled object, and means for displaying that effect. 23. The plant information extracting device according to claim 1, claim 2, or claim 3, when extracting information of a control target, extracts only information that has changed as compared with the time of the previous extraction. A control device comprising means. 24. The control device according to claim 1, 2 or 3, further comprising a device for controlling a controlled object from a remote place.