JPH08235973A - Remote control device - Google Patents

Abstract

PURPOSE: To enable operability by returning operating reaction force feeling as if an operator has an instrument to be operated with his hand and operate through an operating handle of a remote control operating part for remote controlling. CONSTITUTION: The rotating angle of an operating handle 15 is detected with encoders 17, 18. The rotating angles of a horizontal rotating axis 23 and a vertical rotating axis 6 of a spotlight 7 are detected with encoders 9, 10. A controller 19 decides a driving instruction value of each of motors 4, 8 in a lighting part 1 to move a spotlight 7 with desired driving force. A controller 20 drives motors 11, 16 with desired driving force to operate the operating handle 15. An operator M feels the driving force and has operating feeling as if he or she has operated directly the spotlight 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for remotely controlling the postures and directions of spotlights, cameras, etc. in arbitrary postures and directions in theaters, studios and the like.

[0002]

2. Description of the Related Art Conventionally, as a remote control device for remotely controlling the posture and direction of a spotlight and a camera in a theater or a concert hall to an arbitrary posture and direction, for example, a remote control device as disclosed in Japanese Patent Laid-Open No. 4-62702 is known. This illuminating device has an operation type illuminating device, in which the angle of a light installed at a remote place is operated by a wired or wireless remote control operation unit.

[0003]

However, in the above-mentioned conventional apparatus, the operator operates the switch of the remote control operation unit to change the angle of the light so that the operator or the like performing in the theater or concert hall stage. , When the spotlight is applied, there is a time delay between the switch operation of the remote control operation unit and the operation of the light.Therefore, the operator must operate the switch of the remote control operation unit in consideration of the delay. I have to. Such an operation is very stressful to the operator.

Also, since the operation reaction force for operating the illumination does not return to the operator, the operator cannot feel the operation of operating the light, which is also a point where the operability is poor. Furthermore, since the degree of freedom of operation of the remote control operation unit matches the degree of freedom of operation of the illumination unit, the relationship is clear when operating the illumination unit, so it is easy to operate. Since the positional relationship between the stage where the spotlight is desired to be applied and the remote control operation unit does not correspond, the operator must operate the switch of the remote control operation unit while predicting and adjusting the place where the spotlight is applied.

For example, when it is desired to apply a spotlight along a horizontal line on the stage using the lighting device shown in FIG.
The operator must adjust the horizontal rotation drive switch and the vertical rotation drive switch of the remote control operation unit. The above-mentioned problems are not limited to the remote control lighting device, but are common to a single remote control device that changes the posture and direction of the operated device by remote control.

The present invention has been made in view of the above problems, and an object of the present invention is to allow an operator to hold an operated device through an operator of a remote control operation unit for remote operation. An object of the present invention is to provide a remote control device having improved operability by returning an operation reaction force as if it is being operated. Another object of the present invention is to provide a remote control device in which the operability is further improved by allowing the operator to match the positional relationship in the direction indicated by the operated device with the positional relationship of the remote control operating unit.

[0007]

In order to achieve the above object, according to the invention of claim 1, a first position detector for detecting the direction of the operated device, the driven device is driven based on a driving force command value. And a second position detector for detecting the position of a manipulator operated by a person, and a second manipulator for driving the manipulator based on the driving force command value. An operating part having a drive device, an operated part control device that determines a driving force command value of the operated part drive device based on the direction of the operated device and the position of the operated device, the direction of the operated device, and the operating device. And an operation unit control device that determines a driving force command value of the operation unit drive device based on the position of.

A second aspect of the present invention is characterized in that, in the first aspect of the present invention, the operating portion has the same size as the operated portion and has the same shape or a reduced similar shape. Claim 3
According to the invention of claim 2, in the invention of claim 2, there is provided a control means for braking the operating element based on the drive command value of the operating portion. According to a fourth aspect of the present invention, in the first aspect of the present invention, an operating section having a force detector for detecting a force applied by a person to the operating element, and a driving force command value for the operated section drive device based on the detected force value. It is characterized by having a controlled device control device for determining.

According to a fifth aspect of the present invention, in the first aspect of the present invention, the operated portion having a force detector for detecting the force applied to the operated device and the force detector for detecting the force applied to the operated device. With the operated part, the position of the manipulator, the operated part control device that determines the operated value, the position of the manipulator and the attitude of the operated device, dimming, and the force detection value of the operating part and the operated part. It is characterized by having an operation section control device for determining a driving force command value of the operation section drive device based on the above.

According to a sixth aspect of the present invention, in the first aspect of the present invention, an operating section having a force detector for detecting a force applied by a person to the operator and a force detector for detecting a force applied to an operated device are provided. An operated part to have, an operated part control device that determines a driving force command value of the operated part drive device based on the position of the operator, the direction of the operated device, and the force detection value of the operating part and the operated part, It is characterized by having an operation unit control device that determines a driving force command value of the operation unit drive device based on the position of the operator, the direction of the operated device, and the force detection values of the operation unit and the operated unit.

According to a seventh aspect of the invention, in the first aspect of the invention, the force to be applied to the operated device is estimated from the position of the operator, the driving force command value of the operating portion drive device, and the previously assumed equation of motion of the operating portion. An external force estimator and an operated part control device that determines a driving force command value of the operated part drive device based on the estimated value. According to the invention of claim 8,
In the invention of claim 1, an external force estimator that estimates the force applied to the operated device from the direction of the operated device, the driving force command value of the operated part drive device, and a presumed motion equation of the operated part, It is characterized by having an operation section control device which determines a driving force command value of the operation section drive device based on the estimated value.

According to a ninth aspect of the present invention, the force applied by a person to the operating element is estimated from the position of the operating element, the driving force command value of the operating section driving device, and a previously assumed motion equation of the operating section in the first aspect of the invention. An external force estimator, an external force estimator that estimates the force applied to the operated device from the direction of the operated device, the driving force command value of the operated part drive device, and the previously assumed equation of motion of the operated part, and the operation Operating part control device that determines the driving force command value of the operated part drive device based on the position of the child, the direction of the operated device, and the estimated value of the operating part and the operated part, and the position of the operating part and the operated part It is characterized by having an operation section control device that determines a driving force command value of the operation section drive device based on the direction of the equipment and the force estimation values of the operation section and the operated section.

According to a tenth aspect of the present invention, in the first aspect of the present invention, a gravity compensator for determining a driving force command value for compensating the gravity of the operated device based on the direction of the operated device, and the driving force thereof. An adder for adding the command value and the driving force command value of the operated part determined by the operated part control device, and a drive device for driving the operated device based on the added driving force command value of the operated part It is characterized by having an operated part having.

According to an eleventh aspect of the present invention, in the first aspect of the present invention, based on the position of the device that moves within the operated device and changes the position of the center of gravity of the operated device, the object that occurs with the change in the position is generated. A non-linear compensator that determines a driving force command value for compensating for changes in inertia and gravity of operating equipment, and adds the driving force command value and the driving force command value of the operated part determined by the operated part control device. It is characterized by having an adder and an operated part having a drive device for driving the operated device based on the added driving force command value of the operated part. According to a twelfth aspect of the present invention, in the invention of the first aspect, a motion limit compensator for determining a driving force command value for decelerating the operated device based on the direction of the operated device, and the driving force command value and the operating force compensator. An operated device having an adder for adding the driving force command value of the operated part determined by the operating part control device and a drive device for driving the operated device based on the added driving force command value of the operated part It is characterized by having a part.

According to a thirteenth aspect of the present invention, in the first aspect of the present invention, a differentiator for differentiating the detected value in the direction of the operated device, a differentiator for further differentiating its output value, and the position detection of the operator. Differentiator for differentiating the value, differentiator for further differentiating the output value, and the driving force command value of the operating unit drive device for changing the apparent mass of the operator to the desired mass based on those output values And an operation unit control device for determining the drive force command value of the operation unit drive device for setting the apparent mass of the operator to the desired mass for the position of the operated device based on the output value. Section control device and an operated part control device that determines a driving force command value of the operated part drive device for causing the position of the operated device to follow the position of the operator based on the output value. To do.

According to a fourteenth aspect of the present invention, in the thirteenth aspect of the present invention, the operating portion drive device for adjusting the apparent viscosity coefficient of the operator to a desired viscosity coefficient based on the output value of each differentiator. It is characterized by having an operation unit control device for determining a driving force command value. According to a fifteenth aspect of the present invention, in the fourteenth aspect of the present invention, the driving force command value of the operating portion drive device for setting the apparent impedance of the operator to a desired impedance based on the output value of each differentiator is set. It is characterized by having an operation unit control device for determining.

According to a sixteenth aspect of the present invention, in the fifteenth aspect of the present invention, the operated device has a position detector for detecting the direction of the operated device and a drive device for driving the operated device based on the driving force command value. Section, an operation section having a position detector that detects the position of an operator operated by a person, a position coordinate converter that performs coordinate conversion between the operation section position coordinate system, and the operated section position coordinate system, The lighting unit control device determines a driving force command value of the operated unit driving device based on a position obtained by coordinate-converting the direction of the operated device and the position of the operator.

According to a seventeenth aspect of the present invention, in the sixteenth aspect of the present invention, the operating section having a drive device for driving the operating element based on the driving force command value, the position of the operating element and the direction of the operated device are set. It is characterized by having an operation unit control device that determines a driving force command value of the operation unit drive device based on the position after coordinate conversion. According to an eighteenth aspect of the present invention, in the sixteenth aspect of the present invention, a television camera for capturing an image of the stage in the direction indicated by the operated device, a television monitor for displaying the captured stage image, and a monitor screen. A light pen that determines the desired direction of the operated device by instructing the stage position, an image processor that reads the coordinates on the TV monitor instructed by the light pen, and the position coordinates on the monitor TV It has a position coordinate converter for converting position coordinates on the stage.

According to a nineteenth aspect of the present invention, in the sixteenth aspect of the present invention, a television camera for picking up an image of the stage in the direction indicated by the operated device and a stereoscopic body for displaying the picked-up stage image in a virtual space. Optic spectacles, a three-dimensional position detector for determining the direction of the desired operated device in the virtual space, and position coordinates for performing coordinate conversion between the position coordinates in the virtual space and the position coordinates in the real space. It is characterized by having a converter and an image converter for converting a stage image in a real space into a stage image in a virtual space.

According to the twentieth aspect of the present invention, the operated part capable of horizontally and vertically rotating the operated device and the stage surface in the direction indicated by the operated device are orthogonal to each other.
A two-dimensional plane consisting of axes and y axes, the height of the stage surface and the operated part is L, and the angle formed by the horizontal rotation of the operated part and the y axis set on the stage surface is the horizontal rotation of the operated part. An angle is defined as an angle, and the angle formed by the vertical rotation of the operated part and the stage surface is defined as the operated part vertical angle, and the operation is movable on a two-dimensional plane consisting of the X-axis and the Y-axis, which is the stage surface reduced by a predetermined factor. When the operation paper of the operation unit is moved to the XY plane, the horizontal rotation angle and the vertical rotation angle of the operated unit are determined, and the direction of the operated device is moved to each of the determined angles. It has an operated part control device for operating.

[0021]

According to the first aspect of the present invention, it becomes possible to operate the operated device while feeling the reaction force for operating the operated device despite the remote operation. Since the operation can be performed without predicting or adjusting the delay, it is possible to realize a device with less fatigue during the operation.

According to the second aspect of the present invention, the correspondence between the positions of the operated portion and the operating portion is clarified, the direction indicated by the operated device is easy to understand, the operability is improved, and the actual operated portion is improved. Compared with the above, since the operation part can be configured except for the part related to the direction, the operation part can be made lighter in weight than the operated part, whereby the force for moving the operated device in the desired direction can be obtained. Since it can be small, operability is improved.

According to the third aspect of the present invention, the operator generates only a resistance force to the movement of the operator, and the operator does not drive or operate even if the operating section control device or the like runs out of control. It is safe against. According to the invention of claim 4, it is possible to drive the operated device by the force that the operator has applied to the operator to increase or decrease the force, and regardless of the size of the operated device to be remotely operated, The operator can operate with an appropriate operating force, and when remotely operating two operated devices of different sizes with the left and right hands, the two operated devices can be operated with the same operational feeling. .

According to the fifth aspect of the invention, the force at which the operated device collides with an obstacle at the time of remote control or the force suitable for the mechanical stopper or the like at the operating limit of the operated device is detected, and the force is expanded or reduced. By returning the generated force to the operator via the operator, the operator can instantly feel the coarseness of the values, and the operability is improved. According to the invention of claim 6,
The relationship between the operator and the operated device can be connected by using the position and force, and therefore the position and the force between the operator and the operated device which are not actually connected by hardware can be transmitted. It becomes possible, and as a result, operability is improved.

According to the seventh aspect of the present invention, the operated device is driven by a force obtained by expanding or reducing the force applied to the operator by a person without using a force detector for detecting the force applied to the operator. Therefore, the operator can operate with an appropriate operating force regardless of the size of the operated device to be remotely operated. According to the invention of claim 8,
Without using a force detector that detects the force applied to the operated device, it detects the force that the operated device collides with an obstacle during remote operation or the force that hits a mechanical stopper at the operating limit, and expands that force. Alternatively, by returning the reduced force to the operator via the operator, the operator can instantly feel the coarseness of the values, and the operability is improved.

According to the invention of claim 9, the force detector for detecting the force applied to the operator and the force detector for detecting the force applied to the operated device are not used, and the operator and the operated device are not in contact with each other. The relationship between them can be connected using position and force, so that the operator and the operated device, which are not actually connected by hardware, are connected as if by hardware, and as a result, Since it is possible to accurately transmit the position and force between the operator and the operated device, the operability is improved.

According to the tenth aspect of the present invention, when the posture of the operated device is kept constant, the change of the force generated by the gravity of the operated device on the drive shaft or the force generated by the moving direction is changed.
It is possible to compensate for canceling in advance, and it becomes possible to make the operating force constant when operating the operated device, regardless of the posture of the operated device or vertical or horizontal driving,
Operability is improved.

According to the eleventh aspect of the present invention, the inertial force and the gravitational force of the operated device caused by the mass or the inertial force of the focusing device or the like that moves within the operated device to adjust the focusing device or the like of the operated device. It is possible to compensate so as to cancel the change in advance, and it is possible to make the operating force constant when operating the operated device with the same acceleration / deceleration regardless of the position of the focus device etc., and improve operability. .

According to the twelfth aspect of the present invention, the operated device is decelerated and stopped in the vicinity of the operation limit of the operated device regardless of the movement of the manipulator. It can be operated safely without causing damage to the operated device by colliding it with a mechanical stopper or the like at high speed. According to the thirteenth aspect of the present invention, the mass of the operated device can be apparently lightened, so that the operated device can be operated with a small force, and the operated device can be operated according to the operator or the operated device. The mass of can be set to any value.

According to the fourteenth aspect of the present invention, since the high frequency vibration of the operator generated when the operator operates the operator is not transmitted to the operated equipment, the operated equipment due to the operation shake of the operator or the like. It is possible to eliminate minute vibration in the direction indicated by. According to the fifteenth aspect of the present invention, it is possible to realize a state in which the relationship between the operator and the operated device is connected by an arbitrary mechanical relationship by the control device, and the devices connected by the relationship are operated. It is possible to obtain a feel, and it is possible to realize an arbitrary operation feeling according to the operator.

According to the sixteenth aspect of the present invention, the position coordinate system of the operating portion and the position coordinate system of the stage are the same regardless of the location and the degree of freedom of the drive shaft of the drive device of the operated device.
The operation when the direction indicated by the operated device is desired to be directed to a desired position on the stage becomes very easy to understand. According to the seventeenth aspect of the present invention, it becomes very easy to understand the operation when the operator wants to direct the operated device to the desired position on the stage.
Since it is possible to remotely operate the operated device while feeling the anti-complementary operation of operating the operated device, the operability is greatly improved.

According to the eighteenth aspect of the present invention, while the operator watches the stage in the direction in which the operator wants to show the operated device on the monitor screen, the operator sets the operation in the direction in which the operator wants to show the operated device. It is possible to improve the operability. According to the nineteenth aspect of the invention, the stage in the three-dimensional space requiring two operations, that is, the operation in which the operator wants to show the operated device and the operation of the focus device in the operated device, is performed through the stereoscopic glasses. It is possible to set a desired focus in a desired direction of the operated device in the same three-dimensional space while looking at it, and it is possible to further improve the operability.

According to the twentieth aspect of the present invention, the position coordinate system of the operation unit and the position coordinate system of the stage in the direction in which the operator wants to direct the operated device can be accurately matched, and the position coordinate system on the stage can be accurately matched. The accuracy of irradiating the light to the desired position is improved.

[0034]

Embodiments of the present invention will be described below with reference to the drawings. (Embodiment 1) FIG. 1 shows the overall configuration of Embodiment 1 of the present invention. The remote operation device of this embodiment comprises an illumination unit 1 which is a controlled device, a control unit 2 and an operation unit 3. Divided into three large parts.

As shown in FIGS. 2 (a) and 2 (b), the lighting unit 1 has a central upper surface fixed to the lower end of a horizontal rotary shaft 23 that is horizontally rotated by a horizontal rotary motor 4 arranged on a ceiling surface X. And a horizontally rotating support frame 5 and a spotlight 7 in which both ends of a vertical rotation shaft 6 projecting from both side surfaces are vertically rotatably supported by both legs of a downwardly U-shaped support frame 5.
A vertical rotation motor 8 disposed on the outer surface of one leg of the support frame 5 and connected to the vertical rotation shaft 6 on one side to drive the vertical rotation shaft 6 to rotate vertically; and a vertical direction of the spotlight 7. Encoders 9 and 10 for respectively detecting the horizontal direction
Composed of and.

As shown in FIGS. 3 (a) and 3 (b), the operating portion 3 has a bottom surface with a top end of a horizontal rotation shaft 12 connected to a horizontal rotation motor 11 arranged on a fixed base Y such as a table. An upwardly U-shaped support frame 13 that is fixed and horizontally rotatable
A vertical rotary shaft 14 vertically rotatably supported between both side legs of the support frame 13, an operator 15 having a lower end fixed to the vertical rotary shaft 14, and an outside of one side leg of the support frame 13. A vertical rotation motor 16 that is arranged to drive the vertical rotation shaft 6 to rotate vertically, and encoders 17 and 18 that detect the vertical direction and the horizontal direction of the operator 15, respectively.

The control unit 2 includes the encoders 9 of the illumination unit 1,
A control device 19 for the operated part, which determines the direction of the spotlight 7 based on the detection signal from the driving device 10 to determine the driving force command value of the motors 4, 8, and the encoder 17 of the operating part 3,
A controller 20 for an operator that determines the direction of the operator 15 based on a detection signal from 18 and determines a driving force command value for the motors 11 and 16.

Here, the spotlight 7 and the operator 15 correspond to horizontal rotation and vertical rotation, respectively. FIG.
2 shows a circuit block of the control unit 2 of the present embodiment, and each control device 19 and 20 is provided with drive circuits 21, 22 and 26, 27 for driving the corresponding motors 4, 8 and 11, 16 respectively. , A calculator 24 for calculating the difference between the detected angles of the encoders 9 and 17 corresponding to the vertical rotation of the operating portion 3 in order to give a driving force command value to these drive circuits 21, 22 and 26 and 27, and a horizontal rotation And a calculator 25 that calculates the difference between the detected angles of the encoders 10 and 18.

Then, the control unit 2 performs the following control based on the flow chart shown in FIG. That is, the operator M
In order to orient the spotlight 7 in a desired direction, a force is applied to the operator 15 held in the hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The rotation angles of the horizontal rotary shaft 12 and the vertical rotary shaft 14 of the operator 15 at that time are detected by the encoders 17 and 18 described above.
At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12, 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. Here, the control device 19 uses the control gains G ₁ and G ₂ that are preset so that the difference between the rotation angles becomes zero, and the motors 4 and 8 of the illumination unit 1 are used.
Driving force command value is determined and sent to the drive circuits 21 and 22, and in the drive circuits 21 and 22, a motor current for generating the torque of the driving force command value is given to the motors 4 and 8 to rotate the rotary shafts 23, A desired driving force is applied to 6 to rotate the spotlight 7 through the rotary shafts 23 and 6, and the irradiation direction of the spotlight 7 is changed.

Similarly to the control device 19, the control device 20 uses the control gains G ₃ and G ₄ which are preset so that the difference between the detected rotation angles becomes zero. Determine the driving force command value and drive circuits 26, 2
7 and sends the motor current for generating the torque of the driving force command value in the drive circuits 26 and 27 to the motor 1
No. 1 and 16 are applied to the rotary shafts 12 and 14, and a desired driving force is applied to the rotary shafts 12 and 14 to transmit the driving force to the operator 15. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7.

(Embodiment 2) The difference between Embodiment 1 and Embodiment 1 is the configuration of the operation unit 3, and FIGS. 6 (a) and 6 (b) show the operation unit 3 of this embodiment. That is, in the present embodiment, the operation unit 3 is mounted with the horizontal rotation motor 11 on the inverted L-shaped angle 28 fixed to the fixed base Y such as a table, and the encoder 18 for detecting the horizontal rotation angle. Further, one leg of the support frame 13 fixed to the horizontal rotation shaft 12 that is horizontally rotated by the horizontal rotation motor 11 is provided with a vertical rotation shaft 14 that can be vertically rotated, and the vertical rotation shaft 14 has an operator. I have attached 15. In order to drive this operator 15 to rotate vertically, a motor 16 for vertical rotation is attached to the support frame 13, and an encoder 17 is used to detect the vertical rotation angle.
Is attached. Therefore, the operator 15 is the fixed base Y
Therefore, it is installed so that it can rotate horizontally and vertically.

The operating element 15 is made substantially the same size as the spotlight 7, and the distance between the operating element 15 and the horizontal rotating shaft 12 and the vertical rotating shaft 14 is also the same as that of the illumination unit 1. The operator M operates with the operator M, but since the operation unit 3 can be made lighter than the illumination unit 1 (because there is no lens or focus device), the operation unit 3 can be operated with the illumination unit 1. Also, it is easy to operate, and an operation feeling as if actually operating with the spotlight 7 is obtained.

Further, the size of the operating part 3 and the size of the illuminating part 1 are similar to each other. For example, by making the operating part 3 smaller, the weight can be reduced and the operability can be improved. The system configuration is the same as that of the first embodiment except for the configuration of the operation unit 3, and the operation flow thereof is also the same as that of the first embodiment, and the description thereof will be omitted.

(Embodiment 3) The difference of Embodiment 3 from Embodiment 1 is the configuration of the operation unit 3, and FIGS. 7A and 7B show the operation unit 3 of this embodiment. That is, in the present embodiment, the operation unit 3 has the fixed base Y and the braking brake 30 which is an electromagnetic brake.
The horizontal rotary shaft 12 provided with is attached so as to be horizontally rotatable, and the encoder 18 for detecting the rotation angle of the horizontal rotary shaft 12 is attached. Further, on one leg of the support frame 13 fixed to the horizontal rotary shaft 12, a vertical rotary shaft 14 capable of vertical rotation, and a braking brake 31 composed of an electromagnetic brake for braking the rotation of the vertical rotary shaft 14 are provided. , An encoder 1 for detecting the vertical rotation angle of the vertical rotation shaft 14
I have attached 7.

The braking brake 31 (30) is provided with a friction plate 33 via a spring 29 on a disc 32 integrally formed at one end of the vertical rotation shaft 14 (horizontal rotation shaft 12) as shown in the figure. Electromagnet 3 so as to face plate 33
4 is arranged, and an exciting current is caused to flow through the electromagnet 34 to generate an attractive force, thereby forming a friction plate 33 made of a magnetic plate.
Is attracted to the electromagnet 34 to generate a frictional force between the two, thereby braking the rotation of the vertical rotary shaft 14 (horizontal rotary shaft 12). The frictional force between the friction plate 33 and the electromagnet 34 can be controlled by the size, and the resistance force generated in the operating element 15 can be changed by this control.

The operation of this embodiment is substantially the same as that of the first embodiment. However, in the first embodiment, the controller 20 of the control unit 2 determines the driving force command values for the motors 11 and 16. In the example, a braking torque command value for generating the braking torque of each of the brakes 30 and 31 is determined, a braking torque composed of frictional resistance is generated based on the driving force command value, and the operator M feels a resistance force. I am trying.

Reference numeral 35 in the drawing denotes a ball bearing which is a bearing of the vertical rotary shaft 14. (Embodiment 4) The difference from Embodiment 1 of the present embodiment is the operation unit 3
8 shows the operation unit 3 of the present embodiment. That is, the operation unit 3 of this embodiment mechanically operates in the first embodiment shown in FIG.
The positions of the operation unit 3, the vertical rotation motor 16 and the encoder 17 are opposite to each other in the front and rear, but they have substantially the same mechanism as in the first embodiment. In this embodiment, the operator 15
As shown in FIG. 9, the strain gauge 36
A and 36B are attached. Each strain gauge 36A, 36
The output of B is taken into the dynamic strain meter 38 via the bridge circuit 37, and the dynamic strain meter 38 causes the shaft portion 1 of the operator 15 to move.
The force applied to 5a, that is, the force applied to the operator 15 by the operator M can be detected. In this device, the shearing force a of the shaft portion 15a obtained by the connection of the bridge circuit 37 is a force applied in the vertical rotation direction, and the twisting force b of the shaft portion 15a is a force applied in the horizontal rotation direction. is there. Here, both the spotlight 7 of the illuminating unit 1 and the operator 15 of the operating unit 3 can rotate horizontally and vertically, and each rotation corresponds to the same as in the first embodiment.

FIG. 10 shows the circuit configuration of this embodiment, and FIG.
1 shows a flowchart of the operation of the present embodiment, and the operation of the present embodiment will be described below with reference to these drawings. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The horizontal rotary shaft 12 and the vertical rotary shaft 1 of the operator 15 at that time
The rotation angle of No. 4 is detected by the encoders 17 and 18, and the shearing force and the torsional force are detected by the dynamic strain gauge 38 of the operating section 3 for detecting the horizontal rotary shaft force detector 38A and the vertical rotary shaft force detector 38B. To detect. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12 and 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. On the other hand, the control device 19 is based on the force detection values from the horizontal rotary shaft force detector 38A and the vertical rotary shaft force detector 38B configured by the dynamic strain gauge 38 of the operation unit 3.
Then, a driving force command value is created by the predetermined control gains G ₁ and G ₂ so that a driving force which is several times the force detection value is obtained, and is given to the drive circuits 21 and 22. Drive circuit 21, 2
2 drives the spotlight 7 by supplying a motor current to the motors 4 and 8 of the illumination unit 1 based on the given driving force command value to generate a desired driving torque on the rotary shafts 23 and 6, Change the irradiation direction of the light 7.

On the other hand, in the controller 20, as in the first embodiment, the control gains G ₃ and G preset so that the difference between the detected rotation angles of the encoders 10, 18 and 9, 17 are zero.
₄ is used to determine the driving force command value for each of the motors 11 and 16 of the operation unit 3 and to send them to the drive circuits 26 and 27. In the drive circuits 26 and 27, the motor current for generating the torque of the driving force command value is determined. Is applied to the motors 11 and 16, and a desired driving force is applied to the rotary shafts 12 and 14 to transmit the driving force to the operating element 15. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7.

As a method of determining the driving force command value based on the force detection value as described above, the spotlight 7 of the illumination unit 1 is actually used by multiplying the force detection value by several times to obtain the driving force command value. It becomes possible to operate with a force smaller than the operating force, and the operability for the spotlight 7 is improved. Also, when operating spotlights of different sizes with the left and right hands respectively, by multiplying the force detection value by several times in proportion to the size and setting it as the driving force command value, the same regardless of the size of the spotlight. It is possible to operate lights of different sizes with a sense of operation.

(Embodiment 5) In this embodiment, in the structure of the illumination unit 1, as shown in FIG. 12 and FIG.
The strain gauges 39a and 39b are attached to the vertical rotation shaft 6 to detect the twisting force of the horizontal rotation shaft 23 and the vertical rotation shaft 6, which is different from the illumination unit 1 according to the first embodiment. Is in accordance with Example 1. The detection outputs of the strain gauges 39a and 39b are taken into the dynamic strain gauge 41 via the bridge circuit 40, and the force detection value as the torsion torque is output. Here, the spotlight 7 of the illumination unit 1 and the operator 1 of the operation unit 3
Both 5 are capable of horizontal rotation and vertical rotation, and the respective rotations correspond to each other as in the first embodiment.

FIG. 14 shows the circuit configuration of this embodiment, which is shown in FIG.
5 shows a flowchart of the operation of this embodiment, and the operation of this embodiment will be described below with reference to these figures. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The horizontal rotary shaft 12 and the vertical rotary shaft 1 of the operator 15 at that time
The rotation angle of 4 is detected by the encoders 17 and 18 described above. At the same time, the horizontal rotation axis 23 of the spotlight 7
And the rotation angle of the vertical rotation shaft 6 is detected by the encoders 9 and 10.

Next, the detected rotary shafts 12 and 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. Here, the control device 19 of the control unit 2
Then, as in the first embodiment, the encoders 10, 18 and 9,
Using the control gains G ₁ and G ₂ preset so that the difference between the detected rotation angles of 17 becomes zero, the drive force command values of the motors 4 and 8 of the illumination unit 1 are determined to determine the drive circuits 21 and 2.
2, the drive circuits 21 and 22 apply a motor current for generating the torque of the drive force command value to the motors 4 and 8, and apply a desired drive force to the rotary shafts 12 and 16 to drive the spotlight 7. It is driven to change the irradiation direction of the spotlight 7.

On the other hand, the horizontal rotational axial force detector 41A and the vertical rotational axial force detector 4 constituted by the dynamic strain gauge 41 of the illumination unit 1 are arranged.
Based on the force detection value from 1B, the control device 20 creates the drive force command value by the predetermined control gains G ₃ and G ₄ so that the drive force of several times the force detection value is obtained, and the drive circuits 26 and 27 are generated. Give to. The drive circuits 26 and 27 give motor currents for generating the torque of the driving force command value to the motors 11 and 16 based on the given driving force command value,
A desired driving force is applied to each of the rotary shafts 12 and 14, and the operator 15
Drive force to. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7. Further, the operator M can instantly feel the force with which the spotlight 7 of the illumination unit 1 collides with an obstacle or collides with a mechanical stopper at the operation limit.

(Embodiment 6) In this embodiment, as shown in FIG. 16, the operation portion 3 of the embodiment 5 and the illumination portion 1 of the embodiment 5 are used. The calculator 42 calculates the difference between the force detection values of the horizontal rotation axis force detectors 38A and 41A, and the calculation unit 43 calculates the difference between the force detection values of both the vertical rotation axis force detectors 38B and 41B. .

Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. Operator 15 at that time
The rotation angles of the horizontal rotary shaft 12 and the vertical rotary shaft 14 are detected by the encoders 17 and 18, and the twist gauges in the horizontal and vertical rotary directions due to the force applied to the operator 15 by the operator M are strain gauges 36a and 36b. And the force detection value is obtained. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10, and the strain gauges 39a,
At 39b, the torsion torques in the horizontal and vertical rotation directions due to the forces applied to the horizontal rotary shaft 23 and the vertical rotary shaft 6 are detected, and the force detection value is obtained.

Next, the detected rotary shafts 12, 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. Further, the difference between the force detection values of the horizontal rotational axis force detectors 38A and 41A of the respective dynamic strain gauges 38 and 41 is obtained by the calculator 42, and the vertical rotational axis force detectors 38B and 41B of both vertical rotational axis force detectors are also obtained.
The difference in the force detection value of is calculated by the calculator 43.

Here, in the control device 19, the computing units 24 and 25
, And the driving force command values for the motors 4 and 8 of the illumination unit 1 using the control gains G ₁ and G ₂ that are preset so that the difference between the angles and the difference between the torsional torques obtained by 42 and 43 become zero. Is determined and sent to the drive circuits 21 and 22, and the drive circuits 21 and 22 provide the motor currents for generating the torque of the drive force command value to the motors 4 and 8 to drive the rotary shafts 23 and 6 to the desired drive. The spotlight 7 is driven by applying force to change the irradiation direction of the spotlight 7.

Similarly, in the control device 20, the arithmetic units 24, 25
, 42 and 43, the driving force command values of the motors 11 and 16 of the operating section 3 are set by using the control gains G ₃ and G ₄ which are preset so that the difference between the angles and the difference between the torsional torques are zero. Is set to the drive circuits 26 and 27, and the motor currents for generating the torque of the drive force command value are set to the motors 11 and 1 in the drive circuits 26 and 27.
6, the desired driving force is applied to each of the rotary shafts 12 and 14, and the driving force is transmitted to the operator 15. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7.

As described above, in the present embodiment, the relationship between the operator 15 and the spotlight 7 is not actually connected by hardware, but is connected by software by using the rotation angle and the force. As a result, the spotlights 7 can be connected to each other in terms of hardware, and the remote controllability of the spotlights 7 is significantly improved. (Embodiment 7) In this embodiment, the illumination unit 1 and the operation unit 3 are configured in the same manner as in Embodiment 1, but the external force applied to the operation element 15 by the control unit 2 is estimated as shown in FIG. Horizontal rotation axis external force estimator 44A and vertical rotation axis external force estimator 44
The difference from the first embodiment is that B is provided.

The external force estimators 44A and 44B are operated by the operator 1.
The force applied to 5 is set by assuming a physical model such as each force, torque, and movement angle, and a motion equation is set up and estimated from the motion equation. As shown in FIG.
Is composed of a moment of inertia Mm, a viscosity coefficient Dm, a spring constant Km, and a frictional force fm around the vertical rotation axis 14.
The operator angle is θm, and the drive torque by the motor 16 is T
If m is the force applied to the operator 15 by the operator M, and Lm is the distance from the center of rotation to the point where the force Fm is applied, then the relationship between them is as shown in FIG.

[0064]

[Equation 1]

Further, the moment of inertia Mm, the viscosity coefficient Dm,
The spring constant Km, the frictional force fm, and the distance Lm from the center of rotation to the point to which the force Fm is applied can be obtained by measuring in advance. Therefore, in the formula (1), the force Fm other than the force Fm applied to the operator 15 by the operator M is obtained, and the force Fm can be estimated (calculated) from those values. Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG.

First, in order for the operator M to turn the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved.
To move. Horizontal rotary shaft 12 of operator 15 at that time
And the rotation angle of the vertical rotation shaft 14 is determined by the encoder 1 described above.
7 and 18 detect. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12, 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. Further, as described above, the equation (1) and the operator angle θm, the driving torque Tm by the motor 16,
The force Fm applied to the operator by the operator M is estimated by the external force estimators 44A and 44B from the moment of inertia Mm, the viscosity coefficient Dm, the spring constant Km, the frictional force fm, and the distance Lm from the center of rotation to the point where the force Fm is applied. To do.

Here, in the control device 20, the arithmetic units 24, 25
Using the control gains G ₃ and G ₄ which are preset so that the difference between the angles obtained in step S1 becomes zero,
16 drive force command values are determined and drive circuits 26, 27
Give to. The drive circuits 26 and 27 supply the motor current for generating the torque of the driving force command value to the motors 11 and 16 respectively.
The driving force to the rotary shafts 12 and 14
The driving force is transmitted to 5. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7.

In the controller 19, the external force estimator 44 is used.
The drive force command value is determined based on the estimated values of A and 44b and sent to the drive circuits 21 and 22,
In 2, the motor current for generating the torque of the driving force command value is applied to the motors 4 and 8, and the desired driving force is applied to the rotary shafts 23 and 6, to drive the spotlight 7 and irradiate the spotlight 7. Change direction.

Here, as a method for determining the driving force command value, the estimated force value is multiplied by several times to obtain the driving force command value, so that the spotlight 7 of the illumination unit 1 is operated with a force smaller than that for operating the spotlight 7. Spotlight 7
The operability for is improved. Also, when operating the spotlights of different sizes with the left and right hands respectively, by multiplying the estimated value of the force in proportion to the size and using it as the driving force command value, regardless of the size of the spotlight, It is possible to operate lights of different sizes with the same operation feeling. By estimating the force in this way, the spotlight 7 can be operated by the force that the operator M has expanded or reduced without using a force detector.

(Embodiment 8) In this embodiment, the configuration of the illumination unit 1 and the operation unit 3 is the same as that of Embodiment 1, but FIG.
As shown in FIG.
The present embodiment is different from the first embodiment in that a horizontal rotation axis external force estimator 45A and a vertical rotation axis external force estimator 45B that estimate the external force applied to the axis are provided.

Each external force estimator 45A, 45B estimates the force applied to the spotlight 7 from each force, torque, physical model such as moving angle, and equation of motion. As shown in FIG. The spotlight 7 is composed of an inertia moment Ms, a viscosity coefficient Ds, a spring constant Ks, and a frictional force fs about the vertical rotation axis 6, and the light angle is θ.
Let s be Ts, the driving torque by the motor 8 be Ts, and let Fs be the torque about the vertical rotation axis generated by the force applied to the spotlight 7 by an obstacle or the like.

[0073]

[Equation 2]

Further, the moment of inertia Ms, the viscosity coefficient Ds,
The spring constant Ks and the frictional force fs can be obtained by measuring in advance. Therefore, in the equation (2), the torque Fs other than the torque Fs around the vertical rotation axis generated by the force applied to the spotlight 7 by the obstacle or the like can be obtained, and the torque Fs can be estimated (calculated) from those values. Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG.

First, in order for the operator M to turn the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved.
To move. Horizontal rotary shaft 12 of operator 15 at that time
And the rotation angle of the vertical rotation shaft 14 is determined by the encoder 1 described above.
7 and 18 detect. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12, 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. Further, as described above, the equation (2) and the light angle θs, the driving torque Ts by the motor 8, the moment of inertia Ms, the viscosity coefficient Ds, the spring constant Ks, the friction force fs, and the vertical force generated by the force applied to the spotlight 7 cause obstacles. The external force estimator 4 calculates the torque Fs around the rotation axis.
Estimate at 5A and 45B.

Here, in the control unit 19, the arithmetic units 24 and 25
Using the control gains G ₁ and G ₂ which are preset so that the difference between the angles obtained in step 1 is zero, the motors 4 and 8 of the illumination unit 1 are
Driving force command value is determined and given to the drive circuits 21 and 22. The drive circuits 21 and 22 give motor currents for generating the torque of the driving force command value to the motors 4 and 8,
A desired driving force is applied to each of the rotary shafts 23 and 6 to drive the spotlight 7, and the irradiation direction of the spotlight 7 is changed.

In the controller 20, the external force estimator 45 is used.
The drive force command value is determined based on the estimated values of A and 45B, and the drive force command value is sent to the drive circuits 26 and 27.
7, the motor current for generating the torque of the driving force command value is made to flow through the motors 11 and 17 of the operation unit 3 to be driven, and the driving force is transmitted to the manipulator 15 through the respective rotary shafts 12 and 14, and the operator M Feels that power and feels as if he / she is operating the spotlight 7.

As described above, as a method for determining the driving force command value, the force estimated value is multiplied by several times to obtain the driving force command value, whereby the force applied by the obstacle or the like to the spotlight 7 can be obtained without using a force detector. The torque Fs about the vertical rotation axis generated by the above can be obtained, and the operator M feels the force applied to the spotlight 7 instantly by determining the driving force command value of the operator 15 based on the estimated value. It will be.

(Embodiment 9) This embodiment is an embodiment in which Embodiment 7 and Embodiment 8 are combined as shown in FIG. 26, and the controller 2 is provided with external force estimators 44A, 44B, 45A and 45B. There are some differences from these Examples 7 and 8. Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG.

First, in order for the operator M to turn the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand, and the operator 15 is moved in the direction in which the spotlight 7 is desired to be moved.
To move. Horizontal rotary shaft 12 of operator 15 at that time
And the rotation angle of the vertical rotation shaft 14 is determined by the encoder 1 described above.
7 and 18 detect. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12 and 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. Further, as in the seventh and eighth embodiments, the respective forces estimated by the respective external force estimators 44A, 44B, 45A, 45B are also calculated by the arithmetic units 46, 47 of the control unit 2. That is, the difference between the estimated vertical rotation force of the spotlight 7 and the estimated vertical rotation force of the operator 15 is calculated by the calculation unit 46 as the calculation unit 4
At 7, the difference between the estimated horizontal rotation force of the spotlight 7 and the estimated horizontal rotation force of the operator 15 is calculated.

Here, in the control device 19, the computing units 24 and 25
The driving force command value of each motor 4, 8 of the illumination unit 1 is determined by using the control gains G ₁ and G ₂ which are set in advance so that the difference in the angle and the difference in the estimated force obtained in step 1 are both zero. It is given to the drive circuits 21 and 22. The drive circuits 21 and 22 apply a motor current for generating a torque of a drive force command value to the motors 4 and 8 to apply a desired drive force to the rotary shafts 23 and 6 to drive the spotlight 7, Change the irradiation direction of 7.

Further, in the control device 20, the driving force command value is set by using the control gains G ₃ and G ₄ which are preset so that the difference between the angles obtained by the calculators 24 and 25 and the difference between the estimated forces become zero. It is determined and sent to the drive circuits 26 and 27, and in the drive circuits 26 and 27, the motor current for generating the torque of the driving force command value is supplied to the motors 11 and 1 of the operation unit 3.
The driving force is transmitted to the manipulator 15 through the rotary shafts 12 and 14 so that the manipulator M feels the force and feels as if he / she is operating the spotlight 7.

As described above, as a method of determining the driving force command value, the estimated force value is multiplied by several times to obtain the driving force command value, so that the relationship between the operator 15 and the spotlight 7 can be determined without using a force detector. By using software to connect the spotlight 7 with each other, the hardware is also connected, and the remote controllability of the spotlight 7 is greatly improved.

(Embodiment 10) In this embodiment, as shown in FIG. 28, the gravity compensator 48 is provided in the control unit 2 in the configuration of Embodiment 1.
Is provided. This weight compensator 48 is shown in FIG.
As shown in FIG. 9, gravity compensation is performed on the vertical rotation axis 6 of the spotlight 7, and as shown in the figure, the angle of the vertical rotation axis 6 of the spotlight 7 is θ, the mass of the spotlight 7 is M, and the spot is 7. The distance from the vertical rotation axis 6 of the light 7 to the center of gravity of the spotlight 7 is L, and the gravitational acceleration is g. At this time, even when the spotlight 7 stops moving, a torque MgLcos θ due to gravity is generated on the vertical rotation shaft 6 of the spotlight 7. Therefore,
Even when the spotlight 7 is stopped without being operated, the operator M feels the force generated by the gravity of the spotlight 7 through the operator 15. Since the magnitude of the force due to this gravity changes depending on the posture and the moving direction of the spotlight 7, when the operator M remotely operates using the operator 15, the force applied to the operator M during the same acceleration / deceleration operation is There is a difference in size. For example, comparing the case where the spotlight 7 is moved from the horizontal position to 45 degrees downward and the case where the spotlight 7 is moved from the downward direction 45 degrees to the horizontal position on the contrary, the latter is the same even though the spotlight 7 is moved at the same speed. You need a lot of power.

If the operating force changes depending on the attitude or moving direction of the spotlight 7, the operability is poor. Therefore, in this embodiment, the gravity compensator 48 is used to compensate so that the operating force does not change due to gravity. This is done in. The torque due to the gravity generated on the vertical rotation axis of the spotlight 7 is M for the mass of the spotlight 7, the distance L from the vertical rotation axis 6 of the spotlight 7 to the center of gravity α of the spotlight 7,
The gravitational acceleration g can be measured in advance, and the angle θ of the vertical rotation axis 6 of the spotlight 7 can be sequentially calculated by measuring with the encoder 9.

Therefore, by adding the calculated torque to the driving force command value of the motor 8, there is no change in the force depending on the posture and the moving direction of the spotlight 7, and the operator M
Regardless of the attitude or moving direction of the spotlight 7, the spotlight can always be operated with a constant operating force, and the operability is improved. Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG.

First, in order for the operator M to orient the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand, and the operator 15 is moved in the direction in which the spotlight 7 is desired to be moved.
To move. Horizontal rotary shaft 12 of operator 15 at that time
And the rotation angle of the vertical rotation shaft 14 is determined by the encoder 1 described above.
7 and 18 detect. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12 and 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. In the control device 20 of the control unit 2, the motors 11 and 16 of the operation unit 3 are driven by using the control gains G ₃ and G ₄ which are preset so that the difference between the angles calculated by the calculators 24 and 25 becomes zero. The force command value is determined and given to the drive circuits 26 and 27. The drive circuits 26 and 27 give a motor current for generating a torque of a driving force command value to the motors 11 and 16, and give a driving force to the rotary shafts 12 and 14 to transmit the driving force to the manipulator 15. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7.

Further, the control device 19 determines the driving force command value by using the control gains G ₁ and G ₂ which are preset so that the difference between the angles obtained by the arithmetic units 21 and 22 becomes zero. Further, the mass of the spotlight 7 is M, the distance L from the vertical rotation axis 6 of the spotlight 7 to the center of gravity α of the spotlight 7 and the gravitational acceleration g are measured in advance, and the angle θ of the vertical rotation axis 6 of the spotlight 7 is measured. It is measured in advance, and the torque due to gravity is calculated from the measured value. Then, the driving force command value of the vertical rotation motor 8 is added by the adder 49 so as to compensate the torque, and the addition result is used as the driving force command value of the motor 8 of the illumination unit 1.

Therefore, the driving force command values corresponding to the determined horizontal rotation and vertical rotation motors 4 and 8 are sent to the drive circuits 21 and 22, and in the drive circuits 21 and 22,
A motor current for generating a torque of a driving force command value is applied to the motors 4 and 8, and a desired driving force is applied to each of the rotary shafts 23 and 6 to drive the spotlight 7,
Change the irradiation direction of.

(Embodiment 11) Although the gravity compensator 48 for performing gravity compensation is provided in the tenth embodiment, in this embodiment, as shown in FIG. 31, the illumination unit is added to the construction of the first embodiment. The focus device 50 is provided on the first spotlight 7 and the linear encoder 51 for detecting the focus device position is provided, and the detection output of the linear encoder 51 compensates for changes in the inertia and gravity of the spotlight 7 caused by the focus device 50. The non-linear compensator 52 is provided in the control unit 2.

The non-linear compensator 52 will be described with reference to FIG. Here, as shown in FIG. 32, the angle of the vertical rotation axis 6 of the spotlight 7 is θ, the mass of the focusing device 50 is m, the distance from the vertical rotation axis 6 of the spotlight 7 to the center of gravity β of the focusing device 50 is LX, Gravity acceleration is g
And Even when the spotlight 7 stops moving at this time, the vertical rotation shaft 6 of the spotlight 7 has a torque MgLXc due to gravity generated by the focusing device 50.
osθ has occurred. The position of the focus device (mainly the lens) 50 is moved by the linear motor 53 in the fixture of the spotlight 7 according to the focus adjustment of the spotlight 7 operated by the operator M as shown in FIG. The magnitude of the torque MgLXcos θ also changes with focus adjustment. Therefore, even when the spotlight 7 is stopped without being operated, the operator M feels the force generated by the weight of the focusing device 50 through the operator 15, and this force is as described in the tenth embodiment. Since the size of the spotlight 7 changes depending on the posture and the moving direction of the spotlight 7, and also changes depending on the focus adjustment, when the operator M uses the operator 15 for remote control, the operator M receives the same acceleration / deceleration operation. There is a difference in the magnitude of this force. Since the operability is poor when the operating force changes, in the present embodiment, the non-linear compensator 52 is used for compensation so that the operating force does not change due to the focusing device 50 or the like.
This is done in.

For the torque due to the gravity generated on the vertical rotation axis 6 of the spotlight 7, the mass m of the focusing device 50 and the gravity acceleration g are measured in advance, and the angle θ of the vertical rotation axis 6 of the spotlight 7 is measured by the encoder 9. In addition, the distance LX from the vertical rotation axis 6 of the spotlight 7 to the center of gravity β of the focusing device 50 can be sequentially calculated.

Therefore, by adding the calculated torque to the driving force command value of the motor 8, there is no change in the force depending on the posture and moving direction of the spotlight 7 and the position of the focusing device 50, and the operator M can move the spotlight 7 by Regardless of the posture or the moving direction, the spotlight 7 can always be operated with a constant operation force, and the operability is improved.

Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The rotation angles of the horizontal rotary shaft 12 and the vertical rotary shaft 14 of the operator 15 at that time are detected by the encoders 17 and 18 described above. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12, 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. In the control device 20 of the control unit 2, the motors 11 and 16 of the operation unit 3 are driven by using the control gains G ₃ and G ₄ which are preset so that the difference between the angles calculated by the calculators 24 and 25 becomes zero. The force command value is determined and given to the drive circuits 26 and 27. The drive circuits 26 and 27 give a motor current for generating a torque of a driving force command value to the motors 11 and 16, and give a driving force to the rotary shafts 12 and 14 to transmit the driving force to the manipulator 15. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7.

Further, the control device 19 determines the driving force command value by using the control gains G ₁ and G ₂ which are preset so that the difference between the angles obtained by the calculators 21 and 22 becomes zero. Further, the mass m of the focusing device 50, the gravitational acceleration g, the angle θ of the vertical rotating shaft 6 of the spotlight 7, the distance LX from the vertical rotating shaft 6 of the spotlight 7 to the center of gravity β of the focusing device 50, measured in advance, from the focusing device 50. Calculate the torque due to the gravity of. Then, the adder 4 is added to the driving force command value of the vertical rotation motor 8 so as to compensate the torque.
9 and the result of the addition is added to the motor 8 of the lighting unit 1.
Drive force command value.

Therefore, the driving force command values corresponding to the determined horizontal rotation and vertical rotation motors 4 and 8 are sent to the drive circuits 21 and 22, and in the drive circuits 21 and 22,
A motor current for generating a torque of a driving force command value is applied to the motors 4 and 8, and a desired driving force is applied to each of the rotary shafts 23 and 6 to drive the spotlight 7,
Change the irradiation direction of.

(Embodiment 12) The present embodiment has the same structure as that of the embodiment 1, but operates together with an operation limit compensator 54 for decelerating the movement of the spotlight 7 near the operation limit of the spotlight 7 as shown in FIG. The control unit 2 is provided with a selection device 55 that selects the drive force command value determined by the limit compensator 54 and the drive force command value determined by the control device 19 of the control unit 2 according to the vertical rotation angle of the spotlight 7. It is a thing.

Next, the operation limit compensator 54 will be described with reference to FIG. First, when the vertical rotation angle of the spotlight 7 is θ, for example, the spotlight 7 may be included in the angle θ.
There is a mechanical operation limit such as contact between the support frame 5 and the support frame 5. In the device as in the first embodiment, the operator M moves the manipulator 15, and the spotlight 7 follows the movement. However, there is a risk that the operator M may mistakenly perform an abrupt operation near the movement limit of the spotlight 7 and cause the spotlight 7 to collide with the support frame 5 and damage it. In the present embodiment, compensation is performed so as not to cause collision damage due to a sudden operation near the operation limit of the spotlight 7.

That is, as shown in FIG. 36, when there is a range of operation limit of the spotlight 7 around the vertical rotation axis 6 of the spotlight 7, a deceleration area B of the spotlight 7 is provided in advance just before the operation limit. Then, from the vertical rotation angle of the spotlight 7 detected by the encoder 9, the operation limit compensator 54 sequentially determines whether or not the spotlight 7 is in the deceleration area B, and the spotlight 7 is in the deceleration area B. When entered, the drive force command value for decelerating the spotlight 7 is applied to the drive circuit 2 regardless of the movement of the manipulator 15.
2, the spotlight 7 is decelerated to avoid a collision in the vicinity of the operation limit and prevent damage or the like.

Here, as a method for determining the driving force command value for decelerating the spotlight 7, the speed of the spotlight 7 is set by multiplying the speed of the spotlight 7 by a preset constant gain to obtain the driving force command value. It is possible to decelerate according to. Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The rotation angles of the horizontal rotary shaft 12 and the vertical rotary shaft 14 of the operator 15 at that time are detected by the encoders 17 and 18 described above. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12 and 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2, and the arithmetic unit 2
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operator 15 is calculated. Further, the calculator 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operator 15. In the control device 20 of the control unit 2, the motors 11 and 16 of the operation unit 3 are driven by using the control gains G ₃ and G ₄ which are preset so that the difference between the angles calculated by the calculators 24 and 25 becomes zero. The force command value is determined and given to the drive circuits 26 and 27. The drive circuits 26 and 27 give a motor current for generating a torque of a driving force command value to the motors 11 and 16, and give a driving force to the rotary shafts 12 and 14 to transmit the driving force to the manipulator 15. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7.

Further, the control device 19 judges from the vertical rotation angle detected by the encoder 9 whether or not the spotlight 7 is within the preset deceleration area B. , Control gains G ₁ and G preset so that the difference between the angles obtained by
_{Use 2} to determine the driving force command value. Further, when the spotlight 7 is in the preset deceleration area B, the operation limit compensator 54 determines the driving force command value for decelerating the movement of the spotlight 7 regardless of the movement of the manipulator 15. In the embodiment, it is given to the drive circuit 22 of the vertical rotation motor 8. Therefore, the spotlight 7 moves while the vertical rotation speed is reduced, and damage due to a sudden collision is prevented.

(Embodiment 13) In this embodiment, the operator M can operate with a feeling of operation according to each individual by setting an inertia moment that is easy to operate. As shown in FIG. 3, the control unit 2 outputs the detection outputs of the encoders 9, 10, 17, and 18 to the differentiators 60 ₁ , 6
Differentiate by 1 ₁ , 62 ₁ , 63 ₁ to obtain the angular velocity, further differentiate by differentiators 60 ₂ , 61 ₂ , 62 ₂ , 63 ₂ to obtain the angular acceleration, and calculate the difference between the angular accelerations of horizontal rotation. The calculation is performed by the calculator 24, and the difference between the angular accelerations of the vertical rotation is calculated by the calculator 25.

Here, each parameter in the vertical rotation of the spotlight 7 is as shown in FIGS. 39 (a) and 39 (b).
The vertical rotation angle of the operator 15 is θm, the driving torque by the motor 16 is Tm, and the force applied by the operator M to the operator 15 is F.
m, the distance from the center of rotation to the point where force Fm is applied is L
m, and the moment of inertia of the operator 15 around the vertical rotation axis 16 is Mm. Further, in the spotlight 7, the torque generated by the motor 8 is Ts, the moment of inertia of the spotlight 7 is Ms, and the vertical rotation angle is θs. The equation of motion of the manipulator 15 at this time is as shown in the following equation (3). The vertical rotation angle θm of the manipulator 15 can be detected by the encoder 17, and the detected value is differentiated twice to obtain the angular acceleration.

Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The rotation angles of the horizontal rotary shaft 12 and the vertical rotary shaft 14 of the operator 15 at that time are detected by the encoders 17 and 18 described above. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, these detected rotary shafts 12, 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2 and the differentiator 6
0 ₁ , 61 ₁ , 62 ₁ , 63 ₁ are differentiated to obtain the angular velocity, and further differentiators 60 ₂ , 61 ₂ , 62 ₂ , 63 ₂
The angular acceleration is obtained by differentiating. Here, in the control device 20, the driving force command value for moving the manipulator 15 is calculated by the rotation angle, the angular velocity, and the angular acceleration as shown in the equation (4).
It is determined using the moment of inertia Mm of the operator 15 and a desired moment of inertia Mr preset by the operator M in advance. In this case, vertical rotation is shown, but the same applies to horizontal rotation. The determined driving force command value is given to the drive circuits 26, 27, and the drive circuits 26, 27
Reference numeral 27 gives a motor current for generating a torque of a driving force command value to the motors 11 and 16, and transmits the driving force to the operator 15 through the rotary shafts 12 and 14. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7. Here, in the present embodiment, the relationship between the force Fm (actually torque Fm · Lm) applied by the operator M and the operation of the operator 15 is expressed by the equation (5), and the operator M is preset by the operator M. The spotlight 7 is remotely operated while feeling the operation feeling of operating the desired moment of inertia Mr.

The control device 19 uses the driving force command value for moving the spotlight 7 by using the rotation angle, the angular velocity, the angular acceleration, and the control gains of K1, K2, and K3 as shown in the equation (5). decide. Control gains K1, K2, K
3 is determined so that the transfer function between the position (target position) of the operator 15 and the position of the spotlight 7 shown in the formula (8) is stable and the followability is good. For example, by setting K1 = Ms, the transfer function of the equation (8) becomes 1, so the followability of the spotlight 7 with respect to the position (target position) of the operator 15 is improved. Although the driving force command value is for vertical rotation, it is also determined for horizontal rotation.

Then, the determined driving force command value is given to the drive circuits 21 and 22, and the driving circuits 21 and 22 send a motor current for generating the torque of the driving force command value to the motors 4 and 8 to make each rotation. A desired driving force is transmitted to the shafts 23 and 6 to drive the spotlight 7,
Change the irradiation direction of. As described above, in the present embodiment, the operator M can remotely operate the spotlight 7 with a small force by reducing the preset inertia moment Mr. Further, by setting the inertia moment Mr that is easy to operate by the operator M, it becomes possible to operate with an operation feeling according to each individual.

[0113]

(Equation 3)

(Embodiment 14) This embodiment is intended to reduce high-frequency vibrations such as shaking that occur when the operator M holds and operates the operator 15 by hand, and FIG. 41 shows this embodiment. Shows the configuration of. The configuration of the illumination unit 1 and the operation unit 3 of this embodiment is the same as that of the first embodiment, and the control unit 2 is basically the same as each encoder 9, 10, 17, 1 as in the thirteenth embodiment.
The respective detection outputs of 8 are differentiators 60 ₁ , 61 ₁ , 62 ₁ , 63
Differentiate by ₁ to obtain the angular velocity, and further differentiater 60 ₂ , 6
The angular acceleration is obtained by differentiating with 1 ₂ , 62 ₂ and 63 ₂ . The operator 15 used in this embodiment
The same parameters as those in the thirteenth embodiment are used for the parameters for the rotation of and the rotation of the spotlight 7.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG. Note that the following description will be made mainly for vertical rotation, but it goes without saying that this embodiment is also applied to horizontal rotation. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The rotation angles of the horizontal rotary shaft 12 and the vertical rotary shaft 14 of the operator 15 at that time are detected by the encoders 17 and 18 described above. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12 and 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2 and the differentiator 6
0 ₁ , 61 ₁ , 62 ₁ , 63 ₁ are differentiated to obtain the angular velocity, and further differentiators 60 ₂ , 61 ₂ , 62 ₂ , 63 ₂
The angular acceleration is obtained by differentiating. Here, in the control device 20, the driving force command value for moving the manipulator 15 is calculated based on the rotation angle, the angular acceleration, and the manipulator 1 as shown in Expression (9).
The moment of inertia Mm of 5, the desired moment of inertia Mr preset by the operator M, and the desired viscosity coefficient Dr are used for the determination. In this case, vertical rotation is shown, but the same applies to horizontal rotation. The determined driving force command value is given to the drive circuits 26 and 27, and the drive circuits 26 and 27 give motor currents for generating the torque of the driving force command value to the motors 11 and 16 to rotate the rotary shafts 12 and The driving force is transmitted to the operator 15 through 14. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7. Here, in this embodiment, the force Fm (actually, the torque F
(m · Lm) and the operation of the manipulator 15 are represented by the formula (10) shown in Formula 4, and the operator M selects a device having a desired moment of inertia Mr and a viscosity coefficient Dr set by the operator M in advance. The spotlight 7 is operated remotely while feeling the operation feeling.

The controller 19 determines the driving force command value for moving the spotlight 7 as in the thirteenth embodiment. The determined driving force command value is given to the drive circuits 21 and 22, and the drive circuits 21 and 22 send motor currents for generating the torque of the driving force command value to the motors 4 and 8 to rotate the rotating shafts 23 and 6 respectively. To drive the spotlight 7 and change the irradiation direction of the spotlight 7.

As described above, in the present embodiment, the operator M has a desired inertia moment Mr and a desired viscosity coefficient D set in advance.
The spotlight 7 is remotely operated while feeling the operation feeling of operating r. Viscosity coefficient Dr set here
Has the effect of reducing high-frequency vibrations such as blurring that occurs when the operator M operates with the operator 15. Therefore, when the viscosity coefficient Dr is zero, the operator 1 including a slight operation blur generated when the operator M operates the operator 15.
The position 5 is sent to the illumination unit 1 and a slight blur occurs even when the spotlight 7 moves, but an appropriate viscosity coefficient Dr
By setting, the position of the manipulator 15 in which the minute blur is cut is sent to the illumination unit 1, and the spotlight 7 operates smoothly without causing the minute blur.

[0119]

[Equation 4]

(Fifteenth Embodiment) In this embodiment, when the driving force command value is determined in the control device 20, the desired viscosity coefficient Dr is used and the desired spring constant Kr is used as in the case of the fourteenth embodiment. FIG. 43 shows the configuration of this embodiment. The configuration of the illumination unit 1 and the operation unit 3 of this embodiment is the same as that of the first embodiment, and the control unit 2 is basically the same as each of the detection outputs of the encoders 9, 10, 17, and 18 as in the fourteenth embodiment. Is differentiated by differentiators 60 ₁ , 61 ₁ , 62 ₁ , 63 ₁ to obtain an angular velocity, and further differentiators 60 ₂ , 61 ₂ ,
The angular acceleration is obtained by differentiating with 62 ₂ and 63 ₂ . The same parameters as those used in the thirteenth embodiment are used for the parameters for the rotation of the manipulator 15 and the parameters for the rotation of the spotlight 7 used in this embodiment.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG. Note that the following description will be made mainly for vertical rotation, but it goes without saying that this embodiment is also applied to horizontal rotation. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The rotation angles of the horizontal rotary shaft 12 and the vertical rotary shaft 14 of the operator 15 at that time are detected by the encoders 17 and 18 described above. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotary shafts 12, 14 are detected.
The rotation angles of 23, 6 are sent to the control unit 2 and the differentiator 6
0 ₁ , 61 ₁ , 62 ₁ , 63 ₁ are differentiated to obtain the angular velocity, and further differentiators 60 ₂ , 61 ₂ , 62 ₂ , 63 ₂
The angular acceleration is obtained by differentiating. Here, in the control device 20, the rotation angle, the angular acceleration, the moment of inertia Mm of the manipulator 15, and the operator M are set in advance by the operator M in accordance with the driving force command value for moving the manipulator 15 as shown in Expression (11). The desired moment of inertia Mr that is set in advance and the desired viscosity coefficient D
It is determined using r and the desired spring constant Kr. In this case, vertical rotation is shown, but the same applies to horizontal rotation. The determined driving force command value is the drive circuit 2
6 and 27, the drive circuits 26 and 27 give motor currents for generating the torque of the drive force command value to the motors 11 and 16, and transmit the drive force to the manipulator 15 through the rotary shafts 12 and 14. That is, the operator M feels the driving force and also feels as if he / she is operating the spotlight 7. Here, in the present embodiment, the relationship between the force Fm (actually, the torque Fm · Lm) applied by the operator M and the operation of the operator 15 is given by the equation (12), and the operator M is preset by the operator M. Desired moment of inertia Mr
Then, the spotlight 7 is remotely operated while feeling the operation feeling of operating the device having the desired viscosity coefficient Dr and the desired spring constant Kr.

The controller 19 determines the driving force command value for moving the spotlight 7 as in the thirteenth embodiment. The determined driving force command value is given to the drive circuits 21 and 22, and the drive circuits 21 and 22 send motor currents for generating the torque of the driving force command value to the motors 4 and 8 to rotate the rotating shafts 23 and 6 respectively. To drive the spotlight 7 and change the irradiation direction of the spotlight 7.

As described above, in this embodiment, the operator M sets a desired inertia moment Mr and a desired viscosity coefficient D set in advance.
The spotlight 7 is remotely operated while feeling the operation feeling of operating the device having r and the desired spring constant Kr. Therefore, any mechanical relationship (mass, damper, spring)
Since it is possible to realize a state similar to the state in which the operator 15 and the spotlight 7 are connected with each other, and it is possible to feel the operation feeling of operating the device, an arbitrary operation feeling according to the operator M can be obtained. Can be realized. For example, it can be operated with some resistance and is easy to operate. Further, when it is desired to irradiate a wide range at high speed, it is possible to easily operate with a small force by reducing the moment of inertia and the spring constant.

[0125]

(Equation 5)

(Embodiment 16) In this embodiment, the pin spot position can be operated linearly in stage lighting. That is, when the spotlight 7 of the illumination unit 1 shown in FIG. 45 is horizontally rotated by the horizontal rotation motor 4, the pin spot draws a locus 100 in an arc shape on the stage as shown in FIG. 46 (a). When the vertical rotation motor 8 is used for vertical rotation, the pin spot draws a radial trajectory 101 from the front to the back of the stage. When the movement of the spotlight 7 is controlled by the manipulator 15 that drives the motors 4 and 8 separately, the pin spot position on the stage and the manipulator 1
Since there is no linearity with the operation position of 5 (Fig. 46 (b)),
It is difficult to hit the pin spot on the target position. Therefore, if the operator 15 is moved left and right, the pin spot position moves left and right on the stage, and if it is moved forward and backward, the pin spot position moves forward and backward. Position coordinate conversion formula (θ1, θ2) = f (X, Y) 45 is added to the control unit 2 between the operation unit 3 and the illumination unit 4, as shown in FIG. 45, so that the drive amount of the operator 15 and the position of the pin spot are linear. You will be able to operate it. However, θ1, θ
Reference numeral 2 denotes the rotation angles of the motors 4 and 8, respectively, and f denotes a conversion function.

When the operator M operates the operator 15 by estimating the coordinates of the pin spot to be applied on the stage, the position detector 6 provided in the operation unit 3 shown in FIG.
1 detects the position of the manipulator 15 and converts the position (X, Y) into the rotation angles (θ1, θ2) of the motors 4 and 8 provided in the drive device 62 of the illumination unit 1 by the above formula. , The pin spot position is set at the estimated position on the stage according to their rotation angles. As a result, the pin spot position can be linearly moved in the desired direction, the operator M can move the spotlight 7 without being aware of the motor rotation angle, and the operability is improved.

The control unit 2 controls the drive unit 62 so that the difference between the detected rotation angle value of the position detector 63 of the illumination unit 1 and the output value of the position coordinate converter 60 becomes zero. (Embodiment 17) In Embodiment 16, when the operator 15 is moved, a time delay occurs between the position of the operator 15 and the position of the moved pin spot, and the operator M may feel uncomfortable when operating quickly. is there. Therefore, in this embodiment, FIG.
In the configuration shown in FIG. 3, the position detector 61 detects the position (X, Y) of the operator 15 and converts the position into a coordinate system of the motor rotation angle (θ1, θ2) of the drive device 62 of the illumination unit 1, and the control unit 2
The drive device 62 is instructed through the control device 19 of FIG. When an error (Δθ1, Δθ2) between the actual rotation angle of the motors 4 and 8 and the commanded rotation angle occurs, the error angle is converted into (X, Y) coordinates, and the controller 20 of the control unit 2 uses the error angle. By returning the driving force corresponding to the magnitude to the operator 15 as a reaction force through the drive device 64 of the operation unit 2, the reaction force corresponding to the delay is transmitted to the hand holding the operator 15, so that the operator 15 can be moved quickly. If too much, a large reaction force is applied to the hand, so that the actual feeling of operation is transmitted very well, and the operation feeling becomes even better than in the case of Example 16.

(Embodiment 18) In the present embodiment, the driving by the operating element 15 is stopped, and the illuminating section 1 as shown in FIG. 49 and FIG.
The operator M points the pin spot position with the light pen 72 to the target position of the stage on the screen of the TV monitor 71 of the operation unit 3 for the image of the stage captured by the TV camera 70 provided near the installation position of the TV. The image processor 73 performs image processing on the designated position on the screen of the monitor 71, and the position coordinate converter 60 performs position conversion based on the image processing result. Based on the position conversion result, the control unit 2 causes the illumination unit to perform illumination. A command is given to the first driving device 62, and the driving device 62 is driven so that the pin spot comes to the position designated by the light pen 72. By doing so, the TV monitor 7
By simply bringing the light pen 72 to the target position on the stage displayed on the screen of No. 1, the pin spot can be applied to the target position, and the operability becomes very good.

(Embodiment 19) In this embodiment, instead of the monitor 71 and the light pen 72 of Embodiment 18, stereoscopic glasses (head mount display) 80 and data gloves are used as shown in FIGS. 51 and 52. The three-dimensional position detector 81 is used. That is, the image converter 82 provided in the control unit 2 is the image of the stage taken by the TV camera 70.
Is converted into a three-dimensional stereoscopic image and the stereoscopic image is displayed on the stereoscopic glasses 80 worn by the operator M, and the operator M sets the target position of the pin spot to 3 in the visible virtual space 83.
The dimensional position detector 81 gives an instruction, the position coordinate converter 60 performs position conversion of the instructed position, and the control unit 2 gives a command to the drive unit 62 of the illumination unit 1 based on the position conversion result. The driving device 62 is driven so that the pin spot comes to the designated position. By doing so, it becomes possible to indicate the position of the pin spot in the three-dimensional space of the stage, and the operability is greatly improved.

(Embodiment 20) In this embodiment, as the illumination unit 1, the same one as that of the embodiment 1 is used as shown in FIG. 53, and as the operation unit 3, as shown in FIG.
It is attached to the tip of the Y-table 90 so that the operator M can freely move it on the plane. Further, the position of the operator 15 can be detected by the position detectors 91A and 91B attached to the X-axis and the Y-axis of the operation unit 3, and the position in the plane of the operation unit 2 can be detected. ing.

As shown in FIG. 55, the illumination unit 1 is attached to the ceiling or the like, and the spotlight 7 is placed at a desired position on the stage.
The horizontal rotation shaft 23 and the vertical rotation shaft 6 of the illumination unit 1 are driven by the motors 4 and 8 so that the light of the spotlight 7 can be emitted. It is a two-dimensional plane, and the illumination unit 1 is installed at a distance of height L at the origin of the xy plane. Regarding the relationship between the xy plane on the stage and the XY plane of the operator 15, K times the plane of the operation unit 3 corresponds to the stage plane.

Here, as shown in FIG. 56A, when the relationship between the lighting unit 1 and the stage is viewed from the side, the intersection of the irradiation direction of the spotlight 7 of the lighting unit 1 and the stage is S, When the angle between the irradiation direction of the spotlight 7 and the stage surface is β, the vertical rotation angle of the spotlight 7 at this time is also β. Further, as shown in FIG. 56 (b), when the relationship between the lighting unit 1 and the stage is viewed from the side, the intersection of the irradiation direction of the spotlight 7 of the lighting unit 1 and the stage is similarly S, and the spotlight 7 Assuming that the angle between the irradiation direction and the predetermined y-axis on the stage is α, the horizontal rotation angle of the spotlight 7 at this time is also α. In addition, L shows a height position.

From the above relationship, the point (x, y) on the stage,
The relationship between the rotation axis angles α and β of the illumination unit 1 is expressed by the formula (1
3) and (14). Therefore, any point (x,
When it is desired to irradiate the light of the spotlight 7 to y), the rotation axis angle of the spotlight 7 is expressed by the equations (15) and (16) of Equation 6.
Then, it becomes possible to irradiate the spotlight 7 on an arbitrary point on the stage.

The relationship between the point (X, Y) on the operating section 3 and the point (x, y) on the stage is given by the equations (17) and (18). The operator 15 of the operation unit 3 is used to set an arbitrary point (x,
By moving to a point (X, Y) on the operation unit 3 corresponding to y) while watching the stage, a position X on the X axis obtained by a position detector (not shown) of the operation unit 3 is obtained. If the angle of the spotlight 7 is set to the equations (19) and (20) of the equation 6 using the position Y on the Y-axis, the angle of the spotlight 7 can be determined with high accuracy, and the desired value on the stage can be obtained. It is possible to accurately irradiate the position of with the light of the spotlight 7.

[0136]

(Equation 6)

In the above embodiments, the illuminating section has been described as the operated device, but the operated device of the present invention is not limited to this. The direction in the present invention is also a concept of a posture, and may be a so-called posture only, a direction only, or a device that remotely controls the posture and direction.

[0138]

According to the first aspect of the present invention, it is possible to operate the operated device while feeling the reaction force for operating the operated device despite the remote operation. Since the operation can be performed without predicting or adjusting the delay and the like, there is an effect that it is possible to realize a device with less fatigue during the operation.

According to the second aspect of the invention, the correspondence between the positions of the operated portion and the operating portion is clarified, the direction indicated by the operated device is easy to understand, the operability is improved, and compared to the actual operated portion. Since the operating part can be configured except for the part related to the direction, the operating part can be made lighter in weight than the operated part, whereby the force for moving the operated device in the desired direction can be reduced. Since it is good, it has the effect of improving the operability.

According to the third aspect of the present invention, since the operating element generates only a resistance force against the movement of the operator, and the operating element itself does not drive or operate even when the operating section control device or the like runs out of control, It has the effect of being safe. The invention of claim 4 is
The operator can drive the operated device with an expanded or reduced force applied to the operator, and the operator operates with an appropriate operating force regardless of the size of the operated device to be remotely operated. In addition, when operating two controlled devices of different sizes remotely with the left and right hands, the same feeling of operation
There is an effect that it becomes possible to operate two controlled devices.

According to a fifth aspect of the present invention, a force that the operated device collides with an obstacle at the time of remote control or a force that matches a mechanical stopper or the like at the operation limit of the operated device is detected, and the force is expanded or reduced. Is returned to the operator via the operator, the operator can instantly feel the coarseness of the values, and the operability is improved. According to the invention of claim 6, the relationship between the operator and the operated device can be connected by using the position and force, and therefore the position between the operator and the operated device which are not actually connected by hardware. And the force can be transmitted, and as a result, the operability is improved.

According to the seventh aspect of the present invention, the operated device can be driven by a force obtained by expanding or reducing the force applied to the operator by a person without using a force detector for detecting the force applied to the operator. Therefore, there is an effect that the operator can operate with an appropriate operating force regardless of the size of the operated device to be remotely operated. According to the invention of claim 8, without using a force detector for detecting a force applied to the operated device, the force of the operated device colliding with an obstacle or the force of a mechanical stopper or the like at the operation limit is remotely controlled. By detecting and returning to the operator a force obtained by expanding or contracting the force through the operator, the operator can instantly feel the coarseness of the values, and the operability is improved.

According to a ninth aspect of the present invention, a force detector for detecting a force applied to the operator and a force detector for detecting a force applied to the operated device are used, and the force between the operator and the operated device is eliminated. Relationships can be connected using position and force, so that the operator and the operated device, which are not actually connected by hardware, are connected as if by hardware, resulting in high accuracy. Since the position and the force can be transmitted between the operator and the operated device, there is an effect that the operability is improved.

According to the tenth aspect of the present invention, when the posture of the operated device is kept constant, the force generated on the drive shaft by the gravity of the operated device and the change in the force generated by the moving direction are compensated so as to be canceled in advance. Therefore, the operation force for operating the operated device can be made constant regardless of the posture of the operated device and vertical or horizontal driving, and the operability is improved.

According to the eleventh aspect of the present invention, changes in the inertial force and gravity of the operated device caused by the mass or inertial force of the focusing device or the like that moves within the operated device in order to adjust the focusing device or the like of the operated device. It is possible to compensate for cancellation in advance, and it is possible to make the operating force constant when operating the operated device with the same acceleration / deceleration regardless of the position of the focus device, etc., and the operability is improved. There is.

According to the twelfth aspect of the present invention, the operated device is decelerated and stopped in the vicinity of the operation limit of the operated device regardless of the movement of the operator, so that the operator operates the operated device as a mechanical stopper or the like due to an operation error. There is an effect that it can be operated safely without causing damage to the device to be operated by causing it to collide at high speed. According to the thirteenth aspect of the present invention, the mass of the operated device can be apparently lightened, so that the device can be operated with a small force, and the mass of the operated device can be changed according to the operator or the operated device. Has an effect that it is possible to set to any value.

According to the fourteenth aspect of the present invention, since the high-frequency vibration of the operating element generated when the operator holds the operating element is not transmitted to the operated apparatus, the operating apparatus caused by the operational shake of the operator is shown. There is an effect that it is possible to eliminate minute vibration in the direction. The invention according to claim 15 can realize a state in which the relationship between the operator and the operated device is connected by an arbitrary mechanical relationship by the control device, and the feeling of operating the devices connected by the relationship is provided. Therefore, there is an effect that it is possible to obtain an arbitrary operation feeling according to the operator.

According to the sixteenth aspect of the present invention, the position coordinate system of the operating section and the position coordinate system of the stage match each other regardless of the location and the degree of freedom of the drive shaft of the drive unit of the operated device. There is an effect that the operation for directing the direction indicated by to a desired position on the stage becomes very easy to understand. The invention of claim 17 makes it very easy to understand the operation when aiming the direction indicated by the operated device to a desired position on the stage, and at the same time, the operated device is operated while feeling the anti-complementary operation of operating the operated device. Since the remote control of is possible, there is an effect that the operability is extremely improved.

According to the eighteenth aspect of the present invention, while the operator views the stage in the direction in which the operator wants to show the operated device on the monitor screen, the operator can set the operation in the direction in which the operator wants to show the operated device. And the operability is improved. According to a nineteenth aspect of the invention, the operator views the stage in a three-dimensional space through stereoscopic glasses, which requires two operations, that is, an operation in a direction in which the operator wants to show the operated device and an operation of a focus device in the operated device. However, in the same three-dimensional space, it becomes possible to set a desired focus in a desired direction of the operated device, and there is an effect that the operability can be further improved.

According to the twentieth aspect of the present invention, the position coordinate system of the operation unit and the position coordinate system of the stage in the direction in which the operator wants to turn the operated device can be accurately matched, and a desired coordinate on the stage can be obtained. This has the effect of improving the accuracy of irradiating the position with the light.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a first embodiment of the present invention.

FIG. 2A is a side view of the illumination unit of the above. (B)
[Fig. 4] is a front view of the illumination unit of the above.

FIG. 3 (a) is a front view of the operation unit of the above. (B)
[Fig. 3] is a side view of the above-mentioned operation portion.

FIG. 4 is an overall circuit configuration diagram of the above.

FIG. 5 is a flowchart for explaining the same operation as above.

FIG. 6A is a side view of an illumination unit according to a second embodiment of the present invention. (B) is a front view of the illumination part same as the above.

FIG. 7A is a front view of an operation unit according to a third embodiment of the present invention. (B) is a side view of the operation part same as the above.

FIG. 8 is a configuration diagram of an operation unit according to a fourth embodiment of the present invention.

FIG. 9 is an explanatory diagram of a main part of the above.

FIG. 10 is an overall circuit configuration diagram of the above.

FIG. 11 is a flowchart for explaining the same operation as above.

FIG. 12 is a configuration diagram of an operation unit according to a fifth embodiment of the present invention.

FIG. 13 is an explanatory diagram of a main part of the above.

FIG. 14 is an overall circuit configuration diagram of the above.

FIG. 15 is a flowchart for explaining the same operation as above.

FIG. 16 is an overall circuit configuration diagram of a sixth embodiment of the present invention.

FIG. 17 is a flowchart for explaining the same operation as above.

FIG. 18 is an overall circuit configuration diagram of a seventh embodiment of the present invention.

FIG. 19 is an operation explanatory diagram of the above.

FIG. 20 is an operation explanatory diagram of the above.

FIG. 21 is a flowchart for explaining the same operation as above.

FIG. 22 is an overall circuit configuration diagram of Embodiment 8 of the present invention.

FIG. 23 is an explanatory diagram of the operation of the above.

FIG. 24 is an explanatory diagram of the operation of the above.

FIG. 25 is a flowchart for explaining the same operation as above.

FIG. 26 is an overall circuit configuration diagram of a ninth embodiment of the present invention.

FIG. 27 is a flowchart for explaining the same operation as above.

FIG. 28 is an entire circuit configuration diagram of a tenth embodiment of the present invention.

FIG. 29 is a diagram for explaining the operation of the same.

FIG. 30 is a flowchart for explaining the same operation as above.

FIG. 31 is an overall circuit configuration diagram of Embodiment 11 of the present invention.

FIG. 32 is an explanatory diagram of the operation of the above.

FIG. 33 is an explanatory diagram of the operation of the above.

FIG. 34 is a flowchart for explaining the same operation as above.

FIG. 35 is an overall circuit configuration diagram of Embodiment 12 of the present invention.

FIG. 36 is a diagram for explaining the operation of the above.

FIG. 37 is a flowchart for explaining the same operation as above.

FIG. 38 is an overall circuit configuration diagram of Embodiment 13 of the present invention.

[Fig. 39] Fig. 39 is an operation explanatory view of the above.

FIG. 40 is a flowchart for explaining the same operation as above.

FIG. 41 is an overall circuit configuration diagram of Embodiment 14 of the present invention.

FIG. 42 is a flowchart for explaining the same operation as above.

FIG. 43 is an overall circuit configuration diagram of Embodiment 15 of the present invention.

FIG. 44 is a flowchart for explaining the same operation as above.

FIG. 45 is a schematic configuration diagram of Embodiment 16 of the present invention.

FIG. 46 is an explanatory diagram of the operation of the above.

FIG. 47 is an overall circuit configuration diagram of the above.

FIG. 48 is an overall circuit configuration diagram of Embodiment 17 of the present invention.

FIG. 49 is a schematic configuration diagram of Example 18 of the present invention.

FIG. 50 is an overall circuit configuration diagram of the above.

FIG. 51 is an overall circuit configuration diagram of Embodiment 19 of the present invention.

FIG. 52 is an overall circuit configuration diagram of the above.

FIG. 53 is a perspective view of the illumination unit of the above.

FIG. 54 is a configuration diagram of an operation unit according to a twentieth embodiment of the present invention.

[Fig. 55] Fig. 55 is an operation explanatory view of the above.

FIG. 56 is an explanatory diagram of the operation of the above.

[Explanation of symbols]

 1 Lighting Section 2 Control Section 3 Operation Section 4 Motor 5 Support Frame 7 Spotlight 8 Motor 9 Encoder 10 Encoder 11 Motor 15 Operator 16 Motor 17 Encoder 18 Encoder 19 Control Device 20 Control Device M Operator

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[Procedure amendment]

[Submission date] July 6, 1995

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0049

[Correction method] Change

[Correction content]

FIG. 10 shows the circuit configuration of this embodiment, and FIG.
Reference numeral 1 denotes a flow chart of the operation of this embodiment, and the operation of this embodiment will be described below with reference to these drawings. First, in order for the operator M to direct the spotlight 7 in a desired direction, a force is applied to the operator 15 in his hand to move the operator 15 in the direction in which the spotlight 7 is desired to be moved. The horizontal rotary shaft 12 and the vertical rotary shaft 1 of the operator 15 at that time
The rotation angle of No. 4 is detected by the encoders 17 and 18, and the shearing force and the torsional force are detected by the dynamic strain gauge 38 of the operating section 3 for detecting the horizontal rotary shaft force detector 38A and the vertical rotary shaft force detector 38B. To detect. At the same time, the rotation angles of the horizontal rotary shaft 23 and the vertical rotary shaft 6 of the spotlight 7 are detected by the encoders 9 and 10.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0064

[Correction method] Change

[Correction content]

[0064]

[Equation 1]

[Procedure 3]

[Document name to be corrected] Drawing

[Correction target item name] Fig. 25

[Correction method] Change

[Correction content]

FIG. 25

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shigeru Makino 1048 Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Works Co., Ltd. (72) Noriaki Sugimoto, 1048, Kadoma, Kadoma City, Osaka Matsushita Electric Works Co., Ltd. 72) Inventor Minoru Yoshida 1048, Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Works Co., Ltd.

Claims (20)

[Claims] 1. A first position detector for detecting the direction of an operated device, an operated part having a first drive device for driving the operated device based on a driving force command value, and a person operated. A second position detector for detecting the position of the operating element and a second driving device for driving the operating element based on the driving force command value, the direction of the operated device and the position of the operating element. An operated part control device that determines the driving force command value of the operated part drive device based on the above, an operation that determines the driving force command value of the operated part drive device based on the direction of the operated device, and the position of the operator. And a remote control device. 2. The remote control device according to claim 1, further comprising an operation part having the same size as the operated part and having the same shape or a reduced shape. 3. The remote control device according to claim 1, further comprising control means for braking an operator based on a drive command value of the operation part. 4. An operating part having a force detector for detecting a force applied by a person to an operating element, and an operated part control device for determining a driving force command value of an operated part driving device based on the detected force value. The remote control device according to claim 1, wherein the remote control device is a remote control device. 5. An operated part having a force detector for detecting a force applied to the operated device, an operated part having a force detector for detecting a force applied to the operated device, and a position of an operator. , An operated part control device that determines an operated value, and a driving force command value of the operating part drive device based on the position of the operator, the direction of the operated device, and the force detection value of the operating part and the operated part The remote operation device according to claim 1, further comprising an operation unit control device. 6. An operating section having a force detector for detecting a force applied by a person to an operating element, an operated section having a force detector for detecting a force applied to an operated apparatus, and a position and an operating point of the operating element. An operated part control device that determines the driving force command value of the operated part drive device based on the direction of the operating device and the force detection values of the operated part and the operated part, the position of the operator, the direction and operation of the operated device The remote operation device according to claim 1, further comprising an operation unit control device that determines a drive force command value of the operation unit drive device based on force detection values of the operation unit and the operated unit. 7. An external force estimator for estimating the force applied to the operated device from the position of the operating element, the driving force command value of the operating unit drive device, and a previously assumed equation of motion of the operating unit, and an external force estimator based on the estimated value. The remote operation device according to claim 1, further comprising an operated part control device that determines a driving force command value of the operation part drive device. 8. An external force estimator for estimating a force applied to an operated device from a direction of the operated device, a driving force command value of an operated part driving device, and a previously assumed motion equation of the operated part, and its estimation. 2. An operation unit control device for determining a driving force command value of the operation unit drive device based on the value.
The described remote control device. 9. An external force estimator for estimating a force applied to a manipulator by a person from the position of the manipulator, a driving force command value of a manipulator drive device, and a previously assumed motion equation of the manipulator, and a direction of an operated device. An external force estimator that estimates the force applied to the operated device from the driving force command value of the operated device drive device and the previously assumed equation of motion of the operated device, the position of the operator, the direction of the operated device, and the operating unit. And the operated part control device that determines the driving force command value of the operated part drive device based on the force estimated value of the operated part, the position of the operator, the direction of the operated device, and the force of the operated part and the operated part. The remote control device according to claim 1, further comprising an operation part control device that determines a driving force command value of the operation part drive device based on the estimated value. 10. A gravity compensator for determining a driving force command value for compensating for the gravity of the operated device based on the direction of the operated device, and a driving force command value and an operated part control device determined by the operated part control device. An adder for adding the driving force command value of the operation unit,
2. The remote control device according to claim 1, further comprising an operated part having a drive device for driving the operated device based on the added driving force command value of the operated part. 11. Based on the position of a device that moves within the operated device and changes the position of the center of gravity of the operated device, to compensate for changes in inertia and gravity of the operated device that occur with changes in the position. A non-linear compensator that determines the driving force command value of
An adder for adding the driving force command value and the driving force command value of the operated part determined by the operated part control device, and for driving the operated device based on the added driving force command value of the operated part 2. The remote control device according to claim 1, further comprising an operated portion having the drive device. 12. An operation limit compensator for determining a driving force command value for decelerating the operated device based on the direction of the operated device, and an operated object determined by the driving force command value and an operated part control device. Adder that adds the driving force command value of the section,
2. The remote control device according to claim 1, further comprising an operated part having a drive device for driving the operated device based on the added driving force command value of the operated part. 13. A differentiator for differentiating the detected value of the direction of the operated device, and a differentiator for further differentiating the output value thereof.
Differentiator for differentiating the position detection value of the manipulator, differentiator for further differentiating the output value thereof, and operating unit drive device for making the apparent mass of the manipulator a desired mass based on the output values And a drive force command of the operation unit drive device for setting the position of the operated device to the desired mass of the apparent mass of the operator based on the above output value. An operating unit control device for determining a value, and an operated unit control device for determining a driving force command value of an operated unit driving device for causing the position of the operated device to follow the position of an operator based on the output value. The remote control device according to claim 1, further comprising: 14. An operating section controller for determining a driving force command value of an operating section driving apparatus for making an apparent viscosity coefficient of an operator a desired viscosity coefficient based on an output value of each differentiator. The remote control device according to claim 13, further comprising: 15. An operating section control device for determining a driving force command value of an operating section drive device for setting an apparent impedance of an operating element to a desired impedance based on an output value of each differentiator. 15. The remote control device according to claim 14, wherein: 16. A position detector for detecting a direction of an operated device and a operated unit having a drive device for driving the operated device based on a driving force command value, and a position of an operator operated by a person. An operation unit that has a position detector to detect, a position coordinate converter that performs coordinate conversion between the operation unit position coordinate system, and the operated unit position coordinate system, the direction of the operated device, and the position of the operator coordinate. 16. The remote control device according to claim 15, further comprising an illumination unit control device that determines a driving force command value of the operated unit drive device based on the converted position. 17. An operating unit having a drive device for driving an operating member based on a driving force command value, and an operating unit driving device based on a position obtained by coordinate-converting the position of the operating member and the direction of the operated device. The remote control device according to claim 16, further comprising an operation unit control device that determines a driving force command value. 18. A television camera for picking up an image of a stage in the direction of an operated device, a television monitor for displaying the picked-up stage image, and a stage position on the monitor screen for instructing a desired stage. , A light pen that determines the direction of the operated device, an image processor that reads the coordinates on the TV monitor designated by the light pen, and the position coordinates on the monitor TV and the actual position coordinates on the stage The remote control device according to claim 16, further comprising a position coordinate converter. 19. A television camera for capturing an image of a stage in a direction of an operated device, stereoscopic glasses for displaying the captured stage image in a virtual space, and a desired operated object in the virtual space. A three-dimensional position detector for determining the direction of equipment, a position coordinate converter for performing coordinate conversion between position coordinates in virtual space and position coordinates in real space, and a stage video in real space The remote control device according to claim 16, further comprising an image converter for converting into a stage image in space. 20. An operated part capable of horizontally and vertically rotating an operated device, and a stage surface in a direction indicated by the operated device are two-dimensional planes having x and y axes orthogonal to each other. , The height of the stage and the operated part is L, the angle formed by the horizontal rotation of the operated part and the y-axis set on the stage is the operated part horizontal rotation angle, and the vertical rotation of the operated part The angle formed by the direction and the stage surface is defined as the vertical angle of the operated part, and the stage surface is reduced by a predetermined number, and is composed of the X axis and the Y axis.
When the operation paper of the operation unit is moved to the XY plane, the horizontal rotation angle and the vertical rotation angle of the operated portion are determined, and the respective determined angles are provided. 17. The remote control device according to claim 16, further comprising an operated part control device for moving the direction of the operated device.