JP3131355B2 - Remote control device - Google Patents

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 attitude and direction of a spotlight, a camera, and the like in a theater, a studio, or the like according to the situation.

[0002]

2. Description of the Related Art Conventionally, as a remote control device for remotely controlling the attitude and direction of a spotlight, a camera, and the like in a theater or a concert hall to an arbitrary attitude or direction, for example, a remote control as disclosed in Japanese Patent Application Laid-Open No. 4-62702 is known. There has been an operation type lighting device. In this lighting device, an 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 prior art apparatus, an operator operates a switch of a remote control operation unit to change the angle of the light, thereby giving a person playing on the stage of a theater or a concert hall. When illuminating the spotlight, there is a time delay between the operation of the switch of the remote control operation unit and the operation of the light. Must. Such an operation is very stressful for the operator.

[0004] Further, since the operation reaction force for operating the lighting does not return to the operator, the operator cannot feel the operation feeling of operating the light, which is also a point of poor operability. Furthermore, the degree of freedom of operation of the remote control operation unit matches the degree of freedom of operation of the lighting unit, so that the operation of the lighting unit is easy to operate because the relationship is clear. However, since the positional relationship between the stage where the user wants to hit the spotlight 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 spot where the spotlight hits.

For example, when it is desired to illuminate a spotlight on a stage along a horizontal line 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 problems described above are not limited to the remote control type lighting device, but are problems common to a single remote control device that changes the attitude and direction of the operated device by remote control.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide an operator with a device to be operated via an operator of a remote control operation unit for remote control. It is an object of the present invention to provide a remote control device in which operability is improved by returning an operation reaction force as if operating. Another object of the present invention is to provide a remote control device in which the operability is further improved by matching the positional relationship in the direction indicated by the operated device with the positional relationship of the remote control operation unit.

[0007]

According to a first aspect of the present invention, there is provided a first position detector for detecting a direction of a device to be operated, and a device for driving the device to be operated based on a driving force command value. An operating part having a first driving device for performing the operation, a second position detector for detecting a position of the operation element operated by a person, and a second position sensor for driving the operation element based on the driving force command value. An operating unit having a driving device; an operated unit control device that determines a driving force command value of the operated unit driving device based on the direction of the operated device and the position of the operating device; a direction of the operated 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 the operation unit.

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

According to a fifth aspect of the present invention, in the first aspect of the present invention, an operated portion having a force detector for detecting a force applied to the operated device, and a force detector for detecting a force applied to the operated device An operated part having an operator, a position of an operator, an operated part control device for determining an operated value, a position of the operator, a posture of an operated device, dimming, and a force detection value of the operated part and the operated part. And an operation unit control device that determines a driving force command value of the operation unit drive device based on the control signal.

According to a sixth aspect of the present invention, in the first aspect of the present invention, there is provided an operation section having a force detector for detecting a force applied to a manipulator by the person, and a force detector for detecting a force applied to the operated device. An operated unit control device that determines the driving force command value of the operated unit driving device based on the position of the operation element, the direction of the operated device, and the force detection value of the operation unit and the operated unit, An operation unit control device that determines a driving force command value of the operation unit driving device based on the position of the operation element, 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 present invention, in the first aspect of the present invention, the force applied to the operated device is estimated from the position of the operating element, the driving force command value of the operating section driving device, and a previously assumed equation of motion of the operating section. It is characterized by having an external force estimator and an operated unit control device that determines a driving force command value of the operated unit driving device based on the estimated value. In the invention of claim 8,
In the invention according to claim 1, an external force estimator for estimating a force applied to the operated device from a direction of the operated device, a driving force command value of the operated portion driving device, and a previously assumed equation of motion of the operated portion, An operation unit control device that determines a driving force command value of the operation unit driving device based on the estimated value is provided.

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

According to a tenth aspect of the present invention, in the first aspect of the 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 portion determined by the operated portion control device, and a driving device for driving the operated device based on the added driving force command value of the operated portion It is characterized by having an operated part having.

According to an eleventh aspect of the present invention, in accordance with the first aspect of the present invention, based on the position of the device which moves within the operated device and changes the position of the center of gravity of the operated device, the position of the device generated with the change of the position is changed. A non-linear compensator for determining a driving force command value for compensating for a change in inertia or gravity of the operating device, and adding the driving force command value and the driving force command value of the operated unit determined by the operated unit control device It is characterized by including an adder and an operated unit having a driving device for driving the operated device based on the added driving force command value of the operated unit. According to a twelfth aspect of the present invention, in the first aspect of the invention, there is provided an operation limit compensator for determining a driving force command value for decelerating the operated device based on the direction of the operated device, An operated device having an adder for adding the driving force command value of the operated portion determined by the operating portion control device, and a driving device for driving the operated device based on the added driving force command value of the operated portion. It has a part.

According to a thirteenth aspect of the present invention, in the first aspect of the invention, a differentiator for differentiating the detected value of the direction of the operated device, a differentiator for further differentiating the output value, and a position detection of the operation element A differentiator for differentiating the value, a differentiator for further differentiating the output value, and a driving force command value of the operation unit driving device for changing the apparent mass of the operation element to a desired mass based on the output value And an operation unit for determining the driving force command value of the operation unit driving device for setting the position of the operated device to the desired mass of the operation element based on the output value. Unit control device, characterized in that it has an operated unit control device that determines a driving force command value of the operated unit drive device for causing the position of the operated device to follow the position of the manipulator based on the output value I do.

According to a fourteenth aspect of the present invention, in the thirteenth aspect, there is provided an operating portion driving device for setting an apparent viscosity coefficient of an operating element to a desired viscosity coefficient based on an output value of each differentiator. An operation unit control device for determining a driving force command value is provided. According to a fifteenth aspect, in the fourteenth aspect, based on the output value of each differentiator, the driving force command value of the operation unit driving device for setting the apparent impedance of the operation element to a desired impedance is set. It has an operation unit control device for determining.

According to a sixteenth aspect of the present invention, in accordance with the fifteenth aspect of the invention, there is provided an operated device having a position detector for detecting a direction of the operated device and a driving device for driving the operated device based on a driving force command value. Unit, an operation unit having a position detector that detects the position of an operator operated by a person, an operation unit position coordinate system, and a position coordinate converter that performs coordinate conversion between the operated unit position coordinate system, An illumination unit control device that determines a driving force command value of the operated unit driving device based on a position obtained by converting the direction of the operated device and the position of the operating element into coordinates.

According to a seventeenth aspect, in the sixteenth aspect, an operating section having a driving 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 determined. An operation unit control device that determines a driving force command value of the operation unit driving device based on the coordinate-transformed position is provided. According to an eighteenth aspect of the present invention, in the sixteenth aspect, a television camera for imaging a stage in a direction indicated by the operated device, a television monitor for displaying the imaged stage video, and A light pen that determines the desired direction of the operated device by indicating the stage position of the camera, an image processor that reads the coordinates on the television monitor indicated by the light pen, the position coordinates on the monitor TV and the actual And a position coordinate converter for converting position coordinates on the stage.

According to a nineteenth aspect, in the sixteenth aspect, a television camera for capturing an image of a stage in a direction indicated by the operated device, and a stereoscopic camera for displaying the captured stage image in a virtual space. Viewing glasses, a three-dimensional position detector for determining a direction of a desired operated device in a virtual space, and position coordinates for performing coordinate conversion between position coordinates in a virtual space and position coordinates in a real space. It has a converter and an image converter for converting a stage image in a real space into a stage image in a virtual space.

In 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 an axis and a y-axis, 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 operated part horizontal rotation. An operation which can be moved on a two-dimensional plane composed of an X-axis and a Y-axis in which the stage surface is reduced by a predetermined factor, and the angle formed by the vertical rotation of the operated portion and the stage surface and the stage surface is defined as the operated portion vertical angle. 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. And an operated part control device for causing the operating part to operate.

[0021]

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

According to the second aspect of the present invention, the correspondence between the position of the operated part and the position of the operating part becomes clear, the direction indicated by the operated equipment becomes easy to understand, the operability is improved, and the actual operated part is improved. Since the operation unit can be configured except for the part related to the direction, the operation unit can be made lighter than the operated unit, and as a result, the force for moving the operated device in the desired direction is reduced. Since it may be small, operability is improved.

According to the third aspect of the present invention, the operator generates only a resistance to the movement of the operator, and the operator does not drive or operate even if the operation unit control device or the like runs away. Safe for you. According to the invention of claim 4, it is possible to drive the operated device with an increased or reduced force applied by the operator to the operator, regardless of the size of the remotely operated device. The operator can operate with an appropriate operation force, and when remotely operating two operated devices having different sizes with left and right hands, the two operated devices can be operated with the same operational feeling. .

According to the fifth aspect of the present invention, a force at which the operated device collides with an obstacle at the time of remote control or a force which is suitable for a mechanical stopper or the like at the operation limit of the operated device is detected, and the force is expanded or reduced. By returning the applied force to the operator via the operator, the operator can instantly feel the coarseness of the value, and the operability is improved. According to the invention of claim 6,
The relationship between the operator and the operated device can be connected using position and force, so that the position and force between the operator that is not actually connected in hardware and the operated device can be transmitted. It becomes possible, resulting in improved operability.

According to the seventh aspect of the present invention, the device to be operated is driven by a force which is increased or reduced by the force applied to the operation element without using a force detector for detecting the force applied to the operation element. This allows the operator to operate with an appropriate operation force regardless of the size of the remotely operated device. According to the invention of claim 8,
Without using a force detector that detects the force applied to the operated device, the force detected by the operated device colliding with an obstacle or the force applied to a mechanical stopper at the operation limit during remote operation is detected, and the force is expanded. Alternatively, by returning the reduced force to the operator via the operating element, the operator can instantly feel the coarseness of the value, and the operability is improved.

According to the ninth aspect of the present invention, without using a force detector for detecting a force applied to the operation device and a force detector for detecting a force applied to the operated device, the operation device and the operated device can be used. The relationship between the two can be connected using position and force, so that the operator and the operated device that are not actually connected in hardware are connected as if they were hardware, and as a result, Since the position and force between the operator and the operated device can be transmitted with high accuracy, 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 by the gravity of the operated device on the drive shaft and the change in the force generated by the moving direction are determined by:
It is possible to compensate in advance to cancel, and it is possible to make the operating force when operating the operated device constant, regardless of the posture of the operated device and vertical, horizontal drive,
Operability is improved.

According to the eleventh aspect of the present invention, the inertial force or gravity of the operated device caused by the mass or inertia force of the focusing device or the like moving within the operated device to adjust the focusing device or the like of the operated device. The change can be compensated so as to be canceled in advance, and the operation force when operating the operated device at the same acceleration / deceleration can be constant regardless of the position of the focus device or the like, and the operability is improved. .

According to the twelfth aspect of the present invention, the operated device is decelerated and stopped near the operation limit of the operated device regardless of the movement of the operating element, so that the operator can operate the operated device due to an operation error. It is possible to operate safely without causing a high speed collision with a mechanical stopper or the like and damaging the operated device. According to the thirteenth aspect of the present invention, the mass of the operated device can be apparently reduced, so that the operation can be performed with a small force, and the operated device can be operated according to the operator or the operated device. Can be set to an arbitrary value.

According to the fourteenth aspect of the present invention, the high-frequency vibration of the operator generated when the operator operates the operator with the operator is not transmitted to the operated device. Can be eliminated. According to the fifteenth aspect of the present invention, a state in which the relationship between the operator and the operated device is connected by an arbitrary mechanical relationship can be realized by the control device, and the devices connected as if by the relationship were operated. A feeling can be obtained, and an arbitrary operation feeling according to the operator can be realized.

According to the sixteenth aspect of the present invention, the position coordinate system of the operation unit and the stage coordinate system match regardless of the position and the degree of freedom of the drive axis 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 is very easy to understand the operation when the direction indicated by the operated device is desired to be directed to a desired position on the stage.
Since the remote operation of the operated device becomes possible while feeling the inverse operation of the operation of the operated device, the operability is greatly improved.

According to the eighteenth aspect of the present invention, the operator sets the operation in the direction in which the operator wants to show the operated device on the same screen while watching the stage in the direction in which he wants to show the operated device on the monitor screen. And operability is improved. According to the nineteenth aspect of the present invention, the stage in the three-dimensional space where the operator needs to perform two operations, the operation in the direction in which the operated device is to be shown and the operation of the focusing 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 on the same three-dimensional space while viewing the image, and the operability can be further improved.

According to the twentieth aspect of the present invention, it is possible to accurately match the position coordinate system of the operation section with the position coordinate system of the stage in the direction in which the operator wants to turn the operated device, and Accuracy when irradiating a light to a 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. Divided into three large parts.

As shown in FIGS. 2 (a) and 2 (b), the illumination unit 1 has a central upper surface fixed to the lower end of a horizontal rotation shaft 23 which is driven to rotate horizontally by a horizontal rotation motor 4 disposed on the ceiling surface X. And a spotlight 7 having both ends of a vertical rotating shaft 6 protruding on both side surfaces thereof rotatably supported in the vertical direction on both legs of the downwardly U-shaped supporting 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; Encoders 9, 10 for detecting the horizontal direction respectively
It is composed of

As shown in FIGS. 3 (a) and 3 (b), the operating unit 3 has a bottom surface with an upper end of a horizontal rotating shaft 12 connected to a horizontal rotating motor 11 disposed on a fixed base Y such as a table. Upward U-shaped support frame 13 that is fixed and rotatable horizontally
A vertical rotation shaft 14 vertically rotatably supported between both legs of the support frame 13, an operator 15 having a lower end fixed to the vertical rotation shaft 14, A vertical rotation motor 16 is provided to drive the vertical rotation shaft 6 to rotate vertically, and encoders 17 and 18 for detecting a vertical direction and a horizontal direction of the operation element 15 respectively.

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

Here, the spotlight 7 and the operator 15 correspond to the horizontal rotation and the vertical rotation, respectively. FIG.
3 shows a circuit block of the control unit 2 of the present embodiment, and each of the control devices 19 and 20 includes drive circuits 21, 22, 26, and 27 for driving the corresponding motors 4, 8, 11, and 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 operation unit 3 in order to give a driving force command value to these drive circuits 21, 22 and 26 and 27; And a calculator 25 for calculating the difference between the detection angles of the encoders 10 and 18 that perform the detection.

The control unit 2 performs the following control based on the flowchart shown in FIG. That is, the operator M
In order to turn the spotlight 7 in a desired direction, the operator applies a force to the operator 15 in his hand, and moves the operator 15 in a direction in which the spotlight 7 is to be moved. The rotation angles of the horizontal rotation axis 12 and the vertical rotation axis 14 of the operation element 15 at that time are detected by the encoders 17 and 18 described above.
At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2,
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operation element 15 is calculated. Further, the arithmetic unit 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operation element 15. Here, the control device 19 uses the control gains G ₁ and G ₂ that are set in advance so that the difference between the rotation angles becomes zero.
Is determined and sent to the drive circuits 21 and 22. In the drive circuits 21 and 22, a motor current for generating the torque of the drive force command value is given to the motors 4 and 8, and each of the rotating shafts 23 and By applying a desired driving force to the spotlight 6, the spotlight 7 is rotationally driven through each of the rotating shafts 23 and 6, and the irradiation direction of the spotlight 7 is changed.

The control device 20 uses the control gains G ₃ and G ₄ which are set in advance so that the difference between the detected rotation angles becomes zero in the same manner as the control device 19. The driving force command value is determined and the drive circuits 26, 2
7 and the drive circuits 26 and 27 supply a motor current for generating the torque of the driving force command value to the motor 1.
1 and 16 to apply a desired driving force to each of the rotating shafts 12 and 14 to transmit the driving force to the operating element 15. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7.

(Embodiment 2) The difference of Embodiment 2 from Embodiment 1 is the configuration of the operation unit 3. FIGS. 6A and 6B show the operation unit 3 of this embodiment. That is, in this embodiment, the operation unit 3 has the horizontal rotation motor 11 attached to 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. One leg of a support frame 13 fixed to a horizontal rotation shaft 12 driven to rotate horizontally by a horizontal rotation motor 11 is provided with a vertical rotation shaft 14 capable of vertical rotation. 15 is attached. A vertical rotation motor 16 is attached to the support frame 13 in order to drive the operation element 15 in a vertical rotation, and an encoder 17 is used to detect the vertical rotation angle.
Is attached. Therefore, the operating element 15 is fixed base Y
It is installed so that horizontal rotation and vertical rotation are possible.

The size of the operation element 15 is substantially the same as the size of the spotlight 7, and the distance between the operation element 15 and the horizontal rotation axis 12 and the vertical rotation axis 14 is the same as that of the illumination section 1. The operator M operates with the operation element M. However, since the operation unit 3 can be reduced in weight (because there is no lens or focusing device) as compared with the illumination unit 1, the operator M operates with the illumination unit 1. Is easy to operate, and an operation feeling as if the user is actually holding the spotlight 7 is obtained.

Further, the relationship between the size of the operation unit 3 and the size of the illumination unit 1 is made to be a similar relationship. 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 is the same as that of the first embodiment.

(Embodiment 3) The point of difference between this embodiment and 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 operating unit 3 includes the brake B
A horizontal rotation shaft 12 having a horizontal rotation shaft is provided so as to freely rotate, and an encoder 18 for detecting a rotation angle of the horizontal rotation shaft 12 is mounted. On one leg of the support frame 13 fixed to the horizontal rotation shaft 12, a vertical rotation shaft 14 capable of vertical rotation, and a braking brake 31 composed of an electromagnetic brake for braking the rotation of the vertical rotation shaft 14 are provided. Encoder 1 for detecting the vertical rotation angle of vertical rotation shaft 14
7 is attached.

As shown in the drawing, the braking brake 31 (30) is provided with a friction plate 33 via a spring 29 on a disk 32 integrally formed at one end of the vertical rotation shaft 14 (horizontal rotation shaft 12). The electromagnet 3 faces the plate 33.
The friction plate 33 made of a magnetic plate is formed by supplying an exciting current to the electromagnet 34 to generate an attractive force.
Is attracted to the electromagnet 34 so as to generate a frictional force between the two to brake the rotation of the vertical rotating shaft 14 (horizontal rotating shaft 12). The frictional force between the friction plate 33 and the electromagnet 34 can be controlled depending on the size, and the resistance generated on 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. In the first embodiment, the control device 20 of the control unit 2 determines the driving force command values of the motors 11 and 16. In the example, a braking torque command value for generating a braking torque of each of the brakes 30 and 31 is determined, and a braking torque including frictional resistance is generated based on the driving force command value, so that the operator M feels the resistance. Like that.

In the figure, reference numeral 35 denotes a ball bearing which is a bearing for the vertical rotating shaft 14. (Embodiment 4) This embodiment is different from Embodiment 1 in that the operation unit 3
FIG. 8 shows the operation unit 3 of the present embodiment. That is, the operation unit 3 of the present embodiment is mechanically the first embodiment shown in FIG.
Although the positions of the operation unit 3, the vertical rotation motor 16 and the encoder 17 are opposite to each other, they have substantially the same mechanism as the first embodiment. In this embodiment, the operator 15
As shown in FIG.
A, 36B are pasted. Each strain gauge 36A, 36
The output of B is taken into a dynamic strain meter 38 via a bridge circuit 37, and the dynamic strain gauge 38 controls the shaft portion 1 of the operating element 15.
The force applied to 5a, that is, the force applied by the operator M to the operating element 15 can be detected. The shear 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 in the present apparatus, and the torsional force b of the shaft portion 15a is a force applied in the horizontal rotation direction. is there. Here, the spotlight 7 of the illumination unit 1 and the operation element 15 of the operation unit 3 can both rotate horizontally and vertically, and the rotations correspond to each other as in the first embodiment.

FIG. 10 shows a circuit configuration of the present embodiment.
1 shows a flowchart 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 turn the spotlight 7 in a desired direction, a force is applied to the operator 15 held in his hand, and the operator 15 is moved in the direction in which the spotlight 7 is to be moved. At that time, the horizontal rotation axis 12 and the vertical rotation axis 1 of the operating element 15
4 is detected by the encoders 17 and 18 described above, and the shearing force and the torsional force are detected by a dynamic axial force detector 38A and a vertical rotational axial force detector 38B constituted by a dynamic strain meter 38 of the operation unit 3. Is detected by At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

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

On the other hand, in the control device 20, similarly to the first embodiment, the control gains G ₃ , G set in advance so that the difference between the detected rotation angles of the encoders 10, 18 and 9, 17 becomes zero.
₄ is used to determine a driving force command value for each of the motors 11 and 16 of the operation unit 3 and send it to the drive circuits 26 and 27. Is applied to the motors 11 and 16, a desired driving force is applied to the rotating shafts 12 and 14, and the driving force is transmitted to the operating element 15. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7.

As described above, as a method of determining the driving force command value based on the detected force value, the spot light 7 of the illumination unit 1 is actually set by multiplying the detected force value to obtain a driving force command value. It is possible to operate with a smaller force than the operation 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 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 Lighting of different sizes can be operated with an operational feeling.

(Embodiment 5) In this embodiment, in the configuration of the illumination unit 1, as shown in FIGS.
This is different from the illumination unit 1 of the first embodiment in that the strain gauges 39a and 39b are attached to the vertical rotation shaft 6 and the torsional force of the horizontal rotation shaft 23 and the vertical rotation shaft 6 is detected. Is according to the first embodiment. The detection outputs of the strain gauges 39a and 39b are taken into a dynamic strain meter 41 via a bridge circuit 40, and a force detection value as a torsional torque is output. Here, the spotlight 7 of the illumination unit 1 and the operation unit 1 of the operation unit 3
5 is capable of horizontal rotation and vertical rotation, and the respective rotations correspond to each other as in the first embodiment.

FIG. 14 shows a circuit configuration of this embodiment, and 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 drawings. First, in order for the operator M to turn the spotlight 7 in a desired direction, a force is applied to the operator 15 held in his hand, and the operator 15 is moved in the direction in which the spotlight 7 is to be moved. At that time, the horizontal rotation axis 12 and the vertical rotation axis 1 of the operating element 15
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 angles of the vertical rotation shaft 6 are detected by the encoders 9 and 10.

Next, the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2,
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operation element 15 is calculated. Further, the arithmetic unit 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operation element 15. Here, the controller 19 of the controller 2
Then, similarly to the first embodiment, the encoders 10, 18, and 9,
The driving force command value of each of the motors 4 and 8 of the illumination unit 1 is determined using the control gains G ₁ and G ₂ set in advance so that the difference between the detected rotation angles of the driving circuit 21 and the driving circuit 21 and the driving circuit 21 and the driving circuit 21 and
2 and the drive circuits 21 and 22 apply a motor current for generating a torque of a driving force command value to the motors 4 and 8, and apply a desired driving force to each of the rotating shafts 12 and 16 to drive the spotlight 7. The spotlight 7 is driven to change the irradiation direction.

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 section 1
On the basis of the force detection value from 1B, the control device 20 creates a driving force command value by a predetermined control gain G ₃ , G ₄ so as to obtain a driving force several times as large as the force detection value, and generates drive circuits 26, 27. Give to. The drive circuits 26 and 27 supply motor currents for generating a 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 rotating shafts 12 and 14 so that
To tell the driving force. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7. In addition, the operator M can instantly feel the force of the spotlight 7 of the illumination unit 1 colliding with an obstacle or colliding with the mechanical stopper at the operation limit.

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

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 held in his hand, and the operator 15 is moved in the direction in which the spotlight 7 is to be moved. Controller 15 at that time
The rotation angles of the horizontal rotation axis 12 and the vertical rotation axis 14 are detected by the encoders 17 and 18 and the torsional torque in the horizontal and vertical rotation directions due to the force applied by the operator M to the operation element 15 is detected by the strain gauges 36a and 36b. To obtain the force detection value. At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10, and the strain gauges 39a and
At 39b, the torsional torque in the horizontal and vertical rotation directions due to the force applied to the horizontal rotation shaft 23 and the vertical rotation shaft 6 is detected, and the force detection value is obtained.

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

Here, in the control unit 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 preset so that the difference in angle and the difference in torsion torque obtained in 42 and 43 are both zero. Is sent to the drive circuits 21 and 22, and the drive circuits 21 and 22 supply the motors 4 and 8 with a motor current for generating the torque of the driving force command value, and drive the respective rotation shafts 23 and 6 with a 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 computing units 24 and 25
And the driving force command values for the motors 11 and 16 of the operation unit 3 using the control gains G ₃ and G ₄ that are set in advance so that the angle difference and the torsion torque difference obtained in steps 42 and 43 are both zero. Is determined and sent 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 supplied to the motors 11 and 1.
6, a desired driving force is applied to each of the rotating shafts 12 and 14, and the driving force is transmitted to the operating element 15. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7.

As described above, in the present embodiment, the relationship between the operator 15 and the spotlight 7 is connected by software using the rotation angle and the force, although not actually connected by hardware. As if it were connected as hardware, the remote controllability of the spotlight 7 is very good. (Embodiment 7) In this embodiment, the configuration of the illumination unit 1 and the operation unit 3 is the same as that of the embodiment 1, but the control unit 2 estimates the external force applied to the operation element 15 as shown in FIG. Horizontal rotation axis external force estimator 44A and vertical rotation axis external force estimator 44
B is different from the first embodiment in that B is provided.

Each external force estimator 44A, 44B is
A force equation is established by assuming a physical model such as each force, torque, moving angle, etc., and the force applied to the actuator 5 is estimated from the motion equation. As shown in FIG.
Is constituted by a moment of inertia Mm, a viscosity coefficient Dm, a spring constant Km, and a frictional force fm about the vertical rotation axis 14,
The controller angle is θm and the driving torque by the motor 16 is T
m, the force applied by the operator M to the operator 15 is Fm, and the distance from the center of rotation to the point at which the force Fm is applied is Lm. These relationships are as shown in FIG. 20 and Expression (1).

[0064]

(Equation 1)

Further, the moment of inertia Mm, the viscosity coefficient Dm,
The spring constant Km, the friction force fm, and the distance Lm from the center of rotation to the point where the force Fm is applied can be obtained by measuring in advance. Accordingly, in equation (1), since the force other than the force Fm applied to the operator 15 by the operator M is obtained, 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 held by the hand, and the operator 15
To move. The horizontal rotation axis 12 of the operation element 15 at that time
And the rotation angle of the vertical rotation shaft 14
Detected by 7 and 18. At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

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

Here, in the control device 20, computing units 24 and 25
Using the control gains G ₃ and G ₄ set in advance so that the angle difference obtained in
16 drive force command values are determined and drive circuits 26 and 27 are determined.
Give to. The drive circuits 26 and 27 supply motor currents for generating the torque of the driving force command value to the motors 11 and 16.
To each of the rotating shafts 12 and 14 to provide
5 to transmit the driving force. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7.

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

Here, as a method of determining the driving force command value, by multiplying the estimated force value by several times to obtain the driving force command value, the driving force command value is operated with a smaller force than the force for actually operating the spotlight 7 of the illumination unit 1. It becomes possible to spotlight 7
The operability for is improved. Also, when operating spotlights of different sizes with the left and right hands respectively, by multiplying the estimated value of the force several times in proportion to the size and setting it as the driving force command value, regardless of the size of the spotlight, Lighting of different sizes can be operated with the same operation feeling. By estimating the force in this manner, the operator M can operate the spotlight 7 with an enlarged or reduced force applied to the operating element 15 without using a force detector.

(Embodiment 8) In this embodiment, the configurations of the illumination unit 1 and the operation unit 3 are the same as those of the first embodiment.
As shown in FIG.
The third embodiment differs from the first embodiment in that a horizontal rotation axis external force estimator 45A and a vertical rotation axis external force estimator 45B for estimating an external force applied to the motor are provided.

Each of the external force estimators 45A and 45B estimates the force applied to the spotlight 7 from each force, torque, a physical model such as a moving angle, and the equation of motion. As shown in FIG. A spotlight 7 is constituted by a moment of inertia Ms, a viscosity coefficient Ds, a spring constant Ks, and a frictional force fs around the vertical rotation axis 6, and the light angle is set to θ.
Assuming that s and Ts are the driving torque of the motor 8 and Fs is the torque around the vertical rotation axis generated by the force applied to the spotlight 7 from an obstacle or the like, these relationships are as shown in FIG.

[0073]

(Equation 2)

The moment of inertia Ms, the viscosity coefficient Ds,
The spring constant Ks and the friction force fs can be obtained by measuring in advance. Therefore, in equation (2), since other than the torque Fs around the vertical rotation axis generated by the force applied to the spotlight 7 by an obstacle or the like is obtained, 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 held by the hand, and the operator 15
To move. The horizontal rotation axis 12 of the operation element 15 at that time
And the rotation angle of the vertical rotation shaft 14
Detected by 7 and 18. At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2,
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operation element 15 is calculated. Further, the arithmetic unit 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operation element 15. Further, as described above, the equation (2), 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 frictional force fs, and the vertical force generated by the force applied to the spotlight 7 The external force estimator 4 calculates the torque Fs around the rotation axis.
Estimate at 5A, 45B.

Here, in the control device 19, computing units 24 and 25
Using the control gains G ₁ and G ₂ set in advance so that the angle difference obtained by
Is determined and given to the drive circuits 21 and 22. The drive circuits 21 and 22 supply 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 rotating shafts 23 and 6 to drive the spotlight 7 to change the irradiation direction of the spotlight 7.

In the control device 20, the external force estimator 45
A driving force command value is determined based on the estimated values of A and 45B and sent to the drive circuits 26 and 27,
At 7, the motor current for generating the torque of the driving force command value is supplied to the motors 11 and 17 of the operation unit 3 to drive the motor. Feels that power, and feels as if he were operating the spotlight 7.

As described above, as a method of determining the driving force command value, the estimated force is multiplied by several times to obtain the driving force command value, so that the force applied by the obstacle or the like to the spotlight 7 without using a force detector. A torque Fs around the vertical rotation axis generated by the operation can be obtained, and the operator M feels the force instantaneously applied to the spotlight 7 by determining the driving force command value of the operating element 15 based on the estimated value. Will be.

(Embodiment 9) This embodiment is an embodiment in which Embodiments 7 and 8 are combined as shown in FIG. 26. The present embodiment differs from the seventh and eighth embodiments in a certain point. 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 held by the hand, and the operator 15
To move. The horizontal rotation axis 12 of the operation element 15 at that time
And the rotation angle of the vertical rotation shaft 14
Detected by 7 and 18. At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, each of the detected rotating shafts 12 and 14
And the rotation angles of 23 and 6 are sent to the control unit 2,
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operation element 15 is calculated. Further, the arithmetic unit 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operation element 15. Further, similarly to the seventh and eighth embodiments, the differences between the respective forces estimated by the respective external force estimators 44A, 44B, 45A and 45B are obtained by the calculators 46 and 47 of the control unit 2. That is, the difference between the vertical rotation estimation force of the spotlight 7 and the vertical rotation estimation force of the operator 15 is calculated by the calculation unit 46.
In step 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, computing units 24 and 25
The driving force command values of the motors 4 and 8 of the illumination unit 1 are determined using the control gains G ₁ and G ₂ which are set in advance so that the difference between the angle and the difference between the estimated powers obtained in step 2 are both zero. It is given to drive circuits 21 and 22. The drive circuits 21 and 22 apply a motor current for generating a torque of a driving force command value to the motors 4 and 8 and apply a desired driving force to each of the rotating shafts 23 and 6 to drive the spotlight 7 and Change the irradiation direction of 7.

Further, the control device 20 uses the control gains G ₃ and G ₄ which are set in advance so that the difference in angle and the difference in estimated force obtained by the calculators 24 and 25 become zero. The drive current is determined and sent 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 supplied to the motors 11 and 1 of the operation unit 3.
7, the drive M is transmitted to the operator 15 through each of the rotating shafts 12 and 14, and the operator M feels the power and feels as if he were operating the spotlight 7.

As described above, the driving force command value is determined by multiplying the estimated force value by several times to obtain the driving force command value, so that the relationship between the operator 15 and the spotlight 7 can be changed without using a force detector. By connecting to the spotlight 7 with software using power, the spotlight 7 is connected as if it were hardware, and the remote controllability of the spotlight 7 is greatly improved.

(Embodiment 10) In the present embodiment, as shown in FIG. 28, the gravity compensator 48 is
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. 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 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, the torque MgLcosθ is generated on the vertical rotation axis 6 of the spotlight 7 by gravity. 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 via the operator 15. Since the magnitude of the force due to gravity changes depending on the posture and the moving direction of the spotlight 7, when the operator M remotely operates using the operation element 15, the force applied to the operator M during the same acceleration / deceleration operation is reduced. 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 45 degrees downward to the horizontal position, the latter is better despite the spotlight 7 being moved at the same speed. Requires a lot of power.

If there is a change in the operating force due to the attitude or moving direction of the spotlight 7, the operability is poor. It is done in. The torque due to gravity generated on the vertical rotation axis of the spotlight 7 is represented by M, 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 is measured in advance, and the angle θ of the vertical rotation axis 6 of the spotlight 7 is measured by the encoder 9 so that the calculation can be performed sequentially.

Therefore, by adding the calculated torque to the driving force command value of the motor 8, there is no change in the force due to the attitude of the spotlight 7 or the moving direction, and the operator M
Irrespective of the posture and the moving direction of the spotlight 7, the spotlight 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 turn the spotlight 7 in a desired direction, a force is applied to the operator 15 held by the hand, and the operator 15
To move. The horizontal rotation axis 12 of the operation element 15 at that time
And the rotation angle of the vertical rotation shaft 14
Detected by 7 and 18. At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, each of the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2,
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operation element 15 is calculated. Further, the arithmetic unit 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operation element 15. The control device 20 of the control unit 2 drives each of the motors 11 and 16 of the operation unit 3 by using the control gains G ₃ and G ₄ set in advance so that the difference between the angles obtained by the computing units 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 apply a motor current for generating the torque of the driving force command value to the motors 11 and 16, apply a driving force to the rotating shafts 12 and 14, and transmit the driving force to the operating element 15. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7.

The control device 19 determines the driving force command value using the control gains G ₁ and G ₂ which are set in advance so that the difference between the angles obtained by the calculators 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 respectively measured. It measures in advance and calculates the torque due to gravity from the measured value. The driving force command value of the vertical rotation motor 8 is added by the adder 49 so as to compensate for the torque, and the result of the addition is used as the driving force command value of the motor 8 of the illumination unit 1.

Accordingly, 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.
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 rotating shafts 23 and 6 to drive the spotlight 7.
Change the irradiation direction of

(Embodiment 11) In Embodiment 10, a gravity compensator 48 for performing gravity compensation is provided. In this embodiment, as shown in FIG. The focus device 50 is provided on one spotlight 7, and a linear encoder 51 for detecting the position of the focus device is provided. The detection output of the linear encoder 51 compensates for changes in 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 nonlinear 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 g
And At this time, even when the spotlight 7 stops moving, the torque MgLXc due to gravity generated by the focusing device 50 is applied to the vertical rotation axis 6 of the spotlight 7.
osθ has occurred. The position of the focusing device (mainly a lens) 50 is moved within the device of the spotlight 7 by the linear motor 53 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 due to focus adjustment. Therefore, even when the spotlight 7 is stopped without being operated, the force generated by the weight of the focus device 50 is felt by the operator M via the operating element 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 due to the focus adjustment, when the operator M remotely operates using the operating element 15, the operator M There is a difference in the magnitude of such force. If there is a change in the operating force, the operability is poor. Therefore, in the present embodiment, compensation is performed so as not to cause a change in the operating force by the focus device 50 or the like.
It is done in.

The torque caused by gravity generated in the vertical rotation axis 6 of the spotlight 7 is obtained by measuring the mass m and the gravitational acceleration g of the focusing device 50 in advance, and measuring the angle θ of the vertical rotation axis 6 of the spotlight 7 by the encoder 9. Then, 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 force due to the attitude and the moving direction of the spotlight 7 and the position of the focus device 50, and the operator M Regardless of the posture and 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 turn the spotlight 7 in a desired direction, a force is applied to the operator 15 held in his hand, and the operator 15 is moved in the direction in which the spotlight 7 is to be moved. The rotation angles of the horizontal rotation axis 12 and the vertical rotation axis 14 of the operation element 15 at that time are detected by the encoders 17 and 18 described above. At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, each of the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2,
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operation element 15 is calculated. Further, the arithmetic unit 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operation element 15. The control device 20 of the control unit 2 drives each of the motors 11 and 16 of the operation unit 3 by using the control gains G ₃ and G ₄ set in advance so that the difference between the angles obtained by the computing units 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 apply a motor current for generating the torque of the driving force command value to the motors 11 and 16, apply a driving force to the rotating shafts 12 and 14, and transmit the driving force to the operating element 15. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7.

The control device 19 determines the driving force command value using the control gains G ₁ and G ₂ which are set in advance so that the difference between the angles obtained by the computing units 21 and 22 becomes zero. Also, the mass m of the focusing device 50, the gravitational acceleration g, the angle θ of the vertical rotation axis 6 of the spotlight 7, the distance LX from the vertical rotation axis 6 of the spotlight 7 to the center of gravity β of the focusing device 50 are measured in advance. Calculate the torque due to gravity. An adder 4 is added to the driving force command value of the vertical rotation motor 8 so as to compensate for the torque.
9 and the result of the addition is applied to the motor 8 of the illumination unit 1.
Driving force command value.

Accordingly, 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.
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 rotating shafts 23 and 6 to drive the spotlight 7.
Change the irradiation direction of

(Twelfth Embodiment) This embodiment is different from the first embodiment in that 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 for selecting the driving force command value determined by the limit compensator 54 and the driving force command value determined by the control device 19 of the control unit 2 based on the vertical rotation angle of the spotlight 7. Things.

Next, the operation limit compensator 54 will be described with reference to FIG. First, assuming that the vertical rotation angle of the spotlight 7 is θ, the angle θ is, for example, the spotlight 7
There is a mechanical operation limit such as the contact between the frame and the support frame 5. In the apparatus according to the first embodiment, the operator M moves the operation element 15, and the spotlight 7 follows the movement. However, there is a risk that the operator M may accidentally perform an abrupt operation near the operation limit of the spotlight 7 to cause the spotlight 7 to collide with the support frame 5 and be damaged. 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 the operating limit of the spotlight 7 centering on the vertical rotation axis 6 of the spotlight 7, a deceleration area A of the spotlight 7 is provided in advance slightly before the operating limit. In addition, based on the vertical rotation angle of the spotlight 7 detected by the encoder 9, it is sequentially determined by the operation limit compensator 54 whether or not the spotlight 7 is in the deceleration area A. When the drive circuit 2 enters the drive circuit 2, the driving force command value for decelerating the spotlight 7 is transmitted regardless of the movement of the operation element 15.
2, the spotlight 7 is decelerated to avoid collision near the operation limit and to prevent damage or the like.

Here, as a method of determining a driving force command value for decelerating the spotlight 7, a value obtained by multiplying the speed of the spotlight 7 by a preset constant gain is used as a driving force command value. The speed can be reduced according to the speed. 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 held in his hand, and the operator 15 is moved in the direction in which the spotlight 7 is to be moved. The rotation angles of the horizontal rotation axis 12 and the vertical rotation axis 14 of the operation element 15 at that time are detected by the encoders 17 and 18 described above. At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, each of the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2,
At 4, the difference between the vertical rotation angle of the spotlight 7 and the vertical rotation angle of the operation element 15 is calculated. Further, the arithmetic unit 25 calculates the difference between the horizontal rotation angle of the spotlight 7 and the horizontal rotation angle of the operation element 15. The control device 20 of the control unit 2 drives each of the motors 11 and 16 of the operation unit 3 by using the control gains G ₃ and G ₄ set in advance so that the difference between the angles obtained by the computing units 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 apply a motor current for generating the torque of the driving force command value to the motors 11 and 16, apply a driving force to the rotating shafts 12 and 14, and transmit the driving force to the operating element 15. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7.

The control device 19 determines whether or not the spotlight 7 is in a predetermined deceleration range A from the vertical rotation angle detected by the encoder 9. , 22 are preset control gains G ₁ , G
_{Use 2} to determine the driving force command value. When the spotlight 7 is in a preset deceleration range A, a driving force command value for decelerating the movement of the spotlight 7 irrespective of the movement of the operation element 15 is determined by the operation limit compensator 54. In the embodiment, the drive signal is given to the drive circuit 22 of the vertical rotation motor 8. Therefore, the spotlight 7 moves while the speed of the vertical rotation is reduced, and damage due to a sudden collision is prevented.

(Embodiment 13) In this embodiment, an operator M can set an easy-to-operate moment of inertia so as to be able to operate with an operation feeling corresponding to each individual. As shown in ( ₁₎ , the detection outputs of the encoders 9, 10, 17, and 18 are sent to the control unit 2 by differentiators 60 ₁ , 6.
11 ₁ , 62 ₁ , 63 ₁ to obtain an angular velocity, and further differentiators 60 ₂ , 61 ₂ , 62 ₂ , 63 ₂ to obtain an angular acceleration and calculate a difference between the angular accelerations of the horizontal rotation. The difference between the angular accelerations of the vertical rotation is calculated by a calculator 25.

Here, the parameters in the vertical rotation of the spotlight 7 are as shown in FIGS.
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 the force Fm is applied is L
m, and the moment of inertia of the operation element 15 about the vertical rotation axis 16 is Mm. In the spotlight 7, the torque 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 operator 15 at this time is as shown in the following equation (3). The vertical rotation angle θm of the operation element 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 turn the spotlight 7 in a desired direction, a force is applied to the operator 15 held in his hand, and the operator 15 is moved in the direction in which the spotlight 7 is to be moved. The rotation angles of the horizontal rotation axis 12 and the vertical rotation axis 14 of the operation element 15 at that time are detected by the encoders 17 and 18 described above. At the same time, the rotation angles of the horizontal rotation axis 23 and the vertical rotation axis 6 of the spotlight 7 are detected by the encoders 9 and 10.

Next, each of the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2 and the differentiator 6
0 ₁ , 61 ₁ , 62 ₁ , and 63 ₁ to obtain angular velocities, and further differentiators 60 ₂ , 61 ₂ , 62 ₂ , and 63 ₂
To obtain the angular acceleration. Here, in the control device 20, the driving force command value for moving the operation element 15 is represented by the rotation angle, the angular velocity, and the angular acceleration as shown in Expression (4) shown in Expression 3.
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, the vertical rotation is shown, but the same applies to the horizontal rotation. The determined driving force command value is given to drive circuits 26 and 27,
Reference numeral 27 denotes a motor current for generating a torque of a driving force command value, which is applied to the motors 11 and 16, and transmits the driving force to the plant 15 through the rotating shafts 12 and 14. That is, the operator M feels the driving force and feels as if he were 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 operation element 15 is represented by Expression (5) shown in Expression 3, and the operator M is set in advance 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 calculates 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 Expression (5). decide. Each control gain K1, K2, K
3 is determined so that the transfer function between the position of the manipulator 15 (target position) and the position of the spotlight 7 shown in the equation (8) is stable and the followability is improved. For example, by setting K1 = Ms, the transfer function of Expression (8) becomes 1, and the followability of the spotlight 7 with respect to the position of the operator 15 (target position) is improved. The above-mentioned driving force command value is for the vertical rotation, but is also determined for the horizontal rotation.

The determined driving force command value is given to drive circuits 21 and 22. The drive circuits 21 and 22 supply a motor current for generating the torque of the driving force command value to the motors 4 and 8 to rotate each of the motors. The desired driving force is transmitted to the shafts 23 and 6, and the spotlight 7 is driven.
Change the irradiation direction of As described above, in this embodiment, the operator M can remotely control the spotlight 7 with a small force by reducing the preset moment of inertia Mr. In addition, by setting the moment of inertia Mr that is easy to operate by the operator M, it is possible to operate with an operation feeling corresponding to each individual.

[0113]

(Equation 3)

(Embodiment 14) This embodiment is intended to reduce high-frequency vibration such as blurring when the operator M operates the operator 15 by hand. FIG. 41 shows this embodiment. Is shown. The configurations of the illumination unit 1 and the operation unit 3 of the present embodiment are the same as those of the first embodiment, and the control unit 2 basically includes the encoders 9, 10, 17, and 1 similarly to the thirteenth embodiment.
8 are output to the differentiators 60 ₁ , 61 ₁ , 62 ₁ , 63
_The angular velocity is obtained by differentiating by ₁ and further differentiators 60 ₂ , 6
The angular acceleration is obtained by differentiating the angular acceleration with respect to 12 ₂ , 62 ₂ , and 63 ₂ . The operation device 15 used in the present embodiment
The same parameters as those in the thirteenth embodiment are used for the rotation of the spotlight 7 and the parameters for the rotation of the spotlight 7.

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

Next, each of the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2 and the differentiator 6
0 ₁ , 61 ₁ , 62 ₁ , and 63 ₁ to obtain angular velocities, and further differentiators 60 ₂ , 61 ₂ , 62 ₂ , and 63 ₂
To obtain the angular acceleration. Here, in the control device 20, the driving force command value for moving the manipulator 15 is expressed by the rotation angle, the angular acceleration and the manipulator 1 as shown in Expression (9) shown in Expression 4.
5, the desired moment of inertia Mr preset by the operator M in advance, and the desired viscosity coefficient Dr. In this case, the vertical rotation is shown, but the same applies to the horizontal rotation. The determined driving force command value is supplied to drive circuits 26 and 27, and the drive circuits 26 and 27 supply motor currents for generating the torque of the driving force command value to the motors 11 and 16, and each of the rotating shafts 12, The driving force is transmitted to the operation device 15 through 14. That is, the operator M feels the driving force and feels as if he were operating the spotlight 7. Here, in the present embodiment, the force Fm applied by the operator M (actually, the torque F
m · Lm) and the operation of the operation element 15 are represented by Expression (10) shown in Expression 4. The operator M uses a device having a desired moment of inertia Mr and a viscosity coefficient Dr set in advance by the operator M. The spotlight 7 is remotely operated while feeling the operation feeling of operation.

Further, the control device 19 determines a driving force command value for moving the spotlight 7 as in the thirteenth embodiment. The determined driving force command value is given to drive circuits 21 and 22, and the drive circuits 21 and 22 supply a motor current for generating the torque of the driving force command value to the motors 4 and 8 to drive the rotating shafts 23 and 6 respectively. , The spotlight 7 is driven, and the irradiation direction of the spotlight 7 is changed.

As described above, in this embodiment, the operator M sets the desired moment of inertia Mr and the desired viscosity coefficient D set in advance.
The spotlight 7 is remotely controlled while feeling the operation feeling of operating r. The viscosity coefficient Dr set here
Has the effect of reducing high-frequency vibrations such as blurring that occur when the operator M operates with the operating element 15. Therefore, when the viscosity coefficient Dr is zero, the operator 1 including the slight operation fluctuation generated when the operator M operates the operator 15
5 is sent to the illumination unit 1 and the movement of the spotlight 7 causes a slight blur.
Is set, the position of the operation element 15 from which the minute blur has been cut is sent to the illumination unit 1, and the spotlight 7 operates smoothly without causing the minute blur.

[0119]

(Equation 4)

(Embodiment 15) This embodiment uses a desired viscosity coefficient Dr and a desired spring constant Kr in the same manner as in Embodiment 14 when determining a driving force command value in the control device 20. FIG. 43 shows the configuration of this embodiment. The configurations of the illumination unit 1 and the operation unit 3 of the present embodiment are the same as those of the first embodiment. Is differentiated by differentiators 60 ₁ , 61 ₁ , 62 ₁ , 63 ₁ to obtain angular velocities, and further differentiated by differentiators 60 ₂ , 61 ₂ ,
The angular acceleration is obtained by differentiating the angular acceleration by 62 ₂ and 63 ₂ . In this embodiment, the same parameters as those of the thirteenth embodiment are used for the rotation of the operation element 15 and the rotation of the spotlight 7.

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

Next, each of the detected rotating shafts 12, 14
And the rotation angles of 23 and 6 are sent to the control unit 2 and the differentiator 6
0 ₁ , 61 ₁ , 62 ₁ , and 63 ₁ to obtain angular velocities, and further differentiators 60 ₂ , 61 ₂ , 62 ₂ , and 63 ₂
To obtain the angular acceleration. Here, in the control device 20, the driving force command value for moving the operator 15 is represented by Expression (11) shown in Equation 5, and the rotation angle, the angular acceleration, the inertia moment Mm of the operator 15 and the operator M A desired moment of inertia Mr set in advance and a desired viscosity coefficient D
r and a desired spring constant Kr. In this case, the vertical rotation is shown, but the same applies to the horizontal rotation. The determined driving force command value is applied to the drive circuit 2
The drive circuits 26 and 27 supply motor currents for generating a torque of a driving force command value to the motors 11 and 16, and transmit the driving force to the operator 15 through the respective rotating shafts 12 and 14. That is, the operator M feels the driving force and feels as if he were 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 represented by Expression (12) shown in Expression 5, and the operator M is set in advance by the operator M. Desired moment of inertia Mr
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 control device 19 determines a driving force command value for moving the spotlight 7 as in the thirteenth embodiment. The determined driving force command value is given to drive circuits 21 and 22, and the drive circuits 21 and 22 supply a motor current for generating the torque of the driving force command value to the motors 4 and 8 to drive the rotating shafts 23 and 6 respectively. , The spotlight 7 is driven, and the irradiation direction of the spotlight 7 is changed.

As described above, in this embodiment, the operator M sets the desired moment of inertia Mr and the desired viscosity coefficient D set in advance.
The spotlight 7 is remotely controlled while feeling the operational feeling of operating a device having r and a desired spring constant Kr. Therefore, any mechanical relationship (mass, damper, spring)
Can realize the same state as the state where the operator 15 and the spotlight 7 are connected, and it becomes possible to feel the operation feeling of operating the device. Can be realized. For example, it can be operated in a state where there is some resistance, and it is easy to operate. Further, when it is desired to irradiate a wide range at a 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. When the motor is rotated vertically by the vertical rotation motor 8, 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 operation device 15 that separately drives the motors 4 and 8, the position of the pin spot on the stage and the operation of the operation device 1 are controlled.
Since there is no linearity with the operation position 5 (FIG. 46B),
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 back and forth, the pin spot position moves forward and backward. Position coordinate conversion formula (θ1, θ2) = f (X, Y) 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 driving amount of the operation element 15 and the position of the pin spot are linearly adjusted. Be able to operate. Where θ1, θ
Reference numeral 2 denotes a rotation angle of each of the motors 4 and 8, and f denotes a function for conversion.

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

The control unit 2 controls the drive unit 62 so that the difference between the value of the detected rotation angle 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 operation element 15 is moved, the position of the operation element 15 and the position of the pin spot to be moved have a time delay, and when operating quickly, the operator M may feel uncomfortable. is there. Therefore, in this embodiment, FIG.
In the configuration shown in (1), the position (X, Y) of the operation element 15 is detected by the position detector 61, converted into a coordinate system of the motor rotation angles (θ1, θ2) of the driving device 62 of the illumination unit 1, and the control unit 2
Of the driving device 62 through the control device 19 of FIG. When an error (Δθ1, Δθ2) occurs between the actual rotation angle of the motors 4 and 8 and the commanded rotation angle, the error angle is converted into (X, Y) coordinates, and the control unit 20 of the control unit 2 converts the error angle into (X, Y) coordinates. By returning the driving force corresponding to the magnitude to the operation element 15 as a reaction force through the driving device 64 of the operation section 2, the reaction force corresponding to the delay is transmitted to the hand holding the operation element 15, so that the operation element 15 is quickly moved. If it is too long, a large reaction force is applied to the hand, so that the feeling of operation is transmitted very well, and the operation feeling is further improved than in the case of the sixteenth embodiment.

(Embodiment 18) In this embodiment, the driving by the operation element 15 is stopped, and as shown in FIGS.
The operator M instructs a pin spot position with a light pen 72 at a target position of the stage on a screen of a television monitor 71 of the operation unit 3 by taking an image of the stage captured by a television camera 70 provided near the installation location of the television. The designated position in the screen of the monitor 71 is subjected to image processing by the image processor 73, and the position is converted by the position coordinate converter 60 based on the image processing result. A command is given to one of the driving devices 62, and the driving device 62 is driven so that a pin spot is located at a position indicated 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 shown on the screen of the screen 1, the pin spot can be hit on the target position, and the operability is greatly improved.

(Embodiment 19) In this embodiment, instead of the monitor 71 and the light pen 72 of the embodiment 18, as shown in FIGS. 51 and 52, stereoscopic glasses (head mounted display) 80 and a data glove are used. And a three-dimensional position detector 81. That is, the image converter 82 provided in the control unit 2 converts the image of the stage captured by the television camera 70 into the image.
Is converted to a three-dimensional stereoscopic image, and the stereoscopic image is projected on the stereoscopic glasses 80 worn by the operator M. The operator M sets the target position of the pin spot in the virtual space 83 visible by 3
Instructed by the dimensional position detector 81, the designated position is subjected to position conversion by the position coordinate converter 60, 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 is 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, the same illumination unit 1 as in Embodiment 1 is used as shown in FIG. 53, and as the operation unit 3, the operation element 15 is set to X as shown in FIG.
Attached to the tip of the Y table 90, the operator M can freely move on a plane. Further, the position of the operation element 15 is detected by position detectors 91A and 91B attached to the X axis and the Y axis of the operation section 3, and the position in the plane of the operation section 2 can be detected. ing.

The lighting section 1 is mounted on a ceiling or the like as shown in FIG. 55, and a spotlight 7 is provided at a desired position on the stage.
The horizontal rotation axis 23 and the vertical rotation axis 6 of the illumination unit 1 are driven by the motors 4 and 8 so that the light of the spotlight 7 can be irradiated. The illumination unit 1 is provided at a distance of height L from the origin of the xy plane as a two-dimensional plane. Regarding the relationship between the xy plane on the stage and the XY plane of the operation device 15, K times the plane of the operation unit 3 corresponds to the stage plane.

Here, as shown in FIG. 56 (a), when the relationship between the illumination unit 1 and the stage is viewed from the side, the intersection between the illumination direction of the spotlight 7 of the illumination unit 1 and the stage is S, Assuming that 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. As shown in FIG. 56 (b), when the relationship between the illumination unit 1 and the stage is viewed from the side, the intersection of the illumination direction of the spotlight 7 of the illumination unit 1 and the stage is similarly set to S, and the spotlight 7 If the angle between the irradiation direction of the spotlight and the predetermined y-axis on the stage is α, the horizontal rotation angle of the spotlight 7 at this time also becomes α. L indicates the height position.

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

The relationship between the point (X, Y) on the operation unit 3 and the point (x, y) on the stage is given by the following equations (17) and (18). The operator 15 of the operation unit 3 is moved to an arbitrary point (x,
By moving to a point (X, Y) on the operation unit 3 corresponding to y) while watching the stage, the position X on the X-axis obtained by the position detector (not shown) of the operation unit 3 If the angle of the spotlight 7 is expressed by Expressions (19) and (20) in Equation 6 using the position Y on the Y-axis, the angle of the spotlight 7 can be determined with high accuracy, and Can be irradiated with the light of the spotlight 7 with high accuracy.

[0136]

(Equation 6)

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

[0138]

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

According to the second aspect of the present invention, the correspondence between the position of the operated part and the position of the operating part becomes clear, the direction indicated by the operated equipment becomes easy to understand, the operability is improved, and compared with the actual operated part. Since the operation unit can be configured except for a part related to the direction, the operation unit can be made lighter than the operated unit, and thus, the force for moving the operated device in the desired direction is small. Since it is good, there is an effect that operability is improved.

According to the third aspect of the present invention, the operator generates only a resistance to the movement of the operator, and the operator does not drive or operate even if the operation unit controller runs out of control. It has the effect of being secure. The invention of claim 4 is
The operated device can be driven with the expanded or reduced force applied to the operator by the operator, and the operator can operate with an appropriate operating force regardless of the size of the remotely operated device. Is possible, and when two operated devices having different sizes are remotely controlled with the left and right hands, the same operation feeling can be obtained.
There is an effect that two operated devices can be operated.

According to a fifth aspect of the present invention, a force that the operated device collides with an obstacle at the time of remote operation or a force that matches a mechanical stopper or the like at the operation limit of the operated device is detected, and the expanded or reduced force is detected. Is returned to the operator via the operating element, so that 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 position and force, and therefore, the position between the operator that is not actually connected in hardware and the operated device. And force can be transmitted, and as a result, the operability is improved.

According to a seventh aspect of the present invention, a device to be operated can be driven by a force that is increased or reduced by a force applied to the operator by using a force detector that detects a force applied to the operator. Thus, there is an effect that the operator can operate with an appropriate operation force regardless of the size of the operated device remotely operated. The invention according to claim 8 uses the force that the operated device collides with an obstacle or the force that hits a mechanical stopper or the like at the operation limit during remote operation without using a force detector that detects the force applied to the operated device. By detecting and returning the increased or reduced force to the operator via the operating element, the operator can instantly feel the coarseness of the value, thereby improving the operability.

According to a ninth aspect of the present invention, a force detector for detecting a force applied to an operating element and a force detector for detecting a force applied to an operated apparatus are used without using a force detector. The relationship can be connected using position and force, so that the operator and the operated device that are not actually connected in hardware are as if they were connected in hardware, and as a result, with high accuracy Since the position and force between the operator and the operated device can be transmitted, there is an effect that operability is improved.

According to a tenth aspect of the present invention, when the posture of the operated device is kept constant, a change in the force generated on the drive shaft by the gravity of the operated device or the change in the force generated by the moving direction is compensated in advance. This makes it possible to maintain a constant operating force when operating the operated device irrespective of the posture of the operated device and vertical or horizontal drive, thereby improving the operability.

According to an eleventh aspect of the present invention, a change in the inertial force or gravity of the operated device caused by the mass or inertia 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. Compensation can be made to cancel in advance, and the operation force when operating the operated device at the same acceleration / deceleration can be constant regardless of the position of the focus device or the like, and the operability is improved. There is.

According to a twelfth aspect of the present invention, the operated device is decelerated and stopped near the operation limit of the operated device regardless of the movement of the operating element, so that the operator can operate the operated device by mechanical stopper or the like due to an operation error. There is an effect that the device can be operated safely without causing the operated device to be damaged at high speed. According to the thirteenth aspect of the present invention, the mass of the operated device can be apparently reduced, so that the operation can be performed with a small force, and the mass of the operated device can be reduced depending on the operator and the operated device. Can be set to an arbitrary value.

According to the invention of claim 14, since the high-frequency vibration of the operator generated when the operator carries the operation with the operator is not transmitted to the operated device, the device to be operated due to the operation fluctuation of the operator or the like is shown. There is an effect that minute vibration in the direction can be eliminated. The invention according to claim 15 can realize a state in which the relationship between the manipulator and the operated device is connected by an arbitrary mechanical relationship by the control device, and provides a feeling of operating the device connected in that relationship. Thus, there is an effect that an arbitrary operational feeling according to the operator can be realized.

According to the sixteenth aspect of the present invention, since the position coordinate system of the operation unit and the stage coordinate system match regardless of the position and the degree of freedom of the drive axis of the drive device of the operated device, There is an effect that the operation when the user wants to turn the direction shown to the desired position on the stage becomes very easy to understand. According to the seventeenth aspect of the present invention, the operation when it is desired to move the direction indicated by the operated device to a desired position on the stage becomes very easy to understand, and the operation of the operated device is performed while feeling the inverse operation of operating the operated device. Remote control is possible, so that operability is greatly improved.

According to the eighteenth aspect of the present invention, the operator sets the operation in the direction in which the operator wants to show the operated device on the same screen while watching the stage in the direction in which he wants to show the operated device on the monitor screen. This has the effect of improving operability. According to a nineteenth aspect of the present invention, a stage in a three-dimensional space that 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 focusing device in the operated device, is viewed through stereoscopic glasses. However, in the same three-dimensional space, it is possible to set a desired focus in a desired direction of the operated device, and there is an effect that operability can be further improved.

According to the twentieth aspect of the present invention, it is possible to accurately match the position coordinate system of the operation section with the position coordinate system of the stage in the direction in which the operator wants to point the operated device, and the desired position on the stage can be obtained. This has the effect of improving the accuracy of irradiating the position with light.

[Brief description of the drawings]

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

FIG. 2A is a side view of an illumination unit according to the first embodiment. (B)
Fig. 2 is a front view of the lighting unit of the above.

FIG. 3A is a front view of an operation unit according to the first embodiment. (B)
FIG. 2 is a side view of the operation unit of the above.

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

FIG. 5 is a flowchart for explaining the operation of the above.

FIG. 6A is a side view of a lighting unit according to a second embodiment of the present invention. (B) is a front view of the lighting unit of 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 above operation.

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 above operation.

FIG. 16 is an overall circuit configuration diagram of Embodiment 6 of the present invention.

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

FIG. 18 is an overall circuit configuration diagram of Embodiment 7 of the present invention.

FIG. 19 is a diagram illustrating the operation of the above.

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

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

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 above operation.

FIG. 26 is an overall circuit configuration diagram of Embodiment 9 of the present invention.

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

FIG. 28 is an overall circuit configuration diagram of Embodiment 10 of the present invention.

FIG. 29 is an explanatory diagram of the above operation.

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

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

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

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

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

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

FIG. 36 is an explanatory diagram of the above operation.

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

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

FIG. 39 is an explanatory diagram of the above operation.

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

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

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

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

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

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 Example 17 of the present invention.

FIG. 49 is a schematic configuration diagram of Embodiment 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 a nineteenth embodiment of the present invention.

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

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

FIG. 54 is a configuration diagram of an operation unit according to Embodiment 20 of the present invention.

FIG. 55 is an explanatory diagram of the above operation.

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

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Illumination part 2 Control part 3 Operation part 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

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Shigeru Makino 1048 Kadoma Kadoma, Osaka Pref.Matsushita Electric Works, Ltd. Inventor Minoru Yoshida 1048 Kazuma Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Works, Ltd. (56) Reference JP-A-61-176017 (JP, A) JP-A-63-29404 (JP, A) JP-A-4-62703 (JP, A) JP-A-5-242704 (JP, A) JP-A-6-96867 (JP, A) JP-A 8-138871 (JP, A) JP-A-4-24166 (JP, A) Kaihei 6-43915 (JP, U) Table 9-502675 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) H01H 25/04 F21S 10/00

Claims (20)

(57) [Claims] A first position detector for detecting a direction of a device to be operated; an operated portion having a first drive device for driving the device to be operated based on a driving force command value; An operation unit having a second position detector for detecting the position of the operating element to be operated 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 a driving force command value of the operated part driving device based on the operation, and an operation that determines the driving force command value of the operating part driving device based on the direction of the operated device and the position of the operating element And a remote control device. 2. The remote control device according to claim 1, further comprising an operation portion having the same size as the operated portion and having the same shape or a reduced similar shape. 3. The remote control device according to claim 1, further comprising control means for braking the operation element based on a drive command value of the operation section. 4. An operating unit having a force detector for detecting a force applied to an operating element by a person, and an operated unit control device for determining a driving force command value of an operated unit driving device based on the detected force value. The remote control device according to claim 1, wherein: 5. An operated portion having a force detector for detecting a force applied to the operated device, an operated portion having a force detector for detecting a force applied to the operated device, and a position of the operation element. Operating unit control device that determines an operated value, and determines a driving force command value of the operating unit driving device based on the position of the operating element, the direction of the operated device, and the force detection values of the operating unit and the operated unit. The remote control device according to claim 1, further comprising an operation unit control device. 6. An operation section having a force detector for detecting a force applied to the operator by a person, an operated section having a force detector for detecting a force applied to a device to be operated, a position of the operator and a position of the operator. An operated part control device that determines a driving force command value of an operated part driving device based on the direction of the operating equipment and the force detection values of the operating part and the operated part, the position of the operating element, the direction of the operated equipment, and the operation 2. The remote control device according to claim 1, further comprising an operation unit control device that determines a driving force command value of the operation unit driving device based on the force detection values of the unit and the operated unit. 7. An external force estimator for estimating a force to be applied to a device to be operated from a position of an operator, a driving force command value of an operation unit driving device, and a previously assumed equation of motion of an operation unit, and an external force estimator based on the estimated value. 2. The remote control device according to claim 1, further comprising an operated portion control device that determines a driving force command value of the operation portion drive device. 8. An external force estimator for estimating a force applied to an operated device from a direction of an operated device, a driving force command value of an operated unit driving device, and a previously assumed equation of motion of the operated device, and an estimation thereof. 2. An operation unit control device that determines a driving force command value of the operation unit drive device based on the value.
The remote control device according to claim 1. 9. An external force estimator for estimating a force to be applied to a manipulator by a position of the manipulator, a driving force command value of a manipulating part drive device, and a previously assumed motion equation of the manipulating part; An external force estimator for estimating the force applied to the operated device from the driving force command value of the operated unit drive device and the motion equation of the operated unit assumed in advance, and the position of the operating element, the direction of the operated device, and the operating unit Operating unit control device that determines a driving force command value of the operated unit driving device based on the estimated force of the operated unit and the position of the operating element, the direction of the operated device, and the forces of the operating unit and the operated unit The remote control device according to claim 1, further comprising an operation unit control device that determines a driving force command value of the operation unit 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 determined by the operated device control device and the driving force command value. An adder for adding a driving force command value of the operation unit;
2. The remote operation device according to claim 1, further comprising an operated unit having a driving device for driving the operated device based on the added driving force command value of the operated unit. 11. A method for compensating for a change in inertia or gravity of an operated device caused by a change in the position of a device that moves within the operated device and changes the position of the center of gravity of the operated device. A non-linear compensator for determining the driving force command value of
An adder for adding the driving force command value and the driving force command value of the operated portion determined by the operated portion control device, and for driving the operated device based on the added driving force command value of the operated portion. 2. The remote control device according to claim 1, further comprising an operated portion having the drive device of (1). 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 operating limit determined by the driving force command value and the operated portion control device. An adder for adding the driving force command value of the unit;
2. The remote operation device according to claim 1, further comprising an operated unit having a driving device for driving the operated device based on the added driving force command value of the operated unit. 13. A differentiator for differentiating a detected value of a direction of an operated device, a differentiator for further differentiating an output value thereof,
A differentiator for differentiating a position detection value of an operation element, a differentiator for further differentiating an output value thereof, and an operation section driving device for setting an apparent mass of the operation element to a desired mass based on those output values Operating unit control device for determining a driving force command value of the operating unit, and a driving force command of an operating unit driving device for setting the position of the operated device to an apparent mass of the operating element to a desired mass based on the output value. An operation unit control device that determines a value, and an operated unit control device that determines a driving force command value of an operated unit drive device for causing the position of the operated device to follow the position of the operation element based on the output value. The remote control device according to claim 1, further comprising: 14. An operating unit control device for determining a driving force command value of an operating unit driving device for making an apparent viscosity coefficient of an operating element a desired viscosity coefficient based on an output value of each differentiator. 14. The remote control device according to claim 13, comprising: 15. An operating unit control device for determining a driving force command value of an operating unit driving device for setting an apparent impedance of an operating element to a desired impedance based on an output value of each differentiator. The remote control device according to claim 14, wherein: 16. An operated part having a position detector for detecting the direction of the operated equipment and a driving device for driving the operated equipment based on the driving force command value, and the position of an operating element operated by a person. An operation unit having 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, and coordinates of the direction of the operated device and the position of the operating element 16. The remote control device according to claim 15, further comprising: an illuminating unit control device that determines a driving force command value of the operated unit driving device based on the converted position. 17. An operation unit having a driving device for driving an operation element based on a driving force command value, and an operation unit driving apparatus based on a position obtained by performing coordinate conversion between the position of the operation element and the direction of the operated device. 17. 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 capturing an image of a stage in a direction indicated by a device to be operated, a television monitor for displaying a captured stage image, and a stage position on a monitor screen by indicating a desired position. A light pen for determining the direction of the operated device, an image processor for reading the coordinates on the television monitor indicated by the light pen, and converting the position coordinates on the monitor television and the actual position coordinates on the stage 17. 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 indicated by an operated device, stereoscopic glasses for displaying the captured stage image in a virtual space, and a desired operated device in the virtual space. A three-dimensional position detector for determining the direction of the device, a position coordinate converter for performing coordinate conversion between the position coordinates in the virtual space and the position coordinates in the real space, and a virtual stage image in the real space 17. The remote control device according to claim 16, further comprising an image converter for converting into a stage image in space. 20. A stage which is capable of horizontally and vertically rotating a device to be operated and a stage surface in a direction indicated by the device to be operated is a two-dimensional plane composed of orthogonal x-axis and y-axis. The height of the stage and the operated part is L, the angle between 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 is The angle formed by the direction and the stage surface is defined as a vertical angle of the operated part, and the stage surface is reduced by a predetermined factor to a predetermined size, and is composed of an X axis and a Y axis
An operation unit movable on a three-dimensional plane, and when the operation paper of the operation unit is moved to the XY plane, a horizontal rotation angle and a vertical rotation angle of the operated unit are determined, and the determined angles are determined. 17. The remote operation device according to claim 16, further comprising an operated unit control device for moving a direction of the operated device.