JP6799729B2 - Operation system and control device - Google Patents

Description

The present invention relates to an operation system and a control device.

Conventionally, an operation system including a plurality of operation devices and one work device is known (see Patent Documents 1 to 3). In this operation system, by giving priority of operation to only one operation device, the work device is substantially operated by using one operation device.

Japanese Unexamined Patent Publication No. 1-285594 Japanese Unexamined Patent Publication No. 2004-313305 Japanese Unexamined Patent Publication No. 9-242124

When an operator's human error occurs, the work equipment malfunctions in the conventional operation system. The present invention has been made in view of the above points, and an object of the present invention is to provide an operation system and a control device capable of solving the above-mentioned problems.

The operation system of the present invention includes a work device and a plurality of operation devices for operating the work device, and the work device is said to have the same operation contents in the plurality of operation devices. It is characterized by performing an operation corresponding to the operation content.

In the operation system of the present invention, the work corresponding to the operation contents is performed on the condition that the operation contents in the plurality of operation devices match. Therefore, it is possible to prevent the working device from performing an erroneous operation as compared with the case where one operator operates alone.

It is a block diagram which shows the structure of the operation system 100 in 1st Embodiment. It is a block diagram which shows the structure of the operation system 100 in 2nd Embodiment. It is a block diagram which shows the structure of the operation system 100 in 3rd Embodiment. It is a block diagram which shows the structure of the operation system 100 in 4th Embodiment. It is explanatory drawing which shows an example of the working environment in which the operation system 100 in 4th Embodiment is used. It is explanatory drawing which shows the standing position of the operator in the work environment in 4th Embodiment. It is explanatory drawing which shows the arrangement example of the display device group in 5th Embodiment. It is a perspective view which shows the structure of the overhead type hoist type overhead crane in 1st Embodiment. It is a perspective view which shows the whole structure of the operation system 100 in 6th Embodiment. FIG. 10A is a perspective view showing the configurations of the crane mechanism CL, the traverse rail R1 and the traverse rail R2 in the sixth embodiment, and FIG. 10B is a block diagram showing the electrical configuration of the operation system 100. 11A to 11D are explanatory views showing an example of display contents to be displayed on the display device. 12A to 12D are explanatory views showing an example of display contents to be displayed on the display device. It is explanatory drawing which shows the display example in the display device in 7th Embodiment.

An embodiment of the present invention will be described. First, the terms in the present invention will be described.
(1) Working device Examples of the working device include a working device provided with a drive mechanism. Examples of the work device provided with the drive mechanism include a cargo handling machine, a construction machine, a transport machine, a civil engineering machine, and the like. Specific examples thereof include self-propelled machines such as power shovels, bulldozers, and forklifts, various conveyor transport devices using belts, chains, rollers, and cargo handling machines and machines such as tower cranes, portal cranes, and unloaders. Examples include a type parking facility, a hoist (winding machine), etc. In addition, as a work device equipped with a drive mechanism, various product manufacturing facilities, a warning light device equipped with a warning indicator light and a drive device for driving its rotation, a digital speaker and the like. Examples thereof include a digital sound device equipped with the drive device, a game machine, an entertainment device, and the like. Examples of game machines and entertainment devices include game machines in which players aim to obtain prizes and points, and game machines (including electronic devices in which video games or computer games are installed) competing with other players for high scores. Can be mentioned.

Further, the working device may be a part or all of a real working device simulated by at least one of hardware and software. Further, the working device may be a working simulator. Examples of such a working device include the following.

(I) A warehousing device equipped with a vehicle transport mechanism, which is a component of one vehicle in the actual mechanical parking equipment, and a simpler device that simulates the basic operation of the warehousing device.

(Ii) A virtual gantry crane displayed on a display device when the operation of the gantry crane is simulated using computer simulation technology and the simulated result is displayed on the display device.

(Iii) In "an overhead crane equipped with a hoisting device for raising and lowering luggage and a traveling body in which both hoisting devices move on a horizontal plane", the operation of the hoisting device for raising and lowering luggage is the operation of an electric motor for raising and lowering a dummy weight. Simulated, the operation of the rest including the traveling body is simulated using computer simulation technology, and the result is displayed on the display device in conjunction with the operation of the electric motor.

Further, the working device may perform an operation other than physical driving. Such operations include, for example, sound generation, light emission, electromagnetic wave transmission / reception, image display, heat generation, heating or cooling of an object, manufacturing of an article (for example, formation of a thin film on a substrate). , Computer arithmetic processing, etc.

(2) About the operating device The operating device means a device for performing operations related to the operation of the working device. The operating device may be, for example, a module that controls operations related to the operation of the working device. The method of transmitting the operation content in the operating device to the working device side may be a wireless method, a wired method, or another method. The operation device may be a machine-side operation device or a remote control device. Further, the operation device may be incorporated as an operation panel of the work device, may be a separate body from the work device, or may be detachable from the work device.

The operation device includes, for example, an operation input means capable of inputting operation contents corresponding to the operation of the work device. Examples of the operation input means include buttons, joysticks, and other switch mechanisms. Further, the operation device may be, for example, one that performs operation input by rotating or tilting the housing of the operation device (see, for example, JP-A-2009-20891, JP-A-2012-25591, etc.). Further, the operation device may be, for example, one that performs operation input by voice input.

When there are a plurality of operating devices, the plurality of operating devices may be arranged adjacent to each other or may be arranged apart from each other. Further, a part of the plurality of operating devices may be arranged adjacent to each other, and the rest may be arranged apart from each other.

The operating device is a display means installed at a position where the operator who operates it can be visually recognized, a notification means for notifying the operator of an emergency, an accident, a failure, a malfunction, etc., a hand of the operator, and a viewing direction. It may be provided with a lighting means for illuminating.

(3) Operation details The operation details in the operating device may differ depending on the working device. For example, the working device is "an overhead crane having a hoisting device for raising and lowering a load and a traveling body having both hoisting devices moving on a horizontal plane, or a device simulating the overhead crane", and an operating device for operating the working device. However, if the operation input means that enables the operation input corresponding to the movement of "up / down / left / right / front / rear (or up / down / east / west / south / north)" is provided. , The operations for instructing the movement to "up / down / left / right / front / rear (or up / down / east / west / south / north)" correspond to the operation contents in the operation device.

Further, the working device is attached to the "lower traveling body, the upper rotating body connected to the upper part of the lower traveling body via the swivel device, the telescopic mast attached to the upper swivel body, and the top of the mast. It is a "hydraulic excavator" that includes at least a telescopic arm and a gripping device attached to the tip of the telescopic arm via a swing device, and the operating device for operating the working device is "turning right, turning left, and so on." If the operation input means that enables the operation input corresponding to the operation of "mast up, mast down, arm up, arm down, tilt up, tilt down" is provided, "turn right, turn left, mast up," The operation of instructing the operation of "lower mast, upper arm, lower arm, upper tilt, lower tilt" corresponds to the operation content in the operating device.

(4) Matching operation contents in a plurality of operation devices "Matching operation contents in a plurality of operation devices" means that the operation contents in each of the plurality of operation devices are "same operation" in the work device. It means to correspond to ".

Here, "same operation" means, for example, when an operator who operates a certain operating device requests an operation of a certain physical quantity by an operation input means of the operating device, the physical quantity (or the physical quantity thereof) is used. It means an operation in which the parameters having a correlation) are the same.

The above physical quantities include, for example, azimuth, time, velocity, acceleration, and distance, and their range (for example, azimuth that is the range of the direction, period that is the range of time, area that is the range of distance, etc.), and movement. Examples include turning on and off of a route, a working device, or a driving device provided therein.

Here, in order to avoid complication of the description, for convenience, a plurality of operating devices are composed of two operating devices, a first operating device and a second operating device, and the unit and scale of the time t are not limited. The operator who operates the first operating device inputs the ascending operation from time t = 0 to time t = 2 by the operation input means of the operating device, and from time t = 2 to time t = 4. During that time, the operation input for turning left is performed, and the operation input for descending is performed from time t = 4 to time t = 5, while the operator who operates the second operation device inputs the operation input for the operation device. By means, no input is made from time t = 0 to time t = 1, and ascending operation input is performed from time t = 1 to time t = 3, from time t = 3 to time t = 5. During that time, it is assumed that the operation input for turning left is performed.

In this case, "the operation contents in the plurality of operating devices match" is between time t = 1 and time t = 2 for climbing, and from time t = 3 to time t = 4 for turning left. Between. Therefore, the working device performs an ascending operation from the time t = 1 to the time t = 2 and a left turning operation from the time t = 3 to the time t = 4.

In this example, "plurality of times t = 0 to time t = 1, time t = 2 to time t = 3, and time t = 4 to time t = 5". How the working device is operated when the condition that "the operation contents in the operating device match" is not satisfied can be appropriately set. For example, the operation may be stopped, one of the two operating devices may take precedence over the other, and the working device may operate according to the operation input from the one giving priority operating device. Basically, the operation is performed according to the operation input from one of the priority operating devices, but the working device may be operated at a lower speed.

The degree of matching of the operation contents in "the operation contents of a plurality of operation devices match" can be appropriately set, and may be a strict match or a substantial match, and the difference in the operation contents. If is within a certain range, they may match.

For example, as in the above example, it is assumed that a plurality of operating devices are composed of two operating devices, a first operating device and a second operating device. The operation input means of the first operation device performs an operation input of advancing in a specific direction of 10 degrees to the right from the reference direction. On the other hand, the operation input means of the second operation device performs an operation input of advancing in the direction at each time point while changing the direction in 2 degree increments from the reference direction to 16 degrees (Case 1).

Further, the operation content of the first operation device is the same as that of the case 1, and the operation input means of the second operation device continuously and arbitrarily changes the direction from the reference direction to 16 degrees at each time point. It is assumed that the operation input of moving forward in the direction of is performed (Case 2).

At this time, if the design requires strict matching of the operation contents, in either case 1 or case 2, the operation contents of the second operation device of the work device are from the reference direction. When the advance is made in the direction of exactly 10 degrees, the operation corresponding to the advance in that direction is performed.

On the other hand, a design that does not require strict matching of operation contents, for example, the difference between the operation contents of the first operation device and the operation contents of the second operation device is within the range of plus or minus 3 degrees. If the design is such that if there is a match, in the case of Case 1, the operation content of the second operating device is advanced in the directions of 8 degrees, 10 degrees, and 12 degrees from the reference direction. At that time, the operation corresponding to the advance in the preset direction is performed. Further, in the case of Case 2, the working device moves in a preset direction when the operation content in the second operating device is forward in a direction within a range of 7 to 13 degrees from the reference direction. The operation corresponding to the forward movement will be performed.

Here, the above-mentioned preset directions are, for example, directions corresponding to the operation contents in the first operating device, directions corresponding to the operation contents in the second operating device, or directions other than those directions. is there.

In case 1, the operation content in the second operating device is neither 8 degrees, 10 degrees, or 12 degrees from the reference direction, or in case 2, the operation content in the second operating device is 7 degrees from the reference direction. It is possible to appropriately set how to operate the working device when the condition that "the operation contents in the plurality of operating devices match" is not satisfied, such as when the temperature is not within the range of 13 degrees. For example, the operation of the work device may be stopped so that one of the two operation devices has priority over the other so that the work device operates according to the operation input from the one priority operation device. However, basically, the operation is performed according to the operation input from one of the priority operating devices, but the working device may be operated at a lower speed.

Further, "the operation contents of the plurality of operating devices match" may mean that the signal related to the operation input by the operation input means of each of the plurality of operating devices satisfies the "predetermined condition".

For example, it is assumed that a plurality of operating devices are R operating devices, and the signals and their intensities related to the operating input by the operating input means of each operating device are Sm and Pm, respectively (R is a natural number of 2 or more, m is a natural number. It is a natural number of 1 or more and R or less). Then, for any Sm, a range [Sm-Lm, Sm + Um] having an upper limit value Sm + Um, a lower limit value Sm-Lm, and Sm + Um and Sm-Lm at both ends is set. Here, Um and Lm are functions that take an integer of zero (0) or more or a value of zero (0) or more, for example, Sm or time t as a variable. At least one of Um and Lm may be 0 (zero), and Um = Lm does not have to be.

In addition, "there is a non-zero value or range common to all range [Sm-Lm, Sm + Um]" is defined as the above "predetermined condition". In this case, if a strict match is required for the matching of the operation contents, Um and Lm are set to 0 (zero), and if a slightly strict match is required, a value close to 0 (zero) is set, and the strict match or If a substantial match is sufficient without requiring a somewhat strict match, the absolute values of Um and Lm may be set to values that are not close to 0 (zero).

Further, "the operation contents of the plurality of operating devices match" may mean that the operation contents of the plurality of operating devices match at different times. For example, when the operation content of the first operating device at an arbitrary time t1 and the operation content of the second operating device at a time t2 different from the time t1 are the same, or the difference between the two is within a certain range. It may be said that "the operation contents in a plurality of operation devices match".

Further, "the operation contents in the plurality of operating devices match" may mean that the operation contents in each of the plurality of operating devices match within a certain time. For example, the operation content of the first operating device at time t1 and the operation content of the second operating device at time t2 are the same, or the difference between the two is within a certain range, and the time t1 and the time t2 When the time difference is within a preset range, it may be set as "the operation contents in the plurality of operating devices match".

(5) Operation Corresponding to Operation Contents In the operation system of the present invention, the mode can be switched between a plurality of modes provided in the operation system. For example, in an operating system including two operating devices, the mode can be switched between the first mode and the second mode.

The first mode includes, for example, a mode in which only the first operator is involved in the operation of the operation system. As the second mode, for example, a mode in which two operators, the first operator and the second operator, are involved in the operation of the operation system, and a mode in which the operation of the second operation device by the second operator is prioritized. And so on.

As an opportunity to shift from the second mode to the first mode, for example, only the first operator operates the first operating device, and the second operator does not operate the second operating device. In addition, the second operator may leave the operating environment of the second operating device.

Further, as an opportunity to shift from the first mode to the second mode, for example, the second operator starts the operation of the second operating device, or the operation contents of the two operating devices match. It can be mentioned that it has been reached.

Further, the operation corresponding to the matching of the operation contents may be set to non-operation. That is, if the operation contents do not match, some operation may be performed, and if the operation contents match, the operation may be stopped or stopped.

(6) About the display corresponding to the matching of the operation contents The display corresponding to the matching of the operation contents is, for example, a display in which the person who sees the display can identify whether or not the operation contents match. can do. The content of the display may be a notification by a direct sentence expression, or may display a unique line width, an image, or the like when the operation contents match.

The display corresponding to the matching of the operation contents may be set to be hidden. That is, if the operation contents do not match, some display may be performed, and if the operation contents match, the display may be hidden.

Further, when "some signal" is generated by the matching of the operation contents in the plurality of operating devices and the generation of the "some signal" is related to the display on the display device, the generation of such a signal is plural. Corresponds to the display corresponding to the matching of the operation contents in the operation device of. The operation signal g, the drive signal u, the display signal c, and the signal a, which will be described later, are examples of the above-mentioned “some signal”.

The operating system of the present invention can switch modes among a plurality of modes, for example. In this case, when some modes are set, it is possible to display corresponding to the matching of the operation contents. In other modes, such a display may not be performed.
<First Embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of operation system 100 and processing to be executed will be described with reference to FIGS. 1 and 8. As shown in FIG. 1, the operation system 100 includes operation devices 111 and 112, a control device 120, and a work device 130. The control device 120 is a well-known computer in which a program for executing a process described later is installed. The control device 120 functionally includes a calculation unit F and a control unit 121. The working device 130 includes a driving device 131. The working device 130 is an overhead crane.

The operating devices 111 and 112 are devices for operating the working device 130, respectively. The operator can operate the operating devices 111 and 112. In the following, the operator who operates the operating device 111 is referred to as the first operator, and the operator who operates the operating device 112 is referred to as the second operator.

When operated by the operator, the operating devices 111 and 112 generate and output an operation input signal x according to the operation content. In the following, the operation input signal generated and output by the operation device 111 is x1, and the operation input signal generated and output by the operation device 112 is x2.

The generation of the operation input signal x widely corresponds to the operation performed by the working device 130. For example, the absence or zero signal of the operation input signal x is also included in the generation of the operation input signal x.

For example, when the first operator presses the operation button for turning right provided in the operation device 111, an operation input signal corresponding to the right turn operation of the work device 130 is generated, and the operation input signal is used. When the working device 130 is turned to the right, the generation of the operation input signal corresponds to the generation of the operation input signal x1.

Further, it is assumed that the operation of the right turn of the work device 130 is stopped by stopping the first operator from pressing the operation button for turning right and setting the state in which the above operation input signal does not exist. To do. Since the absence of the operation input signal corresponds to the operation of the work device 130 (stopping the operation of turning right), this also corresponds to the generation of the operation input signal x1.

Further, when the second operator stops pressing the operation button for moving in a certain direction provided with the operation device 112, the work device 130 moving in a certain direction while pressing the operation button. It is assumed that the operation system 100 is configured so that is moved in the opposite direction and returned to the origin position.

Stopping the second operator from pressing the above operation button and making the operation input signal corresponding to the operation of moving the work device 130 in a certain direction do not exist means that the work device 130 is moved in the opposite direction. Since it corresponds to the operation of movement, this also corresponds to the generation of the operation input signal x2.

As shown in FIG. 8, the operation devices 111 and 112 are provided with a plurality of operation buttons 111p, 111q, 112p and 112q for performing operation input, respectively. The operation contents in the operation devices 111 and 112 differ depending on which operation button is selected and pressed, or how the selected button is pressed.

As shown in FIG. 1, the operation input signal x1 generated by the operation of the operation device 111 is transmitted to the control device 120 via the first signal transmission path 111L, and the operation input signal x2 generated by the operation of the operation device 112. Is transmitted to the control device 120 via the second signal transmission path 112L.

In FIGS. 1 and 8, the first signal transmission path 111L and the second signal transmission path 112L are drawn as wired signal transmission cables, but signals between the operation device 111 and the control device 120. At least one of the transmission and the signal transmission between the operating device 112 and the control device 120 may be performed wirelessly.

As shown in FIG. 1, the control device 120 receives the operation input signals x1 and x2 and generates the drive signal u. More specifically, the calculation unit F receives the operation input signal x1 from the operation device 111 and the operation input signal x2 from the operation device 112 to generate the operation signal g.

The operation signal g includes an operation signal gp generated when the operation content corresponding to the operation input signal x1 and the operation content corresponding to the operation input signal x2 match, and an operation signal gq generated in other cases. There is. When the operation content corresponding to the operation input signal x1 and the operation content corresponding to the operation input signal x2 match, for example, the operation device 111 and the operation device 112 have the same operation buttons having the same meaning in the same manner. I have operated it. The operation signal gp differs depending on the operation content corresponding to the operation input signals x1 and x2 from which the operation signal gp is generated. Therefore, the operation content can be specified from the operation signal gp. The operation signal gq also includes an operation signal g in which the operation signal g is not generated or is zero.

The control unit 121 receives the operation signal g and generates the drive signal u. There are two types of drive signal u: a drive signal up generated when the operation signal gp is received and a drive signal uq generated in other cases. The drive signal up differs depending on the operation content corresponding to the operation input signals x1 and x2 from which the drive signal up is generated. Therefore, the operation content can be specified from the drive signal up. The drive signal uq also includes a drive signal u in which the drive signal u is not generated or is zero.

The control device 120 outputs a drive signal u. The drive device 131 receives the drive signal u, drives the drive signal u, and causes the work device 130 to operate. When the drive device 131 receives the drive signal up, the work device 130 is made to perform an operation corresponding to the drive signal up (that is, corresponding to the operation content).

When the drive device 131 does not receive the drive signal up or receives the drive signal uq, what kind of drive the drive device 131 performs and what kind of operation the work device 130 performs can be appropriately set. For example, it can be as follows.

(A-1) The drive device 131 can continue the drive that has been performed until immediately before, and the work device 130 can continue the operation that has been performed until immediately before.
(A-2) The drive device 131 stops the drive that has been performed until immediately before, and the work device 130 stops the operation that has been performed until immediately before.

(A-3) The drive device 131 stops the drive that has been performed until immediately before, drives another drive device (not shown), and causes the work device 130 to perform another operation.
The operation of the drive device 131 and the operation device 130 when the drive device 131 does not receive the drive signal up or receives the drive signal uq described in the above (a-1) to (a-3) is, for example, , The control unit 121 may continue until the next operation signal g is received, or may continue for a preset time.

The drive signal u is a signal for controlling the drive of one drive device 131 if the work device 130 includes only one drive device 131, and the work device 130 includes a plurality of drive devices 131. If so, it is a signal for controlling the drive of a specific drive device 131 among the plurality of drive devices 131. The specific drive device 131 can be selected from a plurality of drive devices 131. In any case, the drive device 131 receiving the drive signal up drives the work device 130 in response to the drive signal up, and as a result, the work device 130 corresponds to the matching operation contents in the operation devices 111 and 112. Do the action.

As shown in FIG. 8, the working device 130 is an overhead hoist type overhead crane. The working device 130 includes a hoist H, a traverse rail R1, and a traverse rail R2.

The hoist H is driven along the traverse rail R1 by a hoisting motor M that enables the load block to which the hook Q is attached at the lower end to be raised and lowered by winding and rewinding the wire rope C, and a first drive motor m1. The first drive mechanism D1 is provided. The traverse rail R1 is provided with a second drive mechanism D2 at both ends thereof, which drives traveling along the traverse rail R2 by a second drive motor m2, respectively.

The operation system 100 includes a communication unit that enables communication between a first operator who operates the operation device 111 and a second operator who operates the operation device 112. The communication may be unidirectional or bidirectional. In addition, the communication unit may further enable communication with a third party (for example, a work observer in a central monitoring facility).

2. 2. Effects of the operation system 100 (1A) In the operation system 100, the work device 130 responds to the operation contents on the condition that the operation contents of the first operator and the operation contents of the second operator match. Perform the desired operation. Therefore, it is possible to prevent the working device 130 from performing an erroneous operation as compared with the case where one operator operates it alone.

In particular, the above effect is particularly remarkable when the malfunction of the work device 130 may impair the safety of the operator and the people around him, for example, in a construction site or an article manufacturing factory.

(1B) In the operation system 100, in order for the work device 130 to perform the work, it is necessary to match the operation contents of the first operator with the operation contents of the second operator. Therefore, one or both operators can learn the correct operation method by striving to match the operation contents of their own with the operation contents of the other operator.

In particular, when one operator is a veteran and the other operator lacks operational experience, the former can lead the latter and the latter can learn the correct operation method. In addition, even if both operators are veterans, it is possible to make them aware of the self-confidence (belief) that veterans tend to fall into, and further improve their operation skills.

(1C) Since the operation system 100 includes a communication system, unidirectional or bidirectional communication can be performed between operators. Therefore, for example, even when the ambient noise is large or the distance between the operators is large, the operators can communicate with each other and operate the work device 130 appropriately.
<Second embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of the operation system 100 of the present embodiment and the processing to be executed are basically the same as those of the first embodiment. In the following, the common configurations will be omitted and the differences will be mainly described.

As shown in FIG. 2, the operation system 100 of the present embodiment further includes a display control unit 140, a display device 150, and a recording device 160.
The recording device 160 stores the operation input signals x1 and x2, the operation signals g (gp, gq), the drive signals u (up, uq), the signal a, the display signal c, and the position coordinate information h as time-series data. The display control unit 140 can read the data stored in the recording device 160, and displays the display contents based on the data on the display device 150 as described later.

Here, the signal a is a signal generated by the calculation unit F or a signal generated by the operation devices 111 and 112 and transferred by the calculation unit F, and an example thereof is to each of a plurality of operation input signals x. It is the assigned attribute information (for example, information on the expression format (for example, color, line width, font, identification mark, etc.) when displaying the operation input signal x on the display device 150). The above attribute information includes the type of operation input signal x (for example, the operation input signal x corresponding to the right turn of the work device 130, the operation input signal x corresponding to the left turn, the operation input signal x corresponding to the ascent, and the ascend. It differs for each operation input signal x, etc. corresponding to.

Further, the display signal c is a display signal for displaying an image on the display device 150, as will be described later. Further, the position coordinate information h is position coordinate information in driving the driving device 131 and / or position coordinate information in the operation of the working device 130.

In addition, the recording device 160 also stores the actual data of the operations performed on the working device 130 by the operator (including at least one of the first operator and the second operator) as time series data. The display control unit 140 can read the above-mentioned actual data stored in the recording device 160, and can display the display contents based on the data on the display device 150.

The signal b is selectively read from the signal (including the signal a) and information stored in the recording device 160 as necessary for signal processing in the display control unit 140. The display control unit 140 receives the signal b from the recording device 160, or receives the signals a and b from the calculation unit F and the recording device 160, respectively, generates a display signal c, and outputs the display signal c to the display device 150. To do. The display device 150 is a display device capable of displaying an image. The display device 150 performs a display corresponding to the display signal c.

Based on the display signal c, the display device 150 displays, for example, one or more selected from the following (b-1) to (b-4).
(B-1) Display corresponding to the operation content in at least one of the operation devices 111 and 112 is performed.

(B-2) When the operation contents in the operation devices 111 and 112 match, the corresponding display is performed.
(B-3) The operation of the working device 130 is displayed in real time.

(B-4) From the signals and information stored in the recording device 160, those related to the operation of the working device 130 performed by each operator in the past are read out after the fact and visually reproduced and displayed.
The mode of display on the display device 150 can be appropriately set. For example, it can be displayed as any of the following (c-1) to (c-4).

(C-1) When the operation content in the operation device 111 changes with time (for example, time series data of the operation input signal x1) and the operation content in the operation device 112 changes with time (for example, when the operation input signal x2). Series data) are placed in parallel and displayed in different colors.

(C-2) When the operation content in the operation device 111 changes with time (for example, time series data of the operation input signal x1) and the operation content in the operation device 112 changes with time (for example, when the operation input signal x2). The series data) are displayed in parallel and displayed in different colors, and the display at the time when the operation contents of the operation devices 111 and 112 match (for example, the generation time of the operation signal gp) is displayed and emphasized in another color. To do.

(C-3) When the operation content in the operation device 111 changes with time (for example, time-series data of the operation input signal x1) and the operation content in the operation device 112 changes with time (for example, when the operation input signal x2). The series data) are arranged in parallel and displayed in different colors, and the display at the time when the operation contents of the operation devices 111 and 112 match (for example, the generation time of the operation signal gp) can be identified.

(C-4) The ratio of the cumulative total (Ta) of the operating times (Tm) of the operating devices 111 and 112 when the operation contents of both operating devices match (match rate (Ta / Tm × 100 [%]). ) And) are displayed in an identifiable manner.

2. 2. Effects of the Operation System 100 According to the operation system 100 of the present embodiment, the following effects can be obtained in addition to the effects (1A) to (1C) of the first embodiment.

(2A) When the operation contents in the operation devices 111 and 112 match, the operation system 100 of the present embodiment can display the corresponding display on the display device 150. As a result, the operator can easily know the match of the operation contents.
<Third embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of the operation system 100 of the present embodiment and the processing to be executed are basically the same as those of the second embodiment. In the following, the common configurations will be omitted and the differences will be mainly described. As shown in FIG. 3, the operation system 100 of the present embodiment includes two display devices 151 and 152.

The recording device 160 uses the operation input signals x1, x2, the operation signals g (gp, gq), the drive signals u (up, uq), the signal a, the display signals c1, c2, and the position coordinate information h as time-series data. Store. The display control unit 140 can read the data stored in the recording device 160, and displays the display contents based on the data on the display devices 151 and 152 as described later. The display signal c1 is a display signal for the display device 151, and the display signal c2 is a display signal for the display device 152.

The display control unit 140 receives the signal b from the recording device 160, or receives the signals a and b from the calculation unit F and the recording device 160, respectively, generates the display signals c1 and c2, and directs them to the display device 151. The display signal c1 is output, and the display signal c2 is output toward the display device 152. The display device 151 makes a display corresponding to the display signal c1, and the display device 152 makes a display corresponding to the display signal c2.

The display devices 151 and 152 can display the same display contents as those in the second embodiment in the same manner.
2. 2. Effects of the Operation System 100 According to the operation system 100 of the present embodiment, the following effects can be obtained in addition to the effects (1A) to (1C) and (2A) of the second embodiment.

(3A) Since the operation system 100 of the present embodiment includes two display devices 151 and 152, the operator can more easily visually recognize the display contents.
<Fourth Embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of the operation system 100 of the present embodiment and the processing to be executed are basically the same as those of the second embodiment. In the following, the common configurations will be omitted and the differences will be mainly described.

As shown in FIG. 4, the operation system 100 of the present embodiment includes three display devices 151, 152, and 153. Further, the operation system 100 of the present embodiment includes a display preprocessing unit G for reducing the calculation load on the display control unit 140.

The recording device 160 displays the operation input signals x1, x2, the operation signals g (gp, gq), the drive signals u (up, uq), the signal a, the display signals c1, c2, c3, and the position coordinate information h in time series. Store as data. The display control unit 140 can read the data stored in the recording device 160, and displays the display contents based on the data on the display devices 151, 152, and 153 as described later. The display signal c1 is a display signal for the display device 151, the display signal c2 is a display signal for the display device 152, and the display signal c3 is a display signal for the display device 153.

The display control unit 140 receives the signal b from the recording device 160, or receives the signals a and b from the calculation unit F and the recording device 160, respectively, and generates the display signals c1, c2, and c3, and the display device 151. The display signal c1 is output toward the display device 152, the display signal c2 is output toward the display device 152, and the display signal c3 is output toward the display device 153. The display device 151 displays the display corresponding to the display signal c1, the display device 152 displays the display corresponding to the display signal c2, and the display device 153 displays the display corresponding to the display signal c3.

The display devices 151, 152, and 153 can display the same display contents as those in the second embodiment in the same manner.
The display preprocessing unit G reduces the calculation load on the display control unit 140 by generating the signal J required for signal processing on the display control unit 140. That is, the display preprocessing unit G receives the operation input signals x1, x2 and the operation signal g, or receives the operation input signals x1, x2, the operation signal g, and the signal a, and generates and displays the signal J. Output to the control unit 140. The input signals (x1, x2, g, a) in the display preprocessing unit G may be configured to be read from the recording device 160.

2. 2. The working environment in which the operating system 100 is used and the standing position of the operator FIG. 5 is an explanatory diagram showing an example of the working environment in which the operating system 100 is used. FIG. 6 is an explanatory diagram of the standing position of the operator in the working environment.

In FIG. 5, OP1 and OP2 are a first operator and a second operator, respectively, and Wk is a moving article (the structural element of the working device 130 moves together with the moving article Wk) to be moved by the working device 130. In some cases, its components are also included in the moving article Wk).

Pw (ti) and rw (ti) are the positions and directions of moving articles Wk at time t = ti, respectively. Pw (n) is the final position of the moving article Wk. P1 (ti), v1 (ti) and rop1 (ti) are the position of the first operator OP1 at time t, the direction in which the first operator OP1 observes the moving article Wk, and the first operation, respectively. This is the moving direction of the person OP1. P2 (ti), v2 (ti) and rop2 (ti) are the position of the second operator OP2 at the time ti, the direction in which the second operator OP2 observes the moving article Wk, and the second operation, respectively. This is the moving direction of the person OP2.

The first operator OP1 and the second operator OP2 operate the work device 130 by using the operation devices 111 and 112, respectively, and as a result of the operation, the moving article Wk is in the direction of rw (ti). Move to. The first operator OP1 and the second operator OP2 continue to operate while moving in the direction of rop1 (ti) and the direction of rop2 (ti), respectively, and move the moving article Wk to the final position Pw (n). Move.

When moving the moving article Wk to the final position Pw (n), at least at time ti, the first operator OP1 and the second operator OP2 are moved to positions P1 (ti) and P2 (ti) that are separated from each other. When standing and observing the moving article Wk from different directions v1 (ti) and v2 (ti), a blind spot is less likely to occur than when a single operator moves the moving article Wk.

Further, the first operation is performed so that the first operator OP1 is located on one side and the second operator OP2 is located on the other side with the locus of the moving article Wk moving as a boundary. When the person OP1 and the second operator OP2 observe the moving article Wk, a blind spot is less likely to occur than when a single operator moves the moving article Wk.

As shown in FIG. 6, at almost all times during the movement time of the moving article Wk (the time required to move from the first position to the final position Pw (n)), the first operator OP1 and the second operator OP1 and the second It is preferable that the operator OP2 stands at positions P1 (t) and P2 (t) separated from each other and observes the moving article Wk from different directions v1 (t) and v2 (t). In this case, blind spots are less likely to occur.

Therefore, according to the operation system 100, a blind spot is less likely to occur as compared with the case where a single operator operates the operation system 100, so that human error caused by the occurrence of the blind spot can be suppressed, and the operation system 100 and its surroundings can be suppressed. The working environment can be made safer.

In the work environment shown in FIG. 5, the first operator OP1 can easily visually recognize the display devices 152 and 153, and the second operator OP2 can easily visually recognize the display devices 151 and 153. be able to. The operation content of the second operator OP2 is displayed on at least one of the display devices 152 and 153. Further, at least one of the display devices 151 and 153 displays the operation content of the first operator OP1.

3. 3. Effects of the Operation System 100 According to the operation system 100 of the present embodiment, the following effects can be obtained in addition to the effects (1A) to (1C) and (2A) of the second embodiment.

(4A) Since the operation system 100 of the present embodiment includes three display devices 151, 152, and 153, the operator can more easily visually recognize the display contents.
<Fifth Embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of the operation system 100 of the present embodiment and the processing to be executed are basically the same as those of the fourth embodiment. In the following, the common configurations will be omitted and the differences will be mainly described.

As shown in FIG. 7, the operation system 100 of the present embodiment includes display devices 151C, 151R, 151L, 152C, 152R, 152L, 153C, 153R, 153L, 154C, 154R, and 154L. Hereinafter, these may be collectively referred to as a display device group. The operation system 100 of the present embodiment is a system for training the operation of the work device 130.

The display device group is arranged so as to surround the first operator OP1 and the second operator OP2, and the first operator OP1 and the second operator OP2 stand in which position and look in which direction. It is arranged so that the display contents of any of the display devices can be visually recognized even when the display device is turned.

Each display device belonging to the display device group is displayed when the operation contents of the operation devices 111 and 112 match (hereinafter, referred to as operation content matching display). Therefore, the first operator OP1 and the second operator OP2 can visually recognize the operation content matching display regardless of the position and the direction in which the line of sight is directed.

In the operation content matching display, for example, when the first operator OP1 moves, it moves within the screen of one display device or moves between the screens of adjacent display devices in accordance with the movement. By doing so, even if the first operator OP1 moves, the first operator OP1 can easily visually recognize the operation content matching display.

Similarly, in the operation content matching display, for example, when the second operator OP2 moves, it moves within the screen of one display device or moves between the screens of adjacent display devices. Or something. By doing so, even if the second operator OP2 moves, the second operator OP2 can easily visually recognize the operation content matching display.

The operation system 100 can include, for example, a sensor (not shown) that detects the positions of the first operator OP1 and the second operator OP2 and the direction of the line of sight. By moving the position of the operation content match display according to the detection result of the sensor, as described above, the position of the operation content match display is accompanied by the movement of the first operator OP1 and the second operator OP2. Can be moved.

In particular, if the position of the operation content matching display on the screen of the display device is on or near the extension of v1 (ti) when viewed from the viewpoint of the first operator OP1, the first operator OP1 , The operation content matching display can be visually recognized without moving the line of sight significantly from v1 (ti).

Similarly, if the position of the operation content matching display on the screen of the display device is on or near the extension line of v2 (ti) when viewed from the viewpoint of the second operator OP2, the second operator OP2 Can visually recognize the operation content matching display without moving the line of sight significantly from v2 (ti).

The working device 130 may be a real device, hardware that simulates a part or all of the real device, or a virtual device that is simulated by software. When the work device 130 is a virtual device, the operation system 100 is a system in which the operator can perform image training. When the working device 130 is a real device, or hardware that simulates a part or all of the actual device, the operation system 100 is a system in which the actual movement of the working device 130 can be experienced.

When the operation system 100 is a work simulator, the image displayed on any one or more display devices of the display device group is displayed on a small display portable by the operator, a head-mounted display, or other wearable display. It may be configured as follows.

3. 3. Effects of the operation system 100 According to the operation system 100 of the present embodiment, the following effects can be obtained in addition to the above effects (1A) to (1C) and (2A).

(5A) According to the operation system 100, by observing the display contents of the display device, each of the plurality of operators (first operator OP1, second operator OP2) can operate the operation devices 111 and 112. It is possible to understand whether or not the contents match. Then, each operator can try to further match the operation contents in the operation devices 111 and 112.

In the process, the first operator OP1 asks how the second operator OP2 uses the operating device 112, and the second operator OP2 uses the operating device 112 to make various variations in the working device 130. You can consciously or unconsciously learn and master how to operate movements.

(5B) When the first operator OP1 is inferior to the second operator OP2 in terms of skill or experience in operating the work device 130, the first operator OP1 is the second operator by the operation system 100. It is possible to efficiently learn and acquire the skills or experience possessed by OP2.

Further, when the first operator OP1 is at the same level as the second operator OP2 in terms of skill or experience in operating the work device 130, or when it is superior to the second operator OP2, the first operator OP1 can pass on its own skill or experience to the second operator OP2.

Further, the first operator OP1 obtains a new awareness in the operation of the working device 130 from the second operator OP2, so that the probability of occurrence of a human error is constant by the efforts of the first operator OP1 alone. Even in situations where it is difficult to reduce below the standard, there is an opportunity to reduce it.

(5C) Regardless of whether or not there is superiority or inferiority between the first operator OP1 and the second operator OP2 in terms of skill or experience in operating the working device 130, both operators breathe into each other. You can learn the operation that suits you. This is extremely useful when the working device 130 must be operated with great care.

(5D) In the operation system 100, the work device 130 operates on the condition that the operation contents in the operation devices 111 and 112 match.
When the first operator OP1 and the second operator OP2 switch between a state in which the operation contents match and a state in which the operation contents do not match in small steps, the working device 130 can be operated in small steps. Therefore, the operation of the working device 130 can be finely adjusted.

The above effects (5C) and / or (5D) are extremely useful when the working device 130 must be operated with high attention. For example, in the case of transporting a large, heavy weight and / or expensive or dangerous object to be transported, the operation of the transport device is finely adjusted little by little, sometimes in small steps, by the learned operation. It can be advanced, and therefore the risk at the time of transporting the transported object can be reduced.
<Sixth Embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of the operation system 100 of the present embodiment and the processing to be executed are basically the same as those of the fourth embodiment. In the following, the common configurations will be omitted and the differences will be mainly described.

As shown in FIG. 9, the operation system 100 accommodates the lower layer portion K1 that also serves as the base portion and the prize T, and is surrounded by a transparent plate so that the player can view the prize T from the outside and confirm the position. It includes a middle layer portion K2 and an upper layer portion (not shown) that covers the middle layer portion K2 from above.

The crane mechanism CL, the transverse rail R1 and the longitudinal rail R2 shown in FIG. 10A are provided between the middle layer portion K2 and the upper layer portion. The longitudinal rail R2 is movable along the transverse rail R1. Further, the crane mechanism CL includes a grip portion GR that moves up and down along the Z direction by a drive mechanism (not shown), and the grip portion GR has a function of gripping the prize T. In the operation system 100 of the present embodiment, the crane mechanism CL, the traverse rail R1 and the traverse rail R2 correspond to the work device 130.

As shown in FIG. 9, operating devices 111, 112, and 113 are attached to each of the three peripheral surfaces on the upper outer side of the lower layer portion K1. Therefore, the operation system 100 can be operated by three players. The operating devices 111, 112, and 113 are of the same model. An operating device may be attached to the remaining one surface on the outer side of the upper portion of the lower layer portion K1 so that a total of four players can operate the lower layer portion K1.

Each operating device is a device for operating the movement of the crane mechanism CL in the X and Y directions, the movement of the grip portion CR in the Z direction, and the gripping of the prize T by the gripping function provided in the grip portion CR. Each operating device includes operation input means for performing each of the above-described operations. The operation input means may be one that causes a plurality of operations to be performed by one operation input.

The operation input means of the operation device 111 are 111p and 111q, the operation input means of the operation device 112 are 112p and 112q, and the operation input means of the operation device 113 are 113p and 113q. Further, the operating devices 111, 112, and 113 are provided with display devices 151, 152, and 153, respectively.

The operation system 100 is provided with three continuous passages that enable the movement of the prize T from the inlets 171, 172, 173 of the middle layer K2 to the outlets 181, 182, 183 of the lower layer K1. Therefore, the player can take out the prize T from the outlets 181, 182, and 183 by moving the prize T using the crane mechanism CL and dropping it into the inlets 171 and 172, 173.

As shown in FIG. 10B, when the player operates a specific operation input means, the operation devices 111, 112, and 113 output operation input signals x1, x2, and x3 corresponding to the specific operation input means, respectively. ..

The control device 120 receives the operation input signals x1, x2, x3 and generates the drive signal u. More specifically, the calculation unit F receives the operation input signals x1, x2, x3 and generates the operation signal g.

The operation signal g includes an operation signal gp generated when the operation content corresponding to the operation input signal x1, the operation content corresponding to the operation input signal x2, and the operation content corresponding to the operation input signal x3 match. , And the operation signal gq generated in other cases. The operation signal gp differs depending on the operation content corresponding to the operation input signals x1, x2, and x3 that are the sources of generating the operation signal gp. The operation signal gq includes an operation signal g in which the operation signal g is absent or zero.

The control unit 121 receives the operation signal g and generates the drive signal u. There are two types of drive signal u: a drive signal up generated by the control unit 121 when the operation signal gp is received, and a drive signal uq generated in other cases. The drive signal up differs depending on the operation content corresponding to the operation input signals x1, x2, and x3 that are the sources of generating the drive signal up. The drive signal uq includes a drive signal u in which the drive signal u is absent or zero.

The control device 120 outputs a drive signal u. The crane mechanism CL receives the drive signal u and performs an operation corresponding to the drive signal u. When the crane mechanism CL receives the drive signal up, it executes an operation according to the operation content corresponding to the drive signal up. When the drive device 131 does not receive the drive signal up or receives the drive signal uq, what kind of operation the crane mechanism CL performs can be appropriately set. For example, it can be any of the above (a-1) to (a-3).

The recording device 160 converts the operation input signals x1, x2, x3, the operation signals g (gp, gq), the drive signals u (up, uq), the signals a, the display signals c1, c2, c3, and the position coordinate information h. Store as time series data. The display control unit 140 can read the data stored in the recording device 160, and displays the display contents based on the data on the display devices 151, 152, and 153 as described later. Here, the display signals c1, c2, and c3 are display signals for the display devices 151, 152, and 153, respectively.

The display control unit 140 receives the signal b from the recording device 160, or receives the signals a and b from the arithmetic unit F and the recording device 160, respectively, and generates the display signals c1, c2, and c3, and the display signal c1. Is output toward the display device 151, the display signal c2 is output toward the display device 152, and the display signal c3 is output toward the display device 153. The display devices 151, 152, and 153 display the display signals c1, c2, and c3, respectively.

The display contents on the display devices 151, 152, and 153 are indications indicating that the operation contents on the operation devices 111, 112, and 113 match.
3. 3. Effects of the operation system 100 According to the operation system 100 of the present embodiment, the following effects can be obtained in addition to the above effects (1A) to (1C), (2A), and (4A).

(6A) According to the operation system 100 of the present embodiment, when the operation contents of the plurality of operation devices 111, 112, 113 match, the operation corresponding to the operation contents is executed. Therefore, it is possible to suppress a malfunction due to a human error (unintentional operation error of the player) in the operator (player).

(6B) According to the operation system 100 of the present embodiment, in order to operate the crane mechanism CL, it is necessary to match the operation contents of each player. Each player can acquire the operation technique and the acquisition skill of the prize T by striving to match the operation contents with the other players.

(6C) When the operation contents in the operation devices 111, 112, and 113 match, the operation system 100 of the present embodiment displays the corresponding display. As a result, the player can easily know the match of the operation contents.

(6D) It is possible to obtain a secondary effect of providing a new team-based game machine that competes for the simultaneity and synchronism of operations of a plurality of players, or improving playability by competing for it.
<7th Embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of the operation system 100 of the present embodiment and the processing to be executed are basically the same as those of the second embodiment. In the following, the common configurations will be omitted and the differences will be mainly described.

The operation system 100 of the present embodiment is a Japanese drum playing type game machine. In the present embodiment, the operation devices 111 and 112 input the operation by hitting with a drumstick of a Japanese drum. The operating devices 111 and 112 are provided with a pad plate portion and a rim portion (not shown) as places for applying impact. Further, the working device 130 is a device capable of generating a sound effect as an example of operation.

When the operation contents of the operating devices 111 and 112 match, the working device 130 generates a sound effect. Further, when the operation contents of the operation devices 111 and 112 match, the display device 150 performs the corresponding display. When the operation contents of the operating devices 111 and 112 do not match, what kind of operation the working device 130 performs and what kind of display the display device 150 performs can be appropriately set.

2. 2. Display on the display device 150 The display on the display device 150 can be, for example, as shown in FIG. In FIG. 13, the annular hitting instruction display RT indicates the timing, strength, hitting location, and the like of hitting by the drumstick of the Japanese drum.

Among the hitting instruction display RTs, the relatively large one indicates the hitting to the pad plate portion, and the relatively small one indicates the hitting to the rim portion.
On the display device 150, a plurality of hit instruction display RTs are displayed side by side in a row. The plurality of hit instruction display RTs move in the MD direction (direction from the right side to the left side in FIG. 13) shown in FIG. 13 while being arranged in a row. In the process, each batting instruction display RT sequentially passes through the batting instruction position BP.

When an operation input (striking by a drumstick) that matches the instruction content of the impact instruction display RT is performed on both the operation devices 111 and 112 while the arbitrary impact instruction display RT is passing through the impact instruction position BP. , The operation system 100 counts the hit as an effective hit.

On the other hand, in other cases, it is counted as an invalid blow. Other cases include:
(1) The timing at which the operation input (striking by the drumstick) was made in at least one of the operating devices 111 and 112 was before or after the striking instruction display RT passed the striking instruction position BP.

(2) In at least one of the operating devices 111 and 112, the operation content (striking timing, strength, striking location, etc.) was not instructed by the striking instruction display RT.
(3) The operation content of the operation device 111 and the operation content of the operation device 112 did not match.

When a valid hit is counted for any batting instruction display RT, the display mode of the batting instruction display RT changes to the batting instruction display CB after passing through the batting instruction position BP. Further, when an invalid batting is counted for any batting instruction display RT, the display mode of the batting instruction display RT changes to the batting instruction display WB after passing through the batting instruction position BP.

The batting instruction display CB and the batting instruction display WB have different display modes (for example, different shapes, sizes, colors, etc.). Therefore, each player sees the batting instruction display CB and the batting instruction display WB, and whether the valid batting is counted or the invalid batting is counted (the operation content of the operation device 111 and the operation content of the operation device 112). Whether or not they match) can be easily understood. Then, each player can modify the method of operation input to the operation devices 111 and 112 based on the understanding. As a result, each player can acquire and pass on the experience and skill of operation.

Further, the degree of matching of the operation contents in the plurality of operation devices 111 and 112 may be quantified and displayed on the screen of the display device 150. For example, when the total number of hit instruction display CBs is Nc (t) and the total number of hit instruction display WBs is Nw (t) in the period from the start time of the operation (t = 0) to the time t, a plurality of operations are performed. The degree of matching (SCORE (t)) of the operation contents in the devices 111 and 112 is defined by the following mathematical formula (1).

Formula (1) SCORE (t) = Nc (t) / {Nc (t) + Nw (t)} × 100 [%]
Then, SCORE (t) is displayed on the screen of the display device 150 (see the frame portion of SCORE [%] in the upper right of FIG. 13). If the degree of matching is used as an evaluation index, it is possible to quantify the degree of matching (simultaneity and synchronism) of the operation contents in a plurality of operators (first operator OP1, second operator OP2). By doing so, it is possible to more objectively know the experience of operation, the acquisition of skill, and the degree of transmission. In addition, this Japanese drum playing type game machine can be made into a team battle type game machine in which teams compete for superiority or inferiority of SCORE [%].

3. 3. Effects of the Operation System 100 According to the operation system 100 of the present embodiment, the effects (1A) to (1C), (2A), and (6D) of the second embodiment can be obtained.
<8th Embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of the operation system 100 of the present embodiment and the processing to be executed are basically the same as those of the second embodiment. In the following, the common configurations will be omitted and the differences will be mainly described.

The operation system 100 of this embodiment is a dance game machine. In the present embodiment, the operating devices 111 and 112 are provided with pressure-sensitive mats, and the player inputs operations by stepping on the pressure-sensitive mats with his / her feet.

Further, the working device 130 is a device capable of displaying an image as an example of operation. When the operation contents in the operation devices 111 and 112 match, the work device 130 makes a display peculiar to that case. Further, when the operation contents of the operation devices 111 and 112 match, the display device 150 performs the corresponding display. When the operation contents of the operating devices 111 and 112 do not match, what kind of display the working device 130 displays and what kind of display the display device 150 displays can be appropriately set.

For example, as in the case of the seventh embodiment, if the degree of agreement (simultaneity or synchronism) of the operation contents is quantified and the numerical value is displayed on the display device 150, the dance experience and skill can be acquired and handed down. You can know the degree of the above more objectively. In addition, this dance game machine can be used as a team-based game machine in which teams compete for superiority or inferiority in the numerical value of the degree of agreement (simultaneity or synchronism) of the operation contents.

2. 2. Effects of the Operation System 100 According to the operation system 100 of the present embodiment, the effects (1A) to (1C), (2A), and (6D) of the second embodiment can be obtained.
<9th embodiment>
1. 1. Configuration of Operation System 100 and Processing to be Executed The configuration of the operation system 100 of the present embodiment and the processing to be executed are basically the same as those of the second embodiment. In the following, the common configurations will be omitted and the differences will be mainly described.

The operation system 100 of this embodiment is a language learning device. In the present embodiment, the operation devices 111 and 112 are voice detection devices that detect the pronunciation of the operator (language learner). The operation input corresponds to the operation input in which the operator pronounces a voice and causes the operation devices 111 and 112 to detect the voice.

In the present embodiment, the display device 150 also serves as a working device. When the operation contents (detected voices) in the operation devices 111 and 112 match, the display device 150 performs the corresponding display. When the operation contents of the operation devices 111 and 112 do not match, what kind of operation the display device 150 performs can be appropriately set.

For example, if the degree of agreement (simultaneity or synchronism) of the operation contents is quantified and the numerical value is displayed on the display device 150, it is possible to more objectively know the experience of speech and the degree of acquisition and transmission of accurate pronunciation. it can. In addition, the language learning device can be provided with a scoring function, and the motivation and efficiency of learning can be improved.

2. 2. Effects of the Operation System 100 According to the operation system 100 of the present embodiment, the effects (1A) to (1C) and (2A) of the second embodiment can be obtained.
<Other Embodiments>
(1) In the first to fourth embodiments, the display content displayed by the display device may be as follows. The display of FIG. 11D is a three-dimensional representation of the locus of the moving article Wk moving from the operation start point s to the operation end point e by the XYZ coordinate system. The display of FIG. 11A is a representation of the same locus as that shown in FIG. 11D in the XY plane. The display of FIG. 11B represents the same locus as that shown in FIG. 11D in the YY plane. The display of FIG. 11C represents the same locus as that shown in FIG. 11D in the ZX plane.

When the moving article Wk moves only when the operation contents of the plurality of operation devices 111 and 112 match, the locus starting from the start point s and ending at the end point e is the operation contents of the plurality of operation devices 111 and 112. It is a locus generated as a result of the work apparatus 130 performing an operation corresponding to the operation contents when the items match, and corresponds to the display corresponding to the matching of the operation contents.

The display contents of FIGS. 11A to 11D represent a state in which the moving article Wk has already reached the end point e. The content displayed by the display device may indicate a state in which the moving article Wk has not yet reached the end point e. In this case, the locus extends toward the end point e with the passage of time.

By displaying the display contents of FIGS. 11A to 11D, a plurality of operators (first operator OP1 and second operator OP2) recognize the match / mismatch of the operation contents up to that point, while recognizing the match / mismatch. The operation of moving the moving article Wk can be continued while making necessary modifications.

In the first to fourth embodiments, the above-mentioned display contents may be displayed on the display device as follows.
(i) Any one of the display contents of FIGS. 11A to 11D is displayed on the display device.

(ii) Any one of the display contents of FIGS. 11A to 11D is displayed on the display device, and one or more of the other display contents selected is displayed on the other display device.
To display the display contents on a plurality of display devices, for example, connect a commercially available graphic board to an expansion slot on the motherboard of a computer that realizes the control device 120, and install the driver software of the graphic board. It can be realized by doing.

(2) In the first to fourth embodiments, the content displayed by the display device may be as follows. The display of FIG. 12D is a three-dimensional representation of the locus of the moving article Wk moving from the operation start point s to the operation end point e by the XYZ coordinate system. The display of FIG. 12A represents the same locus as that shown in FIG. 12D in the XY plane. The display of FIG. 12B represents the same locus as that shown in FIG. 12D in the YY plane. The display in FIG. 12C represents the same locus as that shown in FIG. 12D in the ZX plane.

Of the loci in FIGS. 12A to 12D, the US is a portion in which the working device 130 performs an operation corresponding to the operation contents when the operation contents in the plurality of operation devices 111 and 112 match, and the FL is a plurality. This is a portion in which the work device 130 operates according to the operation contents of one of the operation devices 111 (or 112) when the operation contents of the operation devices 111 and 112 do not match. The US is an example of a display indicating the timing at which the operation contents in the plurality of operating devices match.

It is preferable that the display modes of the US and FL are such that the viewer of the display device can instantly identify the difference between the two. For example, on a black background, the US can be displayed in light blue bold lines and the FL can be displayed in high-intensity yellow and bold.

In FIGS. 12A-12D, TR represents a locus in a past operation. The past operation may be performed by either the first operator OP1 or the second operator OP2, or may be performed by another operator. The control signal 120 creates a display signal c for displaying the TR by signal processing using the data read from the recording device 160. At least one display device displays TR according to the display signal c.

A plurality of operators (first operator OP1, second operator OP2) use a plurality of operating devices 111 and 112, respectively, to trace a past locus TR or realize the locus TR. The work device 130 is operated so as to have the operation contents necessary for the operation. Then, when the operation contents of the plurality of operation devices 111 and 112 match, US is displayed on the display device, and when the operation contents of the plurality of operation devices 111 and 112 do not match, FL is displayed on the display device. As a result, from the start point s, the locus composed of the US or FL extends by roughly following the past locus TR with the passage of time. The display device displays the trajectory of such stretching. At this time, FL and US are displayed in a distinguishable manner.

According to the above display, the plurality of operators (first operator OP1, second operator OP2) immediately perceive the difference between the operation performed by themselves and the operation performed by the other party. You can make the necessary modifications to the operations you perform. Therefore, it is possible to learn an appropriate operation more effectively.

In the display contents shown in FIGS. 12A to 12D, the degree of matching of the operation contents in the plurality of operation devices 111 and 112 may be quantified and displayed on the screen of the display device. For example, when the total line length of the US and the total line length of FL are Lu (t) and Lf (t), respectively, in the period from the start time of the operation (t = 0) to the time t, a plurality of operating devices 111 , 112, the degree of matching of the operation contents (SCORE (t)) is defined by the following mathematical formula (2).

Formula (2) SCORE (t) = Lu (t) / {Lu (t) + Lf (t)} × 100 [%]
Then, SCORE (t) is displayed on the screen of the display device. If the degree of matching is used as an evaluation index, the degree of matching of operations among a plurality of operators (first operator OP1 and second operator OP2) can be quantified, and the experience and skill of the operation can be quantified. It is possible to know the degree of acquisition or tradition more objectively.

(3) In each of the above embodiments, the number of operating devices can be any two or more natural numbers n (for example, 2, 3, 4, 5, 6, 7, 8, ...). The operation system can perform an operation corresponding to the operation contents of m (m ≦ n) of the n operation devices as long as the operation contents match.

(4) In each of the above-described embodiments, the control device 120 may not output the drive signal u when the operation contents do not match in the operation input signals x received from the plurality of operation devices.

(5) In each of the above embodiments, the working device 130 may include a control device 120 (the control device 120 may be a part of the working device 130).
(6) The functions of one component in each of the above embodiments may be dispersed as a plurality of components, or the functions of the plurality of components may be integrated into one component. Further, at least a part of the configuration of each of the above-described embodiments may be replaced with a known configuration having the same function. Moreover, you may omit a part of the structure of each said embodiment. In addition, at least a part of the configuration of each of the above embodiments may be added or replaced with the configuration of another embodiment. It should be noted that all aspects included in the technical idea specified only by the wording described in the claims are embodiments of the present invention.

(7) In addition to the above-mentioned operation system and control device, there are various forms such as a system including the operation system, a program for operating a computer as the control device, a medium on which this program is recorded, an operation method of the work device, and the like. The present invention can also be realized.

100 ... Operation system, 111, 112, 113 ... Operation device, 120 ... Control device, 121 ... Control unit, 130 ... Work device, 131 ... Drive device, 140 ... Display control unit, 150, 151, 152, 153 ... Display device , 160 ... Recording device, 171, 172, 173 ... Input port, 181, 182, 183 ... Outlet, CL ... Crane mechanism, D1 ... First drive mechanism, D2 ... Second drive mechanism, F ... Calculation unit, G ... Display pretreatment part, GR ... Grip part, H ... Hoist, K1 ... Lower layer part, K2 ... Middle layer part, M ... Crane motor, m1 ... First drive motor, m2 ... Second drive motor, Q ... Hook, R1 ... Traverse rail, R2 ... Traverse rail, RT, CB, WB ... Strike instruction display, TR ... Trajectory, Wk ... Moving article

Claims (8)

A work device equipped with a drive mechanism and
A plurality of operating devices for operating the working device, and
With
The working device, the condition that the operation content for instructing the operation of the drive mechanism of the plurality of operating devices are identical, have the line the operation of said drive mechanism corresponding to the operation content,
The plurality of operating devices are an operating system in which an operator is different for each operating device . The operation system according to claim 1, further comprising a first display device that displays correspondingly when the operation contents of the plurality of operation devices match. 1 or claim 1, further comprising a second display device that displays the timing at which the operation contents in at least a part of the plurality of operation devices and / or the operation contents in the plurality of operation devices match. The operation system according to 2. The operation system according to claim 3, wherein the second display device is located at a position visible to an operator who operates at least a part of the plurality of operation devices. The second display device is located at a position visible to an operator who operates at least a part of the plurality of operation devices, and is characterized in that the operation content of the operation device other than the part is displayed. The operation system according to claim 3. The operation system according to any one of claims 1 to 5, further comprising a communication unit that enables communication between a plurality of operators who operate the plurality of operation devices. A control device that receives operation input signals from a plurality of operation devices that are different for each operation device, and outputs a drive signal for performing an operation according to the operation input signal to a work device provided with a drive mechanism. ,
The drive for causing the operation of the drive mechanism corresponding to the operation content, provided that the operation contents indicating the operation of the drive mechanism match in the operation input signals received from the plurality of operation devices. A control device characterized by outputting a signal. If the operation contents do not match in the operation input signals received from the plurality of operation devices, the drive signal corresponding to the operation contents is not output, or a drive signal different from the drive signal corresponding to the operation contents is output. The control device according to claim 7, wherein the control device.