JP7598744B2 - Glove box operation training device - Google Patents

Description

The present invention relates to simulated training for tasks such as operating and maintaining multiple pieces of equipment installed inside a glove box (hereinafter including a hood) that handles radioactive materials, hazardous chemicals, and pathogens, and in particular to a hybrid glove box work training device that combines simulated equipment with VR (virtual reality) technology.

(1. Explanation of the background of glove box work)

At nuclear facilities, chemical plants, medical research institutions, etc., metal valves, pumps, containers, and other instruments, gauges, and analytical equipment (hereafter abbreviated as "instruments") that handle radioactive materials, dangerous chemicals, and pathogens are stored in sturdy rectangular boxes, mainly made of stainless steel, called glove boxes, whose interior is kept at a slightly negative pressure from the outside, in order to prevent the leakage of internal substances from the instruments from affecting workers and the surrounding environment.

The structure of this glove box and the method of testing its containment function are specified as standards in ISO 10648-2 and JIS Z4808 glove boxes for use in radioactive material handling work, and it is widely used in a wide range of industries both in Japan and overseas.

When operating the above-mentioned equipment, moving it up and down and left and right, or performing maintenance and cleaning, including part replacement, inside this glove box, workers do so through multiple transparent viewing windows on a metal panel on the front and back of the glove box, measuring, for example, approximately 1.0 m in length and width, and through gloves made of a soft material such as rubber that are fitted into four openings (holes) that are opened at standard intervals and dimensions.

The panel on which the sight glass and glove are attached is of standard size and constitutes a unit panel. When the glove box is made larger, it is formed by adding multiple standard unit panels horizontally and vertically.

In glove boxes, which contain a large number of complex devices, workers need to have ample training and experience to safely handle the precision and important equipment inside through thick gloves and in an uncomfortable position with limited visibility, and there are many challenges in training workers to do so.

Furthermore, as the technological level of the industry becomes more advanced, the structures of the equipment installed inside glove boxes become larger and more complex. In order to store a large number of pieces of equipment inside a glove box at once, the size of the glove boxes has also become larger, with the largest ones measuring approximately 10m wide and 6m high from the floor, which requires more advanced skills from the people who work there.

(2. Explanation of the glove box simulator)

In order to improve skills in handling such glove boxes, training on operating glove boxes has been conducted using training equipment (glove box training simulators) made of metal such as stainless steel that mimics a full-scale operation in whole or in part.

Figures 7 and 8 show an example of the simulator, and the training device is composed of a box body 1 made of stainless steel and formed into a rectangular parallelepiped shape, and a platform 2 for positioning the box body 1 at a desired height. The front surface 1a of the box body 1 is provided with a metal panel body 3, for example, about 1.0 m in length and width, as a unit panel, and two of the panel bodies 3 are arranged in parallel in the horizontal direction to form a rectangle. Each panel body 3 is composed of a panel frame 3a, a viewing window 4 made of a transparent body, and four openings (holes) 5, and a work glove 6 is fixed to each of the openings 5.

The opening 5 may be provided in the viewing window 4 of the metal panel body 3, or in the panel frame 3a depending on the frame shape of the panel frame 3a. The back surface 1b of the box body 1 may be formed in the same manner as the front surface 1a.

The equipment 7 is provided inside the box body 1, and the trainee puts his/her arm through the glove 6 from outside the box body 1 and performs tasks such as disassembly, assembly, and maintenance of the equipment 7 provided inside the box body 1.

The features of the life-scale metal glove box training simulator described above are as follows:

(1) You can gain visual, auditory, tactile and physical skill experience in a work environment that is similar to the real thing.

(2) The training instructor and other trainees can simultaneously visually observe the training situation from close range, allowing them to share information and provide appropriate guidance.

However, the challenges with the above training simulator are as follows:

(1) Due to the increasing complexity of the internal structure of the glove boxes of the actual aircraft and the increasing size of the glove boxes themselves, the manufacturing and maintenance costs of the training simulators are increasing.

(2) Furthermore, when making changes to the structure of equipment due to improvements, etc., a complex glove box training simulator must be manufactured and modified each time, resulting in increased costs and long interruptions to training during the modification period.

(3) For these reasons, the number of companies and organizations that can implement this is limited, creating economic constraints and hindering the improvement of skills for a wide range of human resources.

(3. Explanation of training using VR technology)

As a result, there are cases where a method has been adopted to solve these problems by simulating all equipment and glove boxes using VR (virtual reality) technology.

In other words, by wearing VR goggles over the eyes, the actual glove box and equipment are displayed on the goggles as virtual glove box models and equipment models imitated on a computer, and the participant's own hand is displayed as a computer-imitated hand model. By moving one's hand, the virtual hand model in the goggles moves in the same way, and the equipment model displayed on the goggles can be operated in accordance with the movement of the hand model, allowing for virtual training in glove box operations.

For example, Patent Document 1 describes a training device that uses VR.

JP 2002-366021 A

(4. Explanation of training tasks using VR technology)

However, the method of simulating a glove box using VR technology was limited to visual training in a small glove box, and was unable to simulate the task of handling the vast amount of internal equipment in an uncomfortable position that would have a direct effect on the trainee's body, and therefore did not provide a fundamental solution to the problem.

In addition, in the VR work simulation, as shown in Figure 9, the worker is able to move his/her arms 8, hands, and fingers freely because the work is performed in a space with no physical devices, etc. As a result, as shown in Figure 10, the hand model e working on the equipment model d slips through the opening model c formed in the front model b of the glove box body model a reproduced in the virtual space, which is far removed from the actual work in a glove box.

Also, there was no sense of movement, which was far removed from actual glove box work.

The present invention aims to solve the problems in glove box operation training using the above-mentioned VR in a single, simple manner.

The glove box work training device of the present invention comprises: a glove box simulation panel unit;
The glove box simulation panel unit is made of a plate-shaped panel body having an opening through which an arm can be inserted, and the VR device unit is made of a memory unit, a calculation unit, a camera unit, and a display unit, and the calculation unit displays equipment models that imitate actual equipment stored in the memory unit on the display unit, and the camera unit detects the movement of the arm and displays an arm model corresponding to the arm movement on the display unit.

The device is also characterized by having a glove that is worn on the arm.

The glove box work training device of the present invention comprises a glove box simulation panel section and a VR device section, the glove box simulation panel section comprising a plate-shaped panel body with an opening through which an arm can be inserted, and a glove provided in the opening into which the arm is inserted, the VR device section comprising a memory section, a calculation section, a camera section, and a display section, the calculation section displays on the display section an equipment model that imitates the equipment of the actual machine stored in the memory section, and the camera section detects the movement of the glove and displays on the display section a glove model that corresponds to the movement of the glove.

The gloves are also characterized in that the hand area has a marking that is more easily distinguishable than black.

The calculation unit further displays on the display unit a glove box model that imitates the glove box of the actual machine and is stored in the memory unit.

The VR device unit is also characterized by being provided with a device for transmitting and receiving audio data and/or video data.

The VR device is also characterized by being shaped like goggles that are worn over the trainee's eyes.

The device is also characterized in that the portion of the panel body where the VR device is located when the trainee is wearing the goggle-like VR device and has his/her arm inserted into the opening is provided in a direction away from the trainee with respect to the opening so as not to come into contact with the VR device.

The glove box simulated panel portion is further characterized by being provided with a reference mark for identifying the positional relationship between the simulated panel body detected by the camera portion and the glove box model displayed on the display portion.

The calculation unit is also characterized by having an equipment model operation calculation unit that calculates the operation of the equipment model when the arm or glove operates the equipment model so that the operation of the equipment is the same as the operation of the actual equipment when the arm or glove operates the equipment.

The device is also characterized by having multiple glove box simulation panel sections.

The present invention is also characterized in that a plurality of the VR device units are provided, and the calculation unit of each VR device unit forms a virtual shared space that shares a common glove box model and equipment model, and a shared calculation unit is provided that forms a portion of the shared space corresponding to each VR device unit to be displayed on the display unit of each VR device unit.

The calculation unit is also characterized in that it displays a desired motion model of the equipment model on the display unit in response to the motion of each arm or glove of the trainee corresponding to each VR device unit.

The training device for glove box work described in claim 11 or 12 is characterized in that each of the VR device units is provided with a voice data transmission/reception device, and voice data can be transmitted and received between each of the voice data transmission/reception devices.

The device is also characterized by further having a computing device with an image display device that can receive data from the VR device unit.

The device is also characterized by further having a feedback means consisting of a notification unit that notifies the trainee of a desired notification, and a notification calculation unit that notifies the trainee of the desired notification by the notification unit when the arm model, glove model, or equipment model performs a desired operation.

1 is an overall configuration diagram of a training device for glove box work according to the present invention; 11A and 11B are explanatory diagrams of another embodiment of the glove of the training apparatus for glove box work of the present invention. 11 is an explanatory diagram of another embodiment of a panel body of the training apparatus for glove box work of the present invention. FIG. FIG. 2 is an explanatory diagram showing the real space of the training apparatus for glove box work of the present invention. FIG. 2 is an explanatory diagram showing a virtual space of the glove box work training apparatus of the present invention. FIG. 1 is an explanatory diagram of a training device for glove box work according to the present invention. FIG. 1 is an explanatory diagram of a conventional glove box simulator. FIG. 1 is an explanatory diagram showing an operating state of a conventional glove box simulator. FIG. 1 is an explanatory diagram showing a real space for training using conventional VR technology. FIG. 1 is an explanatory diagram showing a virtual training space using conventional VR technology.

The following drawings explain an embodiment of the present invention.

(5. Description of the configuration of the glove box work training device of the present invention)

As shown in FIG. 1, the glove box work training device of the present invention comprises a glove box simulation panel unit 9 and a goggle-like VR device unit (virtual reality display device unit) 11 that is worn, for example, on the eyes of a trainee 10.

The VR device unit 11 creates three-dimensional images (video) on a computer of real objects such as the actual glove box, the equipment installed in the glove box, and the trainee's arm, and displays them on the goggles as a glove box model, equipment model, arm model, etc., allowing the trainee to see them as if they were actually present in front of his or her eyes.

The above equipment includes valves, pumps, containers, and other instruments, gauges, analytical equipment, as well as tools for disassembling and assembling these and any items used for training.

(5.1. Description of glove box simulation panel 9)

The glove box simulation panel 9, as shown in FIG. 1, is made up of a panel frame 12a, a peephole 13 made of a transparent plate fitted into the panel frame 12a, a panel body 12 formed to be, for example, approximately 1.0 m in length and width, which is made up of four openings (holes) 14 provided in the peephole 13 and into which the trainee's arms can be inserted, the four openings being provided at standard intervals and dimensions for an actual glove box, soft gloves 15 made of rubber or the like provided in each opening 14 of the panel body 12 into which the trainee's arms can be inserted, and a support section 16 that supports the panel body 12 in an upright position.

The opening 14 may be provided in the panel frame 12a depending on the frame shape of the panel frame 12a, other than being provided in the sight hole 13 of the panel body 12. Also, the sight hole 13 of the panel body 12 may be omitted.

The glove 15 may be omitted from the opening 14. In such a case, the arm may simply be inserted into the opening 14 to train, or the arm wearing the glove may be inserted into the opening 14 to train. The glove may be a glove that covers the hand from the elbow, a glove that covers the hand from the shoulder, or a glove-like glove that covers only the hand.

Note that the term "arm" can mean "glove," and the term "glove" can mean "arm." The term "arm model" can mean "glove model," and the term "glove model" can mean "arm model."

The panel frame 12a of the panel body 12 is made from a material that is inexpensive and easy to process, such as wood.

The glove box simulated panel section 9 may be formed, for example, to a minimum unit of approximately 1.0 m in length and width to match the standard size of an actual machine, and this may be used as a unit panel. A number of these glove box simulated panel sections 9 may be lined up vertically and horizontally and connected to form a large glove box simulated panel section 9.

Generally used gloves are made of rubber and are generally black in color, and the glove 15 may also be black, but in order to improve the distinguishability of the VR, it may be possible to use gloves in which the hand portion is more distinguishable than black, such as gloves in which the arm portion 15a from the elbow to the tip side is more distinguishable by the camera than black, or gloves in which a glove-like glove with such a highly distinguishable display is worn and the hand portion is a black glove with such a highly distinguishable display.

In addition, if the indication is a color that is more distinctive than black, then it is preferably a color that is more distinctive than black, such as white.

The display may be, for example, a pattern, a desired shape, etc. Also, the display may be one or more.

In addition, in the actual machine, as shown in FIG. 3(a), the worker approaches the observation window to perform the work, but if a trainee 10 wears a goggle-like VR device unit 11 and trains on a simulated panel unit 9 made as a flat panel body like the actual machine, the goggle-like VR device unit 11 will hit the panel body 12, and the trainee will have to step back and train with his or her arms unable to fully fit into the opening 14, which differs from the actual work.

For example, as shown in FIG. 3(b), when a trainee wears a goggle-shaped VR device unit 11 and inserts his/her arm 8 into the opening 14, the portion 12b of the panel body 12 where the VR device unit 11 is located (contacts) is formed in a concave shape in the direction away from the trainee with respect to the opening 14 by the thickness of the goggle-shaped VR device unit (thickness in the front-to-back direction with respect to the wearer) so that the VR device unit 11 does not contact the opening 14. As a result, even when the trainee 10 wears the VR device unit 11 and trains, the VR device unit 11 will not contact the panel body 12.

In addition, the distance between the trainee 10 and the opening 14 is the same as the distance between the trainee and the opening in the actual machine, allowing the trainee to fully insert his/her arms into the opening, and allowing the trainee to feel the same as if he/she were working on the actual machine.

As shown in FIG. 3(b), the opening 14 may be formed to protrude from the panel body 12 toward the trainee by the thickness of the goggle-shaped VR device unit 11, resulting in the same result as above.

In addition, one or more reference marks (targets) are provided on a part of the glove box simulation panel unit 9 for aligning the position of the glove box model displayed on the display unit of the VR device unit 11. The camera unit reads the reference mark to identify the positional relationship between the trainee and the simulation panel unit 9, and the glove box model is displayed on the display unit in that positional relationship, and the positional relationship of the equipment models is also identified.

(5.2. Description of VR device unit 11)

The VR device unit 11 comprises, for example, a goggle-like main body that is worn over the trainee's eyes, a calculation unit and a memory unit provided in the main body, a display unit provided in the main body that enables the trainee wearing the device to view images calculated by the calculation unit, and a camera unit provided in the main body that detects (takes images of) the movements of the trainee's hands and gloves, the matching marks, etc.

In addition, the main body may be fixed to the glove box simulation panel unit 9, instead of being worn by the trainee's eyes, and the trainee may train by looking at the display unit of the main body without wearing the VR wearing unit.

The goggle body may further include a voice data transmitter/receiver unit, such as a microphone located near the trainee's mouth or earphones worn on the ears, capable of transmitting and receiving the trainee's voice.

In addition, a separate calculation device having a large image display device or the like may be provided, and the calculation device may be provided with an audio/image data transmission/reception device capable of transmitting and receiving the above-mentioned audio data and image (video) data within the above-mentioned VR device section.

The storage unit also stores, for example, a virtual glove box model (glove box image) that imitates the glove box of the actual machine, which is created using 3D image creation software based on previously created design drawings, an equipment model (equipment image) that imitates the equipment of the actual machine installed in the glove box model of the actual machine, and an operation model (operation image) of each piece of equipment that imitates the operation of the equipment of the actual machine, and the like. These models are formed so as to be displayed on the display unit by a model display calculation unit provided in the calculation unit according to instructions from a trainee or instructor, etc., or the results of calculation.

For example, when the trainee 10 puts his/her arm into the glove 15 and moves it, the camera unit detects (images) the actual movement of the arm (glove 15), and the glove model movement calculation unit provided in the calculation unit calculates the detected glove 15 as a glove model (glove image), and the model display calculation unit synthesizes the glove model with the glove box model, equipment model, etc., and forms it to be displayed on the display unit.

Note that the term arm, glove, arm model, or glove model refers not only to the part from the shoulder to the tip, but also includes the part from the elbow to the tip and the hand only.

The trainee wearing the goggles can then view the images displayed on the display as if they were actually present.

(5.2.1. Explanation of examples of equipment model operation)

The calculation unit is provided with an equipment model operation calculation unit, which calculates the operation of the equipment model when the glove operates the equipment model so that the operation of the equipment model is the same as the operation of the equipment when the glove operates the actual equipment, and displays the operation on the display unit.

In other words, the equipment model operation calculation unit, for example, when the glove performs an action of grabbing an equipment, associates the glove model with the equipment model and sets the glove model and the equipment model to perform the same movement, and for example, when the glove grabs the equipment model and moves, rotates, etc., the display unit shows an image of the glove model and the equipment model moving, rotating, etc., to the desired position.

Also, when you release the glove, the association between the glove model and the equipment model is released, and even if you move the glove, the equipment model will maintain its position.

The equipment model operation calculation unit may take gravity into account, so that the equipment model falls if the glove is released anywhere other than on the floor.

In addition, if the glove performs an erroneous operation that differs from normal operation, a pre-stored model of a damaged piece of equipment or other desired shape may be displayed.

The equipment model operation calculation unit may be configured to, for example, display on the display unit an equipment operation model of the equipment model in the on state stored in the memory unit when the glove performs an operation to turn on a switch or button of the equipment model, and to display on the display unit an equipment operation model of the equipment model in the off state stored in the memory unit when the glove performs an operation to turn off the equipment model.

The above-mentioned equipment model can also be formed so as to be composed of multiple part models, such as a main body model and part models, each of which can be displayed moving separately. For example, the left glove can be used to grasp the main body model and fix the main body model so that it cannot be moved, and the right glove can be used to grasp the part and rotate it relative to the main body model.

The equipment model operation calculation unit may be configured to, for example, set the equipment model not to move if the left and right gloves perform opposing actions (different actions) when one equipment model is operated by a left glove and a right glove.

(6. Training explanation)

In the present invention, as shown in FIG. 4, a trainee can put his/her arm 8 through the glove 15 from the opening 14 of the glove box simulation panel 9, and while experiencing a physically restricted condition similar to that of an actual machine, wear the VR device 11 over his/her eyes and perform glove box operation training.

Note that Figure 5 is a virtual display displayed on VR.

In the present invention, as shown in FIG. 4, due to the constraints imposed by the opening 14 of the actual glove box simulator model portion 9, the hand model e (glove model f) displayed on the VR does not slip through the opening model c, as shown in FIG. 5.

Therefore, with this invention, training can be carried out in VR with the same sensation as working in an actual glove box.

In addition, by providing a stand or the like on which the glove box simulation panel unit 9 is placed, the height of the panel unit 9 can be changed, so that, for example, training can be conducted on glove box work close to the floor or on a glove box that is located at a high position.

(7. Explanations from multiple trainees)

In addition, multiple simulation panel units 9 are prepared, one at the front of the box body of the actual machine and one at the back, and multiple VR device units are prepared. In the shared calculation unit provided in the calculation unit, each VR device unit is set to share the same glove box model and the same equipment model, and multiple people, for example two trainees, can handle the same or different internal equipment models from both sides, allowing for coordinated training between the two.

The virtual space formed by the shared calculation unit of the calculation unit of each VR device unit forms, for example, the space of the entire shared glove box model, and is formed so that it can be seen on the display unit of each VR device unit within the same field of view as each trainee.

In addition, when handling the same equipment model, for example, the equipment model operation calculation unit of the calculation unit is set so that the equipment model moves only when the gloves of different trainees perform the same operation, for example, when different trainees each grasp an equipment model and move it in the same desired direction.

The equipment model operation calculation unit of the calculation unit may be set to display equipment models consisting of multiple part models, such as a main body model and part models, each operating separately. For example, one trainee may grasp the main body model and fix the main body model so that it cannot be moved, while another trainee may grasp a part and display an operation of rotating the part relative to the main body model.

In addition, multiple units of the simulation panel unit 9, which serve as unit panels, can be combined on the left and right, and multiple VR device units 11 can be provided, with trainees wearing their own VR device units being placed on each of the unit panels. Then, for example, in the same manner as above, the shared calculation unit of the calculation unit can cause the VR device units of the trainees to share the same glove box model and the same equipment model, so that adjacent trainees can move one equipment model from side to side, for example, allowing for coordinated training among multiple trainees.

For example, this handover task can be carried out by having one trainee grasp the equipment model and move it over to the other trainee, who then grasps the equipment model. After both trainees have confirmed that they have grasped the equipment model, the one trainee releases the equipment model and the other trainee moves it to the desired position.

In addition, by combining multiple unit panels one above the other and placing a trainee on each, multiple trainees can receive coordinated training in the vertical transfer of internal equipment models between unit panels, just as described above.

Also, as shown in Figure 6, multiple trainees can use the simulation panel unit 9 to train in different locations.

In addition, in this case, even if the trainee is actually in a different space, in the shared virtual space, the trainee may be assumed to be positioned above, below, left, right, or facing each other, as described above.

In addition, the images displayed on the display of each trainee's VR device and the shared virtual space image may be displayed on an external monitor 17 so that instructors and observers can view them.

The unit panels can be arranged in a way that allows them to move up and down freely as described above, or they can be arranged facing each other, connected horizontally, connected vertically, or in separate locations, etc., in a combination of these arrangements depending on the purpose of the training, making it possible to simulate work in glove boxes with a wide variety of structures.

In addition, each trainee may have their own voice data transmission/reception device, allowing them to communicate with each other via voice signals.

In addition, by having one or more trainees work, and the image data and audio data displayed in the goggles of each trainee is transmitted to the computing device and displayed in real time on the large image display device along with the audio, the training instructor and other trainees can also understand the training situation and provide appropriate guidance to the trainees.

(8. Explanation of feedback methods)

The training device of the present invention further includes a feedback means including a notification unit that notifies the trainee of a desired notification, and a notification calculation unit that notifies the trainee of the desired notification by the notification unit when the glove model or the equipment model performs a desired operation.

The above-mentioned desired motions include, for example, when the glove model touches the glove box model or the equipment model, when it grabs the equipment model, when it makes a holding motion, when it moves or rotates it, when it performs a desired motion, when the glove box model and the equipment model come into contact, or when the equipment models come into contact with each other.

The notification unit may be, for example, a glove, a VR device unit, or a vibrator worn by the trainee that notifies the trainee by vibration, a display unit that displays a desired color, light, symbol, or message to the trainee, or earphones that notify the trainee of a desired sound or message.

Note that the display unit is, for example, a display unit provided in the VR display unit, and the earphones are earphones provided in the VR device unit.

The above-mentioned feedback means allows the user to feel reaction forces and other sensations when using a model of equipment such as a tool model, and allows the user to recognize that the tool is being held, making it possible to reproduce operability that is closer to reality.

1 Box body 1a Front 1b Back 2 Stand 3 Panel body 3a Panel frame 4 Viewport 5 Opening 6 Glove 7 Equipment 8 Arm 9 Glove box simulation panel section 10 Trainee 11 VR device section 12 Panel body 12a Panel frame 12b Part 13 Viewport 14 Opening 15 Glove 15a Arm section 16 Support section 17 External monitor

Claims (16)

A glove box simulation panel portion,
It consists of a VR device section,
The glove box simulation panel portion is made of a plate-shaped panel body having an opening through which an arm can be inserted,
The VR device unit comprises a memory unit, a calculation unit, a camera unit, and a display unit, and the calculation unit displays equipment models that imitate actual equipment stored in the memory unit on the display unit, and the camera unit detects the movement of the arm and displays an arm model corresponding to the arm movement on the display unit, characterized in that the VR device unit is a training device for glove box work. The glove box work training device according to claim 1, further comprising a glove to be worn on the arm. A glove box simulation panel portion,
It consists of a VR device section,
The glove box simulation panel portion includes a plate-shaped panel body having an opening through which an arm can be inserted, and a glove provided in the opening into which the arm can be inserted,
The VR device unit comprises a memory unit, a calculation unit, a camera unit, and a display unit, and the calculation unit displays equipment models that imitate actual equipment stored in the memory unit on the display unit, and the camera unit detects movement of the glove and displays a glove model corresponding to the glove movement on the display unit. This is a training device for glove box work. The glove box work training device according to claim 2 or 3, characterized in that the glove has a marking that makes the camera unit more visible than black. The glove box work training device according to any one of claims 1 to 4, characterized in that the calculation unit further displays on the display unit a glove box model that imitates an actual glove box stored in the memory unit. The training device for glove box work according to any one of claims 1 to 5, characterized in that the VR device section is provided with a device for transmitting and receiving audio data and/or video data. The glove box work training device according to any one of claims 1 to 6, characterized in that the VR device unit is formed in the shape of goggles to be worn on the trainee's eyes. The training device for glove box work described in claim 7, characterized in that the part of the panel body where the VR device part of the trainee wearing the goggle-like VR device part and inserting his/her arm into the opening is located is provided in a direction away from the trainee with respect to the opening so as not to come into contact with the VR device part. The glove box operation training device according to any one of claims 1 to 8, characterized in that the glove box simulation panel section is provided with a reference mark for identifying the positional relationship between the simulation panel body detected by the camera section and the glove box model displayed on the display section. The glove box work training device according to any one of claims 1 to 9, characterized in that the calculation unit is provided with an equipment model operation calculation unit that calculates the operation of the equipment model when the arm or glove operates the equipment model so that the operation of the equipment is the same as the operation of the actual equipment when the arm or glove operates the equipment. The glove box work training device according to any one of claims 1 to 10, characterized in that a plurality of the glove box simulation panel sections are provided. The training device for glove box work according to any one of claims 1 to 11, characterized in that a plurality of the VR device units are provided, and the calculation unit of each VR device unit forms a virtual shared space that shares a common glove box model and equipment model, and a shared calculation unit is provided to form a part of the shared space corresponding to each VR device unit to be displayed on the display unit of each VR device unit. The glove box work training device according to claim 12, characterized in that the calculation unit displays a desired motion model of the equipment model on the display unit in response to the motion of each arm or glove of the trainee corresponding to each VR device unit. The training device for glove box work according to claim 12 or 13, characterized in that each of the VR device units is provided with a voice data transmission/reception device, and voice data can be transmitted and received between the voice data transmission/reception devices. The glove box work training device according to any one of claims 1 to 14, further comprising a computing device having an image display device capable of receiving data from the VR device unit. The glove box work training device according to any one of claims 1 to 15, further comprising a feedback means including a notification unit that notifies the trainee of a desired notification, and a notification calculation unit that notifies the trainee of the desired notification by the notification unit when the arm model, glove model, or equipment model performs a desired operation.

Images