JP-7855399-B2 - Simulation device, control method, and control program

JP7855399B2JP 7855399 B2JP7855399 B2JP 7855399B2JP-7855399-B2

Inventors

鶴見翔太

Assignees

古河機械金属株式会社

Dates

Publication Date: 20260508
Application Date: 20220516

Claims (6)

A simulated operating device having multiple simulated operating parts that are provided on a drilling machine and each simulated reproduces one of the multiple operating parts used to operate the drilling machine, A shooting device worn by a user that acquires a real image corresponding to the user's field of vision, A display device attached to the user, capable of displaying the actual image and an image of a first virtual model corresponding to the drilling machine, The device displays the real image and the image of the first virtual model on the display device, and the device controls the part of the image of the first virtual model that corresponds to the simulated operation unit operated by the user, in accordance with the operation on the simulated operation unit. The control device is A reference line creation unit creates a virtual reference line that extends linearly from a specific position on the display device according to the user's line of sight, A calculation unit that calculates the shortest distance between a pre-set switching reference position and the reference line, A determination unit that determines whether the shortest distance is less than or equal to a specific threshold, The display control unit performs either a first display process, which prevents the display of the actual image on the display device while displaying an image of the first virtual model on the display device, or a second display process, which displays both the actual image and an image of the first virtual model on the display device, depending on the user's line of sight . The display control unit, A simulation device that executes the first display process when the determination unit determines that the shortest distance exceeds the specific threshold, and executes the second display process when the determination unit determines that the shortest distance is less than or equal to the specific threshold .
The display control unit, The real image is projected onto a second virtual model, which is placed in the virtual space on which the first virtual model is located and functions as a screen onto which an image is projected, thereby displaying the real image on the display device. In the first display process described above, By setting the transparency of the second virtual model to the first transparency, the display of the actual image on the display device is prevented. In the second display process described above, The simulation apparatus according to claim 1, wherein the transparency of the second virtual model is set to a second transparency which is smaller than the first transparency, thereby displaying the actual image on the display device.
The aforementioned reference position for switching is, The simulation device according to claim 1 , which is set at a position corresponding to the placement position of the aforementioned simulated operation device.
The aforementioned reference position for switching is, A simulation device according to claim 1 , wherein multiple settings are configured.
A control method performed by the control device of a drilling machine simulation device, A reference line creation step involves creating a virtual reference line that extends linearly from a specific position on the display device according to the user's line of sight, and A calculation step to calculate the shortest distance between a pre-set switching reference position and the reference line, A determination step of determining whether the shortest distance is less than or equal to a specific threshold, If the determination step determines that the shortest distance exceeds a specific threshold, a first display processing step is performed to cause an image of a first virtual model corresponding to the drilling machine to be displayed on the display device while preventing the display of a real image on the display device; A control method comprising: a second display processing step, which, if the determination step determines that the shortest distance is less than or equal to a specific threshold, performs a second display processing step to display both the real image and the image of the first virtual model on the display device.
A reference line creation step involves creating a virtual reference line that extends linearly from a specific position on the display device according to the user's line of sight, and A calculation step to calculate the shortest distance between a pre-set switching reference position and the reference line, A determination step of determining whether the shortest distance is less than or equal to a specific threshold, If the determination step determines that the shortest distance exceeds the specific threshold, a first display processing step is performed to display an image of a first virtual model corresponding to the drilling machine on the display device while preventing the display of the actual image on the display device. A control program that causes a computer to execute a second display processing step, which, if the determination step determines that the shortest distance is less than or equal to a specific threshold, executes a second display processing step that causes the display device to display both the real image and the image of the first virtual model.

Description

This invention relates to a simulation device, a control method, and a control program. Conventionally, drilling machines have been used to drill blast holes in rock formations at quarries, limestone mines, etc. (see, for example, Patent Document 1). In this type of drilling machine, a feeding mechanism presses a tool attached to the tip of the rock drill against the object to be crushed, and the impact force generated by the striking mechanism and the rotational force generated by the rotating mechanism are transmitted to the object to be crushed via this tool, thereby drilling a blast hole. During this drilling operation, the boom and guide shell are positioned, the feeding mechanism, striking mechanism, and rotating mechanism are operated, and the centralizer and rod changer are operated, etc. In other words, this drilling machine operates on a wide range of objects, and many operating parts are provided to operate each of these objects. Furthermore, as mentioned above, since a drilling machine has many operating parts, it is not easy to acquire the skills to operate such a machine. Therefore, it is conceivable to use a simulation device to acquire skills in operating a drilling machine without using an actual drilling machine. For example, the simulation device allows the trainee to view an image of a virtual model of the drilling machine (hereinafter referred to as the model image) via a display device such as a head-mounted display worn by the trainee. Furthermore, in response to the trainee's operation on one of several simulated operating parts that simulate the operation parts of the drilling machine, the simulation device simulates the operation of a part of the model image, such as the boom, corresponding to the simulated operating part, on the display screen of the display device. Conventionally, simulation devices for work vehicles such as forklifts have been proposed as such (see, for example, Patent Document 2). Japanese Patent Publication No. 2000-303768Japanese Patent Publication No. 2004-252024 Figure 1 shows a drilling machine that is the target of skill acquisition for operation using a simulation device according to the embodiment.Figure 2 shows the configuration of the simulation device according to the embodiment.Figure 3 is a block diagram showing the configuration of the control device.Figure 4 is a flowchart showing the control method.Figure 5 is a diagram illustrating steps S1 to S3.Figure 6 shows a portion of the virtual space.Figure 7 is a diagram illustrating step S4.Figure 8 is a diagram illustrating step S5. The embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described below with reference to the drawings. Note that the present invention is not limited to the embodiments described below. Furthermore, the same parts are denoted by the same reference numerals in the drawings. [Outline configuration of a drilling machine] Figure 1 shows a drilling machine 100 that is the target of skill acquisition for operation using the simulation device 1 according to the embodiment. First, before describing the configuration of the simulation device 1 according to this embodiment, we will describe the configuration of the drilling machine 100, which is the target of skill acquisition for operation using the simulation device 1. In describing the drilling machine 100, the term "front side" below refers to the right side as shown in Figure 1. The drilling machine 100 drills blast holes in the rock mass according to the operator's instructions. As shown in Figure 1, the drilling machine 100 comprises a traveling carriage 110 having a pair of left and right tracks 111 (only one track 111 is shown in Figure 1), and a boom 120, a rock-drilling unit 130, and a control room 140, each mounted on the traveling carriage 110. As shown in Figure 1, the boom 120 comprises a boom body 121, a boom pedestal 122, a boom slewing cylinder (not shown), and a boom lift cylinder 123. The boom pedestal 122 is mounted on a base 112 (Figure 1) located on the right front side of the traveling carriage 110, so as to be able to rotate (rotate) around a pivot axis 124 (Figure 1) that is aligned vertically. When the boom slewing cylinder (not shown) is driven, the boom 120 rotates. The boom body 121 is mounted on the boom pedestal 122 so as to be able to rotate (raise and lower) around a luffing axis 125 (Figure 1) that is aligned horizontally (forward and backward). When the boom lift cylinder 123 is driven, the boom 120 raises and lowers. As shown in Figure 1, the rock-drilling unit 130 is attached to the tip of the boom 120. This rock-drilling unit 130 comprises a guide shell 131 attached to the tip of the boom 120, a rock-drilling machine 132 that is provided to move forward and backward along the longitudinal direction of the guide shell 131, and a tool 133 attached to the tip of the rock-drilling machine 132. Here, the rock drill 132 moves forward and backward on