JP-7855400-B2 - Simulation device, control method, and control program

JP7855400B2JP 7855400 B2JP7855400 B2JP 7855400B2JP-7855400-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 (9)

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 display device that displays an image of a virtual model corresponding to the drilling machine, The system includes a device that displays an image of the virtual model on the display device, and a control device that simulates the operation of a part of the virtual model corresponding to the simulated operation unit operated by the user in response to the operation of the simulated operation unit. The control device is A determination unit determines, among the plurality of simulated operation units, that the simulated operation unit that the user intends to operate and whose positional relationship with the position of the user's hand is a specific positional relationship is designated as the target operation unit . The system includes a display control unit that causes the part of the virtual model corresponding to the target operation unit to be displayed on the display device in a way that allows it to be identified from other parts , The aforementioned plurality of simulated operation units are, The control device outputs operation signals corresponding to the user's actions. The display control unit, The first identification display process and the second identification display process are executed, The first identification and display process is: This process involves displaying the part of the virtual model corresponding to the target operation unit on the display device in a way that allows it to be identified from other parts. The second identification display process described above is: A simulation device, which is executed after the first identification display process when an operation is performed on the target operation unit, and which displays on the display device an identification state that identifies the part of the virtual model corresponding to the target operation unit from other parts in a manner different from when the first identification display process is performed .
The aforementioned plurality of simulated operation units are, The control device outputs operation signals corresponding to the user's actions. The determination unit, The simulation apparatus according to claim 1, wherein, among the plurality of simulated operation units, the simulated operation unit that outputs the operation signal is determined to be the target operation unit.
The display control unit, The simulation apparatus according to claim 2, in which, if a simulation operation unit among the plurality of simulation operation units that accepts multiple operations is determined to be the target operation unit, the part of the virtual model that is operated in response to the operation on the target operation unit is displayed on the display device in a manner that allows it to be identified from other parts.
The determination unit, The simulation device according to claim 1, which measures the position coordinates of the user's hand, analyzes the positional relationship between the position coordinates of the user's hand and the pre-set position coordinates of the plurality of simulated operating units , and determines that the simulated operating unit that has the specific positional relationship based on the results of the analysis is the target operating unit.
The imaging device further comprises a device that captures an area including the plurality of simulated operation units and outputs the captured image data, The control device is The system further includes an image acquisition unit that acquires data from the captured image, The determination unit, The simulation device according to claim 4, which measures the position coordinates of the user's hand based on the captured image, analyzes the positional relationship between the position coordinates of the user's hand and the position coordinates of the preset plurality of simulated operation units, and determines the simulated operation unit that has the specific positional relationship based on the results of the analysis as the target operation unit.
The determination unit, The simulation device according to claim 5 , which recognizes the position of the user's hand by detecting the skeletal structure of the user's hand based on the captured image.
The determination unit, The simulation device according to claim 5 or 6, wherein, among the plurality of simulated operation units, the simulated operation unit whose position coordinates in the specific positional relationship are the shortest and whose distance from the position coordinates of the user's hand is below a specific threshold is determined to be the target operation unit.
A control method executed by the control device of a simulation device, A determination step in which, among multiple simulated operating parts that each simulates an operating part used to operate a drilling machine, the simulated operating part that the user intends to operate and whose positional relationship with the position of the user's hand is a specific positional relationship is determined to be the target operating part, The process includes a display step of displaying an image of a virtual model corresponding to the drilling machine on a display device, and displaying on the display device a part of the virtual model corresponding to the target operation unit in a manner that can be identified from other parts , The aforementioned plurality of simulated operation units are, The control device outputs operation signals corresponding to the user's actions. The aforementioned display processing step is: It includes a first identification display process and a second identification display process, The first identification and display process is: The part of the virtual model corresponding to the target operating unit is displayed on the display device in a way that allows it to be identified from other parts. The second identification display process described above is: A control method that, after the first identification display process, when an operation is performed on the target operation unit, displays on the display device an identification state that identifies the part of the virtual model corresponding to the target operation unit and other parts in a manner different from when the first identification display process was performed .
A determination step in which, among multiple simulated operating parts that each simulates an operating part used to operate a drilling machine, the simulated operating part that the user intends to operate and whose positional relationship with the position of the user's hand is a specific positional relationship is determined to be the target operating part, The computer is instructed to perform a display processing step which involves displaying an image of a virtual model corresponding to the drilling machine on a display device, and displaying on the display device the part of the virtual model corresponding to the target operating unit in a manner that allows it to be identified from other parts . The aforementioned plurality of simulated operation units are, The control device outputs operation signals corresponding to the user's actions. The aforementioned display processing step is: It includes a first identification display process and a second identification display process, The first identification and display process is: The part of the virtual model corresponding to the target operating unit is displayed on the display device in a way that allows it to be identified from other parts. The second identification display process described above is: A control program that, after the first identification display process, when an operation is performed on the target operation unit, displays on the display device an identification state that identifies the part of the virtual model corresponding to the target operation unit from other parts, in a manner different from when the first identification display process was performed .

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 the simulation device according to Embodiment 1.Figure 2 shows the configuration of the simulation device according to Embodiment 1.Figure 3 is a block diagram showing the configuration of the control device.Figure 4 is a flowchart showing the control method.Figure 5 shows the display image generated before the identification display process (step S1C) is executed.Figure 6 shows the display image generated after the identification display process (step S1C) is performed.Figure 7 is a block diagram showing the configuration of the simulation device according to Embodiment 2.Figure 8 shows the arrangement of the imaging device.Figure 9 is a diagram illustrating the related information stored in the related information database.Figure 10 is a flowchart showing the control method.Figure 11 is a diagram illustrating the determination process (step S2C) and the first identification display process (step S2E).Figure 12 is a diagram illustrating the second identification display process (step S2G). 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. (Embodiment 1) [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 Embodiment 1. First, before describing the configuration of the simulation device 1 according to this embodiment 1, 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 12