JP2020170482A - Work instruction system - Google Patents

Abstract

To provide a work instruction system which can estimate the self position by a movable terminal alone and can be applied to assembly of a large object.SOLUTION: The work instruction system issues an instruction on a work of attaching a work target object. The work instruction system includes a work environment information acquisition unit and an instruction output unit. The work environment information acquisition unit acquires work environment information on a work environment while moving with a worker. The instruction output unit outputs a work instruction to a worker while moving with the worker. The work environment information acquisition unit can estimate the self position to the reference position in the work environment on the basis of the work environment information.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work instruction system for supporting mounting work.

Conventionally, augmented reality (AR), which adds computer-based information to things in the real world, has been known. Patent Document 1 discloses a setup assist system utilizing this augmented reality.

The setup assist system of Patent Document 1 is configured to specify the current position and posture of the glasses-type terminal based on the size and position of the reference pole having a known length in the detected field of view image.

JP-A-2018-106358

In the configuration of Patent Document 1, it is necessary to install reference poles of known lengths at each of a plurality of known points, and only when two or more reference poles are included in the visual field image, the self of the glasses-type terminal The position can be estimated.

However, considering the work of assembling a large object with a size of several meters, for example, the large object often occupies a large proportion of the worker's field of view, so the reference pole is included so that the field of view includes multiple reference poles. It is often difficult to install. As a result, the configuration of Patent Document 1 cannot accurately estimate the self-position of the worker (glasses type terminal).

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work instruction system which can estimate a self-position by a mobile terminal alone and can be easily applied to the assembly of a large object.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and its effect will be described.

From the viewpoint of the present invention, a work instruction system having the following configuration is provided. That is, this work instruction system gives instructions regarding the attachment work of the work object. This work instruction system includes a work environment information acquisition unit and an instruction output unit. The work environment information acquisition unit moves together with the worker to acquire work environment information related to the work environment. The instruction output unit moves together with the worker and outputs a work instruction to the worker. The work environment information acquisition unit can estimate its own position with respect to a reference position in the work environment based on the acquired work environment information.

As a result, by instructing from the instruction output unit based on the work environment information, the operator can mount the work object at an accurate position without the need for a mounting jig or the like. As a result, mounting errors can be reduced, quality can be improved, and costs and labor related to the creation and management of mounting jigs can be eliminated, and cost reduction can be realized.

According to the present invention, it is possible to provide a work instruction system capable of estimating a self-position by a mobile terminal alone and adapting to the assembly of a large object.

The perspective view which shows typically the work site to which the work instruction system which concerns on one Embodiment of this invention is applied. A block diagram showing a schematic configuration of a work instruction system. The figure which shows the displayed 3D model. The figure which shows an example of the information which a worker sees.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view schematically showing a work site to which the work instruction system 100 according to the embodiment of the present invention is applied. FIG. 2 is a block diagram showing a schematic configuration of the work instruction system 100. FIG. 3 is a diagram showing a displayed 3D model. FIG. 4 is a diagram showing an example of information that the operator sees.

The work instruction system 100 of the present embodiment is used, for example, for assembling an object that requires one or more attachment operations, as shown in FIG. There are various mounting operations, but in the following, a case where another small component is attached to the main body 90, which is a large component, will be described as an example. The small parts are the first part 91, the second part 92, the third part 93, and the fourth part 94.

The first part 91, the second part 92, the third part 93, and the fourth part 94 correspond to work objects. The main body 90 corresponds to the attachment destination of the work object. In the following, the main body 90 in a state where all the parts are attached may be referred to as a finished product.

As shown in FIG. 1, the work instruction system 100 mainly includes a mobile terminal 1 and an instruction device 2.

The mobile terminal 1 is composed of, for example, a glasses-type terminal worn by an operator and moves together with the operator. The mobile terminal 1 includes a mounting unit 10, a work environment information acquisition unit 11, a terminal-side transmission / reception unit 12, and an instruction output unit 13.

The mounting portion 10 is mounted at an appropriate place (for example, the head) of the operator. The mounting portion 10 is configured as, for example, a portion corresponding to a temple portion and an ear hook portion of eyeglasses. However, the present invention is not limited to this, and the mounting portion 10 may be composed of a helmet or the like worn by an operator.

The work environment information acquisition unit 11 is used to acquire work environment information regarding the work site environment (work environment). The work environment information acquisition unit 11 is composed of, for example, a camera or the like capable of acquiring an image (image) of the work environment, and is attached to the mounting unit 10. That is, the work environment information acquisition unit 11 moves together with the worker.

The work environment information acquired by the work environment information acquisition unit 11 reflects the situation around the worker. In the present embodiment, the work environment information is a camera image of the surroundings of the worker. The device (camera) for capturing an image may have a field of view wider than the field of view of the operator, or may have a field of view different from the field of view of the worker.

The work environment information acquisition unit 11 has a self-position estimation function, and can estimate the self-position (that is, the position of the worker) from the acquired work environment information. This self-position estimation function is, for example, a SLAM function. SLAM is an abbreviation for Simultaneous Localization and Mapping.

The SLAM function is well known, so to explain it briefly, by extracting feature points from each frame of the image acquired by the camera and analyzing the amount of movement of the feature points between frames, changes in the position and orientation of the camera can be detected. It is a function to acquire.

In the work instruction system 100 of the present embodiment, one or a plurality of markers are preset. The absolute position of each marker is input to the work instruction system 100 prior to the assembly work.

The marker is preferably set in a place where it does not move. When the main body 90 itself partially has a visually unique feature, the marker can be set by using the portion as it is. Further, a marker can be realized by attaching a sticker on which a special figure or pattern is displayed to the main body 90, the floor of the work place, or the like. In order to make the markers uniquely identifiable, it is preferable to make the shape, pattern, color, etc. of the sticker different for each marker.

The marker may or may not appear in the image acquired by the camera of the work environment information acquisition unit 11. The work environment information acquisition unit 11 automatically detects markers appearing in the video by known image processing. In addition, the work environment information acquisition unit 11 specifies which marker the marker is for one or more detected markers.

When the image contains a marker, the absolute self-position and self-posture of the work environment information acquisition unit 11 can be obtained by calculation based on the position where the marker appears in the image. If the image does not include a marker, it depends on the absolute self-position and attitude acquired based on the marker in the latest past and the change in camera position and attitude acquired by the SLAM function from the time of acquisition. The current absolute self-position and self-posture can be estimated.

The absolute self-position can be expressed in three-dimensional coordinates as, for example, a position with respect to the origin (reference position) when a three-dimensional Cartesian coordinate system is defined in the space (work space) where the worker works. The self-posture can be expressed as a three-dimensional vector using a three-dimensional Cartesian coordinate system. The position of the origin is arbitrary, but it can be set so as to be a characteristic point in the main body 90, for example. The absolute position of the marker mentioned above means the three-dimensional coordinates.

As a result, even indoors where radio waves such as GNSS do not reach, the work environment information acquisition unit 11 calculates its own position by image processing or the like to obtain the position of the mobile terminal 1 (in other words, the worker's head) and The posture can be estimated. As a result, information such as the position of the parts to be attached to the main body 90 is three-dimensionally and geometrically matched with the way the worker directly sees the real space in the worker's field of view. It becomes possible to superimpose and display.

The work environment information acquisition unit 11 of the present embodiment also functions as a worker instruction input unit. Specifically, the work environment information acquisition unit 11 acquires a video related to the gesture of the worker, and transmits the worker instruction recognized from the gesture of the worker to the instruction device 2 via the transmission / reception unit 12 on the terminal side. Gestures are determined according to the content of the instruction. The specific gesture is arbitrary, but for example, one hand can be extended and shaken to the left or right so as to be reflected in the camera of the work environment information acquisition unit 11. As a result, the worker can instruct the instruction device 2 to start work, stop work, rotate parts, and the like via the work environment information acquisition unit 11. In the following, an instruction issued by the operator to the instruction device 2 may be referred to as an operator command.

Gesture recognition may be performed on the terminal side transmission / reception unit 12 instead of the work environment information acquisition unit 11. Specifically, the work environment information acquisition unit 11 transmits the acquired video to the instruction device 2 in real time via the terminal-side transmission / reception unit 12. The instruction device 2 recognizes the worker command expressed by the gesture of the worker by image processing or the like.

The terminal-side transmission / reception unit 12 is configured to enable wireless communication with the instruction device 2. The wireless communication method is arbitrary, but for example, a wireless LAN can be considered.

The terminal-side transmission / reception unit 12 transmits the camera image, self-position, self-posture, etc. acquired by the work environment information acquisition unit 11 to the instruction device 2 by wireless communication, and receives the work instruction from the instruction device 2. The terminal-side transmission / reception unit 12 outputs the work instruction received from the instruction device 2 to the instruction output unit 13.

In the work instruction system 100 of the present embodiment, the work instruction includes at least one of the shape of the part, the mounting direction, and the mounting position.

The instruction output unit 13 includes a display unit 14 that displays work instructions received from the instruction device 2 via the terminal-side transmission / reception unit 12. The display unit 14 includes, for example, a projection device (not shown) and a head-up display.

The projection device displays the work instruction by projecting it on the head-up display. The head-up display is configured as, for example, an optical transmission type head-up display composed of a half mirror, and is attached to the mounting portion 10 as a lens. The lens may be a binocular type or a monocular type.

As shown in FIG. 4, the display unit 14 projects the work instruction on the head-up display so that the work instruction is displayed at a position corresponding to the actual situation seen by the operator via the projection device.

As a result, the worker who wears the mounting portion 10 can observe the state of the work site through see-through while checking the work instructions and the like projected on the head-up display by the projection device, and the mounting target. Information such as the mounting position of parts can be easily grasped.

In other words, the display unit 14 superimposes computer information of work instructions indicating the shape of parts and the like on the actual situation seen by the operator, thereby displaying so-called augmented reality or mixed reality (MR). ) Is realized. Therefore, the work instruction can be displayed more realistically and clearly, and the worker can grasp the work content more accurately. As a result, work mistakes such as mistakes in parts and mounting positions can be prevented, work time can be shortened, and work quality can be improved.

The display unit 14 may display the work instruction by animation. For example, when the instruction device 2 detects that the posture of the part held by the operator and the posture in the mounted state, which are acquired through the work environment information acquisition unit 11, are different, the instruction device 2 , The display unit 14 is animated to display an instruction to change the direction of the hand-held part from the current posture to the mounted posture. There are various expressions of animation, but for example, it can be an animation in which the figure of an arrow moves in a circular motion. By following this instruction, the operator can easily adjust the parts to the correct posture, and the work can be performed more smoothly. Animation also allows the operator to intuitively and quickly understand the instructions.

The instruction device 2 is composed of a known computer. This computer includes a CPU, ROM, RAM, HDD, input / output unit, etc., which are not shown. Various programs, data, and the like are stored in the HDD. The data stored in the HDD includes 3D data of the main body 90, parts, and the finished product related to the mounting work. The CPU can read various programs and the like from the HDD and execute them.

The instruction device 2 includes a work schedule input unit 21 composed of the input / output units. The person in charge of the assembly work can input various information about the work schedule in advance via the work schedule input unit 21. This information includes information such as the main body 90 related to the assembly work, each part, and 3D data of the finished product. Further, the information input to the instruction device 2 includes the work order of a plurality of mounting operations included in the assembly operation. Various information input via the work schedule input unit 21 is stored in the HDD or the like.

The instruction device 2 outputs each of the work instructions stored in the HDD based on the work order to the instruction output unit 13 via the terminal-side transmission / reception unit 12. The instruction output unit 13 causes the display unit 14 to display each of the work instructions received from the instruction device 2 via the terminal-side transmission / reception unit 12. That is, the instruction output unit 13 causes the display unit 14 to display the work instruction from the instruction device 2 according to the work order input via the work schedule input unit 21.

Subsequently, the operation of the work instruction system 100 of the present embodiment will be described in detail by taking a specific assembly work as an example. This assembly work includes a plurality of mounting work for mounting the first part 91, the second part 92, the third part 93, and the fourth part 94 shown in FIG. 1 to the main body 90.

Before the start of the assembly work, the manager inputs various 3D data to the instruction device 2 via the work schedule input unit 21. This 3D data includes 3D data of the finished product of the assembly work and 3D data of the main body 90 of the attachment destination. Further, the 3D data input to the instruction device 2 includes 3D data of the first part 91, the second part 92, the third part 93, and the fourth part 94.

Subsequently, the administrator sets the position of the marker (absolute position described above) in the instruction device 2. The set marker position is transmitted to the mobile terminal 1 and registered in the work environment information acquisition unit 11. The administrator sets the mounting positions of the respective parts with respect to the main body 90 (first mounting position A, second mounting position B, third mounting position C, fourth mounting position D shown in FIG. 1).

Further, the administrator can perform the work order of the first part 91, the second part 92, the third part 93, and the fourth part 94 (for example, the first mounting position A, the second mounting position B, and the third part shown in FIG. 1). The order in which the mounting work is performed in the order of the mounting position C and the fourth mounting position D) is input to the instruction device 2 via the work schedule input unit 21. The work order can be set based on, for example, the part ID or the order determined in the assembly specifications.

The order in which the above contents are input to the work schedule input unit 21 can be changed as needed.

Subsequently, the worker makes a gesture corresponding to the worker command to start the work at the work site while wearing the mobile terminal 1. As a result, the instruction device 2 recognizes the start of the assembly work.

The worker can move on foot or the like with the mobile terminal 1 attached. The mobile terminal 1 constantly acquires a camera image, and based on this, acquires the position and posture of the mobile terminal 1 itself. The mobile terminal 1 transmits the camera image, the position and posture of the own device to the instruction device 2 in real time.

The instruction device 2 gives a part acquisition instruction to the operator via the instruction output unit 13 to acquire the first part 91 to be attached to the first attachment position A according to the work order stored in the HDD. This parts acquisition instruction can be realized, for example, by displaying a model in which the route to the parts storage location is represented by a 3D arrow. This 3D arrow corresponds to guide information. At this time, based on the current position and posture of the mobile terminal 1, it is calculated how the arrow will look to the operator if a 3D arrow indicating the route is temporarily arranged in the real space. This calculation can be realized by a known calculation of 3D computer graphics, although detailed description is omitted. By drawing the arrow according to the calculation result, the guide information consistent with the way the operator sees the real space can be displayed on the display unit 14. As a result, the worker can intuitively understand how to move from the current position in relation to the surrounding situation that he / she actually sees, and can easily reach the storage location of the parts. ..

When the worker arrives at the storage location of the parts, the instruction output unit 13 causes the display unit 14 to display the shape information of the parts received from the instruction device 2 via the terminal-side transmission / reception unit 12. It should be noted that the arrival of the worker at the storage location of the parts can be easily determined by using the current position of the mobile terminal 1. The display unit 14 displays the 3D model of the first part 91, for example, in front of the operator where the parts on hand can be easily confirmed.

As a result, the operator can search for the first part 91 by referring to the 3D model of the first part 91 displayed on the display unit 14, and can see the first part 91 on hand in FIG. 3A. As shown in, it can be compared so as to overlap with the 3D model. As a result, the correctness of the first part 91 on hand can be easily determined.

In the work instruction system 100 of the present embodiment, the operator issues a worker command corresponding to an instruction to rotate the 3D model of the first part 91 displayed on the display unit 14 via the work environment information acquisition unit 11. It can be sent to the instruction device 2. This allows the operator to compare the displayed 3D model of the first part 91 with the first part 91 on hand while rotating (for example, as if he were on a turntable). Therefore, the correctness of the first part 91 can be determined more preferably.

As the shape information of the part, instead of the 3D model of the part, for example, as shown in FIG. 3B, a 3D model showing the concave shape of the mounting destination of the part can be used. Even in this case, the operator can easily confirm the correctness of the parts on hand by matching the parts on hand with the 3D model to which the parts are attached.

The instruction device 2 determines the correctness of the first part 91 held by the operator by, for example, a 2D-3D model matching technique that matches the two-dimensional coordinates in the image with the points on the surface of the corresponding three-dimensional object. Is also good. In this case, when it is determined that the first part 91 held by the worker is correct, the instruction device 2 places a character such as "OK" or an appropriate mark at the position corresponding to the first part 91 held by the worker. Etc. can be displayed on the display unit 14 to notify the operator. Since the 2D-3D model matching technique is known, the description thereof will be omitted.

With the correct first part 91 in hand, the worker sends a worker command requesting an instruction for the next work to the instruction device 2 via the work environment information acquisition unit 11. In response to this, the instruction device 2 outputs guide information for guiding the operator to the first mounting position A of the main body 90 to the operator via the instruction output unit 13.

After the worker arrives at the first mounting position A, the instruction device 2 issues a work instruction indicating the mounting position of the first part 91 to the worker via the instruction output unit 13, as shown in FIG. Output. In FIG. 4, the semi-transparent display (represented by a chain line) of the first part 91 indicates its shape and mounting direction, and the tip of the arrow indicates the mounting position of the first part 91. There is. Note that FIG. 4 is an example of a work instruction, and the display method of the work instruction is not limited to this. For example, only one or two of the shape, mounting orientation, and mounting position of the first part 91 may be indicated.

Similar to the above, these instructions are calculated based on the calculation result of how the arrow looks to the operator when a 3D figure such as an arrow is placed in the real space. To. Therefore, to the worker, it seems as if the arrow or the like in FIG. 4 actually exists in the actual situation. The operator can easily attach the first part 91 to the main body 90 according to the work instructions displayed in front of him.

As described above, the work environment information acquisition unit 11 has a self-position estimation function, and an arrow or the like in FIG. 4 is displayed at a position based on the obtained self-position. Therefore, as shown in FIG. 4, even when the operator can see only a part of the main body 90, the mounting location of the first part 91 and the like can be accurately grasped. As a result, the first part 91 can be mounted at an accurate position without the need for a mounting jig or the like.

Considering the acquisition accuracy of the self-position and the self-posture, it is preferable that any marker always appears in the image acquired by the camera of the work environment information acquisition unit 11. However, the mobile terminal 1 of the present embodiment can obtain a self-position and a self-posture by the SLAM function even if the marker does not appear. Therefore, the work instruction system 100 can correctly instruct the operator regarding the work even in a complicated place where it is difficult to attach the marker sticker.

After the installation work of the first part 91 is completed, the worker issues a worker command requesting an instruction for the next work to the instruction device 2 via the work environment information acquisition unit 11. In response to this, the instruction device 2 photographs the state in which the first part 91 is attached via the work environment information acquisition unit 11.

The instruction device 2 compares the photographed mounting state image of the first part 91 with the 3D data of the finished product input in advance by image processing or the like, and based on the comparison result, the first part 91 is correctly mounted. It may be determined whether or not it was. When it is determined that the first part 91 is correctly attached, the instruction device 2 gives the work instruction regarding the attachment work of the second part 92 at the second attachment position B in the same manner as the work instruction regarding the attachment work of the first part 91. It is output to the operator via the instruction output unit 13. When it is determined that the first part 91 is not correctly attached, the instruction device 2 outputs a correction work instruction to the operator via the instruction output unit 13.

The correctness of the mounting work of the first part 91 may be determined by an operator. At this time, if the standard image with the first part 91 attached is displayed on the display unit 14, the operator can make an accurate determination, which is preferable.

In this way, the instruction device 2 gives work instructions regarding the attachment work at each position in the order of the first attachment position A, the second attachment position B, the third attachment position C, and the fourth attachment position D. Output to the operator via. As a result, the assembly work can be performed in an accurate order, and the work can be continued smoothly without the operator getting lost.

In the repetitive work of mounting parts, conventionally, mounting is performed while positioning using a jig. However, when assembling a large structure, the jig also becomes large, so that the manufacturing cost of the jig cannot be ignored even if it is reused. In addition, the man-hours and time for installing and removing a large jig also increase. In this respect, in the present embodiment, the instruction displayed on the display unit 14 functions as a substitute for the jig. Therefore, the operator can quickly and accurately attach the parts to the main body 90 without a jig.

As described above, the work instruction system 100 of the present embodiment gives instructions regarding the attachment work of the parts. The work instruction system 100 includes a work environment information acquisition unit 11 and an instruction output unit 13. The work environment information acquisition unit 11 moves with the worker and acquires a camera image related to the work environment. The instruction output unit 13 moves together with the worker and outputs a work instruction to the worker. The work environment information acquisition unit 11 can estimate its own position with respect to the reference position in the work environment based on the acquired camera image.

As a result, by instructing from the instruction output unit 13 based on the self-position and the camera image, the operator can mount the part at an accurate position without the need for a mounting jig or the like. As a result, mounting errors can be reduced, quality can be improved, and costs and labor related to the creation and management of mounting jigs can be eliminated, and cost reduction can be realized.

Further, in the work instruction system 100 of the present embodiment, the instruction output unit 13 includes a display unit 14 for displaying work instructions. The instruction output unit 13 includes the shape, mounting direction, and mounting position of the part corresponding to the mounting destination when the portion to be mounted on the part is included in the field of view of the operator as shown in FIG. The work instruction is displayed on the display unit 14 so as to be superimposed on the portion to be attached or in the vicinity thereof.

As a result, the operator can more easily confirm the information such as the mounting position of the parts, and the work can be performed more smoothly.

Further, the work instruction system 100 of the present embodiment includes a work schedule input unit 21. The work schedule input unit 21 inputs a work schedule. When a plurality of mounting operations are input in the work schedule input unit 21, the instruction output unit 13 outputs work instructions related to the plurality of installation operations to the operator according to the work order set in the work schedule input unit 21. ..

Thereby, for example, in an assembly having a plurality of mounting operations, the operator can perform the mounting operations in an accurate order only by following the order of instructions from the work instruction system 100. Therefore, the assembly work can be performed more easily.

Further, in the work instruction system 100 of the present embodiment, the instruction output unit 13 outputs guide information that guides the operator from the current position to the work position where the mounting work is performed, and when the operator arrives at the work position, the instruction output unit 13 corresponds to the work instruction system 100. Outputs work instructions to the operator regarding the installation work performed at the work position.

As a result, the worker can continue the work one after another without hesitation, and the work can be performed more smoothly. As a result, the working time can be shortened.

Further, in the work instruction system 100 of the present embodiment, the instruction output unit 13 displays a 3D model for confirming the shape of the part so that it can be superimposed on the actual part.

As a result, the operator can compare the actual product with the 3D model, and can easily determine the correctness of the actual product on hand.

Further, in the work instruction system 100 of the present embodiment, the 3D model is rotatably displayed according to the instruction of the operator.

As a result, by changing the posture of the 3D model as needed, it is possible to compare and confirm the actual product and the 3D model from various viewpoints.

Further, in the work instruction system 100 of the present embodiment, the instruction output unit 13 displays an animation of a work instruction including at least one of a part shape, a mounting direction, and a mounting position.

As a result, information regarding the mounting of parts can be displayed in a more understandable manner.

Further, the work instruction system 100 of the present embodiment includes a work environment information acquisition unit 11. The work environment information acquisition unit 11 inputs an instruction given by the worker. The work environment information acquisition unit 11 is configured to be able to recognize the gesture of the worker.

As a result, the worker can easily instruct the system to complete the work.

Further, in the work instruction system 100 of the present embodiment, the work environment information acquisition unit 11 is configured to be capable of photographing a state in which the installation work is completed.

As a result, it can be saved as evidence of installation work. In addition, the correctness of the work can be easily confirmed by comparing with the standard state.

Although the preferred embodiment of the present invention has been described above, the above configuration can be changed as follows, for example.

The instruction output unit 13 may include a voice output unit that outputs a voice work instruction to the operator. In this case, the work instruction from the instruction device 2 can be transmitted to the operator by voice.

The instruction device 2 may include a display unit that displays work environment information (specifically, a camera image) acquired from the mobile terminal 1. In this case, a worker different from the worker at the assembly site may give a work instruction to the worker at the assembly site by voice or the like based on the information displayed on the display unit of the instruction device 2. As described above, the instruction output unit 13 may be configured to output a human instruction to the operator instead of the instruction given by the computer.

The display unit 14 is not limited to the above configuration, and may be configured as, for example, a video transmission type head-up display. In this case, the display unit 14 displays an image in which the actual image acquired from the work environment information acquisition unit 11 and the work instruction received from the instruction device 2 are superimposed. The operator confirms the situation at the work site and the work instruction through the image displayed on the display unit 14.

After issuing all the parts acquisition instructions for acquiring a plurality of parts that require a plurality of mounting operations at the parts storage location, the instruction device 2 reaches the first mounting position (that is, the first mounting position A) in the main body 90. You may issue a move instruction to move.

The work environment information acquisition unit 11 may include a voice input unit. The voice information acquired by the voice input unit can be transmitted to the terminal-side transmission / reception unit 12 as work environment information together with the surrounding video. Worker commands can also be realized by voice recognition, for example, when the worker speaks a specific word. According to this configuration, even when the operator holds the parts with both hands and it is difficult to make a gesture with the hands, the operator can easily give an instruction.

The correctness of the acquired part can also be determined via a barcode or a two-dimensional matrix code attached to the part.

SLAM may be performed by other than the camera image. For example, the work environment information acquisition unit 11 can be configured to perform SLAM based on the measurement result of LIDAR. LIDAR is an abbreviation for Light Detectiоn and Ringing. LIDAR is a type of three-dimensional measurement sensor that acquires the shape of surrounding objects. In this case, the point cloud obtained by LIDAR corresponds to the work environment information.

The instruction device 2 may be configured integrally with the mobile terminal 1. In this case, the configuration for wireless communication between the mobile terminal 1 and the instruction device 2 (for example, the terminal-side transmission / reception unit 12) can be omitted.

11 Work environment information acquisition unit 13 Instruction output unit 90 Main unit (mounting destination)
91 First part (work object)
92 Second part (work object)
93 Third part (work object)
94 4th part (work object)
100 work instruction system

Claims (10)

A work instruction system that gives instructions regarding the installation work of work objects.
The work environment information acquisition department, which moves with workers and acquires work environment information related to the work environment,
An instruction output unit that moves with the worker and outputs work instructions to the worker,
With
The work environment information acquisition unit is a work instruction system characterized in that it can estimate its own position with respect to a reference position in the work environment based on the acquired work environment information. The work instruction system according to claim 1.
The instruction output unit includes a display unit that displays the work instruction.
When the portion to be attached to the work object is included in the field of view of the operator, the instruction output unit is included in the shape, attachment direction, and attachment position of the work object corresponding to the attachment destination. A work instruction system characterized in that the work instruction including at least one is displayed on the display unit so as to be superimposed on or in the vicinity of the attachment destination portion. The work instruction system according to claim 1 or 2.
The instruction output unit is a work instruction system including a voice output unit that outputs the work instruction by voice. The work instruction system according to any one of claims 1 to 3.
Equipped with a work schedule input section for inputting work schedules
When a plurality of the mounting operations are input in the work schedule input unit, the instruction output unit issues the work instructions regarding the plurality of installation operations to the operator according to the work order set in the work schedule input unit. A work instruction system characterized by outputting. The work instruction system according to any one of claims 1 to 4.
The instruction output unit outputs guide information that guides the worker from the current position to the work position where the installation work is performed, and when the worker arrives at the work position, the above-mentioned mounting work performed at the work position is performed. A work instruction system characterized by outputting work instructions to workers. The work instruction system according to any one of claims 1 to 5.
The instruction output unit is a work instruction system characterized in that a 3D model for confirming the shape of the work object is displayed so as to be superposed on the actual object of the work object. The work instruction system according to claim 6.
The 3D model is a work instruction system characterized in that it is displayed rotatably according to an instruction of an operator. The work instruction system according to any one of claims 1 to 7.
The instruction output unit is a work instruction system characterized in that the work instruction including at least one of the shape, attachment direction, and attachment position of the work object is displayed by animation. The work instruction system according to any one of claims 1 to 8.
It is provided with a worker instruction input unit for inputting instructions given by the worker.
The worker instruction input unit is a work instruction system characterized in that at least one of the gesture and the voice of the worker can be recognized. The work instruction system according to any one of claims 1 to 9.
The work environment information acquisition unit is a work instruction system characterized in that it is configured to be capable of photographing a state in which the installation work is completed.

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