JP2021015225A - Skill comparison device and method for the same - Google Patents

Abstract

To provide a skill comparison device and a skill comparison method capable of comparing respective skills of a reference person and a subject person in fewer and highly important items based on new findings.SOLUTION: A skill comparison device D comparing skills regarding prescribed work of handling a prescribed object between a reference person and a subject person includes: a reference information storage unit 71 for storing a reference value regarding a prescribed item for the reference person; an action measuring unit 1 for measuring a body action of the subject person; a subject value processing unit 35 for acquiring a subject value regarding the item for the subject person based on the body action of the subject person measured by the action measuring unit 1; and an output unit 5 for outputting the reference value stored in the reference information storage unit 71 and the subject value acquired by the subject value processing unit 35, wherein the items are variation in body parts handling the prescribed object, swinging speed of a body trunk, and the acceleration of a waist among a plurality of items of the divided body parts.SELECTED DRAWING: Figure 1

Description

The present invention relates to a skill comparison device and a skill comparison method for comparing each skill in a reference person and a target person.

Skills (skills) are difficult to verbalize, document, and illustrate because they are acquired through actual work and experience. For this reason, skills are difficult to convey to others and difficult to quantify. As a technique related to such a skill, for example, there are each technique disclosed in Patent Document 1 and Patent Document 2.

The skill acquisition support system disclosed in Patent Document 1 is a skill acquisition support system that detects a difference in a user's movement with respect to a model's movement, and is a predetermined monitoring portion in the body of the model and the user. Attached to a sensor that detects data related to each operation of the model and the user, an operation data acquisition means that acquires data related to the operation detected by the sensor, and an operation acquired by the operation data acquisition means. The storage means for recording the data and the data related to the movement of the model recorded in the storage means are graphed in time series to form and display the first graph, and the data related to the user's movement are displayed. It is provided with a graphing means for graphing in time series and forming and displaying a second graph. The operation is an operation of painting work, and the monitoring parts are a spray gun, a worker's wrist, an arm, a waist, etc., an acceleration sensor detects the acceleration of the movement of the monitoring part, and a gyro sensor detects the acceleration of the movement of the monitoring part. The angle and angular velocity are detected, and the azimuth angle of the monitoring site is detected by the triaxial geomagnetic sensor.

The skill evaluation system disclosed in Patent Document 2 is a device for evaluating the skill level of a worker who needs to acquire work skills, and is used for work related to work that requires the skill to be evaluated. The work measurement detection means that measures the state and detects it as quantitative behavior data and work state data, the signal processing means that extracts and processes necessary time-series signals from the behavior data and work state data, and the signal processing means. , A pattern feature extraction means for extracting a specific significant pattern from the result of signal processing, a pattern storage means for storing pre-constructed model data and information on the data range / pattern, and the pattern storage means. Select at least one feature quantity from the pattern comparing means for comparing the pattern of the model data stored in the data with the pattern of the worker extracted by the feature extracting means and the result of comparison by the pattern comparing means. It is provided with a feature expression means for expressing the above and a skill evaluation result presenting means for presenting an index obtained by making the multidimensional feature amount that can be expressed by the feature expression means one-dimensional as an evaluation result. The work is a manual welding work, and the behavior data and the work state data are during the work of the worker detected by the image information of the worker's behavior taken by the CCD camera, the gyro sensor, the acceleration sensor and the motion sensor. It is three-dimensional information about the posture of the object and the relative positional relationship with the work object, and the temperature of the object to be welded detected by the temperature sensor, and the feature amounts are mean value, dispersion, skewness, flatness, and maximum. Value, minimum value and range of variation (maximum-minimum) (see, eg, paragraph [0077]).

Japanese Unexamined Patent Publication No. 2013-088730 Japanese Unexamined Patent Publication No. 2006-171184

The systems disclosed in Patent Document 1 and Patent Document 2 collect, analyze, and compare data of a large number of items. Therefore, it takes time to analyze the data of many items. It is presumed that the importance of each of the data of a large number of items is not necessarily the same with respect to the operation of the work, but in the systems disclosed in Patent Document 1 and Patent Document 2, the importance of each is unknown. Therefore, it is not possible to determine the superiority or inferiority, and it is difficult to select according to each of the above-mentioned importance.

The present invention is an invention made in view of the above circumstances, and an object thereof is a highly important item based on new knowledge, and each skill in a reference person and a subject can be compared with a smaller number of items. It is to provide a skill comparison device and a skill comparison method.

As a result of various studies, the present inventor has found that the above object can be achieved by the following invention. That is, the skill comparison device according to one aspect of the present invention is a device that is performed by the movement of the body and compares the skills related to a predetermined work of handling a predetermined object between a reference person and a target person. Based on the reference information storage unit that stores the reference value for a predetermined item in the above, the motion measuring unit that measures the body motion of the subject, and the body motion of the subject measured by the motion measuring unit. The target value processing unit for obtaining the target value related to the item in the target person, the reference value of the reference person stored in the reference information storage unit, and the target value of the target person obtained by the target value processing unit. The item includes a displacement of a body part that handles a predetermined object among a plurality of body parts that divide the body into a plurality of parts, and a rotation of a trunk portion of the plurality of body parts. The velocity and the acceleration of the lumbar region of the plurality of body parts. The skill comparison method according to another aspect of the present invention is a method in which a reference person and a target person compare skills related to a predetermined work of handling a predetermined object, which is carried out by a movement of the body. The reference information storage step of storing the reference value for a predetermined item in the reference information storage unit, the motion measurement step of measuring the body motion of the subject, and the body motion of the subject measured in the motion measurement step. Based on the above, the target value processing step of obtaining the target value related to the item in the target person, the reference value of the reference person stored in the reference information storage unit, and the target obtained in the target value processing step. The item includes an output step of outputting the target value of the person, and the item includes displacement of the body part that handles the predetermined object among the plurality of body parts that divide the body into a plurality of parts, and the plurality of body parts. The turning speed of the trunk and the acceleration of the lumbar region among the plurality of body parts.

According to new findings described below, the skills involved in a given task of handling a given object, performed by body movements, are characterized by displacement of the body part handling the given object, turning speed of the trunk and acceleration of the lumbar region. Attached, each of these items is important in this order. Since the skill comparison device and the skill comparison method output each reference value and each target value regarding the displacement of the body part handling a predetermined object, the turning speed of the trunk, and the acceleration of the waist, it is important based on the new knowledge. It is possible to compare each skill in the referrer and the target person with a higher degree item and a smaller number of items.

In another aspect, in the skill comparison device described above, the item is further one of a left foot load applied to the left foot, a stepping motion to transfer weight from the left foot to the right foot, and a right foot load applied to the right foot. Alternatively, if the item includes the left foot load, the left foot load acquisition unit for acquiring the left foot load is further provided, and if the item includes the stepping motion, a stepping motion acquisition unit for acquiring the stepping motion is provided. Further provided, when the item includes the right foot load, a right foot load acquisition unit for acquiring the right foot load is further provided. In another aspect, in the skill comparison method described above, the item is further one of a left foot load applied to the left foot, a stepping motion to transfer weight from the left foot to the right foot, and a right foot load applied to the right foot. Alternatively, if the item includes the left foot load, the left foot load acquisition step for acquiring the left foot load is further provided, and if the item includes the stepping motion, a stepping motion acquisition step for acquiring the stepping motion is performed. Further provided, when the item includes the right foot load, a right foot load acquisition step for acquiring the right foot load is further provided.

According to the new findings, the skills involved in a given task of handling a given object, performed by body movements, are further characterized by left foot load, stepping motion and right foot load, following each of the above three items. Attached, each of these items is important in this order. Since the skill comparison device and the skill comparison method further output each reference value and each target value for each of the left foot load, the stepping motion, and the right foot load, they are more important items based on the new knowledge and are smaller in number. Items can be used to compare each skill of the referrer and the target person from various angles.

In another aspect, in each of the above-mentioned skill comparison device and skill comparison method, the reference person has a work result of the work superior to that of the target person.

In the skill comparison device and the skill comparison method, since the work result of the reference person is superior to the work result of the target person, the target person is a reference person who is superior to the self in order to improve his / her skill. You can compare the reference value with your own target value. Since the comparison can be performed for each item, the subject can recognize the item to be improved.

In another aspect, in each of these skill comparison devices and skill comparison methods described above, the work result is the accuracy of the work product and the time required for the work.

According to this, each of the skill comparison device and the skill comparison method can provide the accuracy of the product of the work and the time required for the work as the work result.

In another aspect, in these skill comparison devices described above, the motion measuring unit comprises optical motion capture. In another aspect, in these skill comparison methods described above, the motion measuring step measures the motion of the body using optical motion capture.

Since the skill comparison device and the skill comparison method use optical motion capture, it is possible to measure the body movement of the subject in a non-contact manner without interfering with the body movement.

In another aspect, in each of these skill comparison devices and skill comparison methods described above, the work is one of a grinding or polishing work, a welding work and a painting work.

When the work is a grinding or polishing work, the skill comparison device and the skill comparison method can compare skills related to the grinding or polishing work between a reference person and a target person. When the work is a welding work, the skill comparison device and the skill comparison method can compare the skills related to the welding work between the reference person and the target person. When the work is a painting work, the skill comparison device and the skill comparison method can compare the skills related to the painting work between the reference person and the target person.

In another aspect, in each of these skill comparison devices and skill comparison methods described above, the work is the work of grinding or polishing a mold.

The skill comparison device and skill comparison method can compare skills related to the work of grinding or polishing a mold between a reference person and a target person.

In another aspect, in each of the above-mentioned skill comparison device and skill comparison method, the mold is a vehicle member molding die for molding a member used in a vehicle.

The skill comparison device and skill comparison method can compare skills related to the work of grinding or polishing a vehicle member molding die between a reference person and a target person.

In another aspect, in each of these skill comparison devices and skill comparison methods described above, the object is gripped by the hand of the plurality of body parts, and the plurality of body parts are the head, neck, and chest. , Right shoulder, left shoulder, upper right arm, upper left arm, right forearm, left forearm, right hand, left hand, waist, butt, right iliac, left iliac, right knee, left The displacement of the body part that handles the predetermined object, the turning speed of the trunk part, and the acceleration of the waist part, which are the knee part, the right foot part, and the left foot part, are the displacements of each center of gravity in the plurality of body parts, respectively. The speed and each acceleration, the displacement of the center of gravity in the object, the velocity and the acceleration, the XYZ component of the external force acting on the right foot, the XYZ component of the external force acting on the left foot, and the hand holding the object. It is obtained based on the first to third principal components of the principal component analysis in the case of expressing the movement of the body using the XYZ component of the external force as an explanatory variable.

In the above skill comparison device and skill comparison method, the displacement of the body part that handles a predetermined object, the turning speed of the trunk, and the acceleration of the lumbar region are obtained based on each of the first to third principal components of the principal component analysis. Items can be selected appropriately in the order of importance.

The skill comparison device and skill comparison method according to the present invention are highly important items based on new knowledge, and each skill in the reference person and the target person can be compared with a smaller number of items.

It is a block diagram which shows the structure of the skill comparison apparatus in embodiment. It is a figure for demonstrating the attachment position of a plurality of markers in the optical motion capture used in the skill comparison apparatus, and the arrangement position of a force plate used in the skill comparison apparatus with respect to a reference person and a subject person. It is a figure for demonstrating the position of each center of gravity of each part in a body. It is a figure for demonstrating the content of work and the test piece used for said work. It is a flowchart which shows the operation of the skill comparison apparatus. It is a figure for demonstrating the skill comparison display screen displayed on the skill comparison apparatus.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. It should be noted that the configurations with the same reference numerals in the respective drawings indicate the same configurations, and the description thereof will be omitted as appropriate. In the present specification, when they are collectively referred to, they are indicated by reference numerals without subscripts, and when they refer to individual configurations, they are indicated by reference numerals with subscripts.

FIG. 1 is a block diagram showing a configuration of a skill comparison device according to an embodiment. FIG. 2 is a diagram for explaining the attachment positions of a plurality of markers in the optical motion capture used in the skill comparison device and the arrangement positions of the force plates used in the skill comparison device for the reference person and the target person. Is. FIG. 3 is a diagram for explaining the position of each center of gravity of each part in the body. In FIG. 3, the position of the center of gravity of each part is indicated by ●.

The skill comparison device in the present embodiment is a device that is performed by the movement of the body and compares the skills related to a predetermined work of handling a predetermined object between a reference person and a target person. The reference person is a person whose work result of the work is superior to the work result of the target person. The reference person is a person whose skill is referred to by the target person in order for the target person to improve his / her own skill. Then, in order to select the reference person from the plurality of workers, the skill comparison device in the present embodiment acquires predetermined information for classifying the plurality of workers according to the work result of the work. It is configured in. Further, in the present embodiment, the skill comparison device also includes a selection function for selecting the predetermined item from a plurality of various items. For example, as shown in FIG. 1, such a skill comparison device D includes a plurality of imaging units 11-1 to 11-k (k is an integer of 2 or more) and an external force measuring unit mainly for comparing skills. 12. The control processing unit 3 includes a position processing unit 32, an operation information processing unit 33, a target value processing unit 35, an output unit 5, and a reference information storage unit 71 in the storage unit 7. Mainly in order to acquire predetermined information for classifying, the skill comparison device D includes a shape measuring unit 21, a time measuring unit 22, and a work result processing unit 34 and a reference person described later in the control processing unit 3. The determination processing unit 36 is provided. This skill comparison device D includes a principal component analysis processing unit 37 described later in the control processing unit 3 mainly for the selection function. Then, in the present embodiment, the skill comparison device D includes a control unit 31, an input unit 4, and an interface unit (IF unit) 6 described later in the control processing unit 3.

Each of the plurality of imaging units 11-1 to 11-k is connected to the control processing unit 3, and a worker (for example, the reference person, the target person, and the target person) with a plurality of markers is attached according to the control of the control processing unit 3. It is a device that generates an image (image data) by imaging the plurality of markers from a plurality of directions different from each other (subject, etc.). For example, the optical axis so that the four imaging units 11-1 to 11-4 face the central region of the space at the upper four corners in a rectangular parallelepiped space (for example, 4 m × 4 m × 2 m, etc.) in which an operator enters. Are arranged diagonally downward, and the optical axes are arranged diagonally upward so that the four imaging units 11-5 to 11-8 face the central region of the space at the four lower corners in the space. Will be done. As a result, the eight imaging units 11-1 to 11-8 each acquire an image of the marker attached to the operator from eight different directions to the operator to generate an image. Each of the plurality of imaging units 11-1 to 11-k outputs the image generated by the imaging to the control processing unit 3, and the control processing unit 3 is transmitted from the plurality of imaging units 11-1 to 11-k. The plurality of images of the above are associated with each other and stored in the storage unit 7. More specifically, such imaging units 11-1 to 11-k are, for example, an imaging optical system that forms an infrared optical image of an imaging target on a predetermined imaging surface, respectively. An area image sensor that is arranged so that the light receiving surface is aligned with the image plane and converts an infrared optical image in the imaging target into an electrical signal, and an area image sensor output is image-processed to form the imaging target. It is a digital infrared camera provided with an image processing unit or the like that generates image data that is data representing an infrared image.

Each of the plurality of markers is a member that reflects infrared light (infrared rays), and is attached to the body of a worker (referencer, subject, subject) who handles a predetermined object and a plurality of locations on each of the objects. To. The plurality of marker MKs are attached to each of the 41 points in the worker's body LB in order to measure the position of the center of gravity of each of the 19 body parts, for example, as shown in FIG. It is attached to each of the three points on the object to measure the position of the center of gravity of the object. In the present embodiment, the 19 body parts are, for example, the head, neck, chest, right shoulder, left shoulder, upper right arm, upper left arm, right forearm, left forearm, right hand, left hand, etc. The lumbar region, hip region, right iliac region, left iliac region, right knee region, left knee region, right foot region and left foot region. In order to preferably analyze the movement of the body, the sampling frequency in the plurality of imaging units 11-1 to 11-k is, for example, 100 [Hz]. The body movements of the worker are represented as body movement information in the present embodiment by each center of gravity position (time displacement of each center of gravity position) of each of the 19 body parts, for example, as shown in FIG. The movement of the object caused by the movement of the body in the worker is represented by the position of the center of gravity (time displacement of the position of the center of gravity) of the object as object movement information.

The movement of the body in the worker may be any movement as long as it is a movement for handling an object. Preferably, in one example, the movement of the body is an movement associated with the execution of an arbitrary predetermined work, and the work includes, for example, not only a manufacturing work of an article, a transporting work of an article, but also performing arts, sports, and the like. May be included. The thing is any predetermined thing used in the work, preferably, in one example, the thing is a tool used in the work. More specifically, in the present embodiment, the work is a work of grinding or polishing a vehicle member molding die for molding a member used in a vehicle. In this case, the tool is, in one example, a Hand Grinder. Of course, the present invention is not limited to this, for example, the work is a welding work, the tool is a welding machine such as a torch, and for example, the work is a painting work. The tool is a painting tool such as a spray gun. Preferably, the work is a work related to the manufacture of a vehicle, and the tool is a tool related to the work.

In the above description, the marker is a member that reflects infrared light, and the imaging unit 11 is a digital infrared camera accordingly. However, the marker is a predetermined color, for example, the color of the subject's clothing. The member may be a member having a color different from that of the above, and in this case, the imaging unit 11 may be a visible light camera.

Returning to FIG. 1, the external force measuring unit 12 is connected to the control processing unit 3, and the external force measuring unit 12 is a device that measures the external force acting on the worker's body according to the control of the control processing unit 3. The measurement result (external force acting on the body) is output to the control processing unit 3. The control processing unit 3 stores the measurement result in the storage unit 7 in association with the body movement information and the object movement information obtained by the position processing unit 32 as described later. The external force measuring unit 12 includes, for example, a force plate manufactured by AMTI that measures displacement, velocity, and acceleration for each component of XYZ. In the present embodiment, three first to third force plates 12-1 to 12-3 are used, and as shown in FIG. 2, the first force plate 12-1 acts on the right foot of the worker. The second force plate 12-2 is arranged on the floor so as to measure the external force to be applied, and the second force plate 12-2 is along the first force plate 12-1 in the left-right direction so as to measure the external force acting on the left foot of the worker. The third force plate 12-3 is arranged side by side on the floor, and the third force plate 12-3 is a work object (verification described later) so as to measure an external force (reaction force from the tool) acting on the hand portion holding the tool. In the example of the experiment, the test piece TP) is placed and placed on the workbench on which the worker works. The sampling frequency of the first to third force plates 12-1 to 12-3 is 100 [Hz] so as to be synchronized with the sampling of the imaging unit 11.

The shape measuring unit 21 is a device connected to the control processing unit 3 and measures the shape of the measurement target (test piece TP after work in the example described later) under the control of the control processing unit 3. The shape measuring unit 21 outputs the measurement result (shape to be measured) to the control processing unit 3. The control processing unit 3 stores the measurement result in the storage unit 7 in association with the body movement information and the object movement information obtained by the position processing unit 32. The shape measuring unit 21 includes, for example, a 3D shape measuring machine manufactured by KEYENCE, which measures the shape of a measurement target with three-dimensional coordinate values.

The timekeeping unit 22 is a device connected to the control processing unit 3 and measures the time (working time) required for the work according to the control of the control processing unit 3, and is, for example, a stopwatch or the like. The timekeeping unit 22 outputs the measurement result (working time) to the control processing unit 3.

The input unit 4 is connected to the control processing unit 3, and for example, various commands such as a command for instructing the start of comparison and various data necessary for comparing skills such as a worker's name are input to the skill comparison device D. It is a device for inputting to, for example, a plurality of input switches, a keyboard, a mouse, etc. to which a predetermined function is assigned. The output unit 5 is connected to the control processing unit 3, and according to the control of the control processing unit 3, commands and data input from the input unit 4, an image of the imaging unit 11, and measurement results (analysis) of each of the units 12, 21, and 22. Information), body movement information and movement information acquired by the skill comparison device D, a reference value for a predetermined item in the reference person, a target value for the item in the target person, and the like, for example. Display devices such as CRT displays, liquid crystal displays and organic EL displays, printing devices such as printers, and the like.

A so-called touch panel may be configured from the input unit 4 and the output unit 5. In the case of configuring this touch panel, the input unit 4 is a position input device that detects and inputs an operation position such as a resistance film method or a capacitance method, and the output unit 5 is a display device. In this touch panel, the position input device is provided on the display surface of the display device, candidates for one or a plurality of input contents that can be input to the display device are displayed, and the user displays the input contents that he / she wants to input. When the position is touched, the position is detected by the position input device, and the display content displayed at the detected position is input to the skill comparison device D as the operation input content of the user. With such a touch panel, since the user can intuitively understand the input operation, the skill comparison device D that is easy for the user to handle is provided.

The IF unit 6 is a circuit that is connected to the control processing unit 3 and inputs / outputs data to / from an external device according to the control of the control processing unit 3. For example, an interface circuit of RS-232C which is a serial communication method. , An interface circuit using the Bluetooth (registered trademark) standard, an interface circuit for performing infrared communication such as the IrDA (Infrared Data Association) standard, and an interface circuit using the USB (Universal Serial Bus) standard. Further, the IF unit 6 is a circuit that communicates with an external device, and may be, for example, a data communication card, a communication interface circuit that complies with the IEEE802.11 standard, or the like.

The storage unit 7 is a circuit connected to the control processing unit 3 and stores various predetermined programs and various predetermined data under the control of the control processing unit 3. The various predetermined programs include, for example, a control program that controls each unit 11, 12, 21, 22, 4 to 7 of the skill comparison device D according to the function of each unit, and a plurality of imaging units 11-1. The worker's body is divided into a plurality of parts based on a position processing program for obtaining the positions of a plurality of markers based on each image captured by ~ 11-k and each position of a plurality of markers obtained by the position processing program. A motion information processing program or a shape measuring unit that obtains the position of each center of gravity and the position of the center of gravity of the object in a plurality of body parts as body motion information representing the body motion of the worker and object motion information representing the movement of the object. A target related to a predetermined item in the target person based on a work result processing program for obtaining dimensional accuracy (machining accuracy) based on the shape measured in 21 and body movement information and object movement information obtained by the movement information processing program. A control processing program such as a target value processing program for obtaining a value, a referrer determination processing program for determining the referrer, or a principal component analysis processing program for executing principal component analysis and selecting the predetermined item as described later. Is included. The various predetermined data include the image of the imaging unit 11, the measurement results of each of the units 12, 21, and 22, and the processing results obtained by processing the images and the measurement results according to a predetermined processing method (for example, the above-mentioned center of gravity position and main component). It contains data necessary for executing each of these programs, such as each principal component of component analysis) and the worker's name. Such a storage unit 7 includes, for example, a ROM (Read Only Memory) which is a non-volatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) which is a rewritable non-volatile storage element, and the like. The storage unit 7 includes a RAM (Random Access Memory) or the like that serves as a working memory of the so-called control processing unit 3 that stores data or the like generated during the execution of the predetermined program.

Then, the storage unit 7 functionally includes a reference information storage unit 71 that stores a reference value for a predetermined item in the reference person. The predetermined item is an item that characterizes a skill related to a predetermined work of handling a predetermined object, and in the present embodiment, a body part that handles the predetermined object among a plurality of body parts obtained by dividing the body into a plurality of parts. Displacement, the turning speed of the trunk of the plurality of body parts, and the acceleration of the lumbar region of the plurality of body parts. In the above items, in order to compare each skill of the reference person and the target person from various angles, the left foot load applied to the left foot, the stepping motion to transfer the weight from the left foot to the right foot, and the right foot load applied to the right foot are included. One or more of them may be included. Such items are selected in order of importance and are determined by principal component analysis, as described below, in order to reduce the number.

The control processing unit 3 controls each part 11, 12, 21, 22, 4 to 7 of the skill comparison device D according to the function of each part, and is performed by the movement of the body, and is a predetermined work for handling a predetermined object. It is a circuit for comparing the skills related to the reference person and the target person. The control processing unit 3 includes, for example, a CPU (Central Processing Unit) and peripheral circuits thereof. When the control processing program is executed in the control processing unit 3, the control unit 31, the position processing unit 32, the motion information processing unit 33, the work result processing unit 34, the target value processing unit 35, and the referrer determination processing unit The 36 and the principal component analysis processing unit 37 are functionally configured.

The control unit 31 controls each unit 11, 12, 21, 22, 4 to 7 of the skill comparison device D according to the function of each unit, and controls the entire skill comparison device D. The control unit 31 associates each image captured by the plurality of imaging units 11-1 to 11-k with a predetermined identifier (for example, a serial number or a worker name of a worker imprinted in each image). It is stored in the storage unit 7. The control unit 31 stores the work time measured by the timekeeping unit 22 as one of the work results in the storage unit 7 in association with the identifier, and outputs the work time to the output unit 5 and the IF unit 6 as needed.

The position processing unit 32 obtains each position of the plurality of markers based on each image captured by the plurality of imaging units 11-1 to 11-k. The position processing unit 32 stores each position of the obtained plurality of markers in the storage unit 7 in association with each image (for example, in association with the identifier associated with each image), and if necessary. Is output to the output unit 5 and the IF unit 6.

More specifically, in an image generated by imaging a marker that reflects infrared light with the imaging unit 11 (11-1 to 11-k), the image region in which the marker is imprinted is the pixel value thereof. Is different from the peripheral pixel values (for example, the pixels in the image region on which the marker is imprinted are brighter than the surrounding pixels and the pixel values are higher), so that the position processing unit 32 first receives each of the images. By performing image processing such as binarization processing on the image, an image area in which a marker is imprinted is extracted from the image, and a two-dimensional coordinate value of the extracted image area in the image is obtained. Then, the position processing unit 32 uses the camera parameters (the different image pickup units 11) from the two-dimensional coordinate values of each image area extracted from the images captured by the different image pickup units 11 for the same marker. The three-dimensional coordinate value of the marker is obtained as the position of the marker by so-called epipolar matching using each arrangement position and each posture (each optical axis direction) in.

In the present embodiment, the plurality of imaging units 11-1 to 11-k and the position processing unit 32 constitute an example of a position measuring unit that measures each position of the plurality of markers, and for example, an optical unit manufactured by OptiTrack Japan. It is configured with an expression motion capture.

Based on the positions of the plurality of markers obtained by the position processing unit 32, the motion information processing unit 33 determines the position of each center of gravity and the position of the center of gravity of the object in the plurality of body parts that divide the worker's body into a plurality of parts. It is obtained as body movement information representing the movement of the body in the worker and object movement information representing the movement of the object. The motion information processing unit 33 associates the obtained body motion information and object motion information with the respective positions (for example, in association with the identifier associated with the respective positions via the respective images), and the storage unit 7 It is stored in the output unit 5 and output to the output unit 5 and the IF unit 6 as needed.

More specifically, the motion information processing unit 33 sets each of the positions of the plurality of markers obtained by the position processing unit 32 at each sampling timing (each sampling timing at a sampling frequency of 100 [Hz] in the above example). Based on this, the position of the center of gravity of each of the 19 body parts is obtained. For example, in each of the 19 body parts, a first arithmetic expression for obtaining the position of the center of gravity of the body part from the positions of a plurality of markers related to the body part is obtained in advance and stored in the storage unit 7, and is stored in the storage unit 7. For each of the 19 body parts, 33 obtains the position of the center of gravity of the body part from each position of the plurality of markers related to the body part obtained by the position processing unit 32 based on the first calculation formula. Similarly, a second arithmetic expression for obtaining the position of the center of gravity of the object from the positions of a plurality of markers related to the object (tool in the present embodiment) is obtained in advance and stored in the storage unit 7, and the motion information processing unit 33 is stored in the storage unit 7. The position of the center of gravity of the object is obtained from each position of the plurality of markers related to the object obtained by the processing unit 32 based on the second calculation formula.

The work result processing unit 34 obtains dimensional accuracy (machining accuracy) based on the shape measured by the shape measuring unit 21. The shape of the product of the work measured by the shape measuring unit 21 may be one of the other work results, but in the present embodiment, the work result processing unit 34 has the accuracy (dimensional accuracy, dimensional accuracy) of the product of the work. Machining accuracy) is obtained as another work result. The work result processing unit 34 stores the obtained dimensional accuracy in the storage unit 7 in association with the identifier, and outputs the obtained dimensional accuracy to the output unit 5 and the IF unit 6 as needed.

The target value processing unit 35 obtains the target value for a predetermined item in the target person based on the body movement information and the object movement information in the target person obtained by the motion information processing unit 33. More specifically, in the present embodiment, when the item includes one or more of the left foot load, the stepping motion, and the right foot load, the target value processing unit 35 is the target person obtained by the motion information processing unit 33. The target value is obtained based on the body movement information and the object movement information, and the measurement result measured by the external force measuring unit 12. The target value processing unit 35 associates the obtained target value with the body movement information and the movement information (for example, in association with the identifier associated with the body movement information and the movement information) in the storage unit 7. It is stored and output to the output unit 5 and the IF unit 6 as needed. Then, in the present embodiment, the target value processing unit 35 obtains a reference value for a predetermined item in the reference person based on the body movement information and the object movement information in the reference person obtained by the motion information processing unit 33. The obtained reference value is stored in the reference information storage unit 71. More specifically, in the present embodiment, when the item includes one or more of the left foot load, the stepping motion, and the right foot load, the target value processing unit 35 is the reference person obtained by the motion information processing unit 33. The reference value is obtained based on the body movement information and the object movement information, and the measurement result measured by the external force measuring unit 12.

The reference person determination processing unit 36 determines the reference person as described later. The operator (user) inputs a worker name (subject name) as a reference person from the input unit 4, and the reference person determination processing unit 36 has the worker name (subject name) input from the input unit. A person (subject) may be determined as a reference person.

As will be described later, the principal component analysis processing unit 37 executes the principal component analysis and selects the predetermined item.

Then, the control unit 31 outputs the reference value of the reference person stored in the reference information storage unit 71 and the target value of the target person obtained by the target value processing unit 35 to the output unit 5, and IFs as necessary. Output to unit 6.

Here, the plurality of imaging units 11-1 to 11-k, the external force measuring unit 12, the position processing unit 32, and the motion information processing unit 33 are actions for measuring the body motion of the worker (referencer, target person). It corresponds to an example of a motion measuring unit that constitutes the measuring unit 1 and measures the body motion of the subject. In the present embodiment, as will be described later, the explanatory variables of the principal component analysis include the XYZ component of the external force acting on the right foot, the XYZ component of the external force acting on the left foot, and the hand holding the object. Since the XYZ component of the external force is included, the external force measuring unit 12 (first to third force plates 12-1 to 12-3) is included in the motion measuring unit 1. The first force plate 12-1 corresponds to an example of the right foot load acquisition unit that acquires the right foot load. The second force plate 12-2 corresponds to an example of the left foot load acquisition unit that acquires the left foot load. The first and second force plates 12-1 and 12-2 correspond to an example of the stepping motion acquisition unit that acquires the stepping motion. The shape measurement unit 21, the timekeeping unit 22, and the work result processing unit 34 constitute a work result acquisition unit 2 for acquiring the work result in the predetermined work.

Next, new knowledge and the operation of the skill comparison device will be described. FIG. 4 is a diagram for explaining the contents of the work and the test piece used for the work. FIG. 4A is a perspective view schematically showing a test piece before work, and FIG. 4B is a perspective view schematically showing a test piece after work. FIG. 5 is a flowchart showing the operation of the skill comparison device. FIG. 6 is a diagram for explaining a skill comparison display screen displayed on the skill comparison device.

In order to compare the skills involved in a given task of handling a given object, performed by physical movements, with a smaller number of more important items, the referrer and the subject, as follows: The skill comparison device D in the embodiment is used, and by having a plurality of workers perform the work, a reference person is selected from the plurality of workers, and a principal component using the data obtained in the work is used. By the analysis, a smaller number of items with high importance were selected, and new findings were obtained.

More specifically, the work is the above-mentioned work of grinding or polishing a mold (grinder work) using a tool grinder as the object. This grinder work includes two steps, a roughing process for roughly grinding the mold and a finishing process for polishing the roughly ground surface so that the surface becomes smooth. The cutting accuracy by the grinding machine (dimensional accuracy of the work target, processing) In order to improve the accuracy), it is usually important to carry out the rough process work with high accuracy and high efficiency. Therefore, here, the test piece TP, which is likened to a mold, is made to perform the rough process work in the grinder work by the workers (subject, reference person, target person), and each measurement by the skill comparison device D is carried out. ..

As shown in FIG. 4A, this test piece TP is a 100 × 100 × 35 mm SS material (general structure) in which a concave TPb extending in a unidirectional strip at a depth of 0.1 mm is formed in the central portion by machining. Rolled steel for use). For this test piece TP, the work of the rough process involves forming one of the convex portions TPa and TPc having a height of 0.1 mm formed on both sides of the concave TPb by forming the concave TPb, for example, the convex portion. This is a work of uniformly grinding TPc by 0.1 mm with a handy grinder. After the work of such a roughing process, as shown in FIG. 4B, the test piece TP is formed with a ground flat surface portion TPd substantially flush with the bottom surface of the concave TPb. There are 46 workers, including beginners to experts.

Each of these 46 workers sequentially performs the rough process work on the test piece TP. During the implementation, the above-mentioned skill comparison device D is used, and in FIG. 5, first, each of the plurality of imaging units 11 generates images of the worker and a plurality of markers attached to the tool, and the worker The external force acting on the body of the worker by the external force measuring unit 12 (12-1 to 12-3) is stored in the storage unit 7 (S1-1) in association with the worker name (worker ID) of the above. It is measured and stored in the storage unit 7 in association with the worker name of the worker (S1-2), by the position processing unit 32, and by the plurality of imaging units 11-1 to 11-k in the processing S1-1. Each position of the plurality of markers is obtained based on each generated image, is stored in the storage unit 7 in association with the worker name of the worker (S2), and is stored in the storage unit 7 by the operation information processing unit 33. Based on each position of the plurality of markers obtained by the position processing unit 32 in the above, body movement information (position of each center of gravity of each body part) and object movement information (position of center of gravity of the tool) of the worker are obtained, and the said It is stored in the storage unit 7 in association with the worker name of the worker (S3). The worker name is input from the input unit 4 before the start of the work, and is stored in the storage unit 7 by the control unit 31.

During the execution, the working time of the worker is measured by the timekeeping unit 22 as one of the work results, and is stored in the storage unit 7 in association with the worker name of the worker (S1-3).

Then, after the work is completed, the shape of the test piece TP after the work is measured by the shape measuring unit 21, and is stored in the storage unit 7 in association with the worker name of the worker (S1-4). The processing unit 34 obtains dimensional accuracy based on the measured shape, and is stored in the storage unit 7 in association with the worker name of the worker (S4). Each measurement of body motion and external force (time for motion analysis) by the worker was set to 2 minutes from the start of grinding in the rough process.

Subsequently, the reference person is determined by the reference person determination processing unit 36 (S11). As described above, since the reference person has an excellent work result, the worker is classified into a plurality of classes according to the work result, and the reference person is determined based on the work result. In this embodiment, five A classes to E classes are set. Class A is a beginner's class with inferior work results, that is, the lowest skill level. Class B is an intermediate class in which the work results are normal, that is, the skill level is normal (intermediate). The C class is a class of semi-advanced persons whose work results are semi-excellent, that is, their skill level is semi-advanced. The D class is an advanced class in which the work results are excellent, that is, the skill level is advanced. The E class is a class of superlatives who have the best work results, that is, the highest skill level. In the rough process in the grinder work described above, it is considered that the higher the skill level of the skill, the higher the dimensional accuracy (machining accuracy) and the higher the work efficiency, that is, the shorter the work time, and the less the variation. Be done. Therefore, in the present embodiment, each standard deviation σ of the dimensional accuracy and the working time is obtained, and the range within about 3σ is set in the E class from the one with the higher dimensional accuracy and the shorter working time, and exceeds about 3σ. The range within approximately 2.5σ is set in the D class, the range exceeding approximately 2.5σ and within approximately 2σ is set in the C class, and the range exceeding approximately 2σ and within approximately 1σ is set in the D class. The dimensions for dividing each class and the thresholds for working time (dimension threshold, working time threshold) were set so that the range exceeding approximately 1σ was set for class A. Specifically, each dimensional threshold value [mm] and each working time threshold value [min] for dividing each class are as shown in Table 1.

Here, for the dimensional accuracy with respect to the test piece TP, for example, the plane including the bottom surface of the concave TPb is set as the reference plane, and each grid point of the square grid virtually set in the grinding plane portion TPd is set as each measuring point. At each measurement point, the difference in the height direction with respect to the reference plane (height or depth from the reference plane) is obtained, and is obtained as the average value of each difference of each measurement point in each absolute value. The mean value Aves of dimensional accuracy is 0.032 [mm], its standard deviation σs is 0.022 [mm], and the mean value Avet of working time is 14.4 [min]. The standard deviation σt was 8.0 [min].

In such a classification, 46 workers, 3 belong to A class, 11 belong to B class, 13 belong to C class, 14 belong to D class, and 5 belong to E class. Divided to belong to the class. The five people who belong to the E class are sensory evaluations, but other workers consider that the work results are the best and the skill level is the highest, and the three people who belong to the A class are newcomers. Therefore, the classification according to Table 1 is appropriate. In the above description, three classes, B class, C class and D class, are provided between A class and E class, but the number of classes between A class and E class may be arbitrary. It may be 1, 2, or 4 or more.

In the present embodiment, the dimension threshold value 0.03 [mm] and the work time threshold value 10 [min] for discriminating into the E class are preset by the operator (user), so that the E class worker can be used as a reference person in advance. The reference person determination processing unit 36 is set to perform work in which the dimensional accuracy is 0.03 [mm] or less and the working time is 10 [min] or less among a plurality of subjects. Is determined (selected and extracted) as a reference person.

Subsequently, the principal component analysis processing unit 37 performs the principal component analysis, and the predetermined items are determined (selected) (S12). More specifically, the principal component analysis processing unit 37 includes displacement, velocity and acceleration of each center of gravity in the plurality of body parts, displacement of the center of gravity in the object, velocity and acceleration, and external force acting on the right foot portion. XYZ component of the above, the XYZ component of the external force acting on the left foot, and the XYZ component of the external force acting on the hand holding the object as explanatory variables, and the first to the first to the principal component analysis in the case of expressing the movement of the body. Based on the third principal component, the displacement of the body part handling the predetermined object, the turning speed of the trunk, and the acceleration of the waist are obtained as the predetermined items, and the fourth to fourth principal component analysis is performed. Based on the six principal components, the left foot load, the stepping motion, and the right foot load are obtained as the predetermined items. For each sampling timing, the displacement, velocity, and acceleration of the center of gravity at the sampling timing are obtained from the position of the center of gravity at the sampling timing, the position of the center of gravity at the sampling timing temporally adjacent to the sampling timing, and the sampling frequency. Be done.

More specifically, the principal component analysis processing unit 37 first first displaces each center of gravity in the plurality of body parts, each velocity and each acceleration, displacement of the center of gravity in the object, velocity and acceleration, and an external force acting on the right foot portion. Principal component analysis is performed when the movement of the body is expressed using the XYZ component of the above, the XYZ component of the external force acting on the left foot, and the XYZ component of the external force acting on the hand holding the object as explanatory variables. .. That is, in the present embodiment, 57 explanatory variables consisting of each displacement of each center of gravity in 19 body parts, each velocity and each acceleration, and three explanatory variables consisting of displacement of the center of gravity, velocity and acceleration in the object. Three explanatory variables consisting of the XYZ component of the external force acting on the right foot (measurement result of the first force plate 12-1), and the XYZ component of the external force acting on the left foot (measurement of the second force plate 12-2). A total of 69 explanatory variables consisting of three explanatory variables consisting of the result) and three explanatory variables consisting of the XYZ component of the external force acting on the hand holding the object (measurement result of the third force plate 12-3). Displacement, velocity and acceleration of each center of gravity in 19 body parts, displacement, velocity and acceleration of the center of gravity in the object, obtained from the 46 workers in a 69-dimensional space consisting of the explanatory variables of Main component analysis of the correlation matrix using the data of the XYZ component of the external force acting on the right foot, the XYZ component of the external force acting on the left foot, and the XYZ component of the external force acting on the hand holding the object. Is executed. A part of the eigenvectors is shown in Table 2. Table 2 shows the six first to sixth principal components PC1 to PC6 of the three α, β, and γ belonging to the E class. The cumulative contribution rate of the first to third principal components is more than fifty percent, and the three first to third principal components can cover 50% or more of the data in the 69-dimensional space (explanation). it can). The cumulative contribution rate of the first to sixth principal components is more than 70%, and the six first to sixth principal components can cover 70% or more of the data in the 69-dimensional space (explanation). it can).

Then, instead of individual reference persons, five reference persons (Mr. α, Mr. β, Mr. γ, Mr. δ, and Mr. ε) belonging to the E class characterize the skills related to the predetermined work of handling the predetermined object. Therefore, for each of the first to sixth principal components, each eigenvector in the five referrers belonging to the E class was synthesized. More specifically, in the first principal component PC1, the principal component analysis processing unit 37 includes Mr. α's first principal component PC1, Mr. β's first principal component PC1, Mr. γ's first principal component PC1, and Mr. δ. From the first principal component PC1 of No. 1 and the first principal component PC1 of Mr. ε, five explanatory variables are selected according to five people in descending order. In the second principal component PC2, the principal component analysis processing unit 37 includes α's second principal component PC2, β's second principal component PC2, γ's second principal component PC2, and δ's second principal component PC2. , And, from the second principal component PC2 of Mr. ε, five explanatory variables are selected according to five people in descending order. The principal component analysis processing unit 37 similarly selects five explanatory variables in each of the third to sixth principal component PCs 3 to PC6. The selection results selected in this way are shown in Table 3. In this Table 3, each column is a selection result (explanatory variable) selected from each of the first to sixth main components PC1 to PC6 in order from left to right on the paper. For example, in the first principal component PC1, "displacement_neck_XYZ, displacement_neck_XYZ, displacement_upper right arm_XYZ, displacement_upper right arm_XYZ, displacement_right hand_XYZ" are the selection results. Here, "displacement_neck_XYZ" (displacement_Neck_XYZ) means displacement of the neck in the XYZ Cartesian coordinate system, and "displacement_upper right arm_XYZ" (displacement_RUAm_XYZ) means the upper right arm in the XYZ Cartesian coordinate system. "Displacement_right hand_XYZ" (displacement_RHand_XYZ) means the displacement of the right hand portion in the XYZ Cartesian coordinate system. "Acceleration_grinder_XYZ means the acceleration of the tool in the XYZ Cartesian coordinate system, and" floor reaction force_right foot_x "means the x component of the external force acting on the right foot in the XYZ Cartesian coordinate system. Others mean the same. In this way, the components constituting each of the six first to sixth items are selected by the principal component analysis processing unit 37.

Here, in the present embodiment, the "displacement_neck_XYZ, displacement_neck_XYZ, displacement_upper right arm_XYZ, displacement_upper right arm_XYZ, displacement_right hand_XYZ" selected from the first main component PC1 is "predetermined". It was given the meaning of "displacement of the body part that handles things" and was used as the item name. "Velocity_right shoulder_XYZ, velocity_neck_XYZ, velocity_upper right arm_XYZ, velocity_left shoulder_XYZ, acceleration_grinder_XYZ" selected from the second main component PC2 is defined as "trunk speed". , The item name. Similarly, for each of the third to sixth principal components PC3 to PC6, each selection result is meant as "lumbar acceleration", "left foot load", "stepping motion", and "right foot load", respectively. It was the item name.

Subsequently, the target value processing unit 35 obtains the reference value and stores it in the reference information storage unit 71 (S13). More specifically, the target value processing unit 35 has the eigenvectors of the constituent elements for each of the first to sixth principal components (first to sixth items) for each eigenvector of the selection result (component of the item). By multiplying by the average value of each measured value of the five E-class referees corresponding to the component (hereinafter abbreviated as "measured average value of E-class" in this paragraph). Obtain the component score as a reference value. For example, the first principal component score, that is, in the present embodiment, the reference value of the displacement of the body part handling a predetermined object (the first reference value of the first item) is (the eigenvector of displacement_neck_XYZ) × (the above. Displacement_neck_XYZ, E-class measured average value), (Displacement_neck_XYZ eigenvector) x (Displacement_neck_XYZ, E-class measured average value), (Displacement_upper right arm_XYZ eigenvector) × (Displacement_Upper right arm_XYZ measured average value of E class), (Displacement_Upper right arm_XYZ eigenvector) × (Displacement_Upper right arm_XYZ measured average value of E class), and ( It is the sum of the displacement_right hand_specific vector of XYZ) x (measured average value of E class at the displacement_right hand_XYZ). Further, for example, the second principal component score, that is, in the present embodiment, the reference value of the turning speed of the trunk (second reference value of the second item) is (speed_right shoulder_specific vector of XYZ) x (the speed_. Right shoulder_XYZ, E-class measured average value), (Velocity_neck_XYZ eigenvector) x (Velocity_neck_XYZ, E-class measured average value), (Velocity_upper right arm_XYZ eigenvector) x (Velocity_upper right arm_XYZ, E-class measured average), (Velocity_left shoulder_XYZ eigenvector) x (Velocity_left-shoulder_XYZ, E-class measured average), and (Acceleration_grinder). It is the sum of (the eigenvector of _XYZ) × (the measured average value of the E class at the acceleration_grinder_XYZ). The third to sixth reference values of the third to sixth principal component scores are also obtained in the same manner.

Subsequently, the target value processing unit 35 obtains the target value and stores it in the storage unit 71 (S5). More specifically, the target value processing unit 35 for each of the first to sixth principal components (first to sixth items), for each eigenvector of the selection result (component of the item), the eigenvector of the component. Is multiplied by the measured value of the subject corresponding to the component to obtain the principal component score as a reference value. For example, the first principal component score, that is, in the present embodiment, the target value of displacement of the body part handling a predetermined object (first target value of the first item) is (displacement_neck_XYZ eigenvector) × (the above. Displacement_neck_XYZ measured value of the subject), (displacement_neck_XYZ eigenvector) x (displacement_neck_XYZ eigenvector), (displacement_upper right arm_XYZ eigenvector) x ( Displacement_upper right arm_XYZ measured value of the subject), (displacement_upper right arm_XYZ eigenvector) x (displacement_upper right arm_XYZ measured value of the subject), and (displacement_right hand_XYZ). Specimen vector) × (measured value of the subject at the displacement_right hand_XYZ). Further, for example, the second principal component score, that is, in the present embodiment, the target value of the turning speed of the trunk (second target value of the second item) is (speed_right shoulder_specific vector of XYZ) x (the speed_. Right shoulder_XYZ measured value of the subject), (Velocity_neck_XYZ eigenvector) x (Velocity_neck_XYZ measured value of the subject), (Velocity_upper right arm_XYZ eigenvector) x (Supra Velocity_upper right arm_XYZ measured value of the subject), (velocity_left shoulder_XYZ eigenvector) x (velocity_left shoulder_XYZ eigenvector of the subject), and (acceleration_grinder_XYZ eigenvector) It is the sum of × (measured value of the subject at the acceleration_grinder_XYZ). The third to sixth target values of the third to sixth principal component scores are also obtained in the same manner.

Then, the control unit 31 outputs the reference value of the reference person stored in the reference information storage unit 71 and the target value of the target person obtained by the target value processing unit 35 to the output unit 5, and if necessary, IF. It is output to the unit 6 (S6), and this process ends. When the output unit 5 is a display device, by executing this process S6, a skill comparison display screen for comparing the skills related to the work between the reference person and the target person is displayed on the output unit 5.

In this skill comparison display screen, for example, as shown in FIG. 6, the scale (scale) SC and each bar graph a-1 to f-1; a- of each of the reference value and the target value juxtaposed with each other for each item. 2 to f-2 are provided. More specifically, below the scale SC, the bar graph a-1 of the first reference value and the bar graph a-2 of the first target value juxtaposed with each other in the displacement of the body part handling a predetermined object are juxtaposed with each other. The bar graph b-1 of the second reference value and the bar graph b-2 of the second target value at the turning speed of the trunk, and the bar graph c-1 and the third reference value of the third reference value at the acceleration of the waist juxtaposed with each other. 3 The bar graph c-2 of the target value, the bar graph d-1 of the fourth reference value under the left foot load and the bar graph d-2 of the fourth target value juxtaposed with each other, and the fifth reference in the stepping motion juxtaposed with each other. The value bar graph e-1 and the fifth target value bar graph e-2, and the sixth reference value bar graph f-1 and the sixth target value bar graph f-2 juxtaposed with each other are further juxtaposed. Has been done. In the example shown in FIG. 6, by referring to this skill comparison display screen, the subject has the first target value close to the first reference value in the work skill, but the other second to sixth target values. It can be recognized that each of them has a large difference from the second to sixth reference values, and the second to sixth items can be recognized as improvement items to be improved.

As described above, the skill comparison device D and the skill comparison method implemented in the skill comparison device D in the present embodiment have reference values and reference values for displacement of the body part handling a predetermined object, turning speed of the trunk, and acceleration of the waist. Since each target value is output, it is possible to compare each skill of the referrer and the target person with a smaller number of items of high importance based on the above-mentioned new knowledge.

Since the skill comparison device D and the skill comparison method further output each reference value and each target value for each of the left foot load, the stepping motion, and the right foot load, they are more important items based on the above-mentioned new knowledge. With a small number of items, each skill of the referrer and the target person can be compared from various angles.

In the skill comparison device D and the skill comparison method, since the work result of the reference person is superior to the work result of the target person, the target person is a reference person who is superior to himself / herself in order to improve his / her skill. You can compare the reference value of and your own target value, and you can recognize the difference. Since the comparison can be performed for each item, the subject can recognize the item to be improved.

Since the skill comparison device D and the skill comparison method use optical motion capture, the movement of the body in the subject can be measured without interfering with the movement of the body.

In the skill comparison device D and the skill comparison method, since the work is a grinding or polishing work, the skills related to the grinding or polishing work can be compared between the reference person and the target person.

In the skill comparison device D and the skill comparison method, the displacement of the body part handling a predetermined object, the turning speed of the trunk, the acceleration of the lumbar region, the left foot load, the stepping motion and the right foot load are the first to sixth principal component analyzes. Since it is calculated based on the ingredients, items can be appropriately selected in the order of importance.

According to the present embodiment, each of the skill comparison device D and the skill comparison method can provide the accuracy of the product of the work and the time required for the work as the work result.

In the above-described embodiment, the reference person is determined (selected), the item is determined by the principal component analysis, and the reference value is calculated according to the calculation of the target value of the target person. In addition to the calculation of the target value of, the determination of the reference person, the determination of the item by the principal component analysis, and the calculation of the reference value of the reference value are performed in advance by this device D, another device D, or a manual calculation, and the reference value is calculated. The reference information storage unit 71 may store the target value in advance, and the target value calculation algorithm (for example, the calculation method described in the above-mentioned process S5) may be stored in the storage unit 7 in advance. In this case, processing S1-3, processing S-4, processing S4, processing S11, processing S12 and processing S13 shown in FIG. 5 are omitted, and processing S1-1, processing S2, processing S3 and processing S1-2 are each omitted. Following the execution of the process, each process of the process S5 and the process S6 is executed. Correspondingly, the work result acquisition unit 2, the work result processing unit 34, the reference person determination processing unit 36, and the principal component analysis processing unit 37 can also be omitted. That is, the skill comparison device D includes a motion measurement unit 1, a control unit 31, a position processing unit 32, a control processing unit 3 including an operation information processing unit 33 and a target value processing unit 35, an output unit 5, and a storage unit 7. May be configured.

Further, in the above-described embodiment, the reference person is a worker belonging to the E class, but the reference person is not limited to this, and any worker whose work result is superior to the work result of the target person. good. For example, the referrer may be a person who belongs to a class higher than the class to which the target person belongs. More specifically, for example, when the target person belongs to the A class, the reference person may belong to any of the B class, the C class, the D class and the E class, and for example, the target person may belong to the class. When belonging to C class, the reference person may be a person belonging to D class or E class. If the reference person belongs to a class one level higher than the class to which the target person belongs, the difference between the target value and the reference value becomes small, so that the reference value can be easily reached and the target person is motivated to improve their skills. Can be granted.

Further, in the above-described embodiment, the skill comparison device D outputs the first to sixth reference values and the first to sixth target values to the output unit 5 in the process S6, but in addition to this, the reference person And for each of the subjects, each data such as body movement information, object movement information, dimensional accuracy, and working time may be output to the output unit 5.

In order to express the present invention, the present invention has been appropriately and sufficiently described through the embodiments with reference to the drawings above, but those skilled in the art can easily change and / or improve the above embodiments. It should be recognized that it can be done. Therefore, unless the modified or improved form implemented by a person skilled in the art is at a level that deviates from the scope of rights of the claims stated in the claims, the modified form or the improved form is the scope of rights of the claims. It is interpreted as being included in.

D Skill comparison device 1 Motion measurement unit 2 Work result acquisition unit 3 Control processing unit 4 Input unit 5 Output unit 6 Interface unit (IF unit)
7 Storage unit 31 Control unit 32 Position processing unit 33 Operation information processing unit 34 Work result processing unit 35 Target value processing unit 36 Referencer determination processing unit 37 Principal component analysis processing unit

Claims (18)

It is a skill comparison device that compares the skills related to a predetermined task of handling a predetermined object between a reference person and a target person, which is performed by the movement of the body.
A reference information storage unit that stores a reference value for a predetermined item in the reference person,
A motion measuring unit that measures the body motion of the subject,
A target value processing unit that obtains a target value for the item in the target person based on the body movement of the target person measured by the motion measuring unit.
It is provided with the reference value of the reference person stored in the reference information storage unit and an output unit for outputting the target value of the target person obtained by the target value processing unit.
The items include the displacement of the body part that handles the predetermined object among the plurality of body parts that divide the body into a plurality of parts, the turning speed of the trunk portion of the plurality of body parts, and the plurality of body parts. Is the acceleration of the lumbar region of
Skill comparison device. The item further includes one or more of a left foot load applied to the left foot, a stepping motion to transfer weight from the left foot to the right foot, and a right foot load applied to the right foot.
When the item includes the left foot load, a left foot load acquisition unit for acquiring the left foot load is further provided.
When the item includes the stepping motion, a stepping motion acquisition unit for acquiring the stepping motion is further provided.
When the item includes the right foot load, the right foot load acquisition unit for acquiring the right foot load is further provided.
The skill comparison device according to claim 1. The reference person has a work result of the work superior to that of the target person.
The skill comparison device according to claim 1 or 2. The work result is the accuracy of the product of the work and the time required for the work.
The skill comparison device according to claim 3. The motion measuring unit includes an optical motion capture.
The skill comparison device according to any one of claims 1 to 4. The work is one of grinding or polishing work, welding work and painting work.
The skill comparison device according to any one of claims 1 to 5. The work is the work of grinding or polishing the mold,
The skill comparison device according to any one of claims 1 to 5. The mold is a mold for molding a vehicle member for molding a member used for a vehicle.
The skill comparison device according to claim 7. The object is gripped by the hand part of the plurality of body parts.
The plurality of body parts include the head, neck, chest, right shoulder, left shoulder, upper right arm, upper left arm, right forearm, left forearm, right hand, left hand, waist, butt, and right ilium. Bone, left iliac, right knee, left knee, right foot and left foot,
The displacement of the body part that handles the predetermined object, the turning speed of the trunk portion, and the acceleration of the waist portion are the displacement of each center of gravity in the plurality of body parts, each speed and each acceleration, and the displacement of the center of gravity in the object. , Velocity and acceleration, the XYZ component of the external force acting on the right foot, the XYZ component of the external force acting on the left foot, and the XYZ component of the external force acting on the hand holding the object as explanatory variables of the body. Obtained based on the first to third principal components of the principal component analysis when expressing the operation,
The skill comparison device according to any one of claims 1 to 9. It is a skill comparison method in which a reference person and a target person compare skills related to a predetermined work of handling a predetermined object, which is performed by physical movement.
A reference information storage step of storing a reference value for a predetermined item in the reference person in the reference information storage unit, and
A motion measurement step for measuring body motion in the subject, and
A target value processing step for obtaining a target value for the item in the target person based on the body movement in the target person measured in the motion measurement step, and a target value processing step.
It includes the reference value of the reference person stored in the reference information storage unit, and an output step of outputting the target value of the target person obtained in the target value processing step.
The items include the displacement of the body part that handles the predetermined object among the plurality of body parts that divide the body into a plurality of parts, the turning speed of the trunk portion of the plurality of body parts, and the plurality of body parts. Is the acceleration of the lumbar region of
Skill comparison method. The item further includes one or more of a left foot load applied to the left foot, a stepping motion to transfer weight from the left foot to the right foot, and a right foot load applied to the right foot.
When the item includes the left foot load, a left foot load acquisition step for acquiring the left foot load is further provided.
When the item includes the stepping motion, a stepping motion acquisition step for acquiring the stepping motion is further provided.
When the item includes the right foot load, the right foot load acquisition step for acquiring the right foot load is further provided.
The skill comparison method according to claim 10. The reference person has a work result of the work superior to that of the target person.
The skill comparison method according to claim 10 or 11. The work result is the accuracy of the product of the work and the time required for the work.
The skill comparison method according to claim 12. The motion measurement step measures the motion of the body using optical motion capture.
The skill comparison method according to any one of claims 10 to 13. The work is one of grinding or polishing work, welding work and painting work.
The skill comparison method according to any one of claims 10 to 14. The work is the work of grinding or polishing the mold,
The skill comparison method according to any one of claims 10 to 14. The mold is a mold for molding a vehicle member for molding a member used for a vehicle.
The skill comparison method according to claim 16. The object is gripped by the hand part of the plurality of body parts.
The plurality of body parts include the head, neck, chest, right shoulder, left shoulder, upper right arm, upper left arm, right forearm, left forearm, right hand, left hand, waist, butt, and right ilium. Bone, left iliac, right knee, left knee, right foot and left foot,
The displacement of the body part that handles the predetermined object, the turning speed of the trunk portion, and the acceleration of the waist portion are the displacement of each center of gravity in the plurality of body parts, each speed and each acceleration, and the displacement of the center of gravity in the object. , Velocity and acceleration, the XYZ component of the external force acting on the right foot, the XYZ component of the external force acting on the left foot, and the XYZ component of the external force acting on the hand holding the object as explanatory variables of the body. Obtained based on the first to third principal components of the principal component analysis when expressing the operation,
The skill comparison method according to any one of claims 10 to 17.