JP2002006919A - Method and device for detecting position in work instruction device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem, where in a work instruction device utilizing composite real feeling, when detecting a relative positional relationship between a work conveyed at a constant speed and a worker, there is need to attach a sensor detecting the position and posture to all works up to now, thereby taking a cost of equipment and trouble. SOLUTION: The work W is detected at a conveyance starting side, and the position and posture of the work W in a coordinate system S} of a reference position are detected from conveyance speed and elapsed time. Then, the head position and posture of the worker H in the coordinate system S} of the reference position are detected. Based on these detected results, by detecting the position and posture of the work W in the coordinate system H} for the worker with the use of coordinate transformation, the sensor attached to the work W becomes unnecessary. Thus, there is precisely detected the relative positional relationship between the work W and the worker H without the cost of equipment and the trouble.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for instructing a predetermined work such as mounting of a part on a work by means of mixed reality for presenting an image in a visual field of a real space. The present invention relates to a position detecting method and a position detecting device used for detecting a relative positional relationship with a person.

[0002]

2. Description of the Related Art A work instructing device has been developed in various product production sites.
As disclosed in JP-A-01074, a bar code indicating information of parts and the like is provided in advance on an assembly target, and in each process of an assembly line, the bar code of the assembly target is read by a bar code reader. As disclosed in Japanese Patent Application Laid-Open No. H8-305410, a device for lighting an LED of a component box containing components to be attached to an assembly,
In a production line having a plurality of processes, a software register is provided for each process, and the software register is sequentially fed in accordance with the end of work in a process corresponding to the software register.

[0003] Such a work instruction device is very useful for preventing assembly of different parts and improving work efficiency, and is particularly useful for an assembly line of an automobile in which a plurality of vehicle types are mixed. However, it is extremely useful in the operation of attaching various types of parts to a sequentially conveyed vehicle body according to the vehicle type.

[0004]

However, in recent years,
2. Description of the Related Art There has been proposed a device for instructing a work of attaching a component to a work based on a mixed reality that presents an image in a visual field of a real space in an assembly line in which the works are sequentially conveyed. This work instructing device uses means for wearing an image on the field of view of the real space by mounting it on the worker's head, a so-called head mounted display, and visualizes the information of the parts attached to the work as part shapes and characters, This is to present the information video of the part in the field of view of the worker who has captured the actual work.

Here, in a work instruction device based on mixed reality, it is important to detect a relative positional relationship between a work and a worker in control thereof. Head mount
Some displays include a sensor for detecting an operation. When the display is worn on an operator, the position and posture (orientation) of the head can be detected, and the operator's visual field can be recognized. Therefore, a sensor for detecting the movement is also attached to the work, and the position and posture of the work are detected based on the information from the sensor, and the information of the position and posture of the work and the worker by the sensor of the head mount display are used. It has been considered to detect the relative positional relationship between the work and the worker based on information on the position and posture of the head of the user.

However, in order to detect the position and orientation of a work, a sensor such as a gyro is used, for example. However, this type of sensor is generally expensive, and if such a sensor is attached to all works. In addition to the equipment cost being extremely high, there is a problem that it takes time to attach and detach the sensor to and from the work, and a cable is required between the sensor attached to the work and the measuring device installed at another fixed part. In the case of the configuration in which the connection is made by the cable, the transfer range of the work is limited by the length of the cable, so that it is difficult to apply the method to a relatively long assembly line, and these problems are solved. That was an issue.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and is directed to a device for instructing a predetermined work by a mixed reality which presents an image in a visual field of a real space, and is conveyed at a constant speed. When detecting the relative positional relationship between the work and the worker, it is not necessary to provide sensors on the work, thereby eliminating much equipment cost and labor, and being affected by the length of the transfer range of the work. It is an object of the present invention to provide a position detection method and a position detection device in a work instruction device that can accurately detect a relative positional relationship between a work and an operator without any problem.

[0008]

According to a first aspect of the present invention, there is provided a method for detecting a position in a work instructing apparatus, comprising the steps of: When detecting the relative positional relationship between the work conveyed at a speed and the worker, the work is detected at the start side of the work conveyance, and the position of the work in the coordinate system of the reference position is determined from the conveyance speed and the elapsed time after the detection. And the posture of the worker in the coordinate system of the reference position, and the position and posture of the work in the coordinate system of the reference position, and the head of the worker in the coordinate system of the reference position. The position and posture of the work in the coordinate system of the worker are detected by coordinate transformation based on the position and posture of the image. In a device for instructing a predetermined work based on the presented mixed reality, when detecting the relative positional relationship between a part attached to the work conveyed at a constant speed and the worker, the work is detected at the start side of the work conveyance. In addition to detecting the position and orientation of the work in the coordinate system of the reference position from the transport speed and the elapsed time after the detection, the position and orientation of the worker's head in the coordinate system of the reference position are detected. Based on the position and orientation of the parts set in advance, the position and orientation of the work in the coordinate system of the reference position, and the position and orientation of the worker's head in the coordinate system of the reference position, the coordinate system of the operator is converted by coordinate conversion. And the position and orientation of the component set in advance in the coordinate system of the workpiece and the reference position. Based on the position and orientation of the workpiece in the coordinate system of, and the position and orientation of the worker's head in the coordinate system of the reference position, the position and orientation of each of the workpiece and the component in the operator's coordinate system are detected by coordinate transformation. The above configuration is used as means for solving the conventional problem.

The position detecting device in the work instructing device according to the present invention is a position detecting device in a device for instructing a predetermined work by mixed reality for presenting an image in a visual field of a real space. Component position output means for outputting the position and orientation of a component to be attached to the work in the coordinate system of the work, work detection means for detecting a work conveyed at a constant speed on the conveyance start side, work conveyance speed and work detection Means for detecting the position and posture of the work in the coordinate system of the reference position from the elapsed time after detection by the means, and worker position detection for detecting the position and posture of the head of the worker in the coordinate system of the reference position Means, and the position and orientation of the component in the coordinate system of the workpiece from the component position output means and the base position from the workpiece position detection means. Based on the position and orientation of the work in the coordinate system of the position and the position and orientation of the head of the worker in the coordinate system of the reference position from the worker position detecting means, the position of the component in the coordinate system of the worker by coordinate transformation. And coordinate conversion means for detecting the posture.

[0010]

According to the position detecting method in the work instructing device according to the first aspect of the present invention, a device for instructing a predetermined work by mixed reality, which presents an image in a visual field of a real space, is conveyed at a constant speed. When detecting the relative positional relationship between the work and the worker, first, the work is detected on the work transfer start side, and the position and orientation of the work in the coordinate system of the reference position are determined from the transfer speed and the elapsed time after the detection. To detect. It is assumed that the works conveyed sequentially are all set in the same posture.

In other words, according to the position detecting method, the work is detected by a simple work detecting means such as a limit switch provided on the start side of the work transfer, so that the transfer speed V _{W is obtained.}
And from the elapsed time after detection T, for example, the position of the workpiece in the coordinate system of the reference position in which a workpiece detection means {S} ^S P
Determine the _W and attitude ^S _W R. At this time, the position of the work
^S P _W is 3 rows × 1 column, orientation ^S _W R is represented by a matrix of 3 rows × 3 columns, homogeneous transformation matrices containing these ^S _W T The following expression 1
It is represented by

[0012]

(Equation 1)

Further, while detecting the position and posture of the work, the position and posture (direction) of the head of the worker in the coordinate system of the reference position are detected. For this detection,
For example, a gyro sensor is used. The gyro sensor includes a transmitter that generates a magnetic field in a predetermined work area, and a receiver mounted on a head-mounted display that is mounted on the worker's head. The position and orientation are detected from the size. At this time, if the transmitter is provided at the reference position together with the preceding work detection means, the position and posture of the worker's head in the coordinate system of the reference position are detected as it is, and the transmitter is moved to another position. If provided, the coordinate system of another position may be converted to the coordinate system of the reference position. If the position and orientation of the worker's head in the coordinate system of the reference position are detected in this manner, on the contrary, the reference position ^H in the worker's coordinate system {H} is detected.
P _S and posture ^H _S R can be obtained, and a homogeneous transformation matrix ^H _S T including them can be expressed by the following equation (2).

[0014]

(Equation 2)

In the position detecting method, the reference position
Position of workpiece in the coordinate system {S}^SP_WAnd posture
^S _WR and the position of the worker's head in the coordinate system of the reference position
Position and posture, that is, the base of the worker in the coordinate system {H}.
Sub-position^HP_SAnd posture^H _SBased on R, coordinate transformation
The position of the work in the operator's coordinate system {H}^HP _W
And posture^H _WDetect R. That is, the coordinates of the reference position
The position and orientation of the workpiece as viewed in the
Is converted to the position and orientation of the workpiece
Homogeneous transformation matrix^H _WT is expressed by the following equation 3.

[0016]

(Equation 3)

As described above, in the position detecting method of the work instruction apparatus, the relative positional relationship between the work and the worker is detected without providing sensors for detecting the position and posture of the work. .

According to a second aspect of the present invention, there is provided a work instruction device.
In the position detection method, the image is presented in the visual field of the real space
Device that instructs a given task based on mixed reality
Parts and work to be attached to the workpiece conveyed at a constant speed
When detecting the relative positional relationship with the
The workpiece is detected on the start side of
Work position and shape in the coordinate system from the middle to the reference position
Force in the coordinate system of the reference position
The position and posture of the head of the user are detected. Where the reference position
Position of workpiece in the coordinate system {S}^SP_WAnd posture
^S _WR and homogeneous transformation matrix^S _WT is expressed by the formula 1 in claim 1.
expressed. In addition, the operator's head in the coordinate system of the reference position
The position and orientation of the part in the operator's coordinate system {H}
Reference position ^HP_SAnd posture^H _SR
Homogeneous transformation matrix^H _ST is expressed by Expression 2 of Claim 1.

Furthermore, the position and orientation of the components to be attached to the workpiece, so is predetermined with respect to the workpiece, can be represented as a position ^W P _P and attitude ^{W P} _R component in the coordinate system of the workpiece {W} , Its homogeneous transformation matrix ^W _P
T is expressed by the following equation 4.

[0020]

(Equation 4)

In the position detecting method, the position ^W _P P and the posture ^W of the component in the workpiece coordinate system {W} are used.
_PR and the position of the work in the coordinate system {S} of the reference position
Based on ^S P _W and the posture ^{S W} _R and a reference position in the position and orientation i.e. operator of the coordinate system of the worker's head in the coordinate system of the reference position ^{H} H P _S and posture ^{H S} _R, the coordinates detecting the position ^H P _P and posture ^H _P R component in the operator's coordinate system {H} by the conversion. That is, the position and orientation of the component as viewed in the coordinate system of the workpiece are converted into the position and orientation of the component as viewed in the coordinate system of the reference position, and are converted into the position and orientation of the component as viewed in the coordinate system of the worker. a than, homogeneous transformation matrix ^{H P} _T at this time it is expressed by the following equation 5.

[0022]

(Equation 5)

As described above, according to the position detecting method in the work instructing device, the relative positional relationship between the parts attached to the work and the worker can be determined without providing sensors for detecting the position and posture of the work. Is detected.

According to the position detecting method of the work instructing device according to the third aspect of the present invention, the relative positional relationship between the work and the worker is detected by the same method as in the first aspect, and the same as in the second aspect. The relative positional relationship between the part attached to the work and the worker is also detected by the above method.

According to the position detecting device of the work instructing device according to the fourth aspect of the present invention, in the device for instructing a predetermined work by mixed reality which presents an image in a visual field of a real space, a work detecting means such as a limit switch is used. Detects a work conveyed at a constant speed on the conveyance start side, and detects the position and orientation of the work in the reference position coordinate system from the work transfer speed and the elapsed time after detection by the work detection means by the work position detection means Then, the position and posture of the worker's head in the reference position coordinate system are detected by a worker position detecting means such as a gyro sensor.

The position detecting device in the work instructing device outputs the position and orientation of the component to be attached to the work in the coordinate system of the work by the component position output means.
In the coordinate conversion means, the position and orientation of the component in the coordinate system of the work from the component position output means, the position and orientation of the work in the coordinate system of the reference position from the work position detection means, and the reference from the worker position detection means Based on the position and posture of the worker's head in the position coordinate system, the position and posture of the component in the worker's coordinate system are detected by coordinate transformation.

That is, the coordinate conversion means converts the position and orientation of the component as viewed in the coordinate system of the workpiece into the position and orientation of the component as viewed in the coordinate system of the reference position, and views this in the coordinate system of the worker. Convert to the position and orientation of the part. The detection of the position and the posture and the coordinate conversion are performed according to claim 1.
3 is performed in the same manner as in the case of FIG.

As described above, the position detecting device in the work instructing device does not provide sensors for detecting the position and the posture of the work, and determines the relative positional relationship between the parts attached to the work and the worker. To detect.

[0029]

According to the position detecting method in the work instructing device according to the first aspect of the present invention, in a device for instructing a predetermined work by a mixed reality that presents an image in a visual field of a real space, the conveyance is performed at a constant speed. When detecting the relative positional relationship between the workpiece and the worker, there is no need to provide any sensors on the workpiece, thereby eliminating much equipment cost and labor, and reducing the length of the workpiece transfer range. The relative positional relationship between the workpiece and the worker can be accurately detected without being affected. In addition, as the sensors that can be employed, a very simple sensor that only detects the presence or absence of a work on the transport start side and a sensor that detects the position and posture of the worker's head can be used. Therefore, it is possible to simplify the structure and reduce the equipment cost, and to realize a highly accurate work instruction device based on mixed reality at low cost. Furthermore, since the relative positional relationship between the work and the worker can be accurately detected, when presenting the information video of parts and the like in the field of view of the worker who has captured the actual work, the control must be performed with high precision. Becomes possible.

According to the position detecting method in the work instructing device according to the second aspect of the present invention, in the device for instructing a predetermined work by the mixed reality that presents an image in the visual field of the real space, the work is conveyed at a constant speed. When detecting the relative positional relationship between the part to be attached to the work and the worker, there is no need to provide sensors on the work, thereby eliminating much equipment cost and labor and the length of the work transfer range. It is possible to accurately detect the relative positional relationship between the part to be attached to the workpiece and the worker, regardless of the position of the part and the position and orientation of the part in the workpiece. Position detection can be performed. In addition, as the sensors that can be employed, a very simple sensor that only detects the presence or absence of a work on the transport start side and a sensor that detects the position and posture of the worker's head can be used. Therefore, it is possible to simplify the structure and reduce the equipment cost, and to realize a highly accurate work instruction device based on mixed reality at low cost. Furthermore, since the relative positional relationship between the component attached to the workpiece and the worker can be accurately detected, the control of the component is performed with high precision when presenting the video of the component in the field of view of the worker who has captured the actual workpiece. This makes it possible to present the video components as if they were attached to the actual work, so that the work instructions are very easy for the worker to understand.

According to the position detecting method in the work instructing device according to the third aspect of the present invention, the same effect as in the second aspect can be obtained, and the position and orientation of both the work and the component can be detected. Therefore, in particular, it becomes possible to more accurately detect the relative positional relationship between the part attached to the work and the worker, and it is possible to realize the work instruction device with mixed reality with higher precision.

According to the position detecting device in the work instructing device according to the fourth aspect of the present invention, in the device for instructing a predetermined work by a mixed reality that presents an image in the visual field of the real space, sensors are provided on the work. There is no need for this, and the relative positional relationship between the parts attached to the workpiece and the worker can be accurately determined without much equipment cost and labor, and without being affected by the length of the transport range of the workpiece. Thus, accurate position detection can be performed even when the shape of the component and the position and orientation of the component on the workpiece are variously different. In addition to the fact that no sensors are required for the work, in addition to the work detection means, a very simple means for detecting the presence or absence of the work on the transfer start side can be employed, thus simplifying the structure. And a reduction in equipment cost, and a highly accurate work instruction device based on mixed reality can be realized at low cost. Further, since the relative positional relationship between the part to be attached to the work and the worker can be accurately detected, the control of the part can be performed with high precision when presenting the image of the part in the field of view of the worker who has captured the actual work. This makes it possible to present the video components as if they were attached to the actual work, so that the work instructions are very easy for the worker to understand.

[0033]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a position detecting method and a position detecting device in a work instruction device according to the present invention will be described below with reference to the drawings.

As shown in FIG. 1, the work instructing apparatus of this embodiment uses a so-called head mounted display 1 which is mounted on the head of the worker H and presents an image in the visual field of the real space. In the assembly line of an automobile in which a plurality of vehicle types coexist, when mounting various parts corresponding to the vehicle type on a work (body) W to be sequentially conveyed, the actual work W viewed by the worker H Are superimposed and presented in a vehicle-mounted state. Therefore, the worker H may take out the presented component P from the component storage means and attach it in the same manner as the image. The work instructing device is provided for each process constituting the assembly line. The workpiece W is transported at a constant speed by the transporting means 2 such as a conveyor in a running posture.

The position detecting device in the work instruction device shown in FIG. 2 is, as a general rule, a head mount display 1 mounted on the head of an operator H to form a predetermined visual field,
A work detection means 3 for detecting a work W conveyed at a constant speed on the conveyance start side, and a conveyance speed (movement speed) of the work W is detected by detecting rotation of a motor 4 which is a driving source of the conveyance means 2. Speed detecting means 5 and worker position detecting means 6 for detecting the position and posture (direction) of the head of worker H
And a part instructing means 7 for outputting data such as the type, shape, mounting position, and attitude of the part P with respect to the conveyed work W, the work detecting means 3, the speed detecting means 5, the worker position detecting means 6 And a work instruction control means 8 for processing each signal from the part instruction means 7 and presenting a video component to the head mounted display 1.

The head mounted display 1 is a well-known technique, and therefore detailed description is omitted.
CR through an optical system to a half mirror that covers the eyes of worker H
It has a structure to project the image from T. The work detecting means 3 should be a simple one capable of detecting the presence or absence of the work W at a work loading position in a predetermined work area.
For example, a contact type or non-contact type limit switch can be used. The speed detection means 4 amplifies a rotation signal from an encoder or the like provided in the motor 4 by an amplifier circuit 9 and controls a control circuit 10 to detect a transport speed from the rotation signal.

The worker position detecting means 6 is a gyro sensor, and includes a gyro control unit 11, a transmitter (DC coil) 13 for generating a magnetic field in the work area by the operation of the drive circuit 12, and a head mount display. 1 is provided with a receiver (DC coil) 14 attached to the receiver 1. This worker position detecting means 6
Induces a current in the receiver 14 in the magnetic field generated by the transmitter 13, and the gyro control unit 1
1, the position and posture of the receiver 14, that is, the position and posture of the head of the worker H wearing the head mount display 1 are detected by detecting the magnitude of the current of the receiver 14. Is also a known technique, and a detailed description of the structure will be omitted.

Here, the work instruction control means 8 for performing the position detecting method according to the present invention detects the relative positional relationship between the component P and the worker H on the work W by coordinate transformation. Is set to the coordinate system.

That is, since the position and orientation of the component P on the work W are determined in advance, they are expressed in the coordinate system {W} of the work W. The position and orientation of the work W are represented in the reference position coordinate system {S}, with the position where the work detection means 3 is provided as the reference position.
The position and posture of the worker H are based on the position where the transmitter 13 of the worker position detecting means 6 is provided as a reference position.
In this embodiment, as shown in FIG. 1, it is assumed that the positions where the work detecting means 3 and the transmitter 13 are provided are the same, and are expressed in a coordinate system {S} of a common reference position. At this time, the position and posture of the head of the worker H in the coordinate system {S} of the reference position can be expressed as the reference position and posture of the worker H in the coordinate system {H}. When the position where the work detecting means 3 and the transmitter 13 are provided is different, the coordinate system of the transmitter 13 may be converted to the coordinate system of the reference position in a later process.

The work instruction control means 8 includes a component position output means 15 for outputting the position and orientation of the component P to be mounted on the work W in the coordinate system {W} of the work W based on a signal from the component instruction means 7. , The signal from the work detection means 3 and the signal from the speed detection means 5 are input, and the position and orientation of the work W in the coordinate system {S} of the reference position are determined from the conveyance speed of the work W and the elapsed time after the detection. Work position detecting means 16 for detecting and component position output means 15
Coordinates for detecting the position and orientation of the component P of the worker H in the coordinate system {H} by coordinate transformation based on the signal from the workpiece position detecting means 16 and the signal from the worker position detecting means 6. It has a conversion unit 17 and a component image generation unit 18 that generates an image of the component P with respect to the head mounted display 1 based on the signal from the component position output unit 15 and the signal from the coordinate conversion unit 17. ing.

Next, a position detecting method in the work instruction apparatus according to the present invention will be described with reference to the flowcharts shown in FIGS.

As shown in FIG. 3, the work position detection means 16 of the work instruction control means 8 confirms that the work arrival flag is OFF in step S1, and then outputs a signal from the work detection means 3 in step S2. Judge the presence or absence of
If a signal has been input (Yes), the work arrival flag is turned on in step S3. Then, step S4
In stores workpiece passage time ts, after incorporating the transport speed V _W from the speed detecting means 5 in Step S5, calculates the movement distance of the workpiece W at step S6 from the elapsed time T after detecting the conveying speed V _W and, the position ^S P _W and the orientation ^S of the workpiece W in the coordinate system of the reference position {S} in step S7
_WR is detected. At this time, the posture ^S _{WR of the} work W
Is constant since all the works W are set in the running posture with respect to the transporting means 2.

Thereafter, it is determined in step S8 whether or not the processing has been completed. If the processing has not been completed (No), the flow returns to step S2. If the signal from the work detecting means 3 is not input in step S2 (No), it is determined in step S9 whether or not the work arrival flag is ON, and if it is ON (Yes). Proceeds to step S5, and if not ON (No), step S2
Return to

Next, in the coordinate conversion means 17 of the work instruction control means 8, as shown in FIG.
Takes the position ^W _P P and attitude ^W _P R of, step S
To create a homogeneous transformation matrix ^W _P T at 12. Where component P
Position ^W P _P 3 rows × 1 column, the posture ^{W P} _R is represented by a matrix of 3 rows × 3 columns, homogeneous transformation matrix ^{W P} _T containing these is represented by the following formula 6.

[0045]

(Equation 6)

Next, captures the position of the workpiece W in the coordinate system of the reference position from the previous work position detecting means 16 ^{S} S P _W and the posture ^S _W R (constant) at step S13, the next in step S14 to create a transformation matrix ^S _W T.
The homogeneous transformation matrix ^{S W} _T is expressed by the following equation 7.

[0047]

(Equation 7)

Next, in step S15, the reference position in the position and orientation of the head of the worker H in the coordinate system of the reference position {S} worker coordinate system H {H} ^H P _S and posture ^H _S R as uptake, creating a homogeneous transformation matrix ^H _S T at step S16. The homogeneous transformation matrix ^{H S} _T is expressed by the following equation 8.

[0049]

(Equation 8)

[0050] Then, in step S17, to create a homogeneous transformation matrix ^H _P T of the position and orientation of the parts P in the coordinate system {H} of the operator H, based on the equation A through C.
The homogeneous transformation matrix ^{H P} _T is expressed by the following equation 9.

[0051]

[Equation 9]

Thus, in step S18, the worker H
Position of part P in coordinate system {H} ^HP_PAnd posture^H
_PR is detected. That is, the coordinate conversion means 17
The position and orientation of the part P viewed in the coordinate system {W}
Position and orientation of component P viewed in reference position coordinate system {S}
To the part P viewed in the coordinate system {H} of the worker H
To the position and orientation of Then, step S19
To determine if the process has been completed, and if not
(No) returns to step S11.

When the position detecting device in the work instructing device detects the relative positional relationship between the worker H and the component P as described above, the position detecting device based on the detection result and the component shape data from the component position output means 15. The component image generation means 18 generates an image of the component P, and the image is
It is presented on the display 1. As a result, when the worker H wearing the head mount display 1 sees the actual work W being transported, it is presented as if the image part P is attached to the work W, The operator H only has to perform operations such as selection and mounting of the parts P while watching the image. The video can be automatically erased at an appropriate stage of the operation, or can be erased by the worker H.

As described above, the position detecting method and the position detecting device in the work instructing device described in the above embodiment are a device for instructing a predetermined work by a mixed reality that presents an image in a visual field of a real space. When detecting the relative positional relationship between the part P attached to the workpiece W conveyed by the operator and the worker H, there is no need to provide any sensors for the workpiece W sequentially conveyed. The required cost is extremely reduced, and the trouble of attaching and detaching sensors to and from the work W is not required.
The relative positional relationship between the component P and the worker H using a simple and relatively inexpensive device without being influenced by the length of the transfer range of the workpiece W. Can be detected accurately and the actual work W
When presenting the image part P in the field of view of the worker H who has captured the image, the control can be performed with high accuracy.

In the above embodiment, the parts P and the workers H
The relative position of the workpiece W is detected.
It is of course possible to detect the relative positional relationship between the user and the worker H. In this case, the position of the position ^S P _W and posture ^S _W coordinate system R the operator H workpiece in {H} W of the workpiece W in the coordinate system of the reference position {S} ^H P _W and the posture ^H _W R You can convert it to The homogeneous transformation matrix ^H _{WT at} this time is expressed by the following equation (10).

[0056]

(Equation 10)

In this case, the shape of the work W is not presented on the head mount display 1. However, if the positional relationship between both the component P and the work W is detected with respect to the worker H, the worker H is detected. The detection of the relative positional relationship between the component and the component P can be performed with higher accuracy.

In the above embodiment, the work W is conveyed at a constant speed by the conveying means 2. However, the present invention can also be applied to a case where the work W is intermittently fed into the process and stopped in the work area. In this case, it is possible to consider that the position of the work W is constant when the coordinate system of the reference position is converted into the coordinate system of the worker.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating the principle of a position detection method in a work instruction device according to the present invention.

FIG. 2 is a block diagram illustrating a position detection device in the work instruction device according to the present invention.

FIG. 3 is a flowchart illustrating a process performed by a work position detecting unit of the work instruction control device.

FIG. 4 is a flowchart illustrating a process performed by a coordinate conversion unit of the work instruction control device.

[Explanation of symbols]

 H worker P part W work 3 work detection means 6 worker position detection means 15 part position output means 16 work position detection means 17 coordinate conversion means

Claims (4)

[Claims] In a device for instructing a predetermined work based on mixed reality for presenting an image in a visual field of a real space, when detecting a relative positional relationship between a work conveyed at a constant speed and a worker, Detects the work on the start side of transfer, detects the position and posture of the work in the coordinate system of the reference position from the transfer speed and the elapsed time after detection, and the position and posture of the worker's head in the coordinate system of the reference position Based on the position and orientation of the work in the coordinate system of the reference position and the position and orientation of the head of the worker in the coordinate system of the reference position, and by performing coordinate transformation, the position and orientation of the work in the coordinate system of the worker. A position detection method in a work instruction device, characterized by detecting a position. 2. A device for instructing a predetermined work based on mixed reality for presenting an image in a visual field of a real space detects a relative positional relationship between a part attached to a work conveyed at a constant speed and an operator. At this time, the work is detected on the work transfer start side, and the position and orientation of the work in the coordinate system of the reference position are detected from the transfer speed and the elapsed time after the detection, and the head of the worker in the coordinate system of the reference position is detected. The position and orientation are detected, and the position and orientation of the component set in advance in the coordinate system of the work, the position and orientation of the work in the coordinate system of the reference position, and the position and orientation of the head of the worker in the coordinate system of the reference position A position detection method in a work instruction device, comprising detecting a position and a posture of a part in a coordinate system of a worker by coordinate conversion based on the information. 3. The position and orientation of a component set in advance in the coordinate system of the work, the position and orientation of the work in the coordinate system of the reference position, and the position and orientation of the head of the worker in the coordinate system of the reference position. 3. The position detecting method according to claim 2, wherein the position and orientation of each of the workpiece and the component in the worker's coordinate system are detected by coordinate transformation. 4. A position detecting device in a device for instructing a predetermined work based on mixed reality for presenting an image in a visual field of a real space, and outputs a position and a posture of a component attached to the work in a coordinate system of the work. Component position output means, work detection means for detecting the work conveyed at a constant speed on the conveyance start side, and the position of the work in the coordinate system of the reference position based on the work conveyance speed and the elapsed time after detection by the work detection means; Work position detection means for detecting the posture, and worker position detection means for detecting the position and posture of the worker's head in the coordinate system of the reference position, and the position of the part in the work coordinate system from the part position output means. The position and orientation, the position and orientation of the work in the coordinate system of the reference position from the work position detection means, and the position and orientation from the worker position detection means. A work instruction device comprising: a coordinate conversion unit configured to detect a position and an orientation of a component in a coordinate system of the worker by performing coordinate conversion based on a position and an orientation of the worker's head in a coordinate system of a reference position. Position detection device.