JP2003196681A - Work instruction system, work instruction method, and recording medium storing program for realizing the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce mistaken work caused by imagination or belief of an unskilled worker by displaying correctly performed work of a skilled worker as three-dimensional images to the unskilled worker to make the unskilled worker visually grasp action. <P>SOLUTION: Action of a skilled worker 11 with a tool 13 is detected by a sensor 12 to be transferred as action data through a communication means 3 to a processing device 20 by a processing device 10. A 3D-CG is three- dimensionally displayed as a first virtual image 22 in an output device 21. The first virtual image 22 is displayed as combined with a real image 23 of the unskilled worker 27 as seen through the output device 21, so that the unskilled worker can perform the work watching the first virtual image 22. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a work order system, a work order method, and a program for realizing the method, in which an input side computer and an output side computer are connected by communication means and information obtained from the input side computer is displayed on the output side computer. It relates to a recording medium storing.

[0002]

2. Description of the Related Art The skill level of a worker in a production activity is a very important factor in considering productivity. Also, in terms of quality, the skill level of the operator often affects.

Conventionally, many techniques have been developed for shortening the learning period for workers. Most of them are to instruct a worker about a work method, and the worker tries to eliminate mistakes by performing the instructed method.

Japanese Unexamined Patent Publication No. 8-123482 discloses a technique of instructing a working method by voice and instructing the operator of the next working method by voice recognition of the operator's response. Japanese Unexamined Patent Application Publication No. 9-262745 recognizes all information such as the position of a tool in an area where a worker is working.
A technique for instructing a worker to perform an action recorded in advance in a knowledge database is disclosed.

[0005]

In the above technique, the operator must understand what is instructed and execute it, and if misinterpreted, he or she will perform different work. .

The present invention allows an unskilled worker to visually grasp the work of a skilled worker who works accurately by displaying it in front of his eyes in a three-dimensional image so that the unskilled worker can be grasped. The task is to reduce erroneous work caused by people's imagination and beliefs.

[0007]

The above-mentioned problem is a work order system in which the operation of a skilled worker is processed by an input side computer and one or more output side computers are instructed to an unlearned worker. The input side computer has an input means for obtaining the operation information of the skilled worker, a processing means for processing the operation information and transferring the operation information to the output side computer, the skilled worker and the skilled worker for the work. Equipped with a recording medium for preliminarily digitizing and recording the position, orientation and angle in the operation of auxiliary tools such as jigs and tools,
From the transferred information, the output-side computer
A processing means for forming three-dimensional computer graphics (3DCG) in real time and an output means for displaying the 3DCG are provided, and both are provided for transferring information between the input side computer and the output side computer. A work order system according to the present invention is characterized by comprising a communication means for connecting the two.

According to one aspect of the present invention, the input means is attached to a tip end or a joint portion of the skilled worker and the accessory, and the position, orientation, and the like of the body part and the bending angle of the joint during the operation, It is preferable that the processing means of the input side computer includes a sensor that senses an angle, and digitizes the position, orientation, and angle during the operation.

The above problem is also a work instruction system for instructing an unskilled worker to perform a motion of a skilled worker by a computer, and records motion data of the position, orientation, and angle in the work of the skilled worker. A work order system according to the present invention, comprising: a recording medium; processing means for forming three-dimensional computer graphics (3DCG) based on the operation data; and output means for displaying the 3DCG. Will be solved by.

Further, the above-mentioned problem is a work order system in which the operation of a skilled worker is processed by an input side computer and one or more output side computers are instructed to an unlearned worker, wherein the input side computer is Processing means for processing the operation information of the skilled worker and transferring it to the output side computer, and the position and orientation in the operation of the skilled worker and an accessory such as a tool or equipment used by the skilled worker for the work. , A recording medium for digitizing and recording the angle in advance, and the output side computer constructs a three-dimensional computer graphics (3DCG) in real time from the transferred information, and the 3DC.
Outputting means for displaying G, and communication means for connecting the input side computer and the output side computer to transfer information between the two in order to transfer information between them. Will be solved by.

According to one aspect of the present invention, the sensor is attached to the end of the skilled worker and the accessory or the joint portion and detects the position, orientation, and angle during the work, such as the body part and the bending angle of the joint. It is preferable that the processing means of the input side computer further digitizes the position, orientation, and angle during the work.

The above-mentioned problem is also a work instruction system for instructing an unskilled worker's motion by a computer to the unskilled worker, and the position, orientation, and angle motion in the work of the skilled worker and the unskilled worker. The present invention, comprising: a recording medium for recording data, a processing means for configuring three-dimensional computer graphics (3DCG) based on the operation data, and an output means for displaying the 3DCG. It is solved by the work order system.

According to one aspect of the present invention, it is preferable that the communication means is any one of the Internet, ISDN, a local area LAN, a wireless device, and a cable, or a combination thereof.

According to another aspect of the present invention, the input side computer controls the timing and accuracy of obtaining information from the sensor, and transfers the information according to the performance of the communication means, the input side computer, and the output side computer. It is preferable to adjust the amount of data.

According to still another aspect of the present invention, the processing means of the output side computer forms a virtual image based on the information of the position, orientation and angle in the work transferred from the input side computer in real time, and the virtual image is formed. It is preferable to recognize the position of the real image of the body part of the unskilled worker who observes, the jig or the tool, and adjust the display position so that the virtual image can be seen to overlap with the real image.

The above-mentioned problem is also a work instruction method for instructing an unskilled worker to perform a motion of a skilled worker, the step of obtaining motion information of the skilled worker, and the unskilled work by processing the motion information. A third party computer graphics (3DCG) from the transferred information in real time, and the 3DCG
And a step of displaying a work video of a skilled worker in order to solve the work instruction method of the present invention.

According to one aspect of the present invention, it is possible to provide a computer-readable recording medium that stores a program for causing a computer to execute the work instruction method. The above-mentioned problem is also related to a recording medium for recording motion information of a reference worker and three-dimensional computer graphics (3DC) in real time from the recorded motion information of the reference worker.
G) generating means, and said generated 3DCG
It is solved by the work order system of the present invention, which comprises:

According to one aspect of the present invention, the recording medium is placed in a place different from the generating means and the displaying means, and is recorded on the recording medium between the recording medium and the generating means. It is preferable that communication means is provided for transferring the operation information of the reference worker to the generation means.

The above-mentioned problem is further provided with input means for obtaining motion information of the reference worker, and generating means for generating three-dimensional computer graphics (3DCG) in real time from the obtained motion information of the reference worker. The work instruction system according to the present invention is characterized by comprising a display means for displaying the generated 3DCG.

According to one aspect of the present invention, the input means is placed in a place different from the generating means and the displaying means, and the obtained reference work is provided between the input means and the generating means. It is preferable that communication means is provided for transferring the person's motion information to the generation means.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of a work instruction system, a work instruction method and a recording medium of the present invention will be described below with reference to the drawings. In the specification and drawings, the same or similar reference numerals indicate the same or similar components. (First Embodiment) FIG. 1 shows a standard configuration of a work order system according to a first embodiment of the present invention. The input side computer 1 and the output side computer 2 are connected by a communication means 3. Processing device 1 included in input side computer 1
One or more sensors 12 attached to the tip or joint of the skilled worker 11 are connected to 0. Tool 1
If 3, then one or more sensors 12 are also attached to the tool 13. The recording medium 14 records the performance of the processing device 10, the processing device 20 of the output-side computer 2, and the communication means 3. The processing device 10 corrects the data obtained from the sensor 12 in accordance with the performance. . Here, the correction is to identify a linear movement in which the movement of the sensor 12 is a constant speed and a constant direction, or an operation in which the movement is almost stopped. If so, it means a process of reducing the amount of data by converting the information at the time of stop. The corrected data is transferred to the output side computer 2 by the processing device 10 via the communication means 3. The processor 20 uses the transferred data to generate three-dimensional computer graphics (3DCG).
The DCG is displayed on the output device 21 as the first virtual image 22. The output device 21 is, for example, an output device capable of 3D display such as a head mounted display (HMD). When the display panel of the HMD is a semi-transmissive panel, a virtual image and a real image are generated. It can be seen overlapping. Therefore, the first virtual image 22 is displayed through the output device 21 so as to be superimposed on the real image 23 of the unskilled worker 27. As a result, the unskilled worker 27
Can work while watching the movement of the first virtual image 22. The output device 21 incorporates a mechanism for sensing the position, angle, etc., and information such as the position, angle, etc. is transferred to the processing device 20, and the position, orientation, etc. for displaying the first virtual image 22 are corrected. Used for. In the recording medium 24, information such as a 3DCG generation step and a work space of a worker is recorded. The 3DCG generation step connects the vertices with a line and colors the obtained surface to generate the 3DCG.
Is a generally known procedure such as a method of obtaining The communication means 3 is not particularly limited as long as it is a communication means such as the Internet or ISDN or a communication means for transmitting a signal such as a local area LAN, a wireless device, and a cable. When there are a plurality of output side computers 2, a plurality of transfer destinations are designated by the processing device 10 and transferred through the communication means 3. Even if there are a plurality of output side computers 2, there is no difference in the display method.

FIG. 2 shows an example of the configuration of the input means of the work order system of the present invention. The movement sensors 12a, 12b, 12c are built in the sensor 12. The distance between the sensor 12 and the sensor 12 'is constant. As the sensor 12 ′ moves, the base of the sensor 12 ′ also moves inside the sensor 12. The movement sensors 12a, 12b, 12c rotate according to the movement. By detecting the amount of rotation of the movement sensors 12a, 12b, 12c, the direction and angle of movement of the sensor 12 'with respect to the sensor 12 can be known. Even in the case of complicated operation work, it is possible to reproduce the operation only by changing the angle by setting the distance between the sensor 12 and the sensor 12 ′ to be short and connecting them.

(Second Embodiment) FIG. 3 shows a second embodiment of the work order system of the present invention. On the recording medium 24 of the output side computer 2, the operation of the skilled worker 11 is recorded in advance as operation information such as the position, orientation and angle of the sensor 12. The recorded information is used to display the first virtual image 22 output to the output device 21. The operation data of the recording medium 24 is converted into 3DCG by the processor 20, and the output device 21 superimposes the real image 23 of the unskilled worker 27 on the first virtual image 22.
Is displayed as.

(Third Embodiment) FIG. 4 shows a third embodiment of the work order system of the present invention. The operation of the skilled worker 11 is recorded in advance in the recording medium 14 of the input side computer 1, and is transferred by the processing unit 10 to the processing unit 20 of the output side computer 2 via the communication means 3. The transferred data is converted in accordance with the 3DCG generation step recorded in the recording medium 24, and is output by the output device 21 as the first virtual image 22 to the unskilled worker 27.
Is displayed so as to be superimposed on the real image 23.

FIG. 5 shows a means for stereoscopically displaying a virtual image in the work instruction system of the present invention.
The processing device 20 included in the output-side computer 2 generates an image that is a source of the first virtual image 22 by the 3DCG generation procedure that is recorded in advance in the recording medium 24, and outputs the output device 21.
Output to. The output device 21 displays an image on the lens part of the eyeglasses, and the first virtual image 22 looks three-dimensional by shifting the left and right display images. In addition, by making the portion for displaying the image visible so that it can be seen, it becomes possible to see the image overlaid on the real image 23 of the unskilled worker 27.
Since the first virtual image 22 is superimposed on the real image 23, its display position needs to be changed depending on the orientation of the output device 21. Therefore, the output device 21 is provided with the sending portion 25a of the direction sensor 25. Direction sensor 25
Infrared rays are regularly emitted from the sending section 25a of the directional sensor 25a, which can be detected by the detecting section 25b of the direction sensor 25. The detection unit 25b of the direction sensor 25 is finely divided into fixed sections, and a detection sensor for detecting infrared rays is attached to each section. The sending unit 25a of the direction sensor 25 emits infrared rays while changing the angle, and by detecting which part of the detecting unit 25b of the direction sensor 25 the infrared rays hit, it is possible to determine which direction the output device 21 is facing. I can know.

(Fourth Embodiment) FIG. 6 shows a fourth embodiment of the work order system of the present invention. On the recording medium 24 of the output side computer 2, a plurality of operation data of the skilled worker 11 and the operation data of the unskilled worker 27 (see FIG. 1) are recorded in advance. The processing device 20 uses, for example, the operation data of the skilled worker 11 and the operation data of the unskilled worker 27, which are pre-recorded in the recording medium 24, in 3DC.
It is converted into G and output to the output device 21, and the output device 21
The motion data of the skilled worker 11 is displayed as the first virtual image 22, and the motion data of the unskilled worker 27 is displayed as the second virtual image 26.
Display as. In this way, if the correct working method is displayed on the first virtual image 22 and the incorrect working method is displayed on the second virtual image 26, the difference can be easily understood.
The present invention is not limited to the motion data of the skilled worker 11 and the motion data of the unlearned worker 27, and may be any motion data recorded in advance in the recording medium 24, and the number of virtual images is also used. There may be three or more, depending on

FIG. 7 shows the procedure of the concrete processing of the work instruction according to the present invention. The processing device 10 processes the data obtained from the sensor 12 or recorded in the recording medium 14 in S1. The data is composed of a set of movement angles and movement distances from the start of the operation, or 3D coordinates of the sensor at each time point and the bending angle of the joint. At this stage, data that can be deleted without damaging the operation content is analyzed.

In S2, the processing device 10 makes adjustments such as data deletion and correction based on the result of the analysis in S1. In S3, the processing device 10 transfers the data adjusted in S2.

In S4, the data transferred by the processing device 10 or the data recorded in the recording medium 24 is converted into the 3D coordinate data for generating the 3DCG.
0 converts. The processing device 20 calculates the 3D coordinates of each point and the bending angle of the joint based on the data obtained in S1. The data recorded on the recording medium 24 may be already converted.

In S5, the 3DCG generated in S4 is displayed on the output device 21. The position and orientation of the output device 21 are automatically sensed, and display state adjustment processing is also performed. FIG. 8 is an example of operation data recorded on the recording media 14 and 24. The angle at which the angle sensors 12a, 12b, 12c rotate is recorded in time units. Thereby, the positional relationship between the sensors 12 and 12 'can be reproduced. If any one of the sensors 12 is fixed and used as a base point, the entire operation can be reproduced.

[0031]

INDUSTRIAL APPLICABILITY The present invention is an effective means for instructing a working method to an operator when it is difficult to convey it in words or when it is instructed from a remote place.

For an unskilled worker, an output device capable of 3D display, such as a head mounted display (HMD), is used to superimpose and display the real image. By making the display panel of the HMD a semi-transmissive panel, the virtual image and the real image can be viewed in an overlapping manner. By showing the movements of the expert by a virtual image, an unskilled worker can move by following the virtual image.

In this case, it is possible to easily understand even a difficult explanation that would be misunderstood if explained in words.

[Brief description of drawings]

FIG. 1 shows a standard configuration of a work order system according to a first embodiment of the present invention.

FIG. 2 shows an example of the configuration of input means of the work instruction system of the present invention.

FIG. 3 shows a second embodiment of the work order system of the present invention.

FIG. 4 shows a third embodiment of the work order system of the present invention.

FIG. 5 shows means for stereoscopically displaying a virtual image in the work instruction system of the present invention.

FIG. 6 shows a fourth embodiment of the work order system of the present invention.

FIG. 7 shows a procedure of specific processing of a work instruction according to the present invention.

FIG. 8 is an example of operation data according to the present invention.

[Explanation of symbols]

1 Input side computer, 10, 20 Processing device, 11
Skilled worker, 12, 12 'sensor, 12a, 12
b, 12c movement sensor, 13 tool, 14, 24
Recording medium, 2 output side computer, 21 output device, 22 first virtual image, 23 real image, 25 direction sensor, 25a direction sensor sending section, 25b direction sensor detecting section, 26 second virtual image, 27 unskilled worker ,
3 communication means

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Claims (15)

[Claims] 1. A work instruction system in which an operation of a skilled worker is processed by an input side computer, and one or more output side computers are instructed to an unlearned worker, wherein the input side computer is a skilled worker. Input means for obtaining the operation information of the above, processing means for processing the operation information and transferring it to the output side computer, an expert operator, and an accessory such as a jig or equipment used by the expert operator for the operation. Position, orientation,
The output side computer displays the 3DCG and a processing unit that forms three-dimensional computer graphics (3DCG) in real time from the transferred information. And a communication unit for connecting the input-side computer and the output-side computer for transferring information between the input-side computer and the output-side computer. 2. The input means includes a sensor which is attached to the tip end or joint of the skilled worker and the accessory and senses a position, orientation and angle during work such as a body part and a bending angle of the joint. The processing means of the input side computer digitizes the position, orientation and angle during the work.
Described work order system. 3. A work instruction system for instructing an unskilled worker to perform a motion of a skilled worker by a computer, and a recording medium for recording motion data of position, orientation and angle in the work of the skilled worker. A work order system, comprising: processing means for configuring three-dimensional computer graphics (3DCG) based on the operation data; and output means for displaying the 3DCG. 4. A work instruction system in which an operation of a skilled worker is processed by an input side computer, and one or more output side computers are instructed to an unlearned worker, wherein the input side computer is a skilled worker. Processing means for processing the operation information of the above and transferring it to the output side computer, a skilled worker, and the position and orientation in the operation of an accessory such as a jig or tool used by the skilled worker for the work,
The output side computer displays the 3DCG and a processing unit that forms three-dimensional computer graphics (3DCG) in real time from the transferred information. And a communication unit for connecting the input-side computer and the output-side computer for transferring information between the input-side computer and the output-side computer. 5. The input side is further provided with a sensor that is attached to the tip end or joint of the skilled worker and the accessory and that senses a position, orientation, and angle during work such as a body part and a bending angle of the joint. 5. The processing means of the computer digitizes the position, orientation and angle during the work.
Described work order system. 6. A work instruction system for instructing an unskilled worker to perform a motion of a skilled worker by a computer, and records position, orientation, and angle motion data in the work of the skilled worker and the unskilled worker. A work instruction system comprising: a recording medium, a processing unit that configures three-dimensional computer graphics (3DCG) based on the operation data, and an output unit that displays the 3DCG. 7. The communication means is Internet, IS
5. The work instruction system according to claim 1, wherein the work instruction system is any one of a DN, a local area LAN, a wireless device, and a cable, or a combination thereof. 8. The input side computer controls the timing and accuracy of obtaining information from a sensor, and adjusts the amount of data to be transferred according to the performance of the communication means, the input side computer, and the output side computer. The work order system according to claim 1 or 4. 9. The processing means of the output side computer comprises:
A virtual image is constructed based on the position, orientation, and angle information in the work transferred in real time from the input side computer, and the position of the real image of the body part of the untrained worker himself who observes the virtual image, jigs or tools, etc. The work instruction system according to claim 1 or 4, wherein the display position is adjusted so that the virtual image is recognized and the virtual image is seen to overlap the real image. 10. A work instruction method for instructing an unskilled worker to perform a motion of a skilled worker, the step of obtaining motion information of the skilled worker, and processing the motion information and transferring it to the unskilled worker. And a step of constructing a three-dimensional computer graphics (3DCG) in real time from the transferred information, and a step of displaying a work image of a skilled worker on the 3DCG. Method. 11. A computer-readable recording medium that stores a program for causing a computer to execute the work instruction method according to claim 9. 12. A recording medium for recording motion information of a reference worker, and three-dimensional computer graphics (3DCG) in real time from the recorded motion information of the reference worker.
And a display unit for displaying the generated 3DCG. 13. The recording medium is placed in a place different from the generation means and the display means, and the recorded operation information of the reference worker is generated between the recording medium and the generation means. Communication means for transferring to the means are provided.
The work order system described in 2. 14. Input means for obtaining motion information of a reference worker; generating means for generating three-dimensional computer graphics (3DCG) in real time from the obtained motion information of the reference worker; And a display means for displaying the displayed 3DCG. 15. The input means is placed in a place different from the generation means and the display means, and the operation information of the obtained reference worker is generated between the input means and the generation means. 15. Communication means is provided for transferring to the means.
Described work order system.