JP2017003433A - Work operation measuring apparatus, work operation measuring method, and work operation measuring program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work operation measuring technique capable of estimating an operation of a non-attached region of a sensor from an operation of an attached region of the sensor and decreasing the total number of sensors to be attached.SOLUTION: A work operation measuring apparatus comprises: a six-axis sensor 15 provided on a free end of a work operation body 10; a receiving unit 21 receiving a detection signal aof a translation motion and an axial circumferential motion in three axis directions transmitted by this six-axis sensor 15; a first arithmetic unit 22 computing mass point coordinates γof the six-axis sensor 15 in a space on the basis of the detection signal a; a second arithmetic unit 23 computing center-of-curvature coordinates Qand a curvature radius rof a circular arc locus of the mass point coordinates γof the six-axis sensor 15; a registration unit 24 for a database where the mass point coordinates γof the six-axis sensor, a mass point coordinates α of a first joint, and a mass point coordinates βof a second joint 12 corresponding to the center-of-curvature coordinates Qand the curvature radius rare associated with one another; and a coordinate output unit 28 outputting the mass point coordinates βof the second joint synchronized with output of the computed mass point coordinates γof the six-axis sensor on the basis of the database.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for measuring work movements by tracking joint movement in space.

In the construction and maintenance sites of plants, the generation change has progressed due to the retirement of workers with skilled know-how, and the transfer of skills and training are urgently needed.
In addition, since many inexperienced workers are deployed at the site, there is a concern that work quality will deteriorate and human errors will increase.
In order to put such technically inexperienced workers in the field as early as possible, it is necessary to accurately grasp the skill level of each worker and set a training curriculum accordingly.

In addition, when a large number of inexperienced workers are deployed on the site, there is a concern that forbidden work or omission work may occur.
In such a case, non-conformity can be prevented beforehand by monitoring the actions of individual workers sequentially and calling attention when inappropriate work is detected.
Therefore, the technique for measuring the operation of field workers is effective from the viewpoint of skill succession accompanying the generational change.

The technique for measuring human movements called motion capture is roughly divided into two types: a technique for externally observing the body and a technique for measuring using a sensor attached to the body.
As a technique for external observation, there is a technique for measuring three-dimensional coordinates by stereo-observing a marker attached to the body with a plurality of cameras.
Moreover, there exists a technique using a sensor which calculates the displacement of each joint by attaching a six-axis sensor. In addition, there are devices that use magnetic sensors and infrared pattern irradiation, and they are used in sports, medical care, game machines and the like.

The following are disclosed as known examples in which the motion measurement technique is applied to skill evaluation and training.
The first is a technique for measuring the worker's movement using an optical motion capture system and evaluating the skill of the worker in dealing with environmental changes in a special room that can reproduce any work environment. According to this technology, it is possible to quantitatively evaluate the know-how skill to appropriately cope with the situation that the operator does not expect.

The second is a system that supports assembly work training on the production line, and is a technology for constructing a virtual work space in the head-mounted display and actually experiencing the assembly work in the virtual space.
Conventionally, guidance was given by displaying work site images on a large screen, but this system uses a magnetic three-dimensional sensor to measure the movement of one or both hands, By comparing, it is possible to determine the correctness of the work.

The third is a technique for measuring movements by attaching a six-axis sensor to the wrist and waist.
According to this technology, it is possible to acquire in advance a vibration pattern that is measured when an action such as walking or sitting is performed, and to determine which of the acquired patterns is similar to the actually measured motion. Action is recognized.

Japanese Patent No. 4100545 Japanese Patent No. 5062774 Japanese Patent No. 5284179 Japanese Patent No. 3570163

However, when using a conventional motion capture system and measuring an operator's operation in an actual site, there are the following problems.
In the case of the optical type, it is necessary to surround a space in which an operator operates with a camera, so that a measurable area is limited. In addition, enclosing the actual work site with a camera makes the apparatus large and difficult to apply.
In addition, when working in an intricate work environment or with a plurality of workers, the measurement target is within the blind spot of the camera, making it impossible to measure the operation.

  In addition, when the six-axis sensor is used, the above-described disadvantages of the optical type are solved. However, when a sensor is attached to each joint of the worker, a large amount of sensors are attached and a great load is applied to hinder the work. There is concern about becoming.

  The embodiment of the present invention has been made in consideration of such circumstances, and it is possible to estimate the operation of the unmounted part of the sensor from the operation of the mounted part of the sensor and reduce the total number of sensors to be mounted. The purpose is to provide technology.

  In the work motion measuring apparatus according to the embodiment, a first rod having a proximal end rotatably supported by a first joint and a second joint provided at a distal end and one end rotatably supported by the second joint. A six-axis sensor provided at the free end of the working body comprising the second rod, the other end of which is a free end, and three-axis translational and circumferential motion detection signals transmitted by the six-axis sensor A receiving unit for receiving, a first calculation unit for calculating a mass point coordinate of the six-axis sensor in space based on the detection signal, a curvature center point coordinate and a radius of curvature of an arcuate locus of the mass point coordinate of the six-axis sensor; A second calculation unit that calculates, a registration unit of a database that associates the mass point coordinates of the six-axis sensor, the mass point coordinates of the first joint, the center of curvature coordinates, and the mass point coordinates of the second joint corresponding to the curvature radius; Mass coordinates of the six-axis sensor The mass point coordinates of the second joint for synchronizing the operation output, characterized in that it comprises a coordinate output section that outputs based on the database.

  According to the embodiment of the present invention, there is provided a work motion measurement technique that can estimate the operation of the unmounted part of the sensor from the operation of the mounted part of the sensor and reduce the total number of sensors to be mounted.

1 is a block diagram showing a work movement measuring apparatus according to a first embodiment of the present invention. An information table registered in the parameter registration part of the body type. (A) The figure which shows the curvature center point coordinate and curvature radius of an arc-shaped locus | trajectory in case the 1st joint is fixed and the 2nd joint rotates, (b) The 1st joint rotates and the 2nd joint is fixed. The figure which shows the curvature center point coordinate and curvature radius of the arc-shaped locus | trajectory in the case of doing, (c) The curvature center point coordinate and curvature radius of the arc-shaped locus | trajectory when both the 1st joint and the 2nd joint are rotating FIG. The flowchart explaining the work motion measuring method and work motion measuring program which concern on 2nd Embodiment of this invention. The block diagram of the working action body applied to 4th Embodiment of this invention.

(First embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, the work motion measuring apparatus 20 includes a first rod 13 having a proximal end rotatably supported by a first joint 11 and a second joint 12 provided at a distal end, and one end connected to the second joint 12. A six-axis sensor 15 provided at the free end of the work operation body 10 including a second rod 14 that is rotatably supported and the other end is a free end, and a triaxial direction transmitted by the six-axis sensor 15. a receiving unit 21 that receives a detection signal a _t the translation and axial circumferential motion, the first operation unit 22 for calculating a mass coordinates gamma _t of six-axis sensor 15 in the space on the basis of the detection signal a _t, six-axis sensor a second calculation unit 23 for calculating the mass coordinate gamma arcuate curvature center point coordinates of the trajectory of _t Q _t and the curvature radius r _t of 15, mass coordinates gamma _t of six-axis sensor, mass coordinates of the first joint alpha, curvature Associating the mass coordinate β _t of the second joint corresponding to the center coordinate Q _t and the radius of curvature r _t And a coordinate output unit 28 for outputting the mass point coordinates β _t of the second joint synchronized with the calculation output of the mass point coordinates γ _t of the six-axis sensor based on the database.

The work operation body 10 is exemplified by a body part composed of a long bone and a joint, such as an arm part or a leg part of a human body. In this case, the first joint 11 is grasped as a ball joint that rotates around two specific axes, such as a shoulder joint and a hip joint. The second joint 12 is grasped as a hinge joint that rotates about a specific axis, such as an elbow joint or a knee joint.
The first rod 13 is grasped as a long bone such as a humerus or a femur. Moreover, the 2nd rod 14 is grasped | ascertained as a long bone like a radius or a tibia.
The work operation body 10 can also be grasped as a robot arm. In this case, each of the first joint 11 and the second joint 12 can have either a uniaxial rotation function or a biaxial rotation function.

Six-axis sensor 15 includes an acceleration sensor and a gyro sensor, an angular velocity about the acceleration and the axis along the orthogonal three-dimensional coordinate axes by applying the detection time of the detected detection signal a _t function of transmitting to the receiver 21 Have.

The first calculator 22, the acceleration signal and second order integration of the detected signal a _t the receiving unit 21 receives the angular velocity signal is integrated first floor, by further coordinate transformation, mass coordinates of six-axis sensor 15 in the space γ _t is calculated.
When the first joint 11 and / or the second joint 12 rotate, the mass point coordinates γ _t of the six-axis sensor draw an arcuate locus in space.

The second calculation unit 23 calculates the curvature center point coordinate Q _t and the curvature radius r _t of the arcuate locus drawn by the mass point coordinate γ _t of the six-axis sensor.
Curvature center point coordinates Q _t is the time information and the normal line from the material point coordinate gamma _t-1 of the six-axis sensor arcuate trajectory in t-1, mass coordinates of six-axis sensor arcuate trajectory in the time information t gamma _t It is calculated as the intersection of the normal from
The radius of curvature r _t is expressed as the distance from the intersection of two normals to the mass point coordinate γ _t of the six-axis sensor.

The registration unit 24, the mass point coordinates gamma _t of six-axis sensor, mass coordinate α of the first joint, database that associates the mass coordinates beta _t of the second joint 12 corresponding to the center of curvature coordinates Q _t and the curvature radius r _t It is registered. This database is created based on a standard musculoskeletal model. In the first embodiment, the position of the first joint 11 in the space is fixed, and its mass point coordinate α is preliminarily stored in the registration unit 24 as a fixed point. Settings are registered.

As shown in FIG. 2, the parameter registration unit 25 parameterizes information that directly affects body dimensions such as height and weight, and information that affects body dimensions such as age and sex. sign up.
The user interface 26 such as a keyboard acquires parameters suitable for the work operation body 10 from the registration unit 25 and transfers them to the database correction unit 27.
The database correction unit 27 corrects the database information set in the standard musculoskeletal model based on the transferred parameters.
Thereby, an association database (correction database) of various coordinates γ _t , α, Q _t , r _t , β _t that faithfully corresponds to the posture of the work motion body 10 to be measured is created.

FIG. 2 shows an information table registered in the parameter registration unit 25.
As shown in FIG. 2, the parameters include a bone information table 41, a joint information table 42, and a muscle information table 43. These three tables are created as a set for each age and sex.
The information stored in the bone information table is the bone number. , Bone name, size, joint No. No. of connected muscle It is. Bone No. Is an ID given to all bones constituting the human body. Bone No. , Joint no. And muscle no. Is a number referred to for describing the connection relationship between bones, joints and muscles.

The contact information is stored in the items of connection joint and connection muscle, connection bone, and action joint. In addition, the standard size for each sex and generation is described in the dimensions.
The information described in the joint information table 42 includes the joint number. , Joint name, shape, movable range, connecting bone, connecting muscle. The shape describes information related to the shape of a joint such as a hinge type or a ball joint type, and is information that limits the bending direction and angle of the joint together with the movable range information.
The information stored in the muscle information table 43 is the muscle number. , Muscle name, tension, connecting bone, working joint.

The coordinate output unit 28 outputs the mass point coordinates β _t of the second joint synchronized with the calculation output of the mass point coordinates γ _t of the six-axis sensor based on the database.
That is, the detection signal a _t the applied time information t as a source for calculating as a key, these mass coordinates gamma _t, beta _t is pegging.
The motion drawing unit 29 reproduces the skeleton model of the work motion body 10 in the virtual space based on the mass point coordinates α, β _t , γ _t and operates the skeleton model.

If the relationship between the mass point coordinate α of the first joint, the mass point coordinate γ _t of the six-axis sensor, the curvature center coordinate Q _t, and the radius of curvature r _t is not registered in the database, the initialization unit 30 It is assumed that the error accumulated in the calculation process of the coordinate locus of the sensor 15 exceeds the allowable range, and this calculation process is initialized.
Mass coordinates gamma _t of six-axis sensor in the stationary system is a relationship that obtained by integrating processes the detection signal a _t, detection error will be cumulative.
For this reason, a combination of mass point coordinates α, β _t , γ _t showing a positional relationship that is impossible in practice may be derived in calculation.

Initializing section 30, in this case the excess of error as compared to the allowable value is detected, discontinue the reception of the detection signal a _t in the receiving unit 21 resets the integral in the first arithmetic unit 22 to the initial state. And as six-axis sensor 15 comes to the initial position, to adjust the attitude of the working operation member 10, resumes reception of the detection signal a _t.
The error is detected by comparing the distances of the mass point coordinates α, β _t , γ _{t with} the lengths of the first rod 13 and the second rod 14. However, the deviation from the true value can be minimized.

(Second Embodiment)
In the first embodiment, the coordinate output unit 28 outputs the mass point coordinates β _t of the second joint based only on the database. In the second embodiment, as shown in FIG. 3, by classifying the motion of the first joint 11 and second joint 12, changes the output method of mass coordinates beta _t of the second joint.

FIG. 3A shows the curvature center point coordinate Q _t and the curvature radius r _t of the arcuate locus when the first joint 11 is fixed and the second joint 12 is rotating.
In this case, remains in a position different from the center of curvature coordinates Q _t is the mass point coordinates α of the first joint, the radius of curvature r _t is matched to the length of the second rod 14 unchanged _{(r t = r t-1} ) is there.
When this condition is satisfied, the first joint 11 that rotates the first rod 13 is determined to be in a fixed state, and the coordinate output unit 28 outputs the curvature center coordinate Q _t as the mass point coordinate β _t of the second joint. .

FIG. 3B shows the curvature center point coordinate Q _t and the curvature radius r _t of the arcuate locus when the first joint 11 is rotated and the second joint 12 is fixed.
In this case, remains in the position of curvature center coordinates Q _t coincides with mass coordinate α of the first joint, the radius of curvature r _t is unchanged _{(r t = r t-1} ).
When this condition is satisfied, it is determined that the second joint 12 that rotates the first rod 13 and the second rod 14 is in a fixed state.
The coordinate output unit 28 then angularly displaces the previous mass point coordinate β _t-1 of the second joint by the same amount as the angular displacement φ of the mass point coordinate γ _t of the six-axis sensor centered on the mass point coordinate α of the first joint. To output the mass point coordinates β _t of the second joint.

FIG. 3C shows the curvature center point coordinate Q _t and the curvature radius r _t of the arcuate locus when both the first joint and the second joint are rotating.
In this case, movement of the curvature center coordinate Q _t is observed.
When this condition is satisfied, it is determined that the first joint 11 and the second joint 12 are simultaneously in a rotating state, and the coordinate output unit 28 determines whether the second joint is based on only the database as in the first embodiment. The mass point coordinate β _{t of} is output.
According to the second embodiment, the motion of the mass point coordinates β _t of the second joint can be reproduced with high accuracy in the virtual space.

  The work motion measuring device 20 described above includes a control device in which a processor such as a dedicated chip, an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), or a CPU (Central Processing Unit) is highly integrated, and a ROM. (Read Only Memory) and RAM (Random Access Memory) storage devices, HDD (Hard Disk Drive) and external storage devices such as SSD (Solid State Drive), display devices such as displays, and mouse and keyboard An input device and a communication I / F are provided, and can be realized by a hardware configuration using a normal computer.

  The program executed by the work motion measuring apparatus 20 is provided by being incorporated in advance in a ROM or the like. Alternatively, this program is stored in a computer-readable storage medium such as a CD-ROM, CD-R, memory card, DVD, or flexible disk (FD) as an installable or executable file. You may make it do.

The program executed by the work movement measuring apparatus 20 may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network.
In addition, the work motion measuring apparatus 20 can be configured by combining separate modules that perform each function of the components independently by a network or a dedicated line.

The operation of the work motion measurement program and the work motion measurement method according to the second embodiment will be described based on the flowchart of FIG. 4 (refer to FIGS. 1, 2 and 3 as appropriate).
Based on a standard musculoskeletal model, a database showing the relationship between the mass point coordinates α, β _t , γ _t , the curvature center coordinate Q _t and the curvature radius r _t is created, and this database is corrected according to body characteristics. A parameter is created and registered (S11).

The user interface 26 is operated to obtain parameters suitable for the work operation body 10, and the database is corrected (S12). The mass point coordinate α of the first joint 11 which is a fixed point in the space is set (S13), and the mass point coordinate γ _t (initial coordinate γ ₀ ) of the initial state (t = 0) of the six-axis sensor 15 is set (S14). .

It starts the operation of the working operation body 10, and starts sending the detection signal a _t the six-axis sensor 15, received at the receiving section 21 (S15). Based on the detection signal a _t, it calculates the mass coordinate gamma _t of six-axis sensor in the space (S16), and calculates the mass point coordinate gamma curvature center point coordinates of _t draws the locus Q _t and the curvature radius r _t ( S17, S18).

Here, the curvature center coordinate Q _t remains at a position different from the mass point coordinate α of the first joint (No in S19), and the curvature radius r _t matches the length of the second rod 14 and remains unchanged (r _t = rt _{). -1} ) (S20 Yes), the first joint 11 that rotates the first rod 13 is determined to be in a fixed state, and the curvature center coordinate Q _t is set as the mass point coordinate β _t of the second joint ( S21).

Then, remain in a position of curvature center coordinates Q _t coincides with mass coordinate α of the first joint (S19 Yes), if the radius of curvature r _t is unchanged _{(r t = r t-1} ) (S22 Yes), The second joint 12 that rotates the first rod 13 and the second rod 14 is determined to be in a fixed state.
Then, the angular displacement φ of the mass point coordinate γ _t of the six-axis sensor centered on the mass point coordinate α of the first joint is calculated (S23), and the mass point coordinate β _t of the previous second joint by the same amount as this angular displacement φ. ₋₁ is angularly displaced to set the mass point coordinate β _t of the second joint (S24).

In the case of (S20 No) and (S22 No), it is determined that the first joint 11 and the second joint 12 are simultaneously rotating, and the mass point coordinate β _t of the second joint is set with reference to the database. (S25).
Next, the integrated cumulative error of the mass point coordinate β _t of the second joint set through various condition determinations is verified. The distances of the mass point coordinates α, β _t , γ _{t and} the lengths of the first rod 13 and the second rod 14 are compared, and if there is a mismatch, an error signal is transmitted (S26 No).

In this case, return the position of the six-axis sensor 15 to the initial coordinate gamma _0, resumes the operation of the detection signals a _t resets the integral (S14).
If there is no error in the integration cumulative error verification (S26 Yes), the skeleton model of the work operation body 10 is reproduced in the virtual space based on the mass point coordinates α, β _t , γ _t in the time information t (S27). By repeating the above-described flow until the operation measurement is completed, the operation of the work operation body 10 can be reproduced (S28 No Yes END).
The operation of the first embodiment is described by skipping the flow from (S19) to (S24) and jumping directly from (S18) to (S25).

(Third embodiment)
In the first embodiment and the second embodiment, it has been shown that the motion of the skeleton model is reproduced in the virtual space based on the mass point coordinates α, β _t , γ _t in the time information t. The motion is reproduced with an animation image 31 simulating the three-dimensional form of the motion body 10.
The specific part of the animation image 31 corresponds to the mass point coordinate α of the first joint, the mass point coordinate β _t of the second joint, and the mass point coordinate γ _t of the six-axis sensor, and corresponds to the locus of these mass point coordinates α, β _t , γ _t. The animation image 31 is operated in the virtual space.
Thereby, it becomes possible to intuitively understand the operation mode by changing the observation direction of the animation image 31.

Further, the background image 32 of the space where the animation image 31 is arranged is moved in accordance with the movement of the virtual image and the observation direction.
The background image 32 of this space is created from the floor map of the building where the work operation body 10 acts. This floor map includes information on the size and level of the building structure, the structure, such as a room, a wall and a door, and the position and outer shape of equipment fixed in the building such as a pump and a motor.
Thereby, the state of the worker who performs business in the plant building can be drawn by animation, and the worker can be monitored from an angle that cannot be visually recognized by the video of the monitoring camera.

In some cases, a plurality of work operation bodies 10 are operated close to each other in one space. In this case, the second joint 12 of one animation image 31 may be overlapped or penetrated through a part of the other animation image 31 due to the error measurement.
When such a case is detected as an error, initialization is performed to reset the cumulative error in calculation.

  Thereby, when creating an animation for drawing the actions of a plurality of workers, it is possible to avoid an unnatural drawing such as the arm of a worker penetrating through the body of another worker. Thereby, it is possible to simultaneously monitor a plurality of workers performing cooperative work in the plant. In addition, it is possible to review the work plan, work procedure, and worker layout using the monitoring results.

(Fourth embodiment)
As shown in FIG. 5, the work operation body 40 applied to the fourth embodiment is configured by connecting a plurality (n; n ≧ 2) of unit work operation bodies 10 _n .
That is, the free end of one unit work operation body 10 _n-1 is configured to be rotatably supported by the first joint 11 _n of another unit work operation body 10 _n .

In the first embodiment, the mass point coordinate α of the first joint 11 is a fixed point in the space.
However, the work motion body 40 applied to the fourth embodiment uses the mass point coordinates α of the first joint 11 ₁ as a fixed point, but the mass point coordinates of the other first joints 11 _n (n ≧ 2) are in units. A mass point coordinate γ _n-1 derived based on a detection signal transmitted by the six-axis sensor 15 _n-1 provided at the free end of the work operation body 10 _{n -1} is set.

Then, the mass point coordinate obtained by calculating the curvature center point coordinates Q _n and the curvature radius r _n of the circular trajectory of the gamma _n, mass coordinates of six-axis sensor gamma _n, mass coordinate gamma _n-1, the center of curvature of the first joint A mass point coordinate β _n (n ≧ 2) of the second joint corresponding to the coordinate Q _n and the curvature radius r _n is derived.
Note that the mass point coordinates β _n (n = 1) of the second joint are derived by the method described in the first embodiment (or the second embodiment).
As a result, it is possible to measure the motion of the work motion body composed of multiple joints.

  According to the work motion measuring apparatus of at least one embodiment described above, it is possible to estimate the operation of the unmounted part of the sensor from the operation of the mounted part of the sensor and reduce the total number of sensors to be mounted.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, changes, and combinations can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 10,40 ... Work motion body, 11 ... 1st joint, 12 ... 2nd joint, 13 ... 1st rod, 14 ... 2nd rod, 15 ... Six axis | shaft sensor, 20 ... Work motion measurement apparatus, 21 ... Reception part, DESCRIPTION OF SYMBOLS 22 ... 1st calculating part, 23 ... 2nd calculating part, 24 ... Registration part, 25 ... Parameter registration part, 26 ... User interface, 27 ... Database correction | amendment part, 28 ... Coordinate output part, 29 ... Motion drawing part, 30 ... Initialization unit 31 ... animation image 32 ... background image 40 ... working motion object 41 ... bone information table 42 ... joint information table 43 ... muscle information table a ... detection signal α ... mass point of the first joint Coordinates, β ... mass point coordinates of the second joint, γ ... mass point coordinates of the six-axis sensor, Q ... curvature center point coordinates, r ... curvature radius.

Claims (8)

A first rod having a proximal end rotatably supported by the first joint and a second joint provided at the distal end, and a second rod having one end pivotally supported by the second joint and the other end being a free end. A six-axis sensor provided at the free end of the working motion body comprising:
A receiving unit that receives detection signals of translational movement and axial movement in three axial directions transmitted by the six-axis sensor;
A first calculation unit for calculating a mass point coordinate of the six-axis sensor in space based on the detection signal;
A second calculation unit for calculating the curvature center point coordinate and the curvature radius of the arc-shaped locus of the mass point coordinates of the six-axis sensor;
A database registration unit that associates the mass point coordinates of the six-axis sensor, the mass point coordinates of the first joint, the center coordinates of curvature, and the mass point coordinates of the second joint corresponding to the radius of curvature;
And a coordinate output unit that outputs the mass point coordinates of the second joint synchronized with the calculation output of the mass point coordinates of the six-axis sensor based on the database. In the work movement measuring device according to claim 1,
When the center of curvature coordinates remain at a position different from the mass point coordinates of the first joint, and the radius of curvature is consistent with the length of the second rod,
The work motion measuring apparatus characterized in that the first joint for rotating the first rod is determined to be in a fixed state, and the center of curvature coordinates are output as the mass point coordinates of the second joint. In the work movement measuring device according to claim 1,
When the curvature center coordinates remain at a position that coincides with the mass point coordinates of the first joint, and the curvature radius is unchanged,
The second joint that rotates the first rod and the second rod is determined to be fixed,
The work joint measuring device is characterized in that the mass point coordinates of the second joint are angularly displaced by the same amount as the angular displacements of the mass point coordinates of the six-axis sensor centered on the mass point coordinates of the first joint. . In the work movement measuring device according to any one of claims 1 to 3,
When the relationship between the mass point coordinates of the six-axis sensor, the mass point coordinates of the first joint, the curvature center coordinates, and the curvature radius is not registered in the database,
The work motion measuring apparatus further comprising an initialization unit that considers that the error accumulated in the calculation process of the coordinate locus of the six-axis sensor exceeds an allowable range and initializes the calculation process. In the work movement measuring device according to any one of claims 1 to 4,
The motion drawing unit associates a specific part of the animation image with the mass point coordinates of the first joint, the mass point coordinates of the second joint, and the mass point coordinates of the six-axis sensor so as to correspond to the locus of these mass point coordinates. In three dimensions,
It is detected that the mass point coordinates of the second joint of any one virtual image among a plurality of virtual images operating in the same space are included in another virtual image. Work movement measuring device. In the work movement measuring device according to any one of claims 1 to 5,
The free end of one work motion body is configured to be rotatably supported by the first joint of another work motion body, and the mass point coordinates of the first joint are provided at the free end. The work movement measuring device, which is set based on the detection signal transmitted by the six-axis sensor. A first rod having a proximal end rotatably supported by the first joint and a second joint provided at the distal end, and a six-axis sensor at the other end which is a free end supported by the second joint. A step of causing a work operation body composed of a second rod provided with
Receiving a detection signal of translational movement and axial movement in three axial directions transmitted by the six-axis sensor;
Calculating mass point coordinates of the six-axis sensor in space based on the detection signal;
Calculating a curvature center point coordinate and a radius of curvature of an arc-shaped locus of mass point coordinates of the six-axis sensor;
Registering a database associating the mass point coordinates of the six-axis sensor, the mass point coordinates of the first joint, the center coordinates of curvature, and the mass point coordinates of the second joint corresponding to the curvature radius;
Outputting the mass point coordinates of the second joint synchronized with the calculation output of the mass point coordinates of the six-axis sensor based on the database. On the computer,
A first rod having a proximal end rotatably supported by the first joint and a second joint provided at the distal end, and a second rod having one end pivotally supported by the second joint and the other end being a free end. A function of receiving detection signals of translational motion and axial motion in three axial directions transmitted by a six-axis sensor provided at the free end of the working motion body comprising:
A function of calculating mass point coordinates of the six-axis sensor in space based on the detection signal;
A function to calculate the curvature center point coordinates and the radius of curvature of the arc-shaped locus of the mass point coordinates of the six-axis sensor;
A function of registering a database that associates the mass point coordinates of the six-axis sensor, the mass point coordinates of the first joint, the center coordinates of curvature, and the mass point coordinates of the second joint corresponding to the radius of curvature;
A work motion measurement program for executing a function of outputting the mass point coordinates of the second joint synchronized with the calculation output of the mass point coordinates of the six-axis sensor based on the database.

Images