JP2017146115A - Computation device, computation method, and computation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a computation device, a computation method, and a computation program with which it is possible to reduce the number of sensors needed when detecting a motion with respect to a control object such as a work robot and an object such as a worker.SOLUTION: A computation device 1 reads the length of an upper arm and the length of a link part such as a length from an elbow joint to a measurement object portion that is approximated from the length of a front arm, as prerecorded model information (S301), and further acquires the position and posture of the link part on tip side obtained from measurement results (S302-S303). The computation device 1 computes the angle of the link part on a root side that is a computation object portion on the basis of the read length of the link part on a tip side and the acquired position and posture (S304), and further computes the position (S305).SELECTED DRAWING: Figure 8

Description

  The present invention relates to a calculation device that calculates a calculation target region based on a result of measuring a measurement target region, a calculation method using such a calculation device, and a calculation program for realizing such a calculation device.

  At various work sites such as factories, machines such as industrial robots and people work together. Various techniques for detecting and analyzing human and machine movements have been attracting attention for the purpose of enabling humans to safely cooperate with machines.

  A technique such as motion sensing using a sensor attracts attention for detection and analysis of human movement. For example, when human motion sensing is performed using an inertial sensor, information indicating the shape of the body of the person to be measured is recorded in advance as a human body model that schematically represents the shape of the human body. When the person to be measured performs an action, the action of the person to be measured is calculated based on the result of measuring the body with the same inertial sensor and the human body model recorded in advance. For example, Patent Literature 1 discloses an exercise instruction apparatus that analyzes a suitable movement of a human body model based on a human body model stored in advance. In patent document 1, in order to measure operation | movement with a sensor, the to-be-measured person wears the sensor module, and the sensor is attached to the sensor module in various positions.

  In addition, for a machine such as an industrial robot, the motion can be detected and analyzed using a sensor.

JP 2013-27629 A

  However, when attaching sensors to various locations as in the exercise guidance device described in Patent Document 1, a large number of sensors are required, which causes problems such as an increase in cost and complicated installation work. In addition, in a machine such as an industrial robot, it is also possible to acquire data related to an operation from an encoder without using a sensor. It cannot be applied to analysis.

  The present invention has been made in view of such a reason, and by calculating the calculation target part on the base side based on the measurement result of the measurement target part on the tip side, the cost is increased, the installation work is complicated, etc. The main object is to provide an arithmetic device capable of suppressing the above problem.

  Another object of the present invention is to provide a calculation method using the calculation device according to the present invention.

  Another object of the present invention is to provide an arithmetic program for realizing the arithmetic device according to the present invention.

  In order to solve the above-described problem, the calculation device described in the present application is based on a result of measuring a measurement target site to which a plurality of link portions are connected by a bent portion from a root to a tip, and the calculation target site of the target A reading unit that reads the length of the recorded link unit from a recording unit that records the length of each link unit in advance, and a link unit on the distal end side based on the measurement result A state information acquisition unit that acquires state information indicating the position and orientation of the link, and a link unit on a base side based on the length of the link unit read by the reading unit and the state information acquired by the state information acquisition unit And a calculation unit that calculates at least one of the position and the angle.

  Further, in the arithmetic device, the position and angle related to the base side link portion calculated by the arithmetic unit are the position and angle of the bent portion connecting the tip side link portion and the base side link portion, and the base side link. It is the angle of the base of the part.

  Further, in the arithmetic device, the target is a human body, the link unit is a link unit constituting a part of the limb of the human body, and the bending unit is a part of the limb of the human body. The distal end side and the base side of the link part are a distal side and a proximal side of the limb.

  In the calculation device, the position and angle related to the proximal link unit calculated by the calculation unit are the position and angle of the distal joint in the proximal link unit, and the position of the proximal joint. It is an angle.

  Further, in the arithmetic device, the target is a control target in which a plurality of link portions are connected by joint portions, one end is a free end and the other end is a fixed end, and the tip side and the base side of the link portion are The free end side and the fixed end side of the controlled object.

  In the arithmetic device, the state information includes a measurement information acquisition unit that acquires at least one of velocity, acceleration, angular velocity, angular acceleration, pressure, and magnetism, which is a result of measuring the measurement target part, as measurement information. The obtaining unit obtains the state information of the object by calculating based on the measurement information obtained by the measurement information obtaining unit.

  Further, in the arithmetic device, the arithmetic unit calculates based on inverse kinematics.

  Furthermore, the calculation method described in the present application is a calculation method for calculating the target calculation target part based on the measurement result of the target measurement target part to which a plurality of link parts are connected by a bent part from the base to the tip. The reading unit reads the length of the recorded link unit from the recording unit in which the length of each link unit is recorded in advance, and the state information acquisition unit is based on the measurement result on the tip side. Acquiring the state information indicating the position and orientation of the link unit, and the calculation unit based on the length of the link unit read by the reading unit and the state information acquired by the state information acquisition unit. And calculating at least one of a position and an angle related to the link portion on the side.

  Further, the calculation program described in the present application causes the computer to calculate the target calculation target part based on the measurement result of the target measurement target part to which the plurality of link parts are connected by the bent part from the base to the tip. A calculation program, comprising: a step of reading a length of the recorded link portion from a recording portion in which the length of each link portion is recorded in advance on a computer; and a step of the link portion on the distal end side based on the measurement result Obtaining state information indicating the position and orientation, and calculating at least one of a position and an angle related to the base link portion based on the read length of the link portion and the obtained state information. It is made to perform.

  The calculation device, calculation method, and calculation program described in this application calculate the calculation target part on the base side based on the state information on the tip side based on the measurement result of the measurement target part.

  The present invention relates to the state information indicating the position and posture of the link portion on the tip side, and the length of the link portion recorded in advance for a target to which a plurality of link portions are connected by a bent portion from the base to the tip. Based on this, the position and / or orientation related to the base link portion is calculated. Thus, if the position and orientation on the tip side are measured, the position and / or orientation on the base side can be obtained by calculation. Therefore, since the number of sensors to be attached can be reduced, it is possible to suppress problems such as an increase in cost associated with the attachment of sensors and complication of attachment work, and the like, and thus excellent effects can be achieved. Further, when the subject of measurement is a human body such as an operator, measurement by a built-in device such as an encoder is extremely difficult, and thus the effect of applying the present invention is excellent.

It is explanatory drawing which shows notionally an example of the system using the arithmetic unit described in this application. It is a block diagram which shows an example of the hardware constitutions of the arithmetic unit of this application description, a robot, and a mounting apparatus. It is explanatory drawing which shows notionally an example of the recording content of the model recording part with which the calculating device of this application is provided. It is a functional block diagram which shows an example of a function structure of the arithmetic unit described in this application, and other various apparatuses. It is a conceptual diagram which shows a part of human body modeled in the calculating method using the calculating device of this application. It is a flowchart which shows an example of the 1st human body model recording process of the arithmetic unit described in this application. It is a flowchart which shows an example of the 2nd human body model recording process of the arithmetic unit described in this application. It is a flowchart which shows an example of the arithmetic processing of the arithmetic unit described in this application.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiment is an example embodying the present invention, and is not intended to limit the technical scope of the present invention.

<Overview>
First, an outline of a system using the arithmetic device 1 described in the present application will be described. FIG. 1 is an explanatory diagram conceptually showing an example of a system using an arithmetic device 1 described in the present application. The computing device 1 described in the present application is, for example, a robot such as an industrial robot (hereinafter referred to as a robot) 2 that works according to a predetermined control command and an FA (Factory Automation) system in which an operator works in cooperation. 2. It is used for operations such as analysis of the motion of a subject such as an operator. More specifically, the computing device 1 described in the present application performs measurement on a measurement target region for a target such as an operator or a robot 2, and performs calculation on the calculation target region based on the measurement result. An operator wears the mounting device 3 including various inertial sensors such as an acceleration sensor and a gyro sensor on various measurement target parts of the body, for example, measurement target parts such as the head, forearm, and lower leg. In addition, in order to measure the position of the shoulder and the hip joint as a reference for calculation to be described later, the mounting device 3 is provided with various sensors in the shoulder, the chest, the hip joint, and the like that are approximate to the position of the shoulder. However, if the position of the hip joint can be estimated from the measurement results of various sensors located at other measurement target sites, the hip joint position can be replaced by the estimation result, and can be omitted. In addition, when a plurality of link parts are connected by a joint part that is a bent part, and the target is a controlled object such as a robot 2 having an arm part that has one end as a free end and the other end as a fixed end, Various inertial sensors such as an acceleration sensor and a gyro sensor are attached to a measurement target part such as the vicinity of the tip on the free end side of the part. In FIG. 1, in order to facilitate understanding, a part where the inertial sensor is located is indicated by a white circle in the operator and the robot 2 wearing the mounting device 3.

  The inertial sensor is attached to the link portion on the distal end side in a target where a plurality of link portions are connected by a bent portion from the base to the distal end, and the attached portion is a measurement target of the position and posture. When a human body such as an operator is a target, a joint is a bent portion, and a forearm, an upper arm, a lower leg, a thigh, and the like bent at the joint are link portions. And the link part of the distal side, such as a forearm and a lower leg, becomes a measurement object part, and the link part of the proximal side, such as an upper arm and a thigh, becomes a calculation object part. It is not necessarily limited to the limbs, but the head, which is the link portion on the distal end side of the trunk, can be used as a measurement target part, and parts such as the chest and abdomen can be used as calculation target parts. Further, in the case where a control target such as the robot 2 having the arm portion described above is targeted, the vicinity of the tip of the free end side link portion is a measurement target, and the fixed end side link portion is a calculation target portion.

  The mounting device 3 including various inertial sensors measures a measurement target part of the worker's body, and outputs measurement information such as various raw data regarding the operation of the measurement target part of the worker's body to the arithmetic device 1 as a result of the measurement. To do. As a sensor attached to the mounting device 3, an inertial sensor such as an acceleration sensor or a gyro sensor is used. In addition, measurement information such as various raw data is also output from the robot 2 to the computing device 1 as a measurement result by the inertia sensor.

  The arithmetic device 1 acquires various measurement information respectively output from the mounting device 3 and the robot 2, and supports cooperative work between the worker and the robot 2 by a technique such as motion sensing that detects the motion of the worker. . The computing device 1 is configured by using a computer such as a control computer for controlling the robot 2, and is connected to the mounting device 3 and the robot 2 in a communicable manner by a wireless or wired communication method. Perform signal communication.

<Device configuration>
Next, the configuration of various apparatuses described in the present application will be described mainly using the arithmetic device 1. FIG. 2 is a block diagram illustrating an example of a hardware configuration of the arithmetic device 1, the robot 2, and the mounting device 3 described in the present application. The computing device 1 includes a control unit 10 and a recording unit 11, and further includes interfaces such as a measurement information acquisition unit 12 and a model input unit 13 for communication with other devices.

  The control unit 10 is configured using a processor such as a CPU (Central Processing Unit) and a memory such as a register. The control unit 10 controls the entire apparatus by executing various commands, and controls the robot 2 with control commands. Is output.

  The recording unit 11 includes a nonvolatile memory such as a ROM (Read Only Memory) and an EPROM (Erasable Programmable Read Only Memory), a volatile memory such as a RAM (Random Access Memory), and a recording medium such as a hard disk drive and a semiconductor memory. It records data such as various programs and information. In the recording area of the recording unit 11, a calculation program PG that causes a computer such as a control computer to function as the calculation device 1 according to the present invention is recorded.

  Furthermore, a part of the recording area of the recording unit 11 is a model recording unit 11a that records model information indicating a model such as a human body model that schematically represents the shape of the worker's body, a robot model that schematically represents the shape of the robot 2, and the like. It is used as a database. Instead of using a part of the recording area of the recording unit 11 included in the computing device 1 as the model recording unit 11 a, a recording device such as a server computer that records various types of information is connected to the computing device 1. A part of the recording area of the connected recording device may be used as a database such as the model recording unit 11a. That is, the model recording unit 11a can be designed in various forms as long as it can be read by the control unit 10 included in the arithmetic device 1.

  FIG. 3 is an explanatory diagram conceptually illustrating an example of the recorded contents of the model recording unit 11a included in the arithmetic device 1 described in the present application. FIG. 3 exemplifies model information indicating the human body model recorded in the model recording unit 11a, in association with worker specifying information (worker ID) for specifying the worker, a link part, a link length, Data corresponding to various items such as a movable range is recorded as a record. In the item of the link part, information indicating the name of the part treated as a link part such as the left forearm or the left upper arm is recorded. In the item of link length, information indicating the length of a part treated as a link part is recorded. In the item of the movable range, the movable range of the link portion is recorded as information indicating the angular range for each of the X axis, the Y axis, and the Z axis shown in the reference coordinate system. In addition, the name and length of the link part recorded in the model recording part 11a and handled by the computing device 1 are the name and length as a human body model, and the part in the medical and anatomical senses. It does not necessarily match the name and length. For example, the left forearm and its length recorded in the model recording unit 11a indicate the part and length from the left elbow joint of the operator to the inertial sensor mounted near the left wrist, and are medically and anatomically Although it approximates the left forearm in a sense, it does not necessarily match. When model information indicating a model such as a robot model is recorded in the model recording unit 11a, robot specifying information for specifying the robot 2 is recorded instead of the worker specifying information, and is associated with the robot specifying information. Information for each item such as a link part, a link length and a movable range is recorded.

  Returning to the block diagram of FIG. 2, the measurement information acquisition unit 12 is an interface that acquires various types of information such as measurement information indicating measurement results from the robot 2 and the mounting device 3. The model input unit 13 is an interface for communicating with various devices used for inputting various information such as model information indicating models such as a human body model and a robot model. Note that these interfaces do not necessarily have to exist as individual devices, and can be shared as appropriate. Also, the interface for the mounting device 3 and the interface for the robot 2 can be provided individually. Is also possible. Further, the model input unit 13 may accept input of model information indicating a model such as a human body model or a robot model from the information input device 4 using a device such as a tablet computer, and may be a portable recording such as various semiconductor memories. It is possible to design appropriately such as accepting input of model information from a medium.

  A computer such as a control computer reads various programs recorded in the recording unit 11, for example, the calculation program PG, reads the length of the link unit included in the read calculation program PG, and determines the position and orientation of the link unit. By performing various steps such as acquisition of the state information to be shown and calculation of the position and angle of the link unit under the control of the control unit 10, it functions as the calculation device 1.

  The robot 2 has various configurations such as a control unit 10 that controls the entire apparatus, an operation unit such as an arm unit that performs work, a measurement unit that uses sensors such as an acceleration sensor and a gyro sensor, and other output units. It has.

  The mounting device 3 includes various components such as a measurement unit using sensors that measure an operation state such as an acceleration sensor and a gyro sensor, and an output unit.

  The robot 2 and the mounting device 3 include various configurations such as a measurement unit using an inertial sensor such as an acceleration sensor and a gyro sensor, and an output unit. As a sensor attached to the robot 2 and the mounting device 3, a sensor that measures a physical quantity such as a magnetic sensor or a pressure sensor can be used in addition to an acceleration sensor and a gyro sensor. Then, the robot 2 and the mounting device 3 measure physical quantities such as speed, angular velocity, acceleration, angular acceleration, pressure, magnetism, and the like at the measurement unit, and calculate from the output unit as measurement information such as raw data indicating the measurement results. Output to device 1. The computing device 1 acquires measurement information indicating physical quantities such as velocity, angular velocity, acceleration, angular acceleration, pressure, magnetism, and the like in the measurement information acquisition unit 12, and calculates the state of the measurement target region calculated based on the acquired measurement information State information such as position information and posture information indicating For example, the position information can be calculated by integrating the acceleration measured by the acceleration sensor twice. The calculation of state information such as position information and posture information based on measurement information indicating physical quantities such as velocity, angular velocity, acceleration, angular acceleration, pressure, and magnetism may be performed by the robot 2 and the mounting device 3. The calculation device 1 may be used.

  FIG. 4 is a functional block diagram illustrating an example of functional configurations of the arithmetic device 1 and other various devices described in the present application. The arithmetic device 1 executes various programs such as the arithmetic program PG, and thereby performs various calculations such as the state information acquisition unit 10a, the model calculation unit 10b, the model reading unit 10c, and the operation calculation unit 10d based on the control of the control unit 10. Realize the function to do. Note that various arithmetic units for realizing these various functions can be mounted as dedicated circuits using semiconductor chips such as LSI (Large Scale Integration) and VLSI (Very Large Scale Integration).

  The state information acquisition unit 10a is configured to determine the position of the measurement target part based on measurement information indicating physical quantities such as velocity, angular velocity, acceleration, angular acceleration, pressure, and magnetism acquired by the measurement information acquisition unit 12 from the robot 2 and the mounting device 3. State information such as information and posture information is obtained by calculation. When state information such as position information and posture information is output from the robot 2 and the mounting device 3 and the measurement information acquisition unit 12 acquires the state information, the state information acquisition unit 10a of the control unit 10 acquires the acquired state information. Is obtained as it is as information used in the subsequent calculations.

  The model calculation unit 10b is a human body model that schematically represents the shape of the worker's body and a robot that is schematically the shape of the robot 2, based on various state information such as position information and posture information acquired by the state information acquisition unit 10a. A calculation for calculating model information such as a model is executed, and a process for recording the model information as a calculation result in the model recording unit 11a is executed.

  The model reading unit 10c reads necessary model information from various model information recorded in the model recording unit 11a, and executes processing to pass to the motion calculation unit 10d.

  Based on the model information read by the model reading unit 10c, the operation calculation unit 10d executes a process of calculating the operation state of a target calculation target portion such as an operator or the robot 2. The operating state is calculated as, for example, the angle and position of the calculation target part.

<Calculation>
Next, the calculation method will be described. Here, an example in which the target is an operator and the operator's calculation target part is calculated based on state information obtained from measurement information obtained by measuring the measurement target part of the worker will be mainly described. Even when the control target of the robot 2 or the like is targeted, the substantial calculation method is the same as that for the worker. FIG. 5 is a conceptual diagram showing a part of the human body modeled in the calculation method using the calculation device 1 described in the present application. The arithmetic device 1 acquires the result of measuring the measurement target site of the target such as the operator, the robot 2 or the like over time, and the length of the link portion recorded in the recording unit 11 in advance and the measurement of the acquired measurement target site. Based on the state information indicating the position and posture obtained from the information, the position and posture of the calculation target part are calculated. The site to be measured is a site on the distal side of the forearm such as the vicinity of the wrist corresponding to the inertial sensor of the mounting device 3 and a site on the distal side of the lower leg such as the ankle. The calculation target part is a part such as an elbow joint, a shoulder joint, a knee joint, or a hip joint, that is, a proximal part of a link such as a forearm, upper arm, lower leg, or thigh. For the calculation, for example, a mathematical calculation method using a Jacobian matrix can be applied.

In FIG. 5, the relative coordinate system of the upper arm with the shoulder joint p ₀ as the origin is p ₀ -x ₀ y ₀ z ₀ , and the relative coordinate system of the forearm with the elbow joint p ₁ as the origin is p ₁ -x ₁ y ₁ z. ₁ , shown as Each coordinate system is an orthogonal coordinate system. The position information of the shoulder joint, the elbow joint, and the measurement target part with respect to the origin of the absolute coordinate system arbitrarily taken is p ₀ (x _p0 , y _p0 , z _p0 ) and p ₁ (x _p1 , y _p1, z _p1), and _{p s (x S, y S} , indicated as z _S). The length of the upper arm is shown as the length l ₁ from the shoulder joint p ₀ to the elbow joint p ₁ . The length from the elbow joint p ₁ to the measurement target site p _s near the wrist is indicated as a length l ₂ . When the position of the measurement target part is near the wrist, the length l ₂ is approximated to the length of the forearm. Further, as required, the shoulder joint and the elbow joint are referred to as the joint part k and the joint part k + 1, respectively, and the measurement target is the upper arm indicated by the length l ₁ and the elbow joint indicated by the length l _2. The parts up to the part are referred to as link k and link k + 1, respectively. Further, the joint angles of the shoulder joints are represented as (θ ₁ , θ ₂ , θ ₃ ), and the joint angles of the elbow joints are represented as (θ ₄ , θ ₅ , θ ₆ ).

  Here, P is a matrix indicating the position of the measurement target part, Q is a matrix indicating the posture of the measurement target part, and Θ is a matrix indicating the joint angle of the shoulder joint and elbow joint, which are calculation target parts. , Matrices P, Q, and Θ can be defined as the following equations (1) to (3).

Further, the conversion from the relative coordinate system of the upper arm to the reference coordinate system with the shoulder initial coordinate as the reference coordinate and the shoulder joint p ₀ as the origin is defined as a homogeneous conversion matrix ^g T ₀ shown in the following equation (4). can do. The transformation from the relative coordinate system of the forearm with the elbow joint p ₁ as the origin to the relative coordinate system of the upper arm with the shoulder joint p ₀ as the origin is defined as a homogeneous transformation matrix ⁰ T ₁ shown in the following equation (5). be able to. The conversion from the relative coordinate system with the measurement target site to the origin to the relative coordinate system of the forearm with the elbow joint p ₁ as the origin can be defined as a homogeneous transformation matrix ¹ T _S shown in the following equation (6). .

In Expression (4), ^g R ₀ represents a rotation matrix that represents the posture of the shoulder viewed from the reference coordinates. In the equation (5), ⁰ R ₁ represents a rotation matrix representing the elbow posture viewed from the shoulder coordinate system. In Equation (5), L ₁ represents a translation matrix from the shoulder coordinate system to the elbow coordinate system, as shown in Equation (7) below. In Expression (6), E represents a 3 × 3 unit matrix. In Expression (6), L ₂ represents a translation matrix from the elbow coordinate system to the coordinate system with the measurement target site as the origin, as shown in the following Expression (8).

P defined as the equation (1) is expressed by the following equation (4) using the homogeneous transformation matrices ^g T ₀ , ⁰ T ₁ , ¹ T _S based on the forward kinematics shown as the equations (4) to (6) 9).

  On the other hand, when the operator wears the mounting device 3, the inertial sensor is fixed to the link k + 1 (forearm), which is the measurement target part of the worker, and therefore Q defined as the equation (2) is expressed by the equation (2) It can be expressed using Θ defined as 3). The position and orientation of the measurement target portion corresponding to the inertial sensor fixed to the worker's forearm can be expressed as the following equation (10) using the function f.

  By differentiating the above equation (10), the velocity and angular velocity of the measurement target region can be expressed as the following equation (11) using the Jacobian matrix J.

In Expression (11), if the degree of freedom of the joint is equal to the degree of freedom of the inertial sensor located at the measurement target part, and if the inverse matrix J ⁻¹ of the Jacobian matrix J exists, the inverse matrix of Expression (11) The following equation (12) can be obtained by calculation with J ⁻¹ .

However, if the link k is the upper arm and the link k + 1 is the forearm, the degree of freedom of the elbow is generally 2 DOF (Degree Of Free), so “joint degree of freedom (5 DOF) <degree of freedom of inertial sensor (6 DOF ) ”. In this case, the following equation (13) can be obtained from equation (11) using the pseudo Jacobian matrix (J ^T J) J ^T.

Then, by integrating the equation (12) or the equation (13), the shoulder joint angles (θ ₁ , θ ₂ , θ ₃ ) and the elbow joint angles (θ ₄ , θ ₅ , θ _{6) are obtained} as Θ. ) Can be calculated. Further, from the joint angles (θ ₁ , θ ₂ , θ ₃ ) of the shoulder joint and the length l ₁ from the shoulder joint p ₀ to the elbow joint p ₁ , the elbow joint position information p ₁ (x _p1 , y _p1 , z _p1 ) can be calculated. That is, Θ can be calculated from P and Q, and l ₁ and l ₂ , and p ₁ (x _p1 , y _p1 , z _p1 ) can be calculated by adding l ₁ . Based on the position information and posture information of the measurement target part, and the length of the upper arm and the length approximated to the forearm (length from the elbow joint to the measurement target part) as shown in the above specific example, The angles of the joint (calculation target part) and shoulder joint (calculation target part) and the position of the elbow joint (calculation target part) can be calculated. That is, the angle and position of the elbow joint which is the distal side of the upper arm and the angle of the shoulder joint which is the proximal side can be calculated. In the calculation method illustrated here, it is not necessary to calculate because the position information of the shoulder joint is a fixed value, but when using another coordinate system, the position coordinates of the shoulder joint (calculation target part) are also calculated. You may do it.

<Processing configuration>
Processing of the arithmetic device 1 described in the present application for realizing the above arithmetic will be described. Here, an example will be mainly described in which the target is an operator, and the operator's calculation target part is calculated based on the state information obtained from the measurement result of the worker's measurement target part. Even when the control target is targeted, the substantial processing is the same as that for the worker.

  FIG. 6 is a flowchart showing an example of the first human body model recording process of the computing device 1 described in the present application. In the first human body model recording process, an operator wearing the mounting apparatus 3 performs an operation, acquires measurement information as a measurement result of the operation, and records a human body model calculated from state information based on the acquired measurement information. This is a process of recording in the unit 11a.

  The control unit 10 included in the arithmetic device 1 executes the first human body model recording process by executing various programs such as the arithmetic program PG. The control unit 10 of the arithmetic device 1 acquires measurement information as a result of measuring the operator's movement by the measurement information acquisition unit 12 from the mounting device 3 worn by the worker (S101). The worker wearing various inertial sensors as the mounting device 3 performs a predetermined reference motion, and the mounting device 3 performs the speed, angular velocity, acceleration, angular acceleration, Measure physical quantities such as pressure and magnetism. The mounting device 3 outputs measurement information indicating the measurement result to the arithmetic device 1. In step S <b> 101, the arithmetic device 1 acquires measurement information on a measurement target part, which is a result measured by the operator performing a reference operation.

  Based on the measurement information acquired by the measurement information acquisition unit 12, the control unit 10 obtains and acquires state information such as position information and posture information of the measurement target region by the state information acquisition unit 10 a (S <b> 102). Step S102 is a process of calculating position information and posture information of the measurement target part of the worker as state information based on measurement information such as raw data obtained by measuring the measurement target part of the worker acquired by the measurement information acquisition unit 12 It is.

  Based on the state information acquired by the calculation of the model calculation unit 10b, the control unit 10 is a human body model that schematically represents the shape of the worker's body, for example, an elbow that approximates the length of the upper arm and the length of the forearm. Model information indicating the length of the link portion such as the length from the joint to the measurement target part is calculated (S103). The calculation of the human body model based on various state information obtained from the measurement results obtained from the mounting device 3 worn by the worker can be performed using various preceding techniques. For example, it is described in “Kanesugi Hiroshi, Shibasaki Ryosuke,“ Measurement and Analysis of Human Motion Using Wearable Sensors ”, Photographic Society of Japan, 2005 Annual Scientific Lecture, pp.199-202, 2005.06”. It is possible to apply the method.

  Then, the control unit 10 records the model information indicating the human body model such as the calculated length of the link unit in the model recording unit 11a in association with the worker specifying information for specifying the worker who performed the operation (S104). ).

  In this way, the first human body model recording process is executed.

  FIG. 7 is a flowchart showing an example of the second human body model recording process of the computing device 1 described in the present application. The second human body model recording process is a process of receiving an input of a human body model such as the length of the link part from the information input device 4 that records a human body model derived in advance and recording it in the model recording part 11a.

  The control unit 10 included in the arithmetic device 1 executes the second human body model recording process by executing various programs such as the arithmetic program PG. The control unit 10 of the computing device 1 receives input of model information indicating a human body model such as the length of the link unit and corresponding worker specifying information from the information input device 4 to the model input unit 13 (S201). Then, the control unit 10 records the received model information such as the length of the link unit in the model recording unit 11a in association with the worker specifying information (S202).

  In this way, the second human body model recording process is executed.

  In addition, as a process which records model information in the model recording part 11a, any of a 1st human body model recording process and a 2nd human body model recording process may be used, and you may make it use another method. . Even when the control target such as the robot 2 is targeted, substantially the same processing for recording model information such as the length of the link portion of the robot 2 is executed.

  FIG. 8 is a flowchart showing an example of the arithmetic processing of the arithmetic device 1 described in the present application. The calculation process is a process of acquiring measurement information obtained by measuring a measurement target part of a target such as an operator or the robot 2 and calculating the calculation target part from state information based on the acquired measurement information.

  The control unit 10 included in the arithmetic device 1 executes arithmetic processing by executing various programs such as the arithmetic program PG. The control unit 10 of the arithmetic device 1 uses the model reading unit 10c as a model information from the model recording unit 11a that records model information, and measures the measurement target from the elbow joint approximate to the length of the upper arm and the length of the forearm. The length of the link part such as the length to the part is read (S301).

  Furthermore, the control part 10 acquires the measurement information which is the result of having measured the measurement object site | part by the measurement information acquisition part 12 (S302). And the control part 10 acquires the positional information which shows the position of the link part of the front end side, and the attitude | position information which shows an attitude | position as status information from the acquired measurement information by the status information acquisition part 10a (S303). In steps S302 to S303, when the target is an operator, for example, position information and posture information of the distal link unit are acquired as state information. Further, when the target is a control target such as an arm portion of the robot 2, position information and posture information of the link portion on the free end side are acquired as state information. The acquisition of the measurement information in step S302 is a physical quantity such as velocity, angular velocity, acceleration, angular acceleration, pressure, magnetism, and the like obtained by measuring the measurement target site as a result of measurement by the mounting apparatus 3 including various sensors such as an inertial sensor. It is acquisition of measurement information such as raw data. The acquisition of the state information in step S303 is a process of calculating the position information and the posture information of the measurement target part as the state information based on the measurement information obtained by measuring the measurement target part acquired by the measurement information acquisition unit 12. . The mounting device 3 calculates the state information from the measurement information, and the state information acquisition unit 10a acquires the state information output from the mounting device 3 to the calculation device 1 via the measurement information acquisition unit 12. You may do it.

The control unit 10 calculates the angle of the base link unit, which is a calculation target part, based on the length of the link unit read as model information and the position information and posture information acquired as state information by the motion calculation unit 10d. Then, the position is further calculated (S305). In steps S303 to S304, for example, the angle Θ of the calculation target portion is calculated from the position P and posture Q of the measurement target portion and the lengths l ₁ and l _{2 of the} link portion by the above-described calculation method, and the position p is further determined. Calculate. In the above-described specific example shown as the calculation method, the joint angle of the shoulder joint (joint part k) (θ ₁ , θ ₂ , θ ₃ ) and the elbow joint (joint part k + 1) are used as the angle Θ of the calculation target part. In this example, (θ ₄ , θ ₅ , θ ₆ ) is calculated, and the position information p ₁ (x _p1 , y _p1 , z _p1 ) of the elbow joint (joint part k + 1) is further calculated. For detailed and specific calculation methods and theories, reference is made to the above description related to calculations, and the description thereof is omitted here.

  Then, the control unit 10 determines whether or not to end the calculation process (S306). For example, when the operator performs a predetermined operation to end the operation to be measured and end the calculation process, the operation is performed. The received control unit 10 determines to end the arithmetic processing.

  If it is determined in step S304 that the calculation process is to be ended (S306: YES), the control unit 10 ends the calculation process. If it is determined in step S306 that the calculation process is to be continued (S306: NO), the control unit 10 returns to step S302 and repeats the subsequent processes.

  In this way, arithmetic processing is executed. In addition, although the process which calculates the position and attitude | position of a calculation object site | part is shown here as a process of the calculation apparatus 1, calculation results, such as the calculation apparatus 1 controlling the robot 2 based on the calculated result, It can be connected to various processes.

  As described above, the calculation device 1 described in the present application can calculate the base side calculation target part based on the measurement result of the measurement target part on the distal end side with respect to targets such as the robot 2 and the worker. Therefore, the number of sensors used for measurement can be reduced. In particular, a control target such as the robot 2 can acquire information on the operation from the encoder without attaching a sensor, but the operator cannot acquire information by a method such as an encoder. . That is, the arithmetic device 1 described in the present application is particularly effective in acquiring information related to the operation of the worker.

  The present invention is not limited to the embodiments described above, and can be implemented in various other forms. For this reason, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is shown by the scope of claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  For example, in the above-described embodiment, the vicinity of the wrist is the measurement target, and the angle and position of the elbow joint and the shoulder joint are calculated.However, the present invention is not limited to this, and the vicinity of the ankle is the measurement target, and the knee joint and It can be developed in various forms such as calculating the angle and position of the hip joint.

DESCRIPTION OF SYMBOLS 1 Calculation apparatus 10 Control part 10a State information acquisition part 10b Model calculation part 10c Model reading part (reading part)
10d motion calculation unit (calculation unit)
DESCRIPTION OF SYMBOLS 11 Recording part 11a Model recording part 12 Measurement information acquisition part 13 Model input part 2 Robot 3 Mounting apparatus 4 Information input apparatus PG Calculation program

Claims (9)

On the basis of the result of measuring a target measurement target part to which a plurality of link parts are connected by a bent part from the base to the tip, the arithmetic unit that calculates the target calculation target part,
A reading unit that reads the length of the recorded link unit from a recording unit that records the length of each link unit in advance,
A state information acquisition unit that acquires state information indicating the position and orientation of the link portion on the distal end side based on the measured result;
A calculation unit that calculates at least one of a position and an angle related to the base link unit based on the length of the link unit read by the reading unit and the state information acquired by the state information acquisition unit. An arithmetic unit characterized by the above. The arithmetic device according to claim 1,
The position and angle related to the base side link part calculated by the calculation part are the position and angle of the bent part connecting the tip side link part and the base side link part, and the base angle of the base side link part. An arithmetic device characterized by that. The arithmetic device according to claim 1,
The subject is a human body;
The link part is a link part constituting a part of the limb of the human body,
The bent portion is a joint constituting a part of the limb of the human body,
The computing device, wherein the tip side and the base side of the link part are a distal side and a proximal side of the limb. The arithmetic device according to claim 3,
The position and angle related to the proximal link section calculated by the calculation section are the position and angle of the distal joint in the proximal link section, and the angle of the proximal joint. Arithmetic unit to do. The arithmetic device according to claim 1,
The object is a control object in which a plurality of link parts are connected by a joint part, one end is a free end, and the other end is a fixed end,
The arithmetic unit according to claim 1, wherein the tip side and the base side of the link part are a free end side and a fixed end side of the control target. An arithmetic device according to any one of claims 1 to 5, wherein
A measurement information acquisition unit that acquires at least one of speed, acceleration, angular velocity, angular acceleration, pressure, and magnetism, which is a result of measuring the measurement target part, as measurement information;
The state information acquisition unit acquires the state information of the target based on the measurement information acquired by the measurement information acquisition unit. The arithmetic device according to any one of claims 1 to 6,
The calculation unit is configured to perform calculation based on inverse kinematics. On the basis of the result of measuring a target measurement target part to which a plurality of link parts are connected by a bent part from the base to the tip, the calculation method for calculating the target calculation target part,
A step of reading the length of the link part recorded from the recording part in which the reading part records the length of each link part in advance;
A state information acquisition unit acquiring state information indicating the position and orientation of the link portion on the distal end side based on the measurement result; and
A calculation unit that calculates at least one of a position and an angle related to the link unit on the base side based on the length of the link unit read by the reading unit and the state information acquired by the state information acquisition unit; An arithmetic method comprising: Based on the result of measuring a target measurement target part to which a plurality of link parts are connected by a bent part from the base to the tip, a computer program for calculating the target calculation target part,
On the computer,
A step of reading the length of the recorded link portion from the recording portion in which the length of each link portion is recorded in advance;
Obtaining state information indicating the position and orientation of the link portion on the distal end side based on the measured results;
And a step of calculating at least one of a position and an angle with respect to the link portion on the base side based on the read length of the link portion and the acquired state information.

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