JP2018055215A - Work position detection device and work position detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for preferably detecting a work position at low cost.SOLUTION: A work position detection device 10 detects a work position of a worker W1. The work position detection device 10 includes a storage part 52 for storing color information 522 showing the colors of identification markers 80, 82 worn by the worker W1, a color photographing part 20 for performing color photographing of a range in which the identification markers 80, 82 move, a depth measurement part 30 for measuring the depth of an object in a photographing area PR1 of the color photographing part 20, and a position information acquisition part 504 for acquiring position information of the identification markers 80, 82 on the basis of color image data 524 acquired by the color photographing part 20 and depth data 526 acquired by the depth measurement part 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for detecting a work position such as a hand position of an operator during work.

  Patent Document 1 discloses a technique in which an acceleration sensor, a position sensor, and the like are attached to an operator's limbs and waist, and the operator outputs the work element time required for each work element based on measurement data of those sensors. It is disclosed.

JP 2009-294732 A

  However, in the case of the above technique, only the relative position of each part of the worker can be acquired from the information from each sensor, so it is difficult to improve the accuracy of detecting the work position. In addition, when the acceleration sensor and the position sensor are attached to the worker, there is a risk of disturbing the work. In addition, since a receiver for receiving signals output from each sensor is required, there is a problem that the cost is likely to increase.

  Therefore, an object of the present invention is to provide a technique for detecting a work position suitably at low cost.

  In order to solve the above-described problem, a first aspect is a work position detection device that detects a work position of an operator, and a color information storage unit that stores color information indicating a color of an identification marker attached to the worker A color imaging unit that performs color imaging of a range in which the identification marker moves, a depth measurement unit that measures the depth of an object within the imaging region of the color imaging unit, color image data acquired by the color imaging unit, and A position information acquisition unit that acquires position information of the identification marker based on depth data acquired by the depth measurement unit.

  Further, the second aspect is the work position detection device according to the first aspect, further comprising a depth range setting unit that sets a depth range in the imaging region, wherein the position information acquisition unit includes the color image data And specifying one or more objects corresponding to the color information, and among the specified one or more objects, an object that is present in the depth range based on the depth data is used as the identification marker, and its position information To get.

  Moreover, a 3rd aspect is a work position detection apparatus of the 1st or 2nd aspect, Comprising: The wire harness assembly illustration board provided with the several holding tool holding a wire harness in several places, The said color The imaging region of the imaging unit includes a plurality of the holders for the wire harness assembling plate.

  The fourth aspect is the work position detection device according to any one of the first to third aspects, and the color information storage unit can store color information of two or more colors.

  A fifth aspect is the work position detection device according to any one of the first to fourth aspects, wherein the identification marker is attached to a forearm portion or a hand of an operator.

  Further, the sixth aspect is a work position detection method for detecting the work position of the worker, wherein (a) a color information storage step for storing color information indicating the color of the identification marker attached to the worker; b) a color imaging process in which a color imaging unit performs color imaging of a range in which the identification marker moves; and (c) a depth measurement process in which the depth measurement unit measures the depth of an object in the imaging area of the color imaging unit; (D) a position information acquisition step of acquiring position information of the identification marker based on the color image data acquired in the color photographing step and the depth data acquired in the depth measurement step.

  The seventh aspect is the work position detection method according to the sixth aspect, further comprising: (e) a depth range setting step for setting a depth range within the imaging region, wherein the position information acquisition step includes the color In the image data, one or more objects corresponding to the color information are specified, and among the specified one or more objects, an object that is present in the depth range based on the depth data is used as the identification marker. A step of acquiring the position information.

  According to the work position detection device of the first aspect, the position of the identification marker can be suitably specified based on the color image data and the depth data. In addition, since it is only necessary to attach an identification marker having a specific color to the worker, the work position is hardly disturbed and the work position can be detected at a low cost.

  According to the work position detection apparatus of the second aspect, it is possible to satisfactorily identify the identification marker by setting a depth range where the identification marker exists and identifying an object within the depth range. Therefore, even if an object having the same or approximate color as the color of the identification marker is included in the imaging region, the object can be excluded from the position information acquisition target. Thereby, the position of the identification marker can be suitably acquired.

  According to the work position detection apparatus of the third aspect, it is possible to detect the work position during the assembly work of the wire harness and acquire the work position information.

  According to the work position detection apparatus of the fourth aspect, the position information of each part of the worker can be acquired by attaching different color identification markers to each of the plurality of parts of the worker.

  According to the work position detection device of the fifth aspect, it is possible to detect the hand position when performing manual work.

  According to the work position detection method of the sixth aspect, the position of the identification marker can be suitably specified based on the color image data and the depth data. In addition, since it is only necessary to attach an identification marker having a specific color to the worker, the work position is hardly disturbed and the work position can be detected at a low cost.

  According to the work position detection method of the seventh aspect, it is possible to satisfactorily identify the identification marker by setting a depth range where the identification marker exists and identifying an object within the depth range. Therefore, even if an object having the same or approximate color as the color of the identification marker is included in the imaging region, the object can be excluded from the position information acquisition target. Thereby, the position of the identification marker can be suitably acquired.

It is a side view showing work position detecting device 10 of an embodiment. It is a figure which shows the wire harness 90 which is an assembly object. It is a figure which shows the bus wiring of the information processing part 50 of embodiment. It is a figure which shows an example of the color image 524I which the color image data 524 shows. It is explanatory drawing for demonstrating a mode that the positional information L1, L2 of the identification markers 80 and 82 is acquired from the color image 524I.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the component described in this embodiment is an illustration to the last, and is not a thing of the meaning which limits the scope of the present invention only to them. In the drawings, the size and number of each part may be exaggerated or simplified as necessary for easy understanding.

<1. Embodiment>
FIG. 1 is a side view illustrating a work position detection device 10 according to the embodiment. FIG. 2 is a diagram showing a wire harness 90 to be assembled. FIG. 3 is a diagram illustrating bus wiring of the information processing unit 50 according to the embodiment. FIG. 4 is a diagram illustrating an example of color image data. FIG. 5 is an explanatory diagram for explaining how the identification marker is specified from the color image data.

  The work position detection device 10 is a device that detects a work position when the worker W1 performs work. Here, the work position detection device 10 is configured to suitably detect the hand position of the worker W1 when the worker W1 manually assembles the wire harness 90.

  The work position detection apparatus 10 includes a color photographing unit 20, a depth measurement unit 30, a wire harness assembling pattern 40 and an information processing unit 50. The worker W1 wears two identification markers 80 and 82 on a part of the body. Here, the identification markers 80 and 82 are configured as wristbands attached to the wrist portion of the operator W1, and each has an entirely different color.

  In this example, an example in which two identification markers 80 and 82 are used will be described. However, there may be only one identification marker, or three or more identification markers. The identification markers 80 and 82 are not necessarily configured to be attachable to the wrist portion of the worker W1, and may be configured to be attachable to an arm portion (preferably forearm portion) or a hand, for example. For example, the identification marker may be formed in a glove shape so that it can be worn on the hand. Further, the identification marker may be configured to be attachable to a site such as a foot or a waist.

  The colors of the identification markers 80 and 82 are not particularly limited, but are preferably colors that can be easily distinguished from other objects by color recognition. The colors of the identification markers 80 and 82 are preferably different from the colors of the components of the work position detection device 10 and the colors of members (for example, jigs) existing at the place where the work position detection device 10 is installed.

<Color photographing unit 20>
The color photographing unit 20 performs color photographing on the range in which the identification markers 80 and 82 are moved (color photographing step). As shown in FIG. 1, the color photographing unit 20 photographs the identification markers 80 and 82 attached to the worker W1 from the upper side in the vertical direction. That is, the photographing direction D1 (lens direction) of the color photographing unit 20 is set so that the identification markers 80 and 82 are included in the photographing region PR1 of the color photographing unit 20.

  The color photographing unit 20 includes an image sensor, acquires an image signal at a predetermined frame rate by the image sensor, performs necessary processing on the image signal, and transmits the image signal to the information processing unit 50. The image signal is stored in the storage unit 52 by the information processing unit 50 as color image data 524 associated with information indicating work time (shooting time).

<Depth measurement unit 30>
The depth measurement unit 30 measures the depth of the object in the imaging region PR1 (depth measurement process). The depth measurement unit 30 may be configured with, for example, an infrared laser, an infrared sensor, and an arithmetic chip. Pattern light that is structured light may be output from an infrared laser, and pattern light reflected by an object may be detected by an infrared sensor. Then, the calculation chip measures the depth of each point on the infrared image obtained by the infrared sensor using the principle of triangulation. The calculation chip may be included in the information processing unit 50.

  The depth measurement unit 30 acquires depth information by acquiring an infrared image at a predetermined frame rate during the work of the worker W1. The depth information acquired by the depth measurement unit 30 is transmitted to the information processing unit 50. Thereby, the depth data 526 associated with the work time is acquired. The depth data 526 is information indicating the change in depth over time of each object in the imaging region PR1.

  Note that the method for measuring the depth of an object is not limited to the method using an infrared laser and an infrared sensor. For example, the depth of the object may be measured by scanning the imaging region PR1 with a laser and measuring the distance between the measurement device and the object based on the time difference until the laser is reflected from the object and returns. . Alternatively, the depth of the object may be measured by identifying the three-dimensional coordinate position of the object by photographing the inside of the photographing region PR1 with two or more cameras at different angles.

<Wire harness assembly plate 40>
The wire harness assembling pattern 40 is a member used for assembling the wire harness 90. Here, the wire harness assembling pattern 40 is a plate-like member formed in a rectangular shape, and a plurality of holders 42 are erected on the main surface (the surface having the largest area). The plurality of holders 42 are jigs for holding the wire harness 90 in the middle of assembly at a plurality of appropriate locations, and are, for example, U-shaped jigs.

  As shown in FIG. 2, the wire harness 90 includes an electric wire portion 92 having a branch and a connector 94 attached to each end of the electric wire portion 92. The worker W1 performs an operation of assembling the wire harness 90 having a branch as shown in FIG. 2 by installing the electric wire portion 92 on each of the holders 42 on the wire harness assembling pattern 40. Of the wire harness assembly plate 40, the side on which the plurality of holders 42 are erected is the side facing the worker W <b> 1 during the assembly work of the wire harness 90.

  As shown in FIG. 1, the wire harness assembling plate 40 is arranged so that the main surface on the side where the holder 42 is erected by the support base 44 is vertical so that the lower side in the vertical direction approaches the worker W1 side. Inclined with respect to the direction.

  As shown in FIG. 1, the color photographing unit 20 is disposed at a position above the wire harness assembling plate 40 and the photographing direction D1 (the direction of the lens) is directed to the worker W1 side. A plurality of holders 42 provided on the wire harness assembling pattern 40 are included in PR <b> 1 in the imaging region of the color imaging unit 20. For this reason, as shown in FIG. 4, the color image 524I obtained by photographing by the color photographing unit 20 includes the holder 42 erected on the main surface of the wire harness assembling plate 40 and the hand of the operator W1. In addition, the identification markers 80, 82, etc. are reflected.

<Information Processing Unit 50>
The hardware configuration of the information processing unit 50 is the same as that of a general computer. That is, the information processing unit 50 includes a CPU that performs various arithmetic processes, a ROM that is a read-only memory that stores basic programs, and a RAM that is a readable and writable memory that stores various information. The information processing unit 50 includes a storage unit 52 that stores control applications (programs) or data, an operation unit 54 that includes an input device such as a keyboard and a mouse, and a liquid crystal that visually displays various types of information. A display unit 56 such as a display is connected.

  The color information setting unit 502, the position information acquisition unit 504, and the depth range setting unit 506 shown in FIG. 3 are functions realized by software when the CPU operates according to a program. Some or all of these functions may be realized in hardware by a dedicated circuit or the like.

  The color information setting unit 502 sets color information for the identification markers 80 and 82. The color information is set as follows, for example. Specifically, the operator may input color information 522 corresponding to the colors of the identification markers 80 and 82, and the color information setting unit 502 may store the color information 522 in the storage unit 52 (color information storage step). In this case, for example, a color list may be displayed on the display unit 56 so that the operator can select the color information 522 corresponding to the colors of the identification markers 80 and 82. Alternatively, the operator may input a color code corresponding to the color of the identification markers 80 and 82. Alternatively, the color of each of the identification markers 80 and 82 may be read by a scanner, and the color information setting unit 502 may store color information 522 indicating the read color in the storage unit 52.

  The position information acquisition unit 504 acquires position information (information indicating a three-dimensional coordinate position in real space) of the identification markers 80 and 82 based on the color image data 524 and the depth data 526 (position information acquisition step).

  Specifically, the position information acquisition unit 504 specifies one or more objects corresponding to the color information 522 in the color image data 524. The part corresponding to the color information 522 is a part that matches the color indicated by the color information 522. Note that the portion corresponding to the color information 522 may include an approximate color portion that matches the color indicated by the color information 522 based on a predetermined threshold.

  As illustrated in FIG. 5, when the position information acquisition unit 504 specifies an object corresponding to the color information 522, in addition to the identification markers 80 and 82, the objects 80A and 82A that are not the identification markers 80 and 82 are also specified. There is. Therefore, the depth data 526 is used so that the position information acquisition unit 504 can effectively specify only the identification markers 80 and 82. Specifically, in the depth data 526, only the objects that are present in the predetermined depth range DR1 among the objects corresponding to the color information 522 are specified. Thereby, it is possible to suppress the identification of objects other than the identification markers 80 and 82.

  The depth range setting unit 506 sets the depth range DR1 within the imaging region PR1 (depth range setting step). The depth range DR1 is a depth range to be searched when the position information acquisition unit 504 specifies a portion corresponding to the color information 522 in the color image data 524. Specifically, in the example shown in FIG. 1, the depth range DR1 is a range from a predetermined height H1 to H2 in the vertical direction. The depth range DR1 is set so as to include a height range in which the identification markers 80 and 82 as detection targets move. The depth range DR1 may be set in advance, or may be arbitrarily changed by the operator via the operation unit 54.

  As shown in FIG. 1, the depth range DR1 has a constant height width (heights H1 to H2) in the horizontal direction. However, the depth range DR1v may have different height ranges in the horizontal direction, for example. Further, as shown in FIG. 1, a depth range DR2 having a constant width may be set in a direction orthogonal to the shooting direction D1.

  As illustrated in FIG. 5, the position information acquisition unit 504 identifies an object that is supposed to exist within the depth range DR <b> 1 based on the depth data 526. Thereby, the position information acquisition unit 504 excludes the objects 80A and 82A outside the depth range DR1, and specifies the object corresponding to the remaining color information 522 as the identification markers 80 and 82. Then, the position information L1, L2 of the identification markers 80, 82 is acquired. As for the position information L1 and L2, the position in the two-dimensional direction orthogonal to the shooting direction D1 is acquired from the position on the image indicated by the color image data 524 or the position on the infrared image acquired by the depth measurement unit 30. Good. For the position information L1 and L2, the position in the shooting direction D1 may be acquired from the depth data 526.

  When the position information acquisition unit 504 specifies an object corresponding to the color information 522 in the color image data 524, based on the size of the portion corresponding to the color information 522 on the image, a position other than the identification markers 80 and 82 is used. You may make it remove an object. Specifically, in the information processing unit 50, the sizes of the identification markers 80 and 82 are set in advance. When the position information acquisition unit 504 compares the object specified in the color image data 524 with a preset size and determines whether the object corresponds to the identification markers 80 and 82 according to the degree of coincidence. Good.

  As described above, the position information of the identification markers 80 and 82 acquired by the position information acquisition unit 504 based on the color image data 524 and the depth data 526 is stored in the storage unit 52 as the work position information 528. The work position information 528 is data indicating the position information of the identification markers 80 and 82 during work. That is, the work position information 528 indicates the position of the identification markers 80 and 82 during work, that is, the work position of the operator's hand. Therefore, from the work position information 528, it is possible to reproduce the trajectory (hand movement line) through which the hand of the worker during work has passed.

  The work content can be evaluated for each worker by obtaining the hand movement line of each worker using the work position detection device 10. Further, a hand flow line as an index may be created based on work performed by a skilled worker or the like. By comparing the hand flow line serving as the index with the hand flow line of the apprentice worker, it becomes possible to provide education support for the apprentice worker.

  In addition, since it is only necessary to attach an identification marker having a specific color to the worker, the work position is hardly disturbed and the work position can be detected at a low cost.

  It is also conceivable to acquire the position information of the identification markers 80 and 82 by performing color recognition and size recognition in the color image data 524. In this case, it is relatively easy to identify a relatively small object by appropriately setting color recognition parameters. However, it is easily affected by lighting and the like, and if there are objects of the same color in the photographing region PR1, it is difficult to identify them, so it is difficult to obtain position information suitably. On the other hand, it is conceivable to acquire the position information of the identification markers 80 and 82 using only the depth data 526. In this case, although it is difficult to be affected by illumination, recognition of a relatively small object is difficult due to the problem of resolution. It can be difficult. Therefore, the detection accuracy of the identification markers 80 and 82 can be improved by using both the color image data 524 and the depth data 526 as in the above embodiment.

<2. Modification>
Although the embodiment has been described above, the present invention is not limited to the above, and various modifications are possible.

  In the above embodiment, the identification markers 80 and 82 of different colors are used, but the identification markers 80 and 82 may be the same color. In this case, for example, the size of the identification markers 80 and 82 may be made different from each other in the color image data 524.

  In addition, the work position detection device 10 of the above embodiment is configured to detect a work position in the assembly work of the wire harness 90. However, the application of the present invention is not limited to this. For example, the present invention is also effective when detecting the work position of the hand in the article removal work. Specifically, as the article removal work, a plurality of shelves (or drawers) each containing different kinds of articles (parts, etc.) are provided in multiple stages, up and down or left and right, and the operator can handle the necessary articles. It is conceivable to prepare by taking it out from the shelves. In this case, it is preferable to measure the depth of the object in the imaging region PR1 while making the vicinity of each shelf near the imaging region PR1. Based on the position information of the identification markers 80 and 82 acquired in this way, the hand movement line can be automatically acquired.

  Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention. The configurations described in the above embodiments and modifications can be appropriately combined or omitted as long as they do not contradict each other.

DESCRIPTION OF SYMBOLS 10 Work position detection apparatus 20 Color imaging | photography part 30 Depth measurement part 40 Wire harness assembly plate 42 Holder 50 Information processing part 502 Color information setting part 504 Position information acquisition part 506 Depth range setting part 52 Storage part (color information storage part)
522 Color information 524 Color image data 524I Color image 526 Depth data 528 Work position information 80, 82 Identification marker 90 Wire harness D1 Shooting direction DR1 Depth range PR1 Shooting area W1 Worker

Claims (7)

A work position detection device for detecting a work position of an operator,
A color information storage unit that stores color information indicating the color of the identification marker attached to the operator;
A color photographing unit for photographing a range in which the identification marker moves;
A depth measurement unit that measures the depth of an object in the imaging region of the color imaging unit;
A position information acquisition unit that acquires position information of the identification marker based on color image data acquired by the color photographing unit and depth data acquired by the depth measurement unit;
A work position detecting device. The work position detection device according to claim 1,
A depth range setting unit for setting a depth range in the imaging region;
Further comprising
The position information acquisition unit
In the color image data, one or more objects corresponding to the color information are specified, and among the specified one or more objects, an object that is present in the depth range based on the depth data is specified as the identification marker. As a work position detection device that acquires the position information. The work position detection device according to claim 1 or claim 2,
Wire harness assembly plate with multiple holders that hold the wire harness at multiple locations,
Further comprising
The work position detecting device, wherein the photographing region of the color photographing unit includes a plurality of the holders of the wire harness assembling plate. The work position detection device according to any one of claims 1 to 3,
The color information storage unit is a work position detection device capable of storing color information of two or more colors. The work position detection device according to any one of claims 1 to 4,
A work position detection device, wherein the identification marker is attached to a forearm portion or a hand of an operator. A work position detection method for detecting a work position of an operator,
(A) a color information storage step for storing color information indicating the color of the identification marker attached to the worker;
(B) a color imaging step of performing color imaging of a range in which the identification marker moves by a color imaging unit;
(C) a depth measurement step of measuring the depth of the object by a depth measurement unit within the imaging region of the color imaging unit;
(D) a position information acquisition step for acquiring position information of the identification marker based on the color image data acquired in the color photographing step and the depth data acquired in the depth measurement step;
A method for detecting a work position. The work position detection method according to claim 6,
(E) a depth range setting step for setting a depth range within the imaging region;
Further including
The location information acquisition step includes
In the color image data, one or more objects corresponding to the color information are specified, and among the specified one or more objects, an object that is present in the depth range based on the depth data is specified as the identification marker. As a work position detecting method, including a step of acquiring the position information.

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