JP2020173326A - Field work education system - Google Patents

Abstract

To provide a work operation education system that allows users to perform work in a VR space and to experience a state in which appropriate work is performed.SOLUTION: A system for educating work at a construction site includes: a VR image display device 2 that a worker who receives education mounts and that displays a VR image to be visually recognized by the worker; a trowel model 5 held by the worker; a drive unit 10 that the worker wears and that applies force to the body of the worker; and a control unit 20 that controls the VR image displayed on the VR image display device 2 and the force generated by the drive unit 10 according to movement of the trowel model 5. The control unit 20 calculates an interference state between the trowel model 5 and a structure included in the VR image according to the movement of the trowel model 5, and controls the operation of the drive unit 10 so that force corresponding to the calculated interference state is applied to the worker.SELECTED DRAWING: Figure 1

Description

The present invention relates to a field work education system.

In recent years, the number of construction skilled workers has decreased remarkably, and there is a constant shortage of human resources in the construction industry. In addition, construction-skilled workers need to experience certain training and actual work in order to acquire the prescribed skills. Therefore, even if new employees can be secured, it takes a certain amount of time to be able to perform the work alone at the actual site.

On the other hand, work education for new employees is usually taught by skilled workers or by watching the work of skilled workers in the field. However, the conventional method of seeing and learning the work of skilled workers requires a very long time for new employees to acquire the skills. In addition, even when a skilled worker educates, the skilled worker cannot take sufficient education time because he / she will be educated in the interval while performing his / her work. In particular, in a situation where the number of skilled technicians is decreasing and the number of skilled technicians is short, as in recent years, it is difficult for skilled technicians to provide sufficient education to new employees.

Recently, an institution has been established to educate new employees about the work before actually performing the work on site, but it is difficult to secure human resources because the instructors at that institution are also skilled technicians. ..

By the way, recently, a simulator has been developed in which a virtual space providing means for visually, tactilely, or forcefully providing a virtual workspace including a virtual object to a worker is configured (see Patent Document 1). ). There is a description that this technology can perform work such as cooking and mold processing, measure the tolerance from the ideal work, and judge whether or not the appropriate work is being carried out.

Japanese Patent Application No. 2002-333823

However, although the technique of Patent Document 1 can determine whether or not appropriate work is being carried out by measuring the tolerance with the ideal work based on the information from the input / output device, it is actually It is not possible to experience the movement of the body when performing accurate work.

In view of the above circumstances, it is an object of the present invention to provide a work motion education system capable of performing work in a VR space and experiencing a state in which appropriate work is performed.

The work operation education system of the first invention is a system for educating work at a construction site, and is a VR image display device that is worn by an educated worker and displays a VR image to be visually recognized by the worker, and the worker. The simulated work tool held by the worker, the drive unit worn by the worker to apply force to the worker's body, the VR image to be displayed on the VR image display device according to the movement of the pseudo work tool, and the VR image. The control unit includes a control unit that controls the force generated by the drive unit, and the control unit is in a state of interference between the pseudo work tool and the structure included in the VR image in response to the movement of the pseudo work tool. Is calculated, and the operation of the drive unit is controlled so that a force corresponding to the calculated interference state is applied to the operator.

According to the first invention, since the work can be performed with a feeling close to the actual work situation, a lot of work experience can be gained in addition to the work at the site, and the progress of the work is accelerated.

It is a schematic block diagram of the work operation education system 1 of this embodiment. It is a processing flow diagram of the work operation education system 1 of this embodiment. It is a process flow diagram which carries out the comparison work with the sample operation in the work operation education system 1 of this embodiment. It is a schematic explanatory drawing of the state which the trowel model 5 which is a pseudo work tool of the work operation education system 1 of this embodiment, and the drive part 10 is attached. It is a schematic explanatory drawing of the state which the trowel model 5 which is a pseudo work tool of the work operation education system 1 of this embodiment, and the drive part 10 is attached. This is an example of a VR image.

The work motion education system of the present embodiment is a system that allows the operator to experience simulated work while visually recognizing the VR image, and enables the worker to perform the work with a feeling close to the actual work. It has the characteristics of.

The "work" in the present specification is not particularly limited, and any work in which the worker receives a reaction force against the target building can be adopted. For example, the work of a worker painting a wall material on a wall, cloth pasting, plastering work, board pasting, light iron work, and the like can be mentioned.

In the following, a case where the worker performs the work of applying the wall material to the wall will be described as a representative.

<Work movement education system 1 of this embodiment>
As shown in FIG. 1, the work motion education system 1 of the present embodiment includes a VR image display device 2 worn by an educated worker, a trowel model 5 which is a pseudo work tool held by the worker, and a worker. A drive unit 10 to be mounted on the vehicle and a control unit 20 for controlling the operation of the VR image display device 2 and the drive unit 10 are provided.

<VR image display device 2>
The VR image display device 2 is a device that allows an operator to visually recognize a VR image. The VR image display device 2 is not particularly limited as long as it is a display device capable of allowing an operator to visually recognize a VR image. For example, a display device such as a general LED display or an organic EL can be used. In particular, it is desirable to use the head mount display as the VR image display device 2 because the operator can experience the situation of actually working in the space displayed by the VR image in a state closer to reality.

<Trowel model 5>
As shown in FIG. 6, the trowel model 5 is a model formed in a shape and weight similar to a trowel used by an operator for painting a wall material on a wall. The trowel model 5 is provided with a sensor that detects its moving state, position, posture, and the like, and the information detected by this sensor is supplied to the control unit 20. The sensor provided in the trowel model 5 is not particularly limited as long as it can detect the moving state (acceleration, moving direction, etc.) and posture (tilt of the coated surface of the trowel) of the trowel model 5. For example, an acceleration sensor, a gyro sensor, a tilt sensor, or the like can be adopted. Further, the position of the trowel model 5 may be calculated by the amount of movement from the initial state, or may be detected by using a motion capture system or the like.

The trowel model 5 may be provided with information to the control unit 20 wirelessly or the like, or the control unit 20 and the trowel model 5 may be connected by wire to provide information to the control unit 20 by wire. It may be like this. If the information is provided wirelessly, there is an advantage that the operator can move the trowel model 5 in a state close to the actual work.

<Drive unit 10>
As shown in FIG. 1, the drive unit 10 includes first to third drive members 11 to 13.

<First drive member 11>
As shown in FIGS. 4 and 5, the first driving member 11 is attached to the elbow of the operator. The first driving member 11 has a front member 11a attached to the forearm portion of the worker and a rear member 11b attached to the upper arm portion of the worker. Then, it has a connecting member 11c that connects the front member 11a and the rear member 11b. The connecting member 11c can be deformed by following the bending and stretching and twisting of the worker's arm. Further, the connecting member 11c has a driving mechanism that applies a force between the front member 11a and the rear member 11b so as to forcibly bend and stretch the arm. This drive mechanism is not particularly limited, but a configuration as shown below can be adopted.

For example, reels r1 and r2 that can be driven by a motor and have wires wound around the inside and outside of the rear member 11b are provided, respectively. Then, one end of the wire w1 of the inner reel r1 is connected to the inside of the front member 11a, and one end of the wire w2 of the outer reel r2 is connected to the outside of the front member 11a. Then, if the motor is driven to wind the wire w1 of the inner reel r1, a force can be generated in the direction of bending the arm. On the other hand, if the motor is driven to wind the wire w2 of the outer reel r2, a force can be generated in the direction of extending the arm.

If two inner reels r1 and two outer reels r2 are provided, the twist of the arm can be adjusted by adjusting the winding state of the four reels.

Further, as the reels r1 and r2, those in which the wires w1 and w2 are unwound and wound according to the movement of the arm are used in a state where the motor is not driven.

<Second drive member 12>
As shown in FIGS. 4 and 5, the second drive member 12 is attached to the wrist of the operator. The second driving member 12 has a glove portion 12a on the glove and an arm portion 12b attached to the forearm portion of the worker. It also has a connecting member 12c that connects the glove portion 12a and the arm portion 12b. The connecting member 12c can be deformed by following the bending and twisting of the wrist of the operator. Further, the connecting member 11c has a drive mechanism that applies a force between the glove portion 12a and the arm portion 12b so as to forcibly bend and stretch the wrist. This drive mechanism is not particularly limited, but a configuration as shown below can be adopted.

For example, reels r3 and r4 that can be driven by a motor and have wires wound around the inside and outside of the arm portion 12b are provided, respectively. Then, one end of the wire w3 of the inner reel r3 is connected to the palm side of the glove portion 12a, and one end of the wire w4 of the outer reel r4 is connected to the back side of the hand of the glove portion 12a. Then, if the motor is driven to wind the wire w3 of the inner reel r3, a force can be generated in the direction of bending the wrist. On the other hand, if the motor is driven to wind the wire w4 of the outer reel r4, a force can be generated in the direction of extending the arm.

If two inner reels r3 and two outer reels r4 are provided, the lateral movement of the wrist and the twist of the wrist can be adjusted by adjusting the winding state of the four reels. .. For example, if the drive for simultaneously winding the inner reel r3 and the outer reel r4 provided on the thumb side and the drive for simultaneously winding the inner reel r3 and the outer reel r4 provided on the little finger side are repeated alternately, The wrist can be reciprocated laterally.

Further, as the reels r3 and r4, those in which the wires w3 and w4 are unwound and wound according to the movement of the arm are used in a state where the motor is not driven.

<Third drive member 13>
As shown in FIGS. 4 and 5, the third drive member 13 is attached to the shoulder of the operator. The third driving member 13 has a shoulder portion 13a attached to the shoulder of a person and an arm portion 13b attached to the upper arm of the worker. Then, it has a connecting member 13c that connects the shoulder portion 13a and the arm portion 13b. The connecting member 13c can be deformed following the movement of the worker's arm. Further, the connecting member 13c has a drive mechanism that applies a force between the shoulder portion 13a and the arm portion 13b so as to forcibly move the arm. This drive mechanism is not particularly limited, but a configuration as shown below can be adopted.

For example, reels r5 and r6 that can be driven by a motor and have wires wound around the chest side and the back side of the shoulder portion 13a are provided, respectively. Then, one end of the wire w5 of the inner reel r5 is connected to the inside of the arm portion 13b, and one end of the wire w6 of the outer reel r6 is connected to the outside of the arm portion 13b. Then, by driving the motor and winding the wire w5 of the inner reel r5, a force can be generated so as to move the arm inward (in the direction toward the body). On the other hand, if the motor is driven to wind the wire w6 of the outer reel r6, a force can be generated so as to move the arm outward (in the direction away from the body). For example, if the inner reel r5 and the outer reel r6 are wound alternately, the arm can be reciprocated in the lateral direction.

If two inner reels r5 and two outer reels r6 are provided, the arm can be moved in the vertical direction by adjusting the winding state of the four reels.

Further, as the reels r3 and r4, those in which the wires w3 and w4 are unwound and wound according to the movement of the arm are used in a state where the motor is not driven.

The drive unit 10 does not have to include all of the first to third drive members 11 to 13, and may be only one of them or only two of the three. In the case of the work of coating the wall material, the reaction force in the field work can be realized with a certain degree of accuracy only by the first and second drive members 11 and 12.
Further, the pressurizing 10 may have a driving member other than the first to third driving members 11 to 13 described above. For example, a drive member to be attached to the knee or waist may be provided. In this case, the height of the coating and the movement in the lateral direction can be experienced, so that the state closer to the actual work can be experienced.

<Sensor>
Although not shown, each member of the first to third drive members 11 to 13 is provided with a sensor for detecting the movement, position, posture, etc. of each member, and the information detected by this sensor is the control unit. It is designed to be supplied to 20. In other words, a sensor is provided to detect the movement, position, posture, etc. of each part of the worker's body provided with each member, and the information detected by this sensor is supplied to the control unit 20. It has become. The sensor provided on each member is not particularly limited as long as it can detect the moving state (acceleration, moving direction, etc.) and posture (tilt of each member, etc.) of each member. For example, an acceleration sensor, a gyro sensor, a tilt sensor, or the like can be adopted. Further, the position of each member and the movement, position, and posture of each part of the worker's body may be calculated by the amount of movement from the initial state, or may be detected by using a motion capture system or the like.

In this case, the information from the sensor may be provided to the control unit 20 wirelessly or the like, or the control unit 20 and each member may be connected by wire to provide the information to the control unit 20 by wire. You may be able to do it. If the information is provided wirelessly, there is an advantage that the worker can perform the work in a state close to the actual work.

<Control unit 20>
As shown in FIG. 1, the control unit 20 includes an analysis unit 21 that analyzes an input from the trowel model 5 and controls the operation of the drive unit 10, and an image control unit 22 that controls an image to be displayed on the VR image display device 2. , And a storage unit 25 that stores information about an image to be displayed by the image control unit 22.

<Memory unit 25>
The storage unit 25 stores an image of a work site or the like, an image of the trowel model 5 to be displayed on the image, and an image of the arm of the worker holding the trowel model 5. These images are created in advance and are displayed on the VR image display device 2 by the image control unit 22 according to the movement of the trowel model 5 analyzed by the analysis unit 21 described later.

<Image of work site, etc.>
The VR image of the work site or the like is formed by reproducing the work site or the like assumed by various image creation systems and software. In the work of painting a wall material on a wall, an image including buildings and objects existing on the wall and its surroundings becomes a VR image. Here, the image creation system and software for creating a VR image of a work site (hereinafter referred to as a site VR image) are not particularly limited, but it is desirable to create a site VR image using a BIM system for designing a building model. .. When created using the BIM system, information including various information (materials, physical properties, etc.) of each object in the image can be included in the site VR image. Then, when the trowel model 5 is operated by the analysis unit 21 described later, the reaction force received by the trowel model 5 from the wall material in the site VR image, the wall to which the wall material is applied, or the like can be calculated. Therefore, it becomes possible to practice the situation where the wall material is applied to the wall at the actual site while experiencing the reaction force received from the wall or the like.

As the BIM system, a commercially available three-dimensional CAD for building design can be used. For example, Revit (registered trademark) and the like can be used.

<Analysis unit 21>
The analysis unit 21 has a function of analyzing the movement of the trowel model 5 based on the input from each sensor provided in the trowel model 5. For example, based on the input of the acceleration sensor provided in the trowel model 5 or the sensor for detecting the moving direction, it is analyzed in which direction and at what acceleration and speed the trowel model 5 is moving. Further, the analysis unit 21 has a function of calculating the distance between the trowel model 5 and the wall displayed in the above-mentioned site VR image. Then, when the trowel model 5 is not in contact with the wall, the analysis unit 21 calculates the posture and position of the trowel model 5 based on the information from the sensor provided in the trowel model 5.

On the other hand, when the trowel model 5 interferes with the wall, the interference state with the wall is calculated, and the first to third drive members 11 to 13 are operated so as to be in the posture of the interference state. For example, consider the case where the trowel model 5 comes into contact with a flat wall. In this case, when the back surface of the trowel plate of the trowel model 5 first comes into contact with the wall, the trowel model 5 cannot move. Then, when the worker tries to move the trowel model 5 so as to move the trowel model 5 further toward the wall, a force corresponding to the reaction force applied to the trowel model 5 from the wall is applied to the worker. , The analysis unit 21 operates the first to third drive members 11 to 13. For example, when the operator tries to move the arm or the like so as to move the trowel model 5 further toward the wall, the analysis unit 21 first keeps the position of the trowel model 5 and does not move the arm or the like. ~ The third drive members 11 to 13 are operated. Specifically, the first to third drive members 11 to 13 are operated so that the force is generated in the direction opposite to the force for extending the arm or the like, that is, in the direction in which the arm or the like bends.

In the work motion education system 1 of the present embodiment, if the site VR image is formed by the BIM system, the information of the site VR image includes information including materials such as walls and physical properties. Then, the analysis unit 21 operates the first to third drive members 11 to 13 so that not only the relative position between the trowel model 5 and the wall but also the force corresponding to the material of the wall is generated. Will also be possible. For example, if the wall is hard and hardly deformed, the operation of the first to third drive members 11 to 13 is controlled so that the trowel model 5 does not move after the trowel model 5 comes into contact with the wall. On the other hand, if the wall is elastic or plastic or brittle like mud, the trowel model 5 will move to some extent even after it comes into contact with the wall, but the first step is to slow down the movement speed. It is possible to control the operation of the third driving members 11 to 13. Then, if the physical properties of the wall material are stored in the storage unit 25, the operation of the first to third driving members 11 to 13 can be controlled in consideration of the physical properties of the wall material. That is, it is possible to make the operator feel a reaction force close to the feeling when the wall material is applied to the actual wall with a trowel.

Further, when there is no input from the motion capture device 30 as described later, the analysis unit 21 stores the position of the basic posture as a reference position, and depending on the movement amount and the movement direction from the reference position, the trowel model 5 or It is desirable that the positions of the first to third drive members 11 to 13 are calculated. The basic posture can be, for example, a state in which both hands are lowered, or a posture that serves as a reference when painting a wall.

<Image control unit 22>
The image control unit 22 has a function of controlling a VR image (see FIG. 6) displayed on the VR image display device 2. The image control unit 22 can use the control system adopted in a general VR system for displaying a VR image on the VR image display device 2.

The image control unit 22 has a function of controlling the site VR image to be displayed on the VR image display device 2 based on the information of the site VR image stored in the storage unit 25 and the information on the line of sight of the operator. are doing. For example, if the VR image display device 2 is a head-mounted display, it has a function of adjusting a field VR image to be displayed on the VR image display device 2 according to the movement of the operator's face. Further, the liquid crystal display has a function of adjusting the on-site VR image to be displayed on the VR image display device 2 based on the input information when the operator changes the direction to be visually recognized by the input device.

The image control unit 22 also has a function of superimposing the image of the trowel on the VR image of the site and displaying it. This function can also utilize the control system adopted in a general VR system that superimposes a VR device on a VR image and displays it. That is, when information on the movement, posture, and position of the trowel model 5 is supplied from the analysis unit 21, it has a function of displaying the image of the trowel in the field VR image based on the information.

<Training by the work motion education system 1 of this embodiment>
Since the work motion education system 1 of the present embodiment has the above-described configuration, the worker can experience the wall material coating work as follows. In the following, a case where the VR image display device 2 is a head-mounted display will be described.

As shown in FIG. 2, first, the VR image display device 2 is attached to the face of the worker, and when the worker holds the trowel model 5, the work movement education system 1 of the present embodiment is operated.

Then, let the worker take the standard posture. Then, the analysis unit 21 of the control unit 20 adjusts the position of the trowel model 5 at that time to the reference position. Then, when the reference position is adjusted, the worker starts training in the coating work. That is, the trowel model 5 is operated to apply the wall material to the wall in the site VR image.

During this work, when the trowel model 5 comes into contact with the wall in the field VR image, the analysis unit 21 operates the first to third drive members 11 to 13 of the drive unit 10, which corresponds to the reaction force from the wall. Make sure that the force to do is applied to the worker. Then, the worker receives the same feeling as when the wall material is actually applied to the wall with a trowel. Then, since the result of one's work can be confirmed on the site VR image, it can be judged whether or not one's work was appropriate.

As described above, the work motion education system 1 of the present embodiment gives a feeling similar to that when the worker is actually performing the painting work, so that he / she can gain work experience.

<Correction function>
The storage unit 25 may store information on a sample operation that serves as a sample of the work performed by the operator. That is, the information when the skilled worker performs the coating work by using the work movement education system 1 of the present embodiment may be stored in the storage unit 25 as a sample movement. In this case, the analysis unit 21 compares the information included in the sample operation information with the information actually obtained by the operator, and controls the operation of the drive unit 10 based on the difference. May be good. That is, the operation of the drive unit 10 may be controlled so as to match the movement of the worker with the movement of the skilled worker (see FIG. 3). Then, since the worker can be put into a state where the skilled worker actually picks it up and teaches the movement, it becomes easy to improve the proficiency level of the worker's work.

In this case, the standard for operating the drive unit 10 so as to match the movement of the worker with the movement of the skilled worker is not particularly limited. When the movement of the worker deviates from the movement of the skilled worker by a certain amount or more, a method such as operating the drive unit 10 so that the deviation is within the permissible range can be adopted (see FIG. 3). .. For example, when the operator moves the trowel model 5 too fast, the lateral movement of the arm can be slowed down by controlling the operation of the third drive member 13 of the drive unit 10. If the angle of the trowel model 5 is not appropriate, the angle of the trowel model 5 can be adjusted by controlling the operation of the first drive member 11 (if necessary, the second drive member 12) of the drive unit 10. Can be done. When the pressing amount against the wall is not appropriate, the pressing amount can be adjusted by controlling the operation of the first to third drive members 11 to 13 of the drive unit 10.

When the sample operation information is stored, the image control unit 22 may have a function of displaying the status of performing the sample operation on the VR image display device 2. Then, since the worker can confirm the sample operation with an image before operating the trowel model 5 and performing the work training, it becomes easy for the worker to imagine the work of a skilled worker, that is, an appropriate work. Then, when the work is performed using the work motion education system 1 of the present embodiment, if a correction force is applied from the drive unit 10, it becomes easier to understand the meaning of the correction force, so that the proficiency level for the work is increased. It will be easier.

Further, when the control unit 25 stores the data information when the operator operates and trains the trowel model 5, the image control unit 22 displays a work image showing the work status of the operator. It may have a function of displaying on the VR image display device 2. Then, since the worker can confirm his / her work later, it becomes easy to grasp the problem and the improvement point. In particular, if it has a comparison display function that superimposes a sample motion on a work image, it becomes easier to grasp the problem of one's own work. In this case, if the information on the correction force applied from the drive unit 10 is also displayed on the work image, it becomes easier to grasp the problem of the own work. For example, a method of superimposing the direction and size on which the correction force is applied by an arrow or the like on the work image can be mentioned.

<Worker movement detection method>
As described above, the movement of the operator may be calculated by the calculation unit 21 from the sensor provided in the trowel model 5. Further, a motion capture device 30 may be provided separately, and the motion of the operator may be detected by the motion capture device 30. In this case, the motion capture device 30 to be used is not particularly limited. For example, an optical motion capture device, an inertial sensor type motion capture device, a mechanical motion capture device, a magnetic motion capture device, a video type motion capture device, or the like can be adopted. When an optical or video type motion capture device 30 is adopted, it is necessary to provide a camera or member for shooting, and when a magnetic motion capture device is adopted, a transmitter or a magnetic field that generates a magnetic field is received. You need a receiver to do. On the other hand, in the case of an inertial sensor type or mechanical type motion capture device, the movement of the operator is detected by using the information of the sensors provided on the drive members 11 to 13 of the trowel model 5 and the drive unit 10 described above. You can also.

If the motion capture device 30 acquires the sample motion of the skilled worker and the work status of the worker described above, the sample motion and the motion of the worker acquired by the work motion education system 1 can be compared more accurately. You get the advantage of being able to.

The work movement education system of the present invention is suitable for a system that educates quality, technical improvement, safety, step improvement, etc. in field work in which work is acquired by experience.

1 Work motion education system 2 VR image display device 5 Trowel model 10 Drive unit 11 First drive member 12 Second drive member 13 Third drive member 20 Control unit 21 Analysis unit 22 Image control unit 25 Storage unit

Claims (7)

A system that educates the work of construction sites
A VR image display device that is worn by an educated worker and displays a VR image that the worker can see.
Pseudo work tools held by the worker and
A drive unit that is worn by the worker and applies force to the worker's body.
It includes a VR image to be displayed on the VR image display device according to the movement of the simulated work tool, and a control unit for controlling the force generated by the driving unit.
The control unit
The interference state between the pseudo work tool and the structure included in the VR image is calculated according to the movement of the pseudo work tool, and the force corresponding to the calculated interference state is applied to the operator of the drive unit. A work movement education system characterized by controlling movement. The control unit
It is equipped with a storage unit that stores sample movements for operating sample work tools.
The work operation education system according to claim 1, wherein when there is a deviation between the sample operation and the movement of the work tool, the drive unit is operated so as to correct the deviation. The sample operation is
It is composed of values obtained from a sensor attached to a predetermined part of a skilled worker when a skilled worker performs work using a simulated work tool, and motion information captured by a motion capture device. 2. The work motion education system according to claim 2. It is equipped with a motion capture device that records the movement of the operator when using the simulated work tool.
The control unit
The work motion education system according to claim 2 or 3, wherein the motion capture device has a comparative display function of simultaneously displaying the worker's motion and the sample motion stored in the motion capture device on the VR image display device. The work motion education system according to any one of claims 1 to 4, wherein the work is a wall material coating work. The drive unit
The first drive member attached to the worker's elbow,
The second drive member attached to the worker's wrist,
The work motion education system according to claim 5, further comprising a third drive member attached to the shoulder of the worker. The VR image is
The work motion education system according to any one of claims 1 to 5, wherein the image is formed by a BIM system.

Images