JP2020197806A - Detection system - Google Patents

Abstract

To provide a detection system capable of detecting omission of tightening a tightening part with a relatively simple configuration.SOLUTION: A detection system 1 for detecting omission of tightening a screw 20 to a work 10 in a process of assembling the work 10 includes a camera 50 for photographing the work 10 and a PC 60 for controlling the detection system 1. A torque wrench 30 that attaches a mark 35 to the screw when tightening force reaches a set value is used for tightening the screw 20. The PC 60 detects the omission of tightening the screw 20 by a correspondence relationship between information on the number and the positions of the screws 20 specified based on the marks 35 extracted from photographing information taken by the camera 50 and specification information including information on the number and the positions of the screws 20 in the specifications.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a detection system applied to a product assembly process.

In many products, tightening parts such as screws are used to fasten the parts that make up the product. In order to ensure the quality of the shipped products, it is essential that all screws are tightened to the specified torque in the product assembly process. Here, in the product assembly process, human error may occur especially in the tightening work of the tightening parts. In the tightening work, all the tightening parts to be worked are tightened with a torque less than the specified torque (hereinafter also referred to as "temporary tightening"), and then the tightening parts are tightened with the specified torque (hereinafter "" Also called "final tightening"). In this case, the final tightening of the tightening parts may be forgotten. It is difficult to visually determine whether the tightening part is in the temporarily tightened state or the fully tightened state.

For example, Japanese Patent No. 5022045 (Japanese Unexamined Patent Publication No. 2008-181344) discloses a system for specifying the position of a tightening component that has been finally tightened. The system described in Japanese Patent No. 5022045 is provided when two cameras are provided on a workbench on which a product to be worked on (hereinafter, also referred to as “work”) is placed, and when the torque for tightening parts reaches a specified torque. The work and torque driver are photographed when the completion signal transmitted from the torque driver is received. The torque driver is provided with a marker. Using the images taken by the two cameras, the three-dimensional position of the marker with respect to the origin of the workbench and the origin of the workbench is calculated by the principle of stereo vision, and the position of the tip of the torque driver is calculated. In this way, it is specified which tightening point in the work is tightened.

Patent No. 5022045

By using the system described in Japanese Patent No. 5022045, it is possible to know the tightening points in the work where the tightening parts have not yet been fully tightened. However, in the system described in Japanese Patent No. 5022045, for example, it is necessary to construct a communication mechanism between the system and the torque driver. Further, in order to detect the position of the tightened part that has been finally tightened with high accuracy, at least two cameras are required with respect to the surface of the work. As a system for detecting forgetting to fully tighten the tightening parts, it is desirable that the system has a simpler configuration while ensuring the detection accuracy.

The present disclosure has been made to solve the above problems, and an object of the present disclosure is to provide a system capable of detecting forgetting to tighten a tightening part with a relatively simple configuration.

The detection system of the present disclosure detects forgotten tightening of at least one tightening component attached to a product in the product assembly process. For tightening at least one tightening part, a tool that marks the tightening part when the tightening force reaches a set value is used. The detection system includes a camera for photographing the product and a control device. The control device should be fitted with first information, including information about the number and position of at least one tightening component identified based on the marks extracted from the imaging information captured by the camera, and at least according to the specifications of the product. It is configured to detect forgetting to tighten at least one tightening component by a correspondence with a second piece of information, including information about the number and position of one tightening component.

According to the present disclosure, the number and position of the tightening parts that are finally tightened from the shooting information based on the mark that is attached when the tightening parts are tightened (finally tightened) with the set tightening force. Information about is identified (first information). Then, by comparing the first information with the second information regarding the number and positions of the tightening parts in the specifications, it can be determined whether or not all the tightening parts are finally tightened. That is, by comparing the data obtained by the image processing on the shooting information with the data in the specifications, it is possible to detect the forgetting to fully tighten the tightening parts. As described above, according to the present disclosure, it is possible to detect forgetting to tighten the tightening component with a relatively simple configuration without constructing a complicated system.

It is a block diagram for demonstrating the structure of the detection system which concerns on Embodiment 1. FIG. It is the figure which looked at the tip direction of the screw part from the head of a screw. It is a block diagram for demonstrating an example of the functional structure of a PC. It is a figure for demonstrating image processing and completion information. It is a flowchart which shows the procedure of the process executed by the CPU of the PC. It is a flowchart which shows the procedure of image processing. It is a flowchart which shows the procedure of the process executed by the CPU of the PC which concerns on modification 2. It is a figure for demonstrating image processing and generation of completion information in modification 2. FIG. It is a block diagram for demonstrating the structure of the detection system which concerns on Embodiment 2. FIG. It is a block diagram for demonstrating an example of the functional structure of a PC. It is a flowchart which shows the procedure of the process executed by the CPU of the PC. It is a flowchart which shows the procedure of the process which generates the conversion specification information which concerns on Embodiment 2. It is a flowchart which shows the procedure of the process which is executed by the CPU of the PC which concerns on modification 3. It is a block diagram for demonstrating the configuration of the detection system which concerns on Embodiment 3. It is a block diagram for demonstrating an example of the functional structure of a PC. It is a flowchart which shows the procedure of the process executed by the CPU of the PC. It is a flowchart which shows the procedure of the process which generates the conversion specification information which concerns on Embodiment 3.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals, and the explanations are not repeated in principle.

[Embodiment 1]
<Overall configuration>
FIG. 1 is a block diagram for explaining the configuration of the detection system 1 according to the first embodiment. FIG. 1 shows an example of an assembly process of the product (work) 10 to be worked, specifically, a screw tightening process of the work 10. The screw tightening step is performed with the work 10 placed on the workbench 40.

The screw tightening process includes a work process and a confirmation process. In the work process, the worker first temporarily tightens all the screws to be worked (4 places in FIG. 1), and then finally tightens all the screws. In the confirmation step, it is detected whether or not the screw to be worked is securely tightened, that is, whether or not the screw to be worked is forgotten to be fully tightened. The detection system 1 is a system for detecting forgetting to fully tighten a screw to be worked. When it is detected that the screw to be worked is not forgotten to be finally tightened, the work 10 is advanced from the screw tightening process to the next process.

In the example shown in FIG. 1, four points of the work 10 are tightened by screws 20A, 20B, 20C, and 20D, respectively. Hereinafter, the surface of the work 10 to be screwed is also referred to as a “working surface”. In the first embodiment, the surface 11 is a working surface. In the first embodiment, an example in which the screw as the tightening part is a hexagon bolt will be described, but the detection system 1 can be similarly applied even when a screw having another shape is used. Is. When it is not necessary to distinguish the screws 20A, 20B, 20C, and 20D, each of the screws 20A, 20B, 20C, and 20D is also referred to as a screw 20.

A torque wrench 30 is used to tighten the screw 20. A torque driver may be used instead of the torque wrench 30.

The torque wrench 30 is configured so that the tightening force (torque) with respect to the screw 20 can be set. The torque wrench 30 is configured so that, for example, when the torque applied to the screw 20 reaches a set value, the torque wrench 30 idles and does not apply a torque exceeding the set value to the screw 20. The set value is set to, for example, the tightening force of the screw 20 defined in the specifications of the work 10. Further, the torque wrench 30 is configured to attach (mark) a mark 35 to the screw 20 when the torque applied to the screw 20 reaches a set value. A specific example of the mark 35 is shown in FIG.

FIG. 2 is a view of the tip of the screw portion viewed from the head of the screw 20. The mark 35 is printed using, for example, ink. With reference to FIG. 2, the mark 35 is attached, for example, near the center of the head of the screw 20. The shape of the mark 35 is, for example, a circular shape. However, the shape of the mark 35 is not limited to the circular shape. Further, the color of the ink used in the torque wrench 30 (that is, the color of the mark) can be selected. The color of the selected ink will be described later. In FIG. 1, the marks attached to the screws 20A, 20B, 20C, and 20D are represented as marks 35A, 35B, 35C, and 35D, respectively.

With reference to FIG. 1 again, the detection system 1 includes a workbench 40, a camera 50, a PC (Personal Computer) 60, a display 70, and an input device 75.

The work 10 is placed on the workbench 40. When the worker in the assembly process receives the work 10 from the previous process, the worker places the work 10 on the workbench. The worker tightens the screw 20 with a torque wrench 30 while the work 10 is placed on the workbench (work process).

The camera 50 is installed on the work surface of the work. In the first embodiment, the camera 50 is installed so as to capture the surface 11. The positional relationship between the camera 50 and the workbench 40 is fixed. The positional relationship between the camera 50 and the workbench 40 is set so that the entire surface 11 of the work 10 placed on the workbench 40 can be included in the shooting range of the camera 50.

The camera 50 shoots the work 10 in accordance with a shooting command from the PC 60, and outputs shooting information (image data) as a shooting result to the PC 60.

The PC 60 controls each part of the detection system 1. The PC 60 includes a CPU (Central Processing Unit) 61, a memory 62, and a timer 63. Each part of the detection system 1 is controlled by the CPU 61 executing various programs stored in the memory 62. The control executed by the CPU 61 is not limited to the processing by software, and can be constructed and processed by dedicated hardware (electronic circuit).

The memory 62 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. Various programs for execution by the CPU 61 are stored in the memory 62.

Further, the memory 62 stores the specification information of the work 10. The specification information is information including "number information" indicating the number of screws 20 in the specifications tightened to the work 10 and "coordinate information" of the screws 20 in the specifications. More specifically, in the example shown in FIG. 1, since the work 10 includes four screws 20A, 20B, 20C, and 20D, the numerical information is "4". Further, the coordinate information according to the first embodiment is information indicating the relative positional relationship (coordinates) of the screws 20A, 20B, 20C, and 20D determined from the specifications. The specification information corresponds to an example of "second information" according to the present disclosure.

The timer 63 starts timing according to a command from the CPU 61. Further, the timer 63 stops the time counting according to a command from the CPU 61.

The PC 60 outputs a command to the display 70 to display various kinds of information. The display 70 is, for example, a liquid crystal display. The display 70 displays various information according to a command from the PC 60. For example, the display 70 displays information about the work 10, work contents in the screw tightening process, and the like.

The PC 60 receives an input from the input device 75. The input device 75 is, for example, a keyboard and a mouse. When the worker finishes the work process, the worker performs a start operation for starting the confirmation process on the PC 60 via the input device 75. When the start operation is performed, the PC 60 starts the confirmation process. When the confirmation process is started, the PC 60 outputs a shooting command to the camera 50. The details of the confirmation process will be described later.

Further, the PC 60 is configured to be able to communicate with the management device 90 that manages the entire manufacturing process of the product via the communication cable 80. The PC60 determines that the screw tightening process is completed, for example, when it is determined that the screw tightening process of the work 10 is properly completed, that is, when it is detected in the confirmation process that the screw 20 is not forgotten to be fully tightened. The indicated signal is output to the management device 90. As a result, the management device 90 shifts the status of the work 10 to the next process.

FIG. 3 is a block diagram for explaining an example of the functional configuration of the PC 60. The CPU 61 functions as an acquisition unit 611, an image processing unit 612, a reading unit 613, a determination unit 614, and an output unit 615 by executing various programs stored in the memory 62.

The acquisition unit 611 acquires shooting information from the camera 50. For example, when there is a start operation, the acquisition unit 611 acquires shooting information. The acquisition unit 611 outputs the acquired shooting information to the image processing unit 612.

The image processing unit 612 executes image processing on the shooting information to generate completion information. The completion information is information indicating the number and coordinates of the fully tightened screws 20 detected from the photographing information. The information indicating the coordinates included in the completion information according to the first embodiment is information indicating the relative positional relationship between the screws 20 for which the final tightening is detected.

Image processing and completion information will be described with reference to FIG. 4 with specific examples. In FIG. 4, it is assumed that the final tightening of all the screws 20A, 20B, 20C, and 20D on the surface 11 is completed.

FIG. 4 is a diagram for explaining image processing and completion information. With reference to FIG. 4, the shooting information 100 is image data acquired from the camera 50 by the acquisition unit 611. The range surrounded by the broken line is the shooting range of the camera 50. As described above, when the final tightening of the screw 20 is completed, the mark 35 is attached to the head of the screw 20 by the torque wrench 30. Here, since the final tightening of all the screws 20A, 20B, 20C, and 20D has been completed, the screws 20A, 20B, 20C, and 20D are marked with marks 35A, 35B, 35C, and 35D, respectively.

The image processing unit 612 executes a filter process on the shooting information 100 input from the acquisition unit 611. Specifically, the image processing unit 612 filters only the color used for the ink of the torque wrench 30, that is, the color of the mark 35. As the color of the ink of the torque wrench 30 according to the first embodiment, a color other than the color used for the work 10 and the working environment that can be included in the shooting range of the camera 50 is selected. The working environment refers to, for example, a workbench 40, a torque wrench 30, a PC 60, a display 70, an input device 75, a worker, and other tools that may be included in the shooting range of the camera 50. The image processing unit 612 specifies, for example, a range of RGB components, and extracts pixels within the range of the designated RGB components from the shooting information 100 to obtain shooting information 101 after filtering including only the mark 35. A color included in the range of the RGB components specified above is defined as a "specific color".

The shooting information 101 after the filtering process includes four marks 35A, 35B, 35C, and 35D. The image processing unit 612 detects the four marks 35A, 35B, 35C, and 35D by image recognition processing for the shooting information 101 after the filter processing. The image processing unit 612 generates numerical information indicating the number of detected marks 35. Further, the image processing unit 612 determines the center points Pa, Pb, Pc, and Pd of the four marks 35A, 35B, 35C, and 35D, respectively, and extracts the determined center points Pa, Pb, Pc, and Pd. To get. The image processing unit 612 sets the coordinates of the determined center points Pa, Pb, Pc, and Pd as the coordinates of the screws 20A, 20B, 20C, and 20D, respectively. The image processing unit 612 generates information indicating the relative positional relationship of the center points Pa, Pb, Pc, and Pd as coordinate information. The image processing unit 612 generates completion information including coordinate information and numerical information. The completion information corresponds to an example of the "first information" according to the present disclosure.

With reference to FIG. 3 again, when the image processing unit 612 generates the completion information, the image processing unit 612 outputs the generated completion information to the determination unit 614. On the other hand, the reading unit 613 reads the specification information from the memory 62 and outputs the read specification information to the determination unit 614.

The determination unit 614 compares the specification information with the completion information. First, the determination unit 614 compares the number information included in the specification information with the number information included in the completion information. That is, the number of screws 20 in the specifications is compared with the number of screws 20 for which final tightening has been completed (the number of detected marks 35). If the number of detected marks 35 is smaller than the number of screws 20 in the specifications, it is assumed that there are screws 20 that have not been fully tightened. Therefore, when the number of detected marks 35 is smaller than the number of screws 20 in the specifications, the determination unit 614 determines that the screw tightening operation has not been completed. That is, the determination unit 614 determines that the screw 20 has forgotten to be fully tightened.

When the number information included in the specification information and the number information included in the completion information match, the determination unit 614 compares the coordinate information included in the specification information with the coordinate information included in the completion information. A known method can be applied to the comparison between the coordinate information included in the specification information and the coordinate information included in the completion information. For example, the figure drawn when the screws of the specification information are connected may be compared with the figure drawn when the center points of the coordinate information are connected. In this case, for example, when the figure drawn when the center points of the coordinate information are connected can be approximated to the figure drawn when the screws of the specification information are connected by rotating and moving. Determines that all the screws 20 on the surface 11 are fully tightened by the determination unit 614. If the figure drawn when the center points of the coordinate information are connected cannot be approximated to the figure drawn when the screws of the specification information are connected even if they are rotated and moved, the determination unit 614 has some idea. Determine that an error has occurred. In determining whether or not the figures can be approximated, manufacturing errors of products, detection errors of sensors and the like, calculation errors of the CPU 61, and the like may be taken into consideration. In addition, in comparing the coordinate information included in the specification information with the coordinate information included in the completion information, the distance and orientation of one screw as a reference point with another screw may be used as a comparison target. The determination unit 614 outputs the determination result to the output unit 615.

The output unit 615 outputs a command for performing a display based on the determination result of the determination unit 614 to the display 70.

<Processing executed by the CPU of the PC>
FIG. 5 is a flowchart showing a procedure of processing executed by the CPU 61 of the PC 60. The processing of this flowchart is executed when the start operation of the confirmation process is performed on the PC 60. Each step shown in FIG. 5 (hereinafter, the step is abbreviated as “S”) describes a case where it is realized by software processing by the CPU 61, but a part or all of the hardware (electric circuit) manufactured in the CPU 61 is described. May be realized by.

When it is detected that the start operation of the confirmation process has been performed, the CPU 61 operates the camera 50 to take a picture of the work 10. Then, the CPU 61 acquires the shooting information shot from the camera 50 (S1). Then, the CPU 61 executes image processing on the shooting information acquired from the camera 50 (S2).

FIG. 6 is a flowchart showing the procedure of image processing (S2). The CPU 61 executes a filter process on the shooting information (S21). Specifically, the CPU 61 filters the shooting information with a specific color. As a result, shooting information after filtering including only the mark 35 can be obtained.

The CPU 61 detects the mark 35 by executing an image recognition process on the shooting information after the filter process (S22). Further, the CPU 61 detects the number of detected marks 35. In the example of FIG. 1, the CPU 61 detects four marks 35A, 35B, 35C, and 35D.

The CPU 61 determines the center points Pa, Pb, Pc, and Pd of the detected marks 35A, 35B, 35C, and 35D, respectively. For example, the CPU 61 determines the centers of gravity of the detected marks 35A, 35B, 35C, and 35D as the respective center points Pa, Pb, Pc, and Pd. Then, the CPU 61 sets the coordinates of the determined center points Pa, Pb, Pc, and Pd as the coordinates of the screws 20A, 20B, 20C, and 20D, respectively (S23).

The CPU 61 generates information indicating the relative positional relationship between the center points Pa, Pb, Pc, and Pd as coordinate information (S24).

Further, the CPU 61 generates information indicating the number of marks 35 detected in S22 as numerical information (S25). The CPU 61 generates completion information including coordinate information and numerical information.

Returning to FIG. 5, the CPU 61 reads the specification information from the memory 62 (S3). Then, the CPU 61 determines whether or not all the screws 20 are finally tightened, that is, whether or not the screws 20 are forgotten to be fully tightened, based on the correspondence between the completion information and the specification information (S4).

Specifically, the CPU 61 compares the number information included in the specification information with the number information included in the completion information (S5). If they do not match (NO in S5), it is assumed that there is a screw 20 that has not been fully tightened, so the CPU 61 determines that the screw 20 has been forgotten to be fully tightened (S7). In this case, the CPU 61 determines that the screw tightening process is incomplete. In S7, the CPU 61 may display on the display 70 that the screw 20 has been forgotten to be finally tightened.

On the other hand, when the number information included in the specification information and the number information included in the completion information match (YES in S5), the CPU 61 determines the coordinate information included in the specification information and the coordinate information included in the completion information. Is compared with (S6). As an example, whether the CPU 61 can approximate the figure drawn when connecting the center points of the coordinate information to the figure drawn when connecting the screws of the specification information by rotating and moving the figure. Is determined. If the figure drawn when the center points of the coordinate information are connected cannot be approximated to the figure drawn when the screws of the specification information are connected even if they are rotated and moved (NO in S6), The CPU 61 determines that some error has occurred and determines that the screw tightening process is incomplete. (S7). In this case, the CPU 61 may display on the display 70 that some error has occurred.

If the figure drawn when the center points of the coordinate information are connected by rotating and moving can be approximated to the figure drawn when the screws of the specification information are connected (YES in S6), the CPU 61 It is determined that the screw tightening process has been completed without forgetting to fully tighten the screw 20 (S8). In this case, the CPU 61 transmits information indicating that the screw tightening process is completed to the management device 90 via the communication cable 80. In this case, the CPU 61 may display the display 70 to indicate that the screw tightening process has been completed.

As described above, in the first embodiment, when the screw 20 is finally tightened with the torque wrench 30, the torque wrench 30 attaches a mark 35 to the screw 20. As the color of the mark 35, a color other than the color used for the work 10 and the working environment that can be included in the shooting range of the camera 50 is selected. By executing image processing on the shooting information, only the mark 35 is extracted from the shooting information, and the fully tightened screw 20 is detected based on the extracted mark 35. Then, the completion information including the number information and the coordinate information of the detected screws 20 is generated. By comparing the generated completion information with the specification information, it is determined whether or not the screw 20 to be worked is forgotten to be fully tightened.

As described above, in the detection system 1 according to the first embodiment, the number information and the coordinate information of the finally tightened screws 20 are specified from the photographing information based on the mark 35. Therefore, it is possible to detect forgetting to fully tighten the screw 20 on the surface of the work 10 by using one camera. Further, by comparing the completion information with the specification information, it is possible to detect that the screw 20 has forgotten to be fully tightened. According to the detection system 1 according to the first embodiment, it is possible to detect forgetting to fully tighten the screw 20 with a relatively simple configuration without constructing a complicated system.

Further, in the detection system 1 according to the first embodiment, a color other than the colors used for the work 10 and the work environment, which can be included in the shooting range of the camera 50, is selected as the color of the mark 35. As a result, the mark 35 can be extracted with high accuracy by the filtering process. If the marks 35 can be extracted accurately, the number and position of the marks 35 can be appropriately specified by the image recognition process for the shooting information after the filter processing. This makes it possible to generate highly accurate numerical information and coordinate information.

Further, the relative coordinates of the screws 20 are used for the coordinate information included in the specification information and the coordinate information included in the completion information. By using the relative coordinates of the screws 20, the work 10 can be placed at an arbitrary position on the workbench 40 within the range in which the work 10 is included in the photographing range. For example, even if the workbench is placed in a different place for each work 10, it is possible to appropriately detect forgetting to fully tighten the screw 20.

Further, if the shooting information from the camera 50 is to be stored in the memory 62 as it is, the capacity of the memory 62 may be compressed due to the large capacity. In the detection system 1, it is sufficient to save the numerical information after performing the image processing on the shooting information, that is, the completion information. The completion information includes numerical information and coordinate information, and its capacity is smaller than that of shooting information. Therefore, the possibility of squeezing the capacity of the memory 62 can be reduced.

[Modification 1]
In the first embodiment, the relative position information between the screws 20 is used as the coordinate information included in the specification information and the coordinate information included in the completion information. In the first modification, an example in which coordinates relative to a certain reference (hereinafter, also referred to as “absolute coordinates”) are used for the coordinate information included in the specification information and the coordinate information included in the completion information will be described. .. With reference to FIG. 1, the detection system 1A according to the first modification is the same as the detection system 1 according to the first embodiment except for the workbench 41. Therefore, the description will not be repeated except for the workbench 41.

The workbench 41 according to the first modification has a reference position R on which the work 10 is installed. For example, the work 10 is fixed by a jig (not shown) provided on the workbench 41. In other words, the position of the workbench 40 to be installed is determined. Further, the orientation of the work 10 with respect to the reference position R is also determined. The reference position R for installing the work 10 may be set according to the type (model) of the work. The workbench 40 may include a moving means for moving the work 10 to the reference position R based on the type of the work 10.

Similar to the first embodiment, the positional relationship between the camera 50 and the workbench 40 is fixed. Further, since the position where the work 10 is fixed is determined on the workbench 40, the positional relationship between the camera 50 and the work 10 is also fixed.

The specification information according to the first modification includes numerical information and coordinate information as in the first embodiment. The numerical information is the same as in the first embodiment. The coordinate information included in the specification information according to the first modification is information indicating the coordinates of the screws 20A, 20B, 20C, and 20D when the reference position R is used as the base point.

The completion information according to the first modification is generated in the same manner as the completion information according to the first embodiment. The coordinate information included in the completion information according to the first modification is different from the completion information according to the first embodiment in that the coordinates of the center point of the mark 35 are determined with the reference position R as the base point.

Also in the first modification, it is determined whether or not the screw 20 is forgotten to be finally tightened by comparing the specification information and the completion information. This determination corresponds to the process of S4 in FIG. 5 in the first embodiment. The process of S5 included in the process of S4 is the same in the modified example 1.

In the processing of S6 included in the processing of S4, the coordinates of the screws 20A, 20B, 20C, 20D indicated by the coordinate information included in the specification information and the center points Pa, Pb, Pc, indicated by the coordinate information included in the completion information, The coordinates of Pd are compared with each other. When they match, it is determined that all the screws 20 to be worked are fully tightened without forgetting to fully tighten the screws 20. In determining whether or not the coordinate information included in the specification information matches the coordinate information included in the completion information, product manufacturing errors, sensor detection errors, CPU 61 calculation errors, and the like may be taken into consideration. ..

When the relative position information between the screws 20 is used for the coordinate information included in the specification information and the coordinate information included in the completion information as in the first embodiment, as a matter of course, a plurality of pieces are used in terms of the work 10. It is assumed that there is a screw 20 to be worked on. As described above, by using the absolute coordinates with the reference position R as the base point for the coordinate information included in the specification information and the coordinate information included in the completion information, the work target can be obtained, for example, on the surface of the work 10. Even when there is only one screw 20, it is possible to detect forgetting to fully tighten the screw 20.

[Modification 2]
In the first embodiment, the confirmation step is started by the worker performing the start operation after the work step is performed. In the second modification, an example in which the confirmation process is started at the same time as the start of the work process will be described. That is, in the second modification, the process of detecting that the screw 20 to be worked is finally tightened in real time is repeatedly executed even while the worker is tightening the screw 20 to be worked. When the worker fully tightens all the screws 20 to be worked, it is detected that all the screws 20 to be worked are finally tightened, and it is determined that the screw tightening process is completed. In the second modification, from the viewpoint of the worker, it can be said that there is no distinction between the work process and the confirmation process in the screw tightening process. The modified example 2 is also applicable to the modified example 1.

FIG. 7 is a flowchart showing a procedure of processing executed by the CPU 61 of the PC 60 according to the second modification. The processing of this flowchart is started with the start of the screw tightening process. When starting the screw tightening process, that is, when starting the work process, the worker performs a start operation on the PC 60 via the input device 75.

When the CPU 61 detects that the start operation has been performed, the CPU 61 starts photographing and timing the work 10 (S31). Specifically, the CPU 61 sends a command to the camera 50 to shoot the work 10 at a predetermined frame rate. That is, the camera 50 continuously shoots the work 10 in the form of a moving image. The frame rate can be set appropriately according to the process to which the detection system is applied. For example, the frame rate is set to about 0.5 FPS to 30 FPS. Further, the CPU 61 activates the timer 63 to start timing.

The CPU 61 reads the specification information from the memory 62 (S32). Next, the CPU 61 determines whether or not the set time has elapsed (S33). The set time is set, for example, to a time at which the screw tightening process can be sufficiently completed. The set time may be set, for example, for each type of work 10 or according to the number of screws 20 to be worked.

When the set time has elapsed (YES in S33), it is assumed that the screw 20 has forgotten to be fully tightened, so the CPU 61 determines that the screw tightening process is incomplete and ends the process (yes). S39). In this case, the CPU 61 may display information indicating that the screw 20 has been forgotten to be finally tightened on the display 70.

If the set time has not elapsed (NO in S33), the CPU 61 executes image processing on the shooting information (S34). Image processing is executed on the image data of the latest frame. In the process in S34, the CPU 61 executes the process of FIG. 6 described in the first embodiment to generate completion information. As a specific example in S34, it is assumed that the worker has completed the final tightening of the screws 20A and 20B.

FIG. 8 is a diagram for explaining image processing and generation of completion information in the second modification. Since the screws 20A and 20B are fully tightened, the marks 35A and 35B are attached to the screws 20A and 20B in the photographing information 200, respectively. By executing the filter processing on the shooting information 200, the CPU 61 can obtain the shooting information 201 after the filtering processing. The shooting information 201 after the filter processing includes marks 35A and 35B. The CPU 61 detects the marks 35A and 35B by executing an image recognition process on the shooting information 201 after the filter process. The number of detected marks is the number of screws 20 that have been fully tightened at this time. The CPU 61 generates the number of detected marks, that is, "2" as numerical information.

Then, the CPU 61 determines the center points Pa and Pb of the marks 35A and 35B, respectively, and sets the determined center points Pa and Pb as the coordinates of the screws 20A and 20B, respectively. As the coordinates of the screws 20A and 20B, the relative coordinates described in the first embodiment may be used, or the coordinates with the reference position R described in the modification 1 as the base point may be used. In the case where the relative coordinates described in the first embodiment are used, the coordinate information is not generated when the number of the fully tightened screws 20 is one. This is because the relative coordinates cannot be specified when there is only one fully tightened screw.

Returning to FIG. 7, the CPU 61 compares the specification information read in S32 with the completion information generated in S34 (S35). Specifically, the CPU 61 compares the number information included in the specification information with the number information included in the completion information (S36). If they do not match (NO in S36), it is assumed that the work is still in progress, so the CPU 61 returns the process to S33.

On the other hand, when the number information included in the specification information and the number information included in the completion information match (YES in S36), the CPU 61 determines the coordinate information included in the specification information and the coordinate information included in the completion information. Is compared with (S37). If they do not match (NO in S37), the CPU 61 determines that some error has occurred and determines that the screw tightening process has not been completed (S38). In this case, the CPU 61 may display on the display 70 that some error has occurred. On the other hand, if they match (YES in S37), the CPU 61 determines that the screw tightening process has been completed, and transmits information indicating that the screw tightening process has been completed to the management device 90 via the communication cable 80. Send (S39).

As described above, in the modified example 2, the confirmation process is started at the same time as the start of the work process. In the first embodiment, the worker needs to separately start the confirmation process after executing the work process, but in the modified example 2, the screw tightening process can be consistently proceeded, so that the worker Man-hours can be reduced.

[Embodiment 2]
In the first embodiment, an example in which the work surface of the work is one surface (surface 11) has been described. Depending on the type of work, the work may have a plurality of work surfaces. In the second embodiment, a detection system capable of detecting forgotten screw tightening of a work target screw for a work having a plurality of work surfaces will be described. As in the first embodiment, the screw tightening step includes a work step and a confirmation step.

FIG. 9 is a block diagram for explaining the configuration of the detection system 2 according to the second embodiment. The detection system 2 is obtained by changing the workbench 40 to the workbench 42 and the PC 60 to the PC 64, respectively, and increasing the number of cameras 50 with respect to the detection system 1 according to the first embodiment. Since the other configurations are the same as those of the detection system 1 according to the first embodiment, the description thereof will not be repeated.

The work 10A according to the second embodiment has five working surfaces (surfaces 12, 13, 14, 15, 16).

The workbench 42 includes a jig 43 for fixing the work 10A. The jig 43 has a reference position R1 for installing the work 10A. The work 10A is installed so that a predetermined portion is aligned with the reference position R1 of the jig 43. That is, on the workbench 42, the position and orientation on which the work 10A is placed are uniquely determined.

The detection system 2 includes three cameras 51, 52, 53. ID information for identifying each of the cameras 51, 52, and 53 is assigned. Further, each of the cameras 51, 52, and 53 is configured so that the angle can be changed according to a command from the PC. Further, in the second embodiment, the positions of the cameras 51, 52, and 53 are fixed, but they may be configured to be movable. Each of the cameras 51, 52, and 53 outputs ID information and position / angle information to the PC 64 together with the shooting information. The position / angle information includes, for example, position information indicating the position of each camera 51, 52, 53 with respect to the reference position R1 of the jig 43, and the orientation (posture) of the lens of each camera 51, 52, 53 with respect to the reference position R1. ) Is included.

Each of the cameras 51, 52, and 53 is installed so as to photograph the work 10A from different directions. The camera 51 is installed so as to photograph the surfaces 12 and 13 of the work 10A. The camera 52 is installed so as to photograph the surfaces 14 and 15 of the work 10A. The camera 53 is installed so as to photograph the surface 16 of the work 10A. One camera may be installed on each side.

The PC 64 includes a CPU 65, a memory 66, and a timer 63. The CPU 65 and the memory 66 have basically the same configurations as the CPU 61 and the memory 62 according to the first embodiment, respectively. Each part of the detection system 2 is controlled by the CPU 65 executing various programs stored in the memory 66.

The specification information of the work 10 is stored in the memory 66. The specification information according to the second embodiment further includes direction information of the screws 20 in addition to numerical information indicating the number of screws 20 in the specifications and coordinate information of the screws 20 in the specifications. Specifically, the direction information is information indicating a direction from the head of the screw 20 to the tip of the screw portion. That is, the direction information indicates the direction of the screw 20. The direction information is determined, for example, with a certain position (a position corresponding to the reference position R1) of the work 10A described above as a base point. Further, the coordinate information included in the specification information according to the second embodiment is three-dimensional information so that it can be recognized from the fact that the work 10A according to the second embodiment has a plurality of work surfaces.

FIG. 10 is a block diagram for explaining an example of the functional configuration of the PC64. The CPU 65 functions as an acquisition unit 661, an image processing unit 662, a reading unit 663, a conversion unit 664, a determination unit 665, and an output unit 666 by executing various programs stored in the memory 66.

The acquisition unit 661 acquires shooting information, ID information, and position / angle information from the cameras 51, 52, and 53. The acquisition unit 661 outputs the acquired shooting information to the image processing unit 662. Further, the acquisition unit 661 outputs the acquired ID information and the position / angle information to the conversion unit 664. In the following, the case where the ID information acquired by the acquisition unit 661 is that of the camera 51 will be described as an example.

The image processing unit 662 executes image processing on the shooting information to generate completion information. The image processing is as described in the first embodiment. When the image processing unit 662 generates the completion information, the image processing unit 662 outputs the generated completion information to the determination unit 665.

The reading unit 663 reads the specification information from the memory 62. The reading unit 663 outputs the read specification information to the conversion unit 664.

The conversion unit 664 uses the specification information (coordinate information, direction information) and position / angle information to identify the screw 20 that should be included in the shooting information shot by the camera 51. That is, the conversion unit 664 identifies the mark 35 of the screw 20 that can be included in the shooting information shot by the camera 51. Specifically, the conversion unit 664 converts the coordinate information (three-dimensional information) included in the specification information into the coordinate information (two-dimensional information) when projected onto the photographing surface of the camera 51. In the following, the information obtained by converting the coordinate information included in the specification information into the coordinate information when projected onto the photographing surface of the camera 51 is also referred to as “converted coordinate information”.

Further, the conversion unit 664 generates number information (hereinafter, also referred to as “conversion number information”) indicating the number of the specified screws 20. The conversion unit 664 outputs conversion specification information including conversion number information and conversion coordinate information to the determination unit 665.

The determination unit 665 compares the conversion specification information with the completion information. Since the processing performed by the determination unit 665 is the same as that in the first embodiment, it will not be repeatedly described here.

The output unit 666 outputs a command for performing a display based on the determination result of the determination unit 665 to the display 70.

By performing the same processing as above for the outputs from the other cameras 52 and 53, it is possible to detect that the screw 20 has forgotten to be fully tightened on all the working surfaces of the work 10A.

<Processing executed by the CPU of the PC>
FIG. 11 is a flowchart showing a procedure of processing executed by the CPU 65 of the PC 64. The processing of this flowchart is executed when the confirmation process start operation is performed on the PC64. In FIG. 11, among the cameras 51, 52, and 53 included in the detection system 2, the processing for the camera 51 will be typically described, but the same processing is also performed for the cameras 52, 53.

When it is detected that the start operation of the confirmation process has been performed, the CPU 65 operates the camera 51 to take a picture of the work 10A. Then, the CPU 65 acquires the shooting information taken from the camera 51, the ID information of the camera 51, and the position / angle information (S51). The CPU 65 executes image processing on the shooting information acquired from the camera 51 (S52). The process of S52 is the same process as S2 of FIG. 5 described in the first embodiment.

Next, the CPU 65 generates conversion specification information (S53). The details of the procedure for generating the conversion specification information are shown in FIG.

FIG. 12 is a flowchart showing a procedure of processing for generating conversion specification information according to the second embodiment. The CPU 65 reads the specification information from the memory 66 (S531).

The CPU 65 uses the coordinate information (three-dimensional information) and direction information included in the specification information, and the position / angle information acquired from the camera 51, and the screw 20 (mark) that should be included in the shooting information taken by the camera 51. 35) is specified (S532). Then, the CPU 65 generates the converted coordinate information of the specified screw (S533). The relative coordinates of the specified screws are used as the converted coordinate information.

Next, the CPU 65 generates conversion number information indicating the number of the specified screws 20 (mark 35) (S534). The CPU 65 generates conversion specification information including conversion coordinate information and conversion number information.

Returning to FIG. 11, the CPU 65 determines whether or not the final tightening of the screw 20 included in the shooting range of the camera 51 is forgotten based on the correspondence between the completion information and the conversion specification information (S54). The process of S54 or less is the same as the corresponding process in FIG. 5 described in the first embodiment. Therefore, only the correspondence of each step is mentioned here. S54, S55, S56, S57, and S58 in FIG. 11 correspond to S4, S5, S6, S7, and S8 in FIG. 5, respectively.

As described above, in the second embodiment, the detection system capable of detecting the forgotten final tightening of the screw 20 to be worked on the work 10A having a plurality of work surfaces has been described. According to the detection system 2 according to the second embodiment, the forgotten final tightening of the screw 20 is detected by comparing the completion information and the conversion specification information in the same manner as in the first embodiment by generating the conversion specification information. can do. That is, according to the detection system 2 according to the second embodiment, even when the work 10A has a plurality of work surfaces, the screws 20 are finally tightened with a relatively simple configuration without constructing a complicated system. Forgetfulness can be detected.

Further, in the work 10A, the screws 20 are not always tightened in the same direction even on the same work surface. That is, the direction of the tip of the screw portion of each screw 20 may be different on the same work surface. That is, the orientation of each screw 20 may be different on the same work surface. In such a case, if a screw (mark 35 attached to the head of the screw) that should be detected by a certain camera (for example, camera 51) is erroneously recognized and the converted coordinate information is generated, the screw is appropriately screwed. Even if the final tightening of the screw is completed, there is a possibility that it will be erroneously detected if the screw is forgotten to be fully tightened.

According to the detection system 2 according to the second embodiment, since the direction information is used, the converted coordinate information can be appropriately generated. That is, even if the directions of the screws 20 are different on the same work surface, it is possible to accurately detect forgetting to fully tighten the screws.

It is also possible to combine the above-mentioned modification 1 with the second embodiment. That is, in the second embodiment, the coordinates relative to the coordinate information are used, but for example, the coordinates may be absolute coordinates with respect to a certain reference of the workbench 42. A certain standard for the workbench 42 may be set for each shooting range of each camera 51, 52, 53.

In the above, a plurality of cameras 51, 52, 53 were used, but for example, one camera configured to be movable so as to be able to shoot each surface 12, 13, 14, 15, 16 of the work 10A. May be used. Also in this case, by using the position / angle information, it is possible to detect that the screw 20 has forgotten to be fully tightened in the same manner.

[Modification 3]
In the second embodiment, the confirmation step is started by the worker performing the start operation after performing the work step. In the third modification, an example in which the confirmation process is started at the same time as the start of the work process will be described. In the third modification as well, the processing for the camera 51 will be typically described as in the second embodiment.

FIG. 13 is a flowchart showing a procedure of processing executed by the CPU 65 of the PC 64 according to the third modification. The processing of this flowchart is started with the start of the screw tightening process. When starting the screw tightening process, that is, when starting the work process, the worker performs a start operation on the PC 64 via the input device 75.

When the CPU 65 detects that the start operation has been performed, the CPU 65 starts photographing and timing the work 10A (S61). Specifically, the CPU 65 transmits a command to the camera 51 to shoot the work 10A at a predetermined frame rate. That is, the camera 51 continuously shoots the work 10A in the form of a moving image. Further, the CPU 65 activates the timer 63 to start timing. Further, the CPU 65 acquires ID information and position / angle information as well as shooting information from the camera 51. The CPU 65 acquires shooting information from the camera 51 at any time, but the ID information may be transmitted only once. Regarding the position / angle information, if the position and angle of the camera 51 are set so as not to change after the start of the processing of the flowchart, the position / angle information may be transmitted only once.

The CPU 65 reads the specification information from the memory 66 and generates the conversion specification information (S62). The process of S62 is the same as the process of S53 of FIG.

The processing of S62 and the following is the same as the corresponding processing in FIG. 7 described in the first embodiment. Therefore, only the correspondence of each step is mentioned here. S63, S64, S65, S66, S67, S68, and S69 in FIG. 13 correspond to S33, S34, S35, S36, S37, S38, and S39 in FIG. 7, respectively.

As described above, in the modified example 3, the confirmation process is started at the same time as the start of the work process. In the second embodiment, the worker needs to separately start the confirmation process after executing the work process, but in the modified example 3, the screw tightening process can be consistently proceeded, so that the worker Man-hours can be reduced.

[Embodiment 3]
In the second embodiment, it is possible to install a plurality of cameras on a work having a plurality of work surfaces, or to move the work 10A so that each surface 12, 13, 14, 15, 16 can be photographed. An example of detecting forgetting to fully tighten the screw 20 to be worked on has been described by using the camera configured in. In the third embodiment, a detection system capable of detecting forgotten screw tightening of a work target for a work having a plurality of work surfaces by using a workbench configured to be rotatable will be described.

FIG. 14 is a block diagram for explaining the configuration of the detection system 3 according to the third embodiment. In the detection system 3, the workbench 42 is changed to the workbench 45 and the PC64 is changed to the PC67 with respect to the detection system 2 according to the second embodiment, and the number of cameras is one.

The workbench 45 is configured to be rotatable around the normal axis of the surface on which the work 10A is placed. The workbench 45 starts rotating according to a command from the PC 67. The workbench 45 outputs the rotation angle of the workbench 45 to the PC 67.

The workbench 45 includes a jig 43 similar to the workbench 42 (FIG. 9) according to the second embodiment. That is, also in the third embodiment, the position and orientation on which the work 10A is placed are uniquely determined on the workbench 45.

The detection system 3 includes a camera 54. The camera 54 is configured in the same manner as the camera 50 of the first embodiment. The camera 54 has a fixed position and orientation. The camera 54 shoots the work 10A in accordance with a command from the PC 67, and outputs the shooting information which is the shooting result to the PC 67.

When the worker finishes the work process, the worker performs a start operation for starting the confirmation process on the PC 60 via the input device 75. When the confirmation process is started, the workbench 45 makes one rotation around the axial direction of the legs. The workbench 45 outputs its own rotation angle information to the PC 67 at regular intervals during rotation. Further, in the confirmation step, the camera 54 photographs the work 10A in accordance with a command from the PC 67. The PC 67 outputs a shooting instruction to the camera 54 when the rotation angle of the workbench 45 reaches a predetermined rotation angle. A plurality of angles are set as the shooting points of the work 10A as the set rotation angles. The set rotation angle is set to an angle at which the screw 20 on each work surface can take a picture.

The PC 67 determines whether or not the screw 20 to be worked is finally tightened by using the rotation angle information and the photographing information.

The PC 67 includes a CPU 68, a memory 69, and a timer 63. The CPU 68 and the memory 69 have basically the same configurations as the CPU 61 and the memory 62 according to the first embodiment, respectively. Each part of the detection system 3 is controlled by the CPU 68 executing various programs stored in the memory 69.

The specification information of the work 10 is stored in the memory 69. The specification information is the same as the specification information according to the second embodiment. That is, the specification information includes numerical information, coordinate information, and direction information according to the specifications.

FIG. 15 is a block diagram for explaining an example of the functional configuration of the PC 67. The CPU 68 functions as an acquisition unit 681, an image processing unit 682, a reading unit 683, a conversion unit 684, a determination unit 685, and an output unit 686 by executing various programs stored in the memory 69.

The acquisition unit 681 acquires shooting information from the camera 54. Further, the acquisition unit 681 acquires rotation angle information from the workbench 45. The acquisition unit 681 outputs the acquired shooting information to the image processing unit 682. Further, the acquisition unit 681 outputs the acquired rotation angle information to the conversion unit 684.

The image processing unit 682 executes image processing on the shooting information to generate completion information. The image processing is as described in the first embodiment. When the image processing unit 682 generates the completion information, the image processing unit 682 outputs the generated completion information to the determination unit 685.

The reading unit 683 reads the specification information from the memory 69. The reading unit 683 outputs the read specification information to the conversion unit 684.

The conversion unit 684 uses the specification information (coordinate information, direction information) and rotation angle information to identify the screw 20 that should be included in the shooting information taken by the camera 54. That is, the conversion unit 684 identifies the mark 35 of the screw 20 that should be photographed by the camera 51 at the angle of the workbench 45 specified based on the rotation angle information. Then, the conversion unit 684 generates the conversion coordinate information of the specified screw 20. In addition, the conversion unit 684 generates information on the number of conversions of the specified screw. The conversion unit 684 generates conversion specification information including the conversion number information and the conversion coordinate information, and outputs the conversion specification information to the determination unit 685.

The determination unit 685 compares the conversion specification information with the completion information. Since the processing performed by the determination unit 685 is the same as that in the first embodiment, it will not be repeatedly described here.

The output unit 686 outputs a command for performing a display based on the determination result of the determination unit 685 to the display 70.

<Processing executed by the CPU of the PC>
FIG. 16 is a flowchart showing a procedure of processing executed by CPU 68 of PC 67. The processing of this flowchart is executed when the start operation of the confirmation process is performed on the PC 67.

When it is detected that the start operation of the confirmation process has been performed, the CPU 68 starts the rotation of the workbench 45 (S80). Then, the CPU 68 determines whether or not the rotation angle of the workbench 45 has reached the set rotation angle (S81). When the rotation angle of the workbench 45 is not the set rotation angle (NO in S81), the CPU 68 waits for the rotation angle of the workbench 45 to become the set rotation angle.

When the rotation angle of the workbench 45 becomes the set rotation angle (YES in S81), the CPU 68 operates the camera 54 to shoot the work 10A and acquire the shooting information (S82). The CPU 68 executes image processing on the shooting information acquired from the camera 54 (S83). The process of S83 is the same process as S2 of FIG. 5 described in the first embodiment.

Next, the CPU 68 generates conversion specification information (S84). The details of the procedure for generating the conversion specification information are shown in FIG.

FIG. 17 is a flowchart showing a procedure of processing for generating conversion specification information according to the third embodiment. The CPU 68 reads the specification information from the memory 69 (S841). Further, the CPU 68 acquires rotation angle information from the workbench 45 (S842).

The CPU 68 uses the coordinate information (three-dimensional information) and direction information included in the specification information, and the rotation angle information acquired from the workbench 45 to identify the screws that should be included in the shooting information taken by the camera 54. (S843). Then, the CPU 68 generates the converted coordinate information of the specified screw (S844).

Next, the CPU 68 generates conversion number information indicating the number of specified screws (S845). The CPU 68 generates conversion specification information including conversion coordinate information and conversion number information.

Returning to FIG. 16, the CPU 68 determines whether or not all the screws 20 included in the shooting range of the camera 54 are fully tightened at the position of the rotation angle of the workbench 45 this time according to the correspondence between the completion information and the conversion specification information. (S85).

Specifically, the CPU 68 compares the number information included in the specification information with the number information included in the completion information (S86). If they do not match (NO in S86), it is assumed that the CPU 68 has forgotten to fully tighten the screw 20, so the incomplete flag is set (S88). The incomplete flag is stored in the memory 69 in association with the rotation angle information.

On the other hand, when both match (YES in S86), the CPU 68 compares the converted coordinate information included in the specification information with the coordinate information included in the completion information (S87). If they do not match (NO in S87), the CPU 68 determines that some error has occurred and sets an incomplete flag (S88). If they match (YES in S87), the CPU 68 sets the completion flag (S89). The completion flag is stored in the memory 69 in association with the rotation angle information.

After executing the process of S88 or S89, the CPU 68 determines whether or not the workbench 45 has made one rotation based on the rotation angle information (S90). If the workbench 45 has not rotated once (NO in S90), the CPU 68 returns the process to S81 and executes the same process at another set rotation angle.

On the other hand, when the workbench 45 makes one rotation (YES in S90), the CPU 68 stops the rotation of the workbench 45 (S91). Then, the CPU 68 determines whether or not at least one incomplete flag is set (S92).

When at least one completion flag is set (YES in S92), the CPU 68 determines that the process is incomplete because it is assumed that the screw 20 has forgotten to be fully tightened or some error has occurred. (S93).

When the incomplete flag is not set (NO in S92), the CPU 68 determines that the screw tightening process has been completed because it is assumed that the screw 20 has not been forgotten to be fully tightened (S94).

As described above, the detection system 3 according to the third embodiment uses the workbench 45 configured to be rotatable, so that the work 10A having a plurality of work surfaces forgets to fully tighten the screws to be worked. Is detected. The detection system 3 according to the third embodiment can also achieve the same effect as that of the second embodiment.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1,1A, 2,3 detection system, 10,10A work, 11,12,13,14,15,16 faces, 20,20A, 20B, 20C, 20D screw, 30 torque wrench, 35,35A, 35B, 35C , 35D mark, 40,41,42,45 workbench, 43 jig, 50,51,52,53,54 camera, 61,65,68 CPU, 62,66,69 memory, 63 timer, 70 display, 75 Input device, 80 communication cable, 90 management device, 611, 661,681 acquisition unit, 612,662,682 image processing unit, 613,663,683 reading unit, 614,665,685 judgment unit, 615,666,686 output Unit, 664,684 Conversion unit, Pa, Pb, Pc, Pd center point, R, R1 reference position.

Claims (6)

A detection system that detects forgotten tightening of at least one tightening component attached to the product in the product assembly process.
To tighten the at least one tightening part, a tool that marks the tightening part when the tightening force reaches a set value is used.
The detection system
A camera that shoots the product and
The first information including information on the number and position of at least one tightening component specified based on the mark extracted from the photographing information photographed by the photographing machine, and the said to be attached according to the specifications of the product. A detection system comprising a control device configured to detect forgotten tightening of at least one tightening component by a correspondence with a second piece of information, including information about the number and position of at least one tightening component. The color of the mark is a color other than the color used for the product and the working environment that can be included in the shooting range of the camera.
The detection system according to claim 1, wherein the control device is configured to extract the mark by executing filtering based on the color of the mark on the shooting information. The position where the product is placed is fixed with respect to the camera.
The information regarding the position included in the first information and the information regarding the position included in the second information are the positions of the at least one tightening component with respect to a predetermined reference point in the imaging range of the camera. The detection system according to claim 1 or 2, which is the information that identifies the above. The at least one tightening component is a plurality.
The information regarding the position included in the first information and the information regarding the position included in the second information are information indicating the relative positional relationship between the at least one tightening component, claim 1 or claim. 2. The detection system according to 2. The detection system further comprises a workbench with jigs for fixing the product in a fixed position and orientation.
A reference position is set on the workbench.
The second information further includes information indicating the orientation of the at least one tightening component with respect to the reference position.
The camera outputs a third piece of information including information about the position and angle of the camera with respect to the reference position.
Based on the second information and the third information, the control device generates conversion information including information on the number and position of the marks that can be detected by the camera.
The detection system according to any one of claims 1 to 4, wherein the control device detects forgetting to tighten at least one tightening component based on the correspondence between the first information and the conversion information. .. The detection system further comprises a workbench with jigs for fixing the product in a fixed position and orientation.
A reference position is set on the workbench.
The second information further includes information indicating the orientation of the at least one tightening component with respect to the reference position.
The workbench is configured to rotate about the normal axis of the surface on which the product is placed and output fourth information indicating the rotation angle of the workbench.
Based on the second information and the fourth information, the control device generates conversion information including information on the number and position of the marks that can be detected by the camera.
The detection system according to any one of claims 1 to 4, wherein the control device detects forgetting to tighten at least one tightening component based on the correspondence between the first information and the conversion information. ..

Images