JP2021086219A - Cooperative work system, analysis and collection device, and analysis program - Google Patents

Abstract

To provide a configuration that can efficiently analyze work in a cooperative work system including one or more cooperative working robots working in cooperation with an operator.SOLUTION: There is provided a cooperative work system that manufactures products along predetermined processes. The cooperative work system includes: one or more cooperative working robots working in cooperation with an operator; a history information storage unit for storing history information indicating the behavior of the operator and the cooperative working robots; and a condition determination unit that, when a predetermined storage condition is satisfied, stores, in the history information storage unit, history information on work designated by the storage condition, while adding thereto information indicating which of the operator and the cooperative working robots take(s) charge of the work.SELECTED DRAWING: Figure 1

Description

The present invention relates to a collaborative work system, an analysis collection device and an analysis program.

There is known an attempt to use imaging data obtained by imaging the implementation status of a work process at a production site such as a factory for improvement of the work process. For example, Japanese Patent Application Laid-Open No. 2019-023803 (Patent Document 1) is a time during which an operator can actually perform a work by analyzing work video data taken by a plurality of cameras arranged at a work site. We will disclose a technique for detecting an actual work time and using the detected actual work time to identify a work process that is a bottleneck.

Japanese Unexamined Patent Publication No. 2019-023803

The technique disclosed in Patent Document 1 described above merely focuses on the work of a worker such as a cell production method, and no assumption is made about a cooperative work system in which a human and a robot work in cooperation with each other. .. The present invention provides a means for solving such a new problem, and is a configuration capable of efficiently analyzing work in a collaborative work system including one or a plurality of collaborative work robots that perform work in cooperation with an operator. Is to provide.

According to one embodiment of the present invention, a collaborative work system for producing a product according to a predetermined process is provided. The collaborative work system is predetermined with one or more collaborative work robots that work in cooperation with the worker, a history information storage unit for storing history information indicating the behavior of the worker and the collaborative work robot, and a history information storage unit. When the storage condition is satisfied, the history information about the work specified by the storage condition is added to the history information storage unit by adding information indicating whether the work is in charge of the worker or the collaborative work robot. Includes a condition determination unit to save.

According to this configuration, since the history information is additionally stored with the information indicating whether the work is in charge of the worker or the collaborative work robot, the work in the collaborative work system can be efficiently analyzed.

The historical information may include images of at least one of the worker and the collaborative work robot. According to this configuration, the behavior of the worker or the collaborative work robot can be visually confirmed.

The collaborative work system may further include a work recognition unit that determines the start and end timings of each work included in the process by analyzing the behavior of at least one of the worker and the collaborative work robot. According to this configuration, the start and end timings of each work can be determined regardless of whether the worker or the collaborative work robot is performing the work.

The work recognition unit may determine the start and end timings for each one or a plurality of elemental works included in each process. According to this configuration, analysis can be realized with higher accuracy.

The work recognition unit extracts the feature points of the worker based on the sensing result of at least the area including the worker by the sensing device, and the position of the object on the work stage and the position of the object on the work stage based on the sensing result. Based on the object recognition unit that recognizes the type, the feature points of the worker extracted by the feature point extraction unit, and the position and type of the object recognized by the object recognition unit, each element work by the worker is started and started. It may include a first timing determination unit that determines the end timing. According to this configuration, the work of the worker can be calculated in units of element work.

The work recognition unit starts for each element work by the collaborative work robot based on the status management unit that manages the status of the collaborative work robot based on the control status from the collaborative work robot and the behavior corresponding to the status of the collaborative work robot. And a second timing determination unit that determines the end timing may be included. According to this configuration, the work of the collaborative work robot can be calculated in units of element work.

The condition determination unit may determine the scene or section of the history information to be saved based on the start and end timings of each work determined by the work recognition unit. According to this configuration, the history information of an appropriate scene or section can be stored based on the start and end timings.

When the abnormality information is input after the fact, the condition determination unit may retroactively save the history information corresponding to the abnormality information. According to this configuration, history information when some abnormality occurs can be reliably saved.

According to another embodiment of the present invention, there is provided an analysis and collection device for a collaborative work system that produces a product according to a predetermined process. Collaborative work systems include one or more collaborative work robots that work in concert with workers. The analysis and collection device has a history information storage unit for storing history information indicating the behavior of the worker and the collaborative work robot, and a history of the work specified by the storage condition when the predetermined storage condition is satisfied. The information includes a condition determination unit that stores the information in the history information storage unit by adding information indicating whether the work is performed by the worker or the collaborative work robot.

According to yet another embodiment of the present invention, an analysis program directed to a collaborative work system that produces a product according to a predetermined process is provided. The collaborative work system includes one or more collaborative work robots that work in cooperation with the worker. The analysis program gives the computer a step of determining whether or not the predetermined storage conditions are satisfied, and when any of the storage conditions is satisfied, the history information about the work specified by the storage conditions is transmitted to the computer. To execute a step of adding and saving information indicating whether the worker or the collaborative work robot was in charge of the work. The history information shows the behavior of the worker and the collaborative work robot.

According to the present invention, it is possible to provide a configuration capable of efficiently analyzing work in a cooperative work system including one or a plurality of cooperative work robots that perform work in cooperation with an operator.

It is a schematic diagram which shows an example of the scene to which this invention is applied. It is an external view which shows an example of the cooperative work system which concerns on this embodiment. It is an external view which shows an example of the cooperative work system which concerns on this embodiment. It is a figure which shows the hardware configuration example of the collaborative work system which concerns on this embodiment. It is a schematic diagram which shows the hardware configuration example of PLC which constitutes the cooperative work system which concerns on this Embodiment. It is a schematic diagram which shows the hardware configuration example of the analysis collection apparatus which comprises the cooperative work system which concerns on this embodiment. It is a schematic diagram which shows the hardware configuration example of the robot which comprises the cooperative work system which concerns on this embodiment. It is a figure for demonstrating the analysis example of the work in the collaborative work system which concerns on this embodiment. It is a schematic diagram which shows the main part concerning the work analysis in the collaborative work system which concerns on this embodiment. It is a schematic diagram which shows the main part which concerns on the analysis of the work by the worker in the cooperative work system which concerns on this embodiment. It is a schematic diagram which shows the main part concerning the analysis of the work by a robot in the cooperative work system which concerns on this embodiment. It is a flowchart which shows the processing procedure which concerns on the analysis of the work in the cooperative work system which concerns on this Embodiment. It is a figure which shows an example of the work analysis result output by the collaborative work system which concerns on this embodiment. It is a figure which shows the display example of the work analysis result output by the collaborative work system which concerns on this embodiment. It is a schematic diagram which shows the main part concerning the collection process in the cooperative work system which concerns on this Embodiment. It is a figure which shows an example of the collection process in the collaborative work system which concerns on this embodiment. It is a figure which shows an example of the data stored in the collaborative work system which concerns on this embodiment. It is a flowchart which shows the processing procedure which concerns on the collection processing in the cooperative work system which concerns on this Embodiment. It is a figure for demonstrating an example of the utilization form of the history information collected by the collaborative work system which concerns on this embodiment. It is a figure for demonstrating another example of the utilization form of the history information collected by the collaborative work system which concerns on this embodiment. It is a figure for demonstrating still another example of the utilization form of the history information collected by the collaborative work system which concerns on this embodiment.

Embodiments of the present invention 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 description thereof will not be repeated.

<A. Application example>
First, an example of a situation in which the present invention is applied will be described. FIG. 1 is a schematic view showing an example of a situation in which the present invention is applied.

This embodiment is directed to a collaborative work system 1 that produces products according to a predetermined process. The collaborative work system 1 includes one or a plurality of collaborative work robots that perform work in cooperation with an operator.

As shown in FIG. 1, the cooperative work system 1 has a history information storage unit for storing history information indicating the behaviors of the worker and the cooperative work robot. Then, in the collaborative work system 1, when the predetermined storage conditions are satisfied, the work is in charge of the history information 294,295 about the work specified by the storage conditions by either the worker or the collaborative work robot. Attribute information 296 indicating the robot is added and saved in the history information storage unit.

In the present specification, "history information" is a concept including information indicating the behavior of a worker and a robot. The "history information" typically includes still images, moving images, audio, and the like. That is, the "history information" includes images of at least one of the operator and the robot.

Since the collaborative work system 1 according to the present embodiment adds information indicating whether the worker or the collaborative work robot is in charge and saves the history information, the work in the collaborative work system can be efficiently analyzed. it can.

<B. Collaborative work system 1>
Next, an example of the collaborative work system 1 according to the present embodiment will be described. 2 and 3 are external views showing an example of the cooperative work system 1 according to the present embodiment.

The configuration example of the cooperative work system 1 shown in FIGS. 2 and 3 shows a production process in which a worker and a cooperative work robot (hereinafter, simply abbreviated as “robot”) cooperate to produce a product. That is, the robot works in cooperation with the worker.

As an example, a production cell type manufacturing apparatus for assembling an arbitrary product is shown. The collaborative work system 1 produces a product according to a predetermined process, and includes the following five steps 1 to 5 as an example.

In step 1, two workpieces (for example, a substrate and a case) are assembled.
In step 2, another work (for example, a cover) is assembled.

In step 3, and screw tightening is performed.
In step 4, printing on a semi-finished product and printing inspection are performed.

In step 5, the appearance inspection of the semi-finished product is performed.
The cooperative work system 1 shown in FIG. 2 includes a work stage 11M, a work stage 12M, a work stage 13A, a work stage 14A, and a work stage 15A in association with steps 1 to 5. The last letter "M" of the reference code of each stage means the work by the operator (manual), and "A" means the work by the robot.

In the cooperative work system 1 shown in FIG. 3, a work stage 12A is arranged in place of the work stage 12M associated with the process 2. That is, in the cooperative work system 1 shown in FIG. 2, the process 2 is executed by the operator, whereas in the cooperative work system 1 shown in FIG. 3, the process 2 is executed by the robot.

As described above, in the cooperative work system 1 according to the present embodiment, each process can be processed by either an operator or a robot. The collaborative work system 1 provides information for optimizing whether each process is processed by a worker or a robot.

2 and 3 show an example of a cell production method in which one or more workers and a robot cooperate to complete a product, but the technical scope of the present invention is not limited to the cell production method and is a conveyor. Includes any production method in which workers and robots work together, including method / line methods.

FIG. 4 is a diagram showing a hardware configuration example of the collaborative work system 1 according to the present embodiment. With reference to FIG. 4, the collaborative work system 1 performs work in cooperation with the PLC 100, which is an example of the control device, the analysis and collection device 200 that executes the analysis process and the collection process as described later, and the worker 20. A robot 300, a display operation device 400 that presents various information to the worker 20, a support device 500 that develops a user program executed by the PLC 100, and a production control system that manages production in the collaborative work system 1. Includes 600 and. These devices are configured to be capable of data communication via one or more types of networks.

In the example shown in FIG. 4, the PLC 100, the analysis / collection device 200, the robot 300, and the display operation device 400 are connected via the field network 2. One or more cameras 30 are connected to the field network 2. Based on the image captured by the camera 30, the behaviors of the worker 20 and the robot 300 are analyzed, and the state of each process and the work in each process is estimated. Further, the PLC 100 and the production control system 600 are connected via the upper network 4.

A production plan is input to the production control system 600, and the production control system 600 provides the production control information to the PLC 100 and the analysis / collection device 200. Production control information includes identification information (product ID or serial number) that identifies the product to be produced, order information (including product type information and lot number, etc.), and worker information (either the worker or the robot performs each process). Includes the person in charge or the identification information of the person in charge when the worker is in charge).

The analysis / collection device 200 includes a performance database 280 that collects work results, and a history information database 290 that collects still images, moving images, sounds, and the like collected in each process. The history information database 290 corresponds to a history information storage unit for storing history information indicating the behaviors of workers and robots. The collection process in the performance database 280 and the history information database 290 will be described later.

The network configuration shown in FIG. 4 is an example, and any network configuration may be adopted. For example, the performance database 280 and the history information database 290 included in the analysis / collection device 200 may be arranged as independent computers.

<C. Hardware configuration example of collaborative work system 1>
Next, a hardware configuration example of the main devices constituting the collaborative work system 1 will be described.

(C1: PLC100)
FIG. 5 is a schematic view showing a hardware configuration example of the PLC 100 constituting the collaborative work system 1 according to the present embodiment. With reference to FIG. 5, the PLC 100 includes a processor 102, a main memory 104, a storage 110, an upper network controller 106, a field network controller 108, a USB (Universal Serial Bus) controller 120, and a memory card interface 112. , Includes the local bus controller 116. These components are connected via the processor bus 118.

The processor 102 corresponds to an arithmetic processing unit that executes various control operations, and is composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like. Specifically, the processor 102 reads the programs (for example, the system program 1102 and the user program 1104) stored in the storage 110, expands them into the main memory 104, and executes the programs to control the program according to the control target. It realizes calculation and various processes as described later.

The main memory 104 is composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) or a SRAM (Static Random Access Memory). The storage 110 is composed of, for example, a non-volatile storage device such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive).

The storage 110 includes a system program 1102 for realizing basic functions, a user program 1104 created according to a control target, and a recipe program that defines processing contents according to products produced by the collaborative work system 1. 1106 is stored.

The host network controller 106 exchanges data with and from an arbitrary information processing device via the host network 4.

The field network controller 108 exchanges data with an arbitrary device via the field network 2.

The USB controller 120 exchanges data with the support device 500 and the like via the USB connection.

The memory card interface 112 accepts a memory card 114, which is an example of a removable storage medium. The memory card interface 112 can read and write arbitrary data to and from the memory card 114.

The local bus controller 116 exchanges data with any functional unit mounted on the PLC 100 via the local bus.

(C2: Analysis and collection device 200)
FIG. 6 is a schematic diagram showing a hardware configuration example of the analysis / collection device 200 constituting the collaborative work system 1 according to the present embodiment. With reference to FIG. 6, the analysis and collection device 200 is realized, for example, by using hardware (for example, a general-purpose personal computer) that follows a general-purpose architecture.

With reference to FIG. 6, the analysis / collection device 200 includes a processor 202, a main memory 204, an input unit 206, a display unit 208, a storage 210, an optical drive 212, a field network controller 220, and an upper network controller. Includes 222 and. These components are connected via the processor bus 218.

The processor 202 is composed of a CPU, a GPU, or the like, and reads out a program (OS 2102 and an analysis program 2104 as an example) stored in the storage 210, expands the program into the main memory 204, and executes the program. Realize the processing.

The main memory 204 is composed of a volatile storage device such as a DRAM or SRAM. The storage 210 is composed of, for example, a non-volatile storage device such as an HDD or SSD.

The storage 210 stores an OS 2102 for realizing basic functions and an analysis program 2104 for executing various analysis processes as described later.

The input unit 206 is composed of a keyboard, a mouse, and the like, and accepts user operations. The display unit 208 is composed of a display, various indicators, a printer, and the like, and outputs a processing result from the processor 202 and the like.

The analysis / collection device 200 has an optical drive 212, and is stored in a storage medium 214 (for example, an optical storage medium such as a DVD (Digital Versatile Disc)) that non-transiently stores a computer-readable program. The program stored in is read and installed in the storage 210 or the like.

The analysis program 2104 or the like executed by the analysis collection device 200 may be installed via a computer-readable storage medium 214, or may be installed by downloading from a server device or the like on the network. Further, the function provided by the analysis / collection device 200 according to the present embodiment may be realized by using a part of the modules provided by the OS.

The field network controller 220 exchanges data with an arbitrary device via the field network 2. The host network controller 222 exchanges data with and from an arbitrary information processing device via the host network 4.

(C3: Robot 300)
FIG. 7 is a schematic diagram showing a hardware configuration example of the robot 300 constituting the collaborative work system 1 according to the present embodiment. With reference to FIG. 7, the robot 300 includes a field network controller 302, a main control unit 310 for executing arithmetic processing related to driving the robot 300, and an interface circuit 320.

The field network controller 302 exchanges data with an arbitrary device via the field network 2.

The main control unit 310 includes a processor 312, a main memory 314, and a storage 316. The processor 312 is composed of a CPU, a GPU, or the like, and reads a program (for example, a system program 317 and a recipe program 318) stored in the storage 316, expands the program in the main memory 314, and executes the program to execute the robot 300. Realize various processes related to driving.

The main memory 314 is composed of a volatile storage device such as a DRAM or SRAM. The storage 316 is composed of, for example, a non-volatile storage device such as an SSD or an HDD.

The interface circuit 320 exchanges signals with various devices provided in the robot 300. More specifically, the interface circuit 320 is connected to a sensor 322, an actuator 324, and one or more motor drivers 326.

The sensor 322 is arranged on an arm portion of the robot 300 or the like, and collects information on the surroundings of the robot 300. In the cooperative work between the worker 20 and the robot 300, when the worker 20 is usually located in the vicinity of the robot 300, it is necessary to suppress the operating speed of the robot 300 to a predetermined limit value or less. is there. The sensor 322 may be used to detect the approach between the worker 20 and the robot 300.

The actuator 324 is arranged on the arm portion of the robot 300 or the like, and gives various notifications to the worker 20 and also performs an action on the work. The motor driver 326 drives an electrically connected servomotor 328. The servomotor 328 is mechanically connected to the mechanical body (arms, joints, etc.) of the robot 300. The robot 300 can be arbitrarily operated by the main control unit 310 giving a command to the motor driver 326 via the interface circuit 320.

(C4: Display operation device 400)
As an example, the display operation device 400 is realized by using hardware that follows a general-purpose architecture. Since the hardware configuration example and the functional configuration example of the display operation device 400 are known, detailed description thereof will not be given here.

(C5: Support device 500)
As an example, the support device 500 is realized by using hardware (for example, a general-purpose personal computer) that follows a general-purpose architecture. Since the hardware configuration example and the functional configuration example of the support device 500 are known, detailed description thereof will not be given here.

(C6: Production control system 600)
As an example, the production control system 600 is realized by a server using hardware (for example, a general-purpose personal computer) that follows a general-purpose architecture. Since the hardware configuration example and the functional configuration example of the production control system 600 are known, detailed description thereof will not be given here.

<D. Work analysis>
The collaborative work system 1 according to the present embodiment provides information for facilitating analysis and rebalancing of collaborative work between a worker and a robot. Hereinafter, the work analysis process for providing such information will be described.

FIG. 8 is a diagram for explaining an analysis example of work in the cooperative work system 1 according to the present embodiment. With reference to FIG. 8, the entire process 40 composed of a plurality of processes is regarded as the highest unit, and the process 41 of each process is composed of a plurality of operations. Each work of 41 in the process can be decomposed into one or a plurality of element work 42. Each of the elemental operations 42 can be decomposed into one or more operations 43. Each of the movements 43 can be decomposed into one or more unit movements 44.

In this way, the behavior of a worker or robot in various production processes can be decomposed into processes, operations, elemental operations, operations, unit operations, and the like. It is assumed that the type of element work included in each process is determined in advance in the process design. That is, the types of elemental work included in each process are known.

The cooperative work system 1 according to the present embodiment may be configured so that the behaviors of the worker and the robot can be analyzed in any unit such as a process, work in the process, and element work.

FIG. 9 is a schematic diagram showing a main part related to work analysis in the cooperative work system 1 according to the present embodiment. With reference to FIG. 9, the analysis / collection device 200 can analyze the progress of each process in any unit regardless of whether the operator or the robot is in charge of each process. More specifically, the analysis / collection device 200 includes a process recognition unit 250 for workers, a process recognition unit 260 for robots, and a processing engine 270. These components are typically realized by the processor 202 of the analysis collector 200 executing the analysis program 2104.

The processing engine 270 provides the worker process recognition unit 250 and the robot process recognition unit 260 with information on the division of work between the worker and the robot in advance based on the production control information from the production control system 600.

The process recognition unit 250 for workers and the process recognition unit 260 for robots are used as work recognition units that determine the start and end timings of each work included in the process by analyzing the behavior of at least one of the worker and the robot. Equivalent to.

The worker process recognition unit 250 analyzes the start and end timings of each work (arbitrary unit) performed by the worker in the process when the target process is in charge of the worker. On the other hand, when the target process is in charge of the robot, the robot process recognition unit 260 analyzes the start and end timings of each work (arbitrary unit) performed by the robot in the process.

The worker process recognition unit 250 and the robot process recognition unit 260 can determine the start and end timings for each work in any unit in the process, but the start and the start and the start and the end for each element work included in each process. It is preferable to determine the timing of the end.

The worker process recognition unit 250 analyzes the movement of the worker and the like based on the detection result by one or a plurality of sensing devices such as the camera 30, and identifies which work is being performed.

The sensing device may be a normal camera (2D camera) or a stereo camera (3D camera). Alternatively, a sensing device such as a laser scanner or a distance measuring sensor that can acquire a distance profile to an object may be used.

FIG. 10 is a schematic diagram showing a main part related to analysis of work by an operator in the cooperative work system 1 according to the present embodiment. With reference to FIG. 10, the worker process recognition unit 250 of the analysis / collection device 200 includes a feature point extraction unit 251, an object recognition unit 252, an motion recognition unit 253, a process database 254, and a current process determination unit 255. And the image buffer 256.

The feature point extraction unit 251 extracts the feature points (skeleton, joints, etc.) of the worker based on the sensing result (typically, an image) of the region including at least the worker by the sensing device.

The object recognition unit 252 recognizes the position and type of an object on the work stage or the like based on the sensing result (typically, an image) from the sensing device.

The motion recognition unit 253 recognizes the operator's motion based on the feature points of the operator extracted by the feature point extraction unit 251 and the position and type of the object extracted by the object recognition unit 252. The motion recognition unit 253 may be realized by using, for example, a trained model generated in advance by machine learning, or may be realized by using a rule-based determination logic.

The current process determination unit 255 determines the work currently being performed by the worker based on the movement of the worker recognized by the movement recognition unit 253 with reference to the process database 254, and starts and ends each work. Determine the timing of.

The process database 254 includes information on the element work included in each process and the operation corresponding to each element work. The current process determination unit 255 refers to the process database 254 and acquires the element work included in the process currently being performed by the operator and the corresponding operation. The current process determination unit 255 determines the start and end timings by comparing the information acquired from the process database 254 with the recognized operation of the operator. The process recognition unit 250 for workers may output a time indicating the start and end timings and the like.

As described above, the motion recognition unit 253, the process database 254, and the current process determination unit 255 correspond to the first timing determination unit, and the feature points of the worker extracted by the feature point extraction unit 251 and the object recognition unit. Based on the position and type of the object recognized by 252, the start and end timings are determined for each element work by the operator.

Further, the process recognition unit 250 for the operator determines the start and end timings of the process performed by the operator based on the control state acquired from the PLC 100 and / or the robot 300 in addition to the detection result by the sensing device. It may be. In this case, the determination process in the robot process recognition unit 260 as described later can be adopted.

The image buffer 256 temporarily stores a sensing result such as an image in order to realize a collection process as described later. The size of the image buffer 256 may be appropriately designed according to the delay time until the start and end timings of the worker process recognition unit 250 and the robot process recognition unit 260 are determined.

On the other hand, the robot process recognition unit 260 identifies which work the robot is performing based on the control state acquired from the PLC 100 and / or the robot 300. The control state acquired from the PLC 100 and / or the robot 300 includes, for example, a variable value indicating the status referred to by the user program, a command line during execution of the user program, a recipe number during execution, and the like. Further, the control state acquired from the PLC 100 and / or the robot 300 may include the angle of each joint of the robot 300, the coordinates of the tip of the arm, the operating speed of the arm, and the like.

FIG. 11 is a schematic diagram showing a main part related to analysis of work by a robot in the cooperative work system 1 according to the present embodiment. With reference to FIG. 11, the robot process recognition unit 260 of the analysis / collection device 200 includes a PLC communication unit 261, a robot communication unit 262, a status management unit 263, a recipe program 264, and a current process determination unit 265. Includes process database 266 and.

The PLC communication unit 261 acquires a control state from the PLC 100. The robot communication unit 262 acquires the control state from the robot 300.

The status management unit 263 determines the current status of the robot 300 based on the control state acquired by the PLC communication unit 261 and the robot communication unit 262 with reference to the recipe program 264. Recipe program 264 includes a copy or main part of the program executed by the PLC 100 and the robot 300. That is, the status management unit 263 determines the current status by specifying the contents of the program currently being executed based on the control states of the PLC 100 and the robot 300.

The current process determination unit 265 determines the work currently being performed by the robot based on the current status determined by the status management unit 263 with reference to the process database 266, and the start and end timings for each work. To determine.

The process database 266 includes information on the element work included in each process and the operation corresponding to each element work. The current process determination unit 265 refers to the process database 266 and acquires the element work included in the process currently being performed by the robot and the corresponding operation. The current process determination unit 265 determines the start and end timings for each work based on the information corresponding to the acquired status included in the process database 266. The robot process recognition unit 260 may output a time indicating the start and end timings of each work.

In this way, the current process determination unit 265 and the process database 266 correspond to the second timing determination unit, and determine the start and end timings for each element work by the robot based on the behavior corresponding to the status of the robot. ..

Further, the robot process recognition unit 260 performs each process performed by the robot based on at least a part of the detection results by one or a plurality of sensing devices such as the camera 30 in addition to the control state acquired from the PLC 100 and / or the robot 300. The timing of the start and end of the may be determined. In this case, the determination process in the robot process recognition unit 260 as described later can be adopted.

FIG. 12 is a flowchart showing a processing procedure related to analysis of work in the cooperative work system 1 according to the present embodiment. Each step shown in FIG. 12 is typically realized by the processor 202 of the analysis and collection device 200 executing the analysis program 2104.

With reference to FIG. 12, the analysis / collection device 200 acquires the production control information to be analyzed (step S100). The analysis collection device 200 acquires the image captured by the camera 30 over a predetermined period of the analysis target (step S102), and also acquires the control state of the PLC 100 and / or the robot 300 (step S104). The analysis / collection device 200 may further acquire additional information.

The analysis / collection device 200 extracts the feature points (skeleton, joints, etc.) of the worker 20 from the acquired image (step S106), and recognizes the position and type of an object such as a jig on the work stage. (Step S108). Then, the analysis / collection device 200 recognizes the operation of the worker 20 over a predetermined period of the analysis target (step S110).

Further, the analysis and collection device 200 determines the status and position of the robot 300 over a predetermined period of the analysis target based on the acquired control state with reference to the recipe program 264 (step S112).

The analysis / collection device 200 refers to the acquired production control information and the process database 266 to determine whether each process is in charge of the worker 20 or the robot 300 (step S114), and depending on the person in charge of each process. , The start and end timings for each work are determined based on the movement of the worker 20 or the status and position of the robot 300 (step S116). With the above, the process related to the analysis of the work is completed.

The process shown in FIG. 12 may be executed in substantially real time in synchronization with the production activity in the production process, or may be executed after the fact.

FIG. 13 is a diagram showing an example of work analysis results output by the collaborative work system 1 according to the present embodiment. With reference to FIG. 13, the work analysis result 282 includes a process column 2801, an in-process column 2802, an element work column 2803, a start time column 2804, an end time column 2805, a work time 2806, and a charge column 2807. And the production control information column 2808.

In the process column 2801, a process included in the target production process is shown. The process column 2802 indicates the work included in the corresponding process. The element work column 2803 indicates the element work included in the corresponding work. The start time column 2804 and the end time column 2805 indicate the start and end times of the corresponding elemental work. The working time 2806 indicates the time required for the corresponding element work.

The charge column 2807 shows information such as whether the worker or the robot is in charge of the corresponding elemental work, and identification information of the worker or the robot in charge. For example, the identification information starting with "OP" such as "OP0003" means the person in charge of the worker, and the identification information starting with "RB" such as "RB001" means the person in charge of the robot.

The production control information column 2808 indicates information (for example, product ID, product type information, lot information, etc.) for identifying the target work for which the target work analysis result 282 has been acquired.

The work analysis results shown in FIG. 13 are sequentially stored in the performance database 280.
FIG. 14 is a diagram showing a display example of the work analysis result output by the collaborative work system 1 according to the present embodiment. With reference to FIG. 14, the work analysis result may be displayed by using a graph capable of expressing the variation in the work time required for each process. Although the working time is displayed in the unit of the process in FIG. 14, the working time is not limited to this, and the working time may be displayed in the unit of the element work.

As described above, in the cooperative work system 1 according to the present embodiment, regardless of whether the worker or the robot is in charge of each process, the process, the work included in the process, and the element work included in the work It provides work analysis results that can grasp how much time is required in each unit.

<E. Collection process>
The collaborative work system 1 according to the present embodiment provides information effective for ex post facto analysis such as images in order to facilitate rebalancing of collaborative work between the worker and the robot and investigation of the cause of the ex post facto defect. To collect. Hereinafter, the collection process for collecting such information will be described.

FIG. 15 is a schematic view showing a main part related to the collection process in the cooperative work system 1 according to the present embodiment. With reference to FIG. 15, the processing engine 270 of the analysis / collection device 200 stores the history information (typically, still images, moving images, sounds, etc.) of the scenes satisfying the preset storage conditions 274 in the history information database 290. The determination processing unit 272 to be saved is included. The determination processing unit 272 includes production control information from the production control system 600, abnormality information from an inspection machine (not shown), start and end timings for each work from the worker process recognition unit 250, and robot process recognition. Based on the information such as the start and end timings for each work from the unit 260, what kind of history information is to be stored is determined at which timing or period.

That is, the determination processing unit 272 corresponds to the condition determination unit, and when the predetermined storage conditions are satisfied, the determination processing unit 272 transmits the history information about the work specified by the storage conditions by either the operator or the robot. Information indicating whether or not the person was in charge is added and stored in the history information database 290 (history information storage unit).

FIG. 16 is a diagram showing an example of collection processing in the cooperative work system 1 according to the present embodiment. Although various conditions can be included in the storage condition 274, a still image or a moving image may be stored at the timing when a specific work is completed with reference to FIG. For example, when a problem such as insufficient insertion of a connector is reported, there is a need to check the situation after inserting the connector. In such a case, the still image may be saved at the timing of the end of such work (event EV1).

Alternatively, assuming that the robot is in charge of assembly 1 which is the previous process and the worker is in charge of assembly 2 which is the next process, the work can be smoothly handed over between the robot and the worker. There is a need to see if it is done. In such a case, the moving image may be saved in the section (event EV2) in which the work is delivered between the robot and the worker.

Furthermore, there is a need to be able to confirm after the fact even for work in which defects frequently occur in a specific work. In such a case, the moving image may be saved in the work (event EV3) in which the trouble frequently occurs.

As the storage condition 274, any one or a plurality of conditions can be set, but for example, the conditions may be set from the following viewpoints.

(1) When a worker or robot performs any predetermined work (arbitrary unit such as process, work in process, element work) (2) When the state is different from the normal process (3) ) When feedback such as abnormal information is received As the condition of (1) above, a work or the like known to have frequent defects may be set as a storage target of history information. Further, the timing at which the robot decelerates, the timing at which the robot stops, and the like may be set as conditions.

The above-mentioned condition (2) may be a condition in which an unusual work such as a robot assisting a person is performed. Further, it may be a condition that the behavior of the robot is significantly different from the behavior (behavior calculated by simulation) that has been designed in advance. That is, the determination processing unit 272 of the analysis / collection device 200 stores the data based on the start and end timings of each work determined by the worker process recognition unit 250 or the robot process recognition unit 260 (work recognition unit). The scene or section of the history information to be output may be determined.

As the condition of (3) above, when a defect or defective product of a product is detected by an inspection machine or the like arranged in the subsequent stage, history information about the product in which the defect has occurred may be saved. Good. That is, when the abnormality information is input after the fact, the determination processing unit 272 of the analysis collection device 200 may retroactively store the history information corresponding to the abnormality information.

The above-mentioned condition is an example, and any content may be included in the storage condition 274.

As described above, the collaborative work system 1 according to the present embodiment collects still images, moving images, sounds, and the like for the corresponding scenes or sections when the predetermined storage condition 274 is satisfied.

In the present embodiment, attribute information indicating whether the worker or the robot is in charge of the corresponding work is saved in association with the history information to be saved (typically, still image, moving image, sound, etc.). This makes it easier to improve the process and track down when a problem occurs.

FIG. 17 is a diagram showing an example of data stored in the collaborative work system 1 according to the present embodiment. With reference to FIG. 17, history information 294 and 295 are stored in the history information database 290 in association with the attribute information 296. As an example, the history information 294 is a still image, and the history information 295 is a moving image.

The attribute information 296 associated with each of the history information 294 and 295 includes, for example, charge information 2961, conformity condition information 2962, and target work information 2963. The attribute information 296 does not have to include all of these information, and may include at least one of these pieces of information.

The person in charge information 2961 is information indicating whether the work corresponding to the associated history information is in charge of the worker or the robot. In the example shown in FIG. 17, the person in charge information 2961 including the identification information of the worker or the robot is shown, but the identification information is not always required, and it is specified whether the worker or the robot is in charge of the corresponding work. I hope I can.

The conformity condition information 2962 is information indicating a condition for which the associated history information is to be stored. That is, it is possible to know that the corresponding history information has been saved because the condition indicated by the conformity condition information 2962 is satisfied.

The target work information 2963 is information indicating which work or process the associated history information belongs to. By referring to the information indicated by the target work information 2963, the corresponding history information is related to which work. You can know if it is.

The history information 294,295 may be stored for each product (work). That is, the history information 294 and 295 may be stored in association with the product ID 292 for identifying each product (work). By identifying the product ID 292 associated with the history information 294 and 295, the corresponding work analysis result 282 can be uniquely identified from the actual database 280.

As described above, in the collaborative work system 1 according to the present embodiment, the history information (typically, still image, moving image, sound, etc.) is in charge of the work corresponding to the history information by either the worker or the robot. Add information indicating whether it was done and save it. As a result, the history information can be used for improving the production process, and can also be used for ex post facto investigation of the cause when some kind of defect (for example, occurrence of defective product) occurs.

FIG. 18 is a flowchart showing a processing procedure related to the collection processing in the cooperative work system 1 according to the present embodiment. Each step shown in FIG. 18 is typically realized by the processor 202 of the analysis and collection device 200 executing the analysis program 2104.

With reference to FIG. 18, the analysis / collection device 200 collects necessary information in advance. More specifically, the analysis / collection device 200 acquires the work analysis result 282 related to the target product (work) (step S200), and buffers the sensing result such as an image related to the target product (work) in the image buffer 256. Ring (step S202). In addition, the analysis / collection device 200 acquires production control information about the target product (work) from the production control system 600 (step S204), and also acquires abnormality information as needed (step S206).

Then, the analysis / collection device 200 sequentially determines whether or not the storage condition 274 is satisfied. That is, the analysis / collection device 200 traces the start and end timings of each work included in the work analysis result 282, and determines whether or not any of the storage conditions 274 is satisfied (step S208).

When any of the storage conditions 274 is satisfied (YES in step S208), the analysis / collection device 200 extracts the history information of the type and section specified in the storage condition 274 from the image buffer 256 (step S210), and responds. Attribute information to be added (step S212) and saved in the history information database 290 (step S214).

If any of the storage conditions 274 is not satisfied (NO in step S208), or after the execution of step S214, the analysis and collection device 200 determines whether or not the trace of the work analysis result 282 is completed (step S216). ..

If the trace of the work analysis result 282 is not completed (NO in step S216), the processing of step S208 and subsequent steps is repeated.

When the trace of the work analysis result 282 is completed (YES in step S216), the analysis collection device 200 determines whether or not the storage condition 274 regarding the abnormality information is satisfied (step S218).

If the storage condition 274 related to the abnormal information is satisfied (YES in step S218), the analysis / collection device 200 extracts the history information of the type and section specified in the storage condition 274 from the image buffer 256 (step S220). , The corresponding attribute information is added (step S222) and saved in the history information database 290 (step S224).

If the storage condition 274 regarding the abnormal information is not satisfied (NO in step S218), or after the execution of step S224, the collection process ends.

As described above, the collaborative work system 1 according to the present embodiment adds and stores the history information with information indicating whether the corresponding work is in charge of the worker or the robot. This makes it possible to facilitate process improvement and post-mortem analysis as described later.

Further, since the collaborative work system 1 according to the present embodiment saves the history information only when the predetermined storage condition 274 is satisfied, the history information is compared with the case where all the history information is saved. The data capacity of the database 290 can be reduced.

<F. Process improvement / post-mortem analysis>
The history information saved by the analysis process and the collection process as described above can be utilized as follows. That is, the stored history information is typically assumed to be used in the following forms.

(1) Examination of improvement of production process By identifying processes and operations that are likely to cause defects and defective products, and by examining the identified processes and operations, what causes (worker-induced, robot-induced, worker-induced) It is possible to identify whether it is caused by improper cooperation between the robot and the robot.

Coordination (rebalancing) of work sharing between workers and robots, change of work that workers are in charge of to robots, work or half between workers and robots to improve productivity It can be used to consider changing the delivery position of the product.

(2) Analysis of the cause when a defect occurs When a defect is found in the product in the inspection machine placed in the subsequent stage or visual inspection before shipment, history information can be used to analyze the cause of the defect. is there.

In addition, when information on a defect is received from somewhere after the product is shipped, it is possible to help identify the cause by analyzing the historical information about the target product.

(3) Realization of traceability By saving the history information in association with the product ID, if any problem occurs with a specific product, the content of each work at the production stage of the product can be grasped after the fact. It is possible to realize traceability for each product.

In the collaborative work system 1 according to the present embodiment, when the storage condition 274 is satisfied, only the history information of the corresponding scene or section is stored, so that the trace can be facilitated and the stored data can be reduced or reduced. Can be optimized.

Hereinafter, some usage forms will be described. All or part of the processing required for data utilization shown below may be executed by the analysis and collection device 200, or may be realized by another information processing device (not shown). Of course, the user may manually perform the following operations related to data utilization.

FIG. 19 is a diagram for explaining an example of the utilization mode of the history information collected by the collaborative work system 1 according to the present embodiment. FIG. 19 shows an example of the result of analysis focusing on the number of errors that occurred in each process (the number of occurrences of work mistakes and work omissions).

First, an analysis result 702 showing the number of errors that occurred in each process is generated. In the generated analysis result 702, the number of errors that occurred when the worker was in charge of each work (human work) and the number of errors that occurred when the robot was in charge of each work (robot work) were classified. Is shown.

It is assumed that the analysis result 702 focuses on steps 1 and 3 in which the number of errors is relatively large.

Focusing on step 1, the number of errors generated for each product type is analyzed to obtain an analysis result 704. The analysis result 704 is generated by acquiring the corresponding product type information by referring to the work analysis result 282 associated with each history information stored in the history information database 290.

In the analysis result 704, in addition to the number of errors that have occurred (number of errors), the error rate (number of errors that have occurred / total number of production) shown in the line graph is also calculated.

According to the analysis result 704, it can be seen that the number of errors and the error rate are relatively high for "variety A". Therefore, in order to reduce the occurrence of errors, it is effective to improve the method of producing "variety A". It turns out that.

On the other hand, paying attention to step 3, the number of errors generated for each person in charge is analyzed to obtain an analysis result 706 or an analysis result 707.

When the analysis result 706 is obtained by focusing on step 3, it can be seen that the number of errors and the error rate are relatively high for "worker C" according to the analysis result 706, so that the occurrence of errors is reduced. It can be seen that it is effective to improve the skill of "worker C" in order to do so. In this case, for example, the "worker C" can be instructed based on the moving image of the work of the "worker C" included in the history information.

More specifically, the work time required for each elemental work is analyzed for each worker to obtain an analysis result 708. According to the analysis result 708, it can be seen that the "elemental work B" of the "worker C" takes more work time than the other workers, so that the "worker C" , Can give priority guidance on the work of "elemental work B".

On the other hand, when the analysis result 707 is obtained by focusing on the step 3, according to the analysis result 707, the number of errors and the error rate when the robot is in charge as compared with the case where the worker is in charge. Is relatively low, so in order to reduce the occurrence of errors, it is possible to improve the skill of the worker for step 3 or change step 3 from work by the worker to work by the robot. It turns out to be effective.

When it is not possible to change to the work by the robot, for example, the worker can be instructed based on the moving image of the work of each worker included in the history information.

More specifically, the work time required for each elemental work is analyzed for each worker to obtain an analysis result 709. According to the analysis result 709, it can be seen that "elemental work B" takes more work time than other elemental work, so that "elemental work B" is given to each worker. Can give priority guidance on the work of.

FIG. 20 is a diagram for explaining another example of the utilization mode of the history information collected by the collaborative work system 1 according to the present embodiment. FIG. 20 shows an example of the result of analysis focusing on the number of defects generated in each process (the number of defects such as defective products).

First, an analysis result 712 showing the number of defects generated in each process is generated. In the generated analysis result 712, the number of defects that occurred when the worker was in charge of each work (human work) and the number of defects that occurred when the robot was in charge of each work (robot work) are It is shown separately.

It is assumed that the analysis result 712 focuses on step 3 in which the number of defects is relatively large.
Focusing on step 3, the number of defects generated for each person in charge is analyzed to obtain an analysis result 713 or an analysis result 714.

When the analysis result 713 is obtained by focusing on step 3, it can be seen that the number of defects and the error rate of "worker C" are relatively high according to the analysis result 713. It can be seen that it is effective to improve the skill of "worker C" in order to reduce the amount. In this case, for example, the "worker C" can be instructed based on the moving image of the work of the "worker C" included in the history information.

More specifically, the work time required for each elemental work is analyzed for each worker to obtain an analysis result 715. According to the analysis result 715, it can be seen that the "elemental work B" of the "worker C" takes more work time than the other workers, so that the "worker C" , Can give priority guidance on the work of "elemental work B".

On the other hand, when the analysis result 714 is obtained by focusing on the process 3, according to the analysis result 714, the number of defects and the error occur when the robot is in charge as compared with the case where the operator is in charge. Since it can be seen that the rate is relatively low, in order to reduce the occurrence of defects, the skill of the worker for step 3 should be improved, or step 3 should be changed from the work by the worker to the work by the robot. Turns out to be effective.

When it is not possible to change to the work by the robot, for example, the worker can be instructed based on the moving image of the work of each worker included in the history information.

More specifically, the work time required for each elemental work is analyzed for each worker to obtain an analysis result 716. According to the analysis result 716, it can be seen that "elemental work B" takes more work time than other elemental work, so that "elemental work B" is given to each worker. Can give priority guidance on the work of.

FIG. 21 is a diagram for explaining still another example of the utilization mode of the history information collected by the collaborative work system 1 according to the present embodiment. FIG. 21 shows an example of the result of analysis focusing on the number of defects generated in each process (the number of defects such as defective products).

First, an analysis result 722 showing the number of defects generated in each process is generated. In the generated analysis result 722, the number of defects that occurred when the worker was in charge of each work (human work) and the number of defects that occurred when the robot was in charge of each work (robot work) are shown. It is shown separately.

It is assumed that the analysis result 722 focuses on step 3 in which the number of defects is relatively large.
Focusing on step 3, the number of defects generated for each of several sharing patterns with different responsibilities, including steps 2 and 4 before and after the step 3, is analyzed to obtain an analysis result 724.

According to the analysis result 724, when steps 2 to 4 are performed in the pattern (1) "robot-> worker-> robot" and the pattern (4) "worker-> worker-> robot", a defect is obtained. Since it can be seen that both the number of occurrences and the error rate are relatively high, it can be seen that it is preferable to adopt a pattern other than these patterns in order to reduce the occurrence of defects. In this case, for example, a sharing pattern with a low occurrence of defects can be preset according to the production plan.

Not limited to the above-mentioned example, it can be used in any form.
The collaborative work system 1 according to the present embodiment adds information indicating which of the worker and the robot is in charge of the production process in which the human and the robot work in cooperation, and saves the history information. As a result, it is possible to more accurately analyze the factors when a decrease in production efficiency or a defect occurs.

For example, if the work time is relatively long regardless of which worker is in charge, or if there are relatively many defects, it can be identified that there is a problem in the process itself. On the other hand, when a specific worker is in charge, if the work time is long or there are many defects, it can be identified that the specific worker has a problem.

Regarding the former problem, since the person in charge of the process is not suitable for the process, it is possible to deal with it by changing the person in charge to the robot. Alternatively, if the division of work between the worker and the robot is not appropriate, the division of responsibility can be reviewed. On the contrary, for processes for which the robot is not suitable, it is possible to change the person in charge from the robot to the worker.

The latter problem can be dealt with so as to increase the proficiency level of the corresponding work by a specific worker.

Further, the collaborative work system 1 according to the present embodiment can analyze the work time and the like in units of element work, so that the accuracy of the analysis can be improved.

<G. Modification example>
In the above description, the mode in which the analysis / collection device 200 executes all the processes has been illustrated, but the present invention is not limited to this, and a plurality of devices may cooperate to provide the above-mentioned functions. Furthermore, some or all of the functions may be realized by using so-called cloud computing resources on the server.

In the above description, for convenience of explanation, an example in which a single production process is targeted has been described, but history information may be collected for a plurality of production processes. Further, the history information may be collected from a plurality of factories instead of a single factory. In this case, it is possible to collect historical information not only from specific countries but also from factories distributed all over the world and apply the result of cause analysis to other factories and other production processes. ..

<H. Addendum>
The present embodiment as described above includes the following technical ideas.

[Structure 1]
A collaborative work system (1) that produces products according to a predetermined process.
One or more collaborative work robots (300) that work in cooperation with workers,
A history information storage unit (290) for storing history information indicating the behavior of the worker and the collaborative work robot, and
When the predetermined storage condition (274) is satisfied, the history information about the work specified by the storage condition is information indicating whether the work is in charge of the worker or the collaborative work robot (the information indicating whether the work is in charge of the worker or the cooperative work robot). A collaborative work system including a condition determination unit (272) to which 296) is added and stored in the history information storage unit.

[Structure 2]
The collaborative work system according to configuration 1, wherein the history information includes an image (294) of at least one of the worker and the collaborative work robot.

[Structure 3]
Configuration 1 or 2 further includes a work recognition unit (250, 260) that determines the start and end timings of each work included in the process by analyzing the behavior of at least one of the worker and the cooperative work robot. Collaborative work system described in.

[Structure 4]
The collaborative work system according to configuration 3, wherein the work recognition unit determines start and end timings for each one or a plurality of elemental works included in each process.

[Structure 5]
The work recognition unit
A feature point extraction unit (251) that extracts the feature points of the worker based on the sensing result of at least the area including the worker by the sensing device.
An object recognition unit (252) that recognizes the position and type of an object on the work stage based on the sensing result.
Based on the feature points of the worker extracted by the feature point extraction unit and the position and type of the object recognized by the object recognition unit, the start and end timings for each element work by the worker are set. The collaborative work system according to configuration 3 or 4, which includes a first timing determination unit (254, 255) for determining.

[Structure 6]
The work recognition unit
A status management unit (263) that manages the status of the collaborative work robot based on the control state from the collaborative work robot, and a status management unit (263).
Configurations 3 to 5 including a second timing determination unit (265,266) that determines start and end timings for each elemental work by the collaborative work robot based on the behavior corresponding to the status of the collaborative work robot. The collaborative work system according to any one of the above items.

[Structure 7]
Described in any one of the configurations 3 to 6, wherein the condition determination unit determines a scene or section of history information to be saved based on the start and end timings of each work determined by the work recognition unit. Collaborative work system.

[Structure 8]
The collaborative work system according to any one of configurations 1 to 7, wherein the condition determination unit retroactively stores the history information corresponding to the abnormality information when the abnormality information is input after the fact.

[Structure 9]
An analysis and collection device (200) directed to a collaborative work system (1) that produces products according to a predetermined process, in which the collaborative work system works in collaboration with a worker. Including working robot (30)
A history information storage unit (290) for storing history information indicating the behavior of the worker and the collaborative work robot, and
When the predetermined storage conditions are satisfied, the history information about the work specified by the storage conditions is added, and the information indicating whether the work is in charge of the worker or the collaborative work robot is added. An analysis and collection device including a condition determination unit (272) for storing in the history information storage unit.

[Structure 10]
It is an analysis program directed to a collaborative work system (1) that produces products according to a predetermined process, and the collaborative work system is one or a plurality of collaborative work robots (30) that perform work in cooperation with a worker. ) Is included, and the analysis program is installed in the computer (200).
The step (S208) of determining whether or not the predetermined storage conditions are satisfied, and
When any of the storage conditions is satisfied, the history information about the work specified by the storage condition is saved by adding information indicating whether the work is in charge of the worker or the collaborative work robot. To execute the steps (S210, S212) to be performed,
The history information is an analysis program that shows the behavior of the worker and the collaborative work robot.

<I. Advantages>
The collaborative work system according to the present embodiment can efficiently analyze the work in the collaborative work system including one or a plurality of collaborative work robots that perform the work in cooperation with the worker.

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 not by the above description but by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 collaborative work system, 2 field network, 4 upper network, 11M, 12A, 12M, 13A, 14A, 15A work stage, 20 workers, 30 cameras, 40 entire processes, 41 processes, 42 element work, 43 operations, 44 Unit operation, 100 PLC, 102,202,312 processor, 104,204,314 main memory, 106,222 upper network controller, 108,220,302 field network controller, 110,210,316 storage, 112 memory card interface, 114 Memory card, 116 local bus controller, 118,218 processor bus, 120 USB controller, 200 analysis and collection device, 206 input unit, 208 display unit, 212 optical drive, 214 storage medium, 250 worker process recognition unit, 251 feature points Extraction unit, 252 object recognition unit, 253 motion recognition unit, 254,266 process database, 255,265 current process determination unit, 256 image buffer, 260 robot process recognition unit, 261 communication unit, 262 robot communication unit, 263 status management Department, 264,318,1106 Recipe program, 270 processing engine, 272 judgment processing part, 274 storage conditions, 280 actual database, 282 work analysis result, 290 history information database, 292 product ID, 294,295 history information, 296 attribute information , 300 robot, 310 main control unit, 317, 1102 system program, 320 interface circuit, 322 sensor, 324 actuator, 326 motor driver, 328 servo motor, 400 display operation device, 500 support device, 600 production control system, 702,704 , 706,707,708,709,712,713,714,715,716,722,724 Analysis result, 1104 user program, 2104 analysis program, 2801 process column, 2802 process column, 2803 element work column, 2804 start time Column, 2805 End time column, 2806 Working hours, 2807 Responsible column, 2808 Production control information column, 2961 Responsible information, 2962 Conformity condition information, 2963 Target work information.

Claims (10)

A collaborative work system that produces products according to a predetermined process.
One or more collaborative work robots that work in collaboration with workers,
A history information storage unit for storing history information indicating the behavior of the worker and the collaborative work robot, and
When the predetermined storage conditions are satisfied, the history information about the work specified by the storage conditions is added, and the information indicating whether the work is in charge of the worker or the collaborative work robot is added. , A collaborative work system including a condition determination unit for storing in the history information storage unit. The cooperative work system according to claim 1, wherein the history information includes an image of at least one of the worker and the cooperative work robot. The cooperation according to claim 1 or 2, further comprising a work recognition unit that determines the start and end timings of each work included in the process by analyzing the behavior of at least one of the worker and the cooperative work robot. Working system. The cooperative work system according to claim 3, wherein the work recognition unit determines start and end timings for each one or a plurality of elemental works included in each process. The work recognition unit
A feature point extraction unit that extracts the feature points of the worker based on the sensing result of at least the area including the worker by the sensing device.
An object recognition unit that recognizes the position and type of an object on the work stage based on the sensing result.
Based on the feature points of the worker extracted by the feature point extraction unit and the position and type of the object recognized by the object recognition unit, the start and end timings for each element work by the worker are set. The collaborative work system according to claim 3 or 4, which includes a first timing determination unit for determining. The work recognition unit
A status management unit that manages the status of the collaborative work robot based on the control state from the collaborative work robot, and a status management unit.
Any one of claims 3 to 5, including a second timing determination unit that determines the start and end timings for each elemental work by the cooperative work robot based on the behavior corresponding to the status of the cooperative work robot. The collaborative work system described in the section. The condition determination unit determines a scene or section of history information to be saved based on the start and end timings of each work determined by the work recognition unit, according to any one of claims 3 to 6. Described collaborative work system. The cooperative work system according to any one of claims 1 to 7, wherein the condition determination unit retroactively stores the history information corresponding to the abnormal information when the abnormal information is input after the fact. An analysis and collection device directed to a collaborative work system that produces products according to a predetermined process, the collaborative work system includes one or more collaborative work robots that work in concert with the worker.
A history information storage unit for storing history information indicating the behavior of the worker and the collaborative work robot, and
When the predetermined storage conditions are satisfied, the history information about the work specified by the storage conditions is added, and the information indicating whether the work is in charge of the worker or the collaborative work robot is added. An analysis and collection device including a condition determination unit for storing in the history information storage unit. An analysis program directed to a collaborative work system that produces products according to a predetermined process, wherein the collaborative work system includes one or more collaborative work robots that perform work in cooperation with a worker. The program is on the computer
Steps to determine if predetermined storage conditions are met, and
When any of the storage conditions is satisfied, the history information about the work specified by the storage condition is saved by adding information indicating whether the work is in charge of the worker or the collaborative work robot. To perform the steps and
The history information is an analysis program that shows the behavior of the worker and the collaborative work robot.

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