JP2023038444A - Work verification device, work verification method and program - Google Patents

Abstract

To provide a technology capable of verifying even work using instruments that do not incorporate sensors necessary for verifying work.SOLUTION: A work verification system includes a tool used for performing work to be verified, a sensor detachably attached to the tool, an acquisition unit for acquiring data output from the sensor, a generation unit that generates reference data based on the data acquired from the sensor when performing the work using the tool before the verification and verification data based on the data acquired from the sensor when performing the work as a verification target, a verification unit that compares the reference data with the verification data to verify the work as a verification target, and an output unit for outputting information about the result of verification of the work by the verification unit.SELECTED DRAWING: Figure 3

Description

The present invention relates to a technique for verifying work using instruments.

There is a demand for accurate verification of whether product assembly operations using various tools are being performed correctly at production sites such as factories. For example, Patent Literature 1 proposes a technique for evaluating each work by calculating variations in work time for each work performed by the worker using sensor output that detects the movement of the worker. Further, Japanese Patent Application Laid-Open No. 2002-200002 proposes a technique for confirming whether or not a worker can properly handle an electric power tool based on the measurement result of a sensor incorporated in the electric power tool.

JP 2018-45512 A JP 2020-199632 A

However, in the conventional technology, even if it is possible to evaluate workability such as the quality and efficiency of the work performed by the worker, there is a possibility that it is not possible to detect whether the worker forgot to perform the work or made an error in the work procedure. be. In addition, with conventional technology, if a worker uses multiple power tools to proceed with work, it is necessary to incorporate a sensor for each power tool used by the worker, which may increase the manufacturing cost of power tools. Therefore, the operator must use a power tool with a built-in sensor for exclusive use.

The present invention has been devised in view of the above circumstances, and provides a technique capable of verifying work even when using a tool that does not incorporate a sensor necessary for verifying the work.

In order to achieve the above objects, the present invention employs the following configurations.

One aspect of the present invention includes an instrument used for performing a task to be verified, a sensor detachably attached to the instrument, an acquisition unit for acquiring data output from the sensor, and the verification Reference data based on data obtained from the sensor when the work is performed using the tool before and data obtained from the sensor when the work as the verification target is performed a generation unit that generates verification data based on the above; a verification unit that compares the reference data and the verification data to verify the work as a verification target; and a verification result of the work by the verification unit and an output unit that outputs information about the work verification system. As a result, by appropriately attaching a sensor to a tool that does not have a sensor necessary for verification of work or to a hand tool of a robot, it is possible to verify work performed by various tools with a simple configuration and at any timing.

Further, in the work verification system described above, the generation unit generates the reference data and the verification data whose content differs according to the type of motion in the work, based on the data output from the sensor. may be generated. As a result, the work can be verified from various aspects using various physical quantities such as the acceleration, number of times, time, and amount of movement of the motion.

Further, in the work verification system described above, the acquisition unit further acquires a start signal indicating the start of the work and an end signal indicating the end of the work, and the generation unit acquires the start signal and then The reference data and the verification data may be generated based on the data outputted from the sensor and acquired by the acquisition unit until the end signal is acquired. This realizes verification focused on the work to be verified.

In addition, one aspect of the present invention includes an acquisition unit that acquires data output from a sensor that is detachably attached to a tool used to perform a task to be verified, and the tool before the verification. reference data based on the data obtained from the sensor when performing the task using the verification data; and verification data based on the data obtained from the sensor when performing the task as the object of verification. a verification unit that compares the reference data and the verification data to verify the work as a verification target; and an output that outputs information about the verification result of the work by the verification unit The present invention relates to a work verification device characterized by having a part. As a result, by appropriately attaching a sensor to a device that does not have a sensor necessary for verification of work, it is possible to verify the work performed by various devices with a simple configuration and at any timing.

In addition, the present invention includes an operation verification method including at least a part of the above processing, a program for causing a computer to execute these methods, or a computer-readable record in which such a program is non-temporarily recorded. It can also be considered as a medium. Each of the above configurations and processes can be combined to form the present invention as long as there is no technical contradiction.

According to the present invention, it is possible to verify work even when using an instrument that does not incorporate sensors necessary for verifying the work.

FIG. 1 is a diagram schematically showing a configuration example of a work verification system to which the present invention is applied. FIG. 2 is a diagram showing a schematic configuration of a work verification system according to one embodiment. FIG. 3 is a block diagram illustrating an example of a work verification system according to one embodiment. FIG. 4 is a flowchart illustrating an example of a processing flow of a PC according to one embodiment; FIG. 5 is another flowchart showing an example of the processing flow of the PC according to one embodiment.

<Application example>
An application example of the present invention will be described. Conventional technologies can evaluate workability such as the quality and efficiency of work performed by workers at production sites such as factories, but they cannot detect mistakes such as forgetting to do work by workers or errors in work procedures. may not be possible. In addition, with the conventional technology, when a worker uses multiple power tools to proceed with work, it is necessary to incorporate a sensor that outputs information about the movement of the tool for each power tool, which increases the manufacturing cost of power tools. The operator must use a dedicated power tool with a built-in sensor.

FIG. 1 is a diagram schematically showing a configuration example of a work verification system 1 to which the present invention is applied. In the configuration example shown in FIG. 1, in the work verification system 1, a worker 101 uses a tool 102 to perform a series of tasks such as attaching parts, and a robot 105 drives a hand tool 107 to assemble a product. I am doing a series of tasks such as Tool 102 and hand tool 1
07, detachably attached sensors 103 and 106 are attached, respectively. A switch 104 is also attached to the tool 102 . The switch 104 is used to notify the PC 200 of the start and end timings of work using the tool 102 by the worker. Various known switches may be employed for switch 104 . Also, the PC 200 performs wireless communication with the sensors 103 and 106 and the switch 104 and receives data output from the sensors 103 and 106 and signals output from the switch 104 .

FIG. 2 is a diagram showing a configuration example of the work verification system 1. As shown in FIG. The work verification system 1 has a PC 200 as a work verification device and sensors 103 and 106 . The PC 200 also has an acquisition unit 211 , a control unit 212 , a storage unit 213 and an output unit 214 . Acquisition unit 211 acquires data output from sensors 103 and 106 attached to tool 102 and robot 105 . In the following description, the sensors 103 and 106 are assumed to be acceleration sensors, but various sensors such as gyro sensors and vibration sensors may be employed depending on the nature of the work to be verified.

The control unit 212 performs work learning and verification using the acquired sensor output data. Details of the learning and verification processes executed by the control unit 212 will be described later. The storage unit 203 stores various data such as output data of the sensors 103 and 106 acquired by the acquisition unit 211 and data used and generated in processing executed by the control unit 212 . The output unit 214 notifies the operator of the verification result according to the result of the process executed by the control unit 212, and outputs data regarding the result to an external device. Note that the output unit 214 may be configured so as to be able to output data regarding the verification result of the work to an external device by various communication methods such as wireless communication and wired communication.

Before the worker uses the tool 102 to perform the work, the work verification system 1 performs the work performed by the worker with the correct content while the sensor 103 is attached to the tool 102, and the PC 200 checks the accuracy of the work. The output data of the sensor 103 is acquired, work learning is performed based on the acquired data, and output data acquisition and work learning are repeatedly performed as necessary. This learning provides reference data that is used to validate work. After that, the worker performs work using the tool 102 to which the sensor 103 is attached. The PC 200 acquires data output from the sensor 103, generates verification data based on the acquired data, and compares this verification data with reference data obtained during learning, so that the operator can Determine if the work is being done correctly.

Similarly, before the robot 105 performs a programmed task, with the sensor 106 attached to the hand tool 107 of the robot 105, the robot 105 performs the task according to normal operation and the PC 200 detects the sensor 106 during that operation. Acquire the output data of, learn the work based on the acquired data, and repeat the acquisition of the output data and the learning of the work as necessary. This learning provides reference data that is used to validate work. After that, the robot 105 works with the sensor 106 attached to the hand tool 107 . The PC 200 acquires data output from the sensor 106, generates verification data based on the acquired data, and compares this verification data with reference data obtained during learning, so that the robot 105 Determine whether correct work is being performed without malfunction.

Therefore, according to the work verification system 1, even if the sensor is not incorporated in the tool used for the work, it is possible to verify that the work has been done correctly by attaching the sensor to the tool.

<Description of Embodiment>
An embodiment of the technology of the present disclosure will be described. In this embodiment, as an example, the worker 101 uses the tool 102 to perform a predetermined task, the robot 105 uses the hand tool 107 to perform a programmed task, and the task verification system 1 performs the task of the worker 101 and Assume that the work of robot 105 is to be verified. An example of the predetermined work performed by the worker 101 is a work in which the worker moves the tool 102 according to a predetermined procedure to attach a component. It is assumed that this work includes a characteristic motion such as twisting the wrist of the hand holding the tool 102 by the worker in order to attach the part. It is also assumed that the programmed work performed by the robot 105 also includes a characteristic motion such as rotation of the hand tool 107 . Also, the tool 102 used by the worker and the hand tool 107 of the robot 105 are examples of equipment used to perform the work that is the verification target of the present invention.

FIG. 3 is a block diagram showing a configuration example of the work verification system 1 according to one embodiment. As shown in FIG. 3, the PC 200 acquires data output from the sensors 103 and 106, verifies work performed by the worker using the tool 102 and programmed work performed by the robot 105, and displays information about the verification results. Output to device 300 . Examples of display devices include displays and information processing terminals (such as smartphones).

In this embodiment, the PC 200 is a separate device from the display device 300, but the PC 200 and the display device 300 may be configured integrally. Also, the installation location of the PC 200 is not particularly limited. For example, the PC 200 may be installed at the same place as the operator 101 (tool 102) and the robot 105. Also, the PC 200 may be a computer on the cloud, or may be a microcomputer such as a PLC (Programmable Logic Controller) or a single board computer.

Next, each part of PC200 is demonstrated. The acquisition unit 211 acquires data output from the sensors 103 and 106 during work by the tool 102 and the robot 105 and outputs the data to the control unit 212 .

The control unit 212 has a sensor output processing unit 223 , a comparison unit 224 and a work determination unit 225 . The control unit 212 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and controls each unit in the PC 100 and performs various information processing.

The sensor output processing unit 223 processes the output data of the sensors 103 and 106 acquired by the acquisition unit 211 and generates data necessary for verifying the work. The sensor output processing unit 223 corresponds to a generation unit that generates reference data and verification data in the present invention. The sensor output processing unit 223 generates reference data based on data acquired from the sensors 103 and 106 when the tool 102 and the hand tool 107 are used to perform the work before verifying the work. Further, the sensor output processing unit 223 generates verification data based on data acquired from the sensor when the tool 102 or the hand tool 107 is used to perform verification target work. The comparison unit 224 compares reference data and verification data obtained by processing by the sensor output processing unit 223 . Based on the comparison of the reference data and the verification data by the comparison unit 224, the work determination unit 225 determines whether the work to be verified has been performed correctly.

The storage unit 213 stores programs executed by the control unit 212 and various data used in processes executed by the control unit 212 in addition to the reference data and verification data described above. For example, the storage unit 212 is an auxiliary storage device such as a hard disk drive or solid state drive. The output unit 214 outputs to the display device 300 information about the work verification result obtained by the processing of the control unit 212 . Information about the result of work verification by the control unit 212 may be stored in the storage unit 213 and output from the output unit 214 to the display device 300 at an arbitrary timing.

4 and 5 are flowcharts showing an example of the processing flow of the PC 100. FIG. As an example, the PC 200 starts the processing flow of FIGS. 4 and 5 after being powered on.

First, referring to FIG. 4, the process of generating reference data indicating normal work for verification of work executed in the PC 200 will be described. Before the PC 200 starts the processing of FIG. 4, preparations such as attachment of the sensor 103 and the switch 104 to the tool 102, attachment of the sensor 106 to the hand tool 107 of the robot 105, and calibration of the tool 102 and the robot 105 are performed. is assumed to have been completed.

In addition, in this embodiment, reference data is generated for each type of motion in work based on data output from the sensors 103 and 106, which are acceleration sensors. As a result, in the verification process, which will be described later with reference to FIG. 5, the verification mode is switched for each type of operation to verify the work. Here, the type of operation may be determined according to the type of sensors 103 and 106 used. For example, if the sensors 103 and 106 are acceleration sensors, the type of motion includes types of physical quantities such as acceleration of motion, number of times of motion, duration of motion, amount of movement in motion, and verification is performed for each type of motion. A mode shall be provided.

In step S301, the operator of the tool 102 presses the switch 104 to notify the PC 200 of the start of work, or the robot 105 communicates with the PC 200 to notify the PC 200 of the start of work. The operator who uses the tool 102 in the flowchart shown in FIG. 4 and the operator who uses the tool 102 in the flowchart shown in FIG. 5 may be the same or different. The control unit 212 of the PC 200 receives a start signal indicating work start from the switch 104 or the robot 105 via the acquisition unit 211, and advances the process to step S302.

Next, in step S302, the control unit 212 starts recording data output from the sensors 103 and . More specifically, the acquisition unit 211 receives data output from the sensor 103 attached to the tool 102 or the sensor 106 attached to the hand tool 107 of the robot 105, and outputs the received data to the control unit 212. do. A sensor output processing unit 223 of the control unit 212 stores the output data of the sensors 103 and 106 received by the acquisition unit 211 in the storage unit 213 . Acquisition unit 211 receives the output data of sensors 103 and 106 at predetermined time intervals. Here, the predetermined time interval refers to temporal changes in the outputs of the sensors 103 and 106 in the work to be verified, especially the outputs of the sensors 103 and 106 when the tool 102 and the hand tool 107 perform characteristic operations in the work. is a time interval at which a temporal change in is observable, and may be changed as appropriate according to the content of the work.

Then, in step S303, when the work to be verified by the tool 102 is completed, the switch 104 of the tool 102 is pushed to transmit a work end signal to the PC 200, or the work to be verified by the robot 105 is completed. At this point, the robot 105 sends a work end signal to the PC 200 . Upon receiving a work end signal from the switch 104 of the tool 102 or the robot 105 , the acquisition unit 211 outputs the received signal to the control unit 212 . The control unit 212 receives an end signal indicating work end from the switch 104 or the robot 105 via the acquisition unit 211, and advances the process to step S304. Then, in step S304, the control unit 212 ends the recording of the output data from the sensors 103 and 106 started in step S302, and advances the process to step S305.

In step S305, the control unit 212 controls steps S302 to S304.
It is determined whether or not the work performed by the tool 102 or the hand tool 107 of the robot 105 is normal. Specifically, the operator of the tool 102 operates the switch 104 (for example, the PC 200 is notified of whether or not the work is normal according to the number of times the switch 104 is continuously pressed a plurality of times). , the administrator of the robot 105 directly operates the PC 200 and inputs whether or not the work is normal, so that the controller 212 determines whether the work performed between steps S302 and S304 is normal. It can be determined whether If the control unit 212 determines that the work is normal (S305: YES), the process proceeds to S307. On the other hand, when the control unit 212 determines that the work is not normal (S305: NO), the process proceeds to step S306.

In step S306, the control unit 212 notifies the operator of the tool 102 or the robot 105 that the work will be performed again. Specifically, the control unit 212 outputs the notification from the output unit 214 to the display device 300 to notify the worker to perform the work again, or transmits the signal of the notification from the output unit 214 to the robot 105 directly or Send it indirectly. After making the notification, the control unit 212 returns the process to step S301.

In step S307, the sensor output processing unit 223 of the control unit 212 verifies the work for each verification mode based on the output data of the sensors 103 and 106 from steps S302 to S304 stored in the storage unit 213. Generate reference data for Here, the reference data is data in a form that can be compared with the data output from the sensors 103 and 106 when the tool 102 or robot 105 is used to perform the same work. For example, the reference data may be data or a graph in which the elapsed time from the start of storage in step S302 and the magnitude of acceleration output from the sensors 103 and 106 are associated with each other. Reference data may be generated in various forms as long as it can be compared with verification data to be described later.

Since the type of motion to be noticed differs for each verification mode, the reference data is generated in a form corresponding to the type of motion. For example, if the type of motion is acceleration, graphs showing changes in acceleration over time from the start of work can be compared. If the type of motion is time, the number of times the motion occurs per time is a comparable value. If the type of motion is time, the time required for one motion is a comparable value. Numerical values that allow comparison of the movement amount of the movement and the average movement amount of multiple movements performed from the start of the work to the end of the work can be used as reference data, but the form of reference data is not limited to these. . After storing the generated reference data in the storage unit 213, the control unit 212 advances the process to step S308.

In step S308, the control unit 212 repeats the processes of steps S301 to S307 to determine whether or not to relearn the work to be verified by generating and storing reference data. Specifically, the operator of the tool 102 operates the switch 104 (for example, notifies the PC 200 whether or not learning is to be performed again according to the number of times the switch 104 is continuously pressed a plurality of times), When the administrator of the robot 105 directly operates the PC 200 to input whether or not to re-learn, the control unit 212 can determine whether or not to re-learn. If the control unit 212 determines to re-learn (S308: YES), the process proceeds to step S309. On the other hand, when the control unit 212 determines not to perform learning again (S308: NO), the processing of this flowchart ends.

In step S309, the control unit 212 notifies the operator of the tool 102 or the robot 105 that learning will be performed again. Specifically, the control unit 212 outputs the notification from the output unit 214 to the display device 300 to notify the worker to perform the work again, or transmits the signal of the notification from the output unit 214 to the robot 105 directly or Send it indirectly. After making the notification, the control unit 212 returns the process to S301.

Next, processing executed by the control unit 212 will be described with reference to the flowchart of FIG. The control unit 212 executes the process of the flowchart shown in FIG. 5 after the process of the flowchart shown in FIG. 4 ends.

In step S401, the control unit 212 selects the verification mode of the work to be verified, for example, by accepting an operation of the input unit (not shown) of the PC 200 or by the acquisition unit 211 directly or indirectly communicating with the work 105. accept. The control unit 212 stores information indicating the selected verification mode in the storage unit 213, and advances the process to step S402.

In step S402, the operator of the tool 102 presses the switch 104 to notify the PC 200 of the start of work, or the robot 105 communicates with the PC 200 to notify the PC 200 of the start of work. The control unit 212 of the PC 200 receives a work start signal from the switch 104 or the robot 105 via the acquisition unit 211, and advances the process to step S403.

Next, in step S403, the control unit 212 starts recording data output from the sensors 103 and . More specifically, the acquisition unit 211 receives data output from the sensors 103 and 106 and outputs the received data to the control unit 212 . A sensor output processing unit 223 of the control unit 212 stores the output data of the sensors 103 and 106 received by the acquisition unit 211 in the storage unit 213 . Note that the acquisition unit 211 receives the output data of the sensors 103 and 106 at the same time intervals as in step S302. However, the time interval for acquiring the output data of the sensors 103 and 106 in step S403 may be different from the time interval in step S302 as long as it can be compared with reference data in step S407, which will be described later.

Then, in step S404, when the work to be verified by the tool 102 is completed, the switch 104 of the tool 102 is pushed to transmit a work end signal to the PC 200, or the work to be verified by the robot 105 is completed. At this point, the robot 105 sends a work end signal to the PC 200 . Upon receiving a work end signal from the switch 104 of the tool 102 or the robot 105 , the acquisition unit 211 outputs the received signal to the control unit 212 . The control unit 212 receives a signal indicating the end of work from the switch 104 or the robot 105 via the acquisition unit 211, and advances the process to step S405. Then, in step S405, the control unit 212 ends the recording of the output data from the sensors 103 and 106 started in step S403, and advances the process to step S406.

In step S406, the sensor output processing unit 223 of the control unit 212 corresponds to the verification mode selected in step S401 based on the output data of the sensors 103 and 106 from steps S403 to S405 stored in the storage unit 213. Verification data to be compared with the reference data stored in the storage unit 213 is generated according to the type of motion. After storing the generated verification data in storage unit 213, control unit 212 advances the process to step S407.

In step S407, the comparison unit 224 of the control unit 212 acquires reference data corresponding to the verification mode selected in step S401 from among the reference data stored in the storage unit 213, and It compares with the verification data generated in S406. For example, the comparison unit 224 compares the reference data and the verification data in magnitude of acceleration in the same elapsed time after the start of recording the output data of the sensor, or compares the reference data and the verification data. In the case of graphs, both graphs are compared. Various well-known techniques may be employed for the data comparison method.

Next, in step S407, the work verification unit 225 of the control unit 212 determines whether the tool 102 or the robot 105 performed between steps S402 and S404 based on the comparison result of the reference data and the verification data in step S406. It is verified whether or not the work by the hand tool 107 is normally performed. It should be noted that the higher the degree of similarity between the reference data and the verification data in the comparison result of the reference data and the verification data, the higher the possibility that the work to be verified was performed normally. A criterion for the degree of similarity between the reference data and the verification data for determining that the work to be verified has been performed normally may be appropriately set according to the content of the work. The control unit 212 stores in the storage unit 213 the result of verification by the work verification unit 225 as to whether or not the work to be verified was performed normally. Also, the control unit 212 outputs information indicating the verification result to the display device 300 . As a result, the operator of the tool 102 or the manager of the robot 105 can confirm that the work was performed normally based on the verification result displayed on the display device 300, and if the work is abnormal, You can interrupt your work. Next, the control unit 212 advances the process to step S409.

In step S<b>409 , the control unit 212 determines whether or not to repeat the above verification for the work using the tool 102 and the hand tool 107 of the robot 105 . Specifically, the operator of the tool 102 operates the switch 104 (for example, notifies the PC 200 whether or not to repeat the verification according to the number of times the switch 104 is continuously pressed a plurality of times), or the robot 105 directly operates the PC 200 to input whether or not to repeat the verification, so that the control unit 212 can determine whether or not to repeat the verification. If the control unit 212 determines to repeat the verification (S409: YES), the process proceeds to step S410. On the other hand, when the control unit 212 determines not to perform learning again (S409: NO), it ends the processing of this flowchart.

In step S410, the control unit 212 notifies the operator of the tool 102 or the robot 105 that the work to be verified will be verified again. Specifically, the control unit 212 outputs the notification from the output unit 214 to the display device 300 to notify the worker to perform the work again, or transmits the signal of the notification from the output unit 214 to the robot 105 directly or Send it indirectly. After making the notification, the control unit 212 returns the process to S401.

As described above, according to the work verification system and the work verification device according to the present embodiment, by appropriately attaching the sensors 103 and 106 to the tool 102 or the hand tool 107 of the robot 106 that does not have a sensor necessary for verifying work, the work can be easily verified. Verification of work by various instruments can be performed at any time and with any configuration. In addition, by verifying work that involves the fine movements of tools and equipment such as robot hand tools at any time, and by notifying tool workers and robot managers of abnormal work, It can be expected to maintain the quality of equipment, suppress the occurrence of defective products, and preventive maintenance by detecting equipment defects caused by deterioration over time.

Further, according to the work verification system and the work verification device described above, the user explicitly (by pressing a switch) tells the work verification system and the work verification device the start and end of the work to be verified, or the robot sends a start signal. or by sending an end signal, it becomes easier to cut out the movement to be verified. This can be expected to improve the accuracy of comparison between the reference data and the verification data, and thus the accuracy of verification.

<Others>
The above-described embodiment is merely an example of the configuration of the present invention. The present invention is not limited to the specific forms described above, and various modifications are possible within the technical scope of the present invention.

For example, although the above description assumes that acceleration sensors are used as the sensors 103 and 106, the sensors 103 and 106 may be a combination of multiple types of sensors. For example, by applying the above-described embodiment using a combination of a torque sensor and a vibration sensor as sensors 103 and 106, it is verified by the output of the vibration sensor that the screw is picked up by the tool 102 or the hand tool 107, and the screw is detected at a predetermined position. A series of operations using the tool 102 and the hand tool 107 can be verified, such as verifying that the tool 102 and the hand tool 107 are tightened by the output of the torque sensor, and verifying that the tool 102 and the hand tool 107 are returned to their original positions by the output of the vibration sensor. It can be carried out. In addition, by including gyro sensors in the sensors 103 and 106, it is possible to verify a series of operations including the rotating operation of the tool 102 and the hand tool 107. FIG.

Further, for example, when an operator works with a knock-type cutter knife, by applying the above-described embodiment, the knock is detected based on the output of the sensor that detects the vibration of the knock when the blade is retracted and retracted. By determining whether the blade is in the state of being housed in the main body at the end of work (normal work) or not (abnormal work) from the number of times, it is possible to verify whether the operator forgot to return the blade to the main body. come true.

Further, for example, when a robot chucks a workpiece, by applying the above-described embodiment, positional deviation of the workpiece after chucking occurs based on the output of the sensor that detects the vibration of the robot (abnormal By judging whether it is normal work or not (normal work), it is possible to verify the work for the work chuck. Also, when the arm of the robot is driven to perform work, by applying the above embodiments, it is possible to determine whether the arm comes into contact with another object during operation of the robot based on the output of the sensor that detects the impact applied to the arm. Verification of the work by the arm is realized by determining whether or not the work has been performed (abnormal work) (normal work).

In addition, for example, in a production line that arranges food, an operator places multiple types of food in a container using a food arrangement tool, or multiple types of food are placed in a container by a robot. In this case, by applying the above embodiment, based on the output of the sensor capable of detecting the movement of the instrument or the hand tool of the robot, there was reciprocating motion in the correct order and the correct number of times (normal work). By determining whether or not (abnormal work), it is possible to verify the work of arranging food. Further, for example, in a line where chemicals are used to manufacture products, when the chemicals are stored on a predetermined shelf, by applying the above-described embodiments, the gloves and robots used by workers during work can be used. Based on the output of a sensor that can detect the movement of hand tools, etc., it is possible to determine whether the correct number of reciprocating motions has occurred (normal work) or not (abnormal work). and verification of the work of returning chemicals to the shelf. Further, for example, in a line in which a plurality of chemicals are mixed in a predetermined order to manufacture a product, each chemical is stored on a predetermined shelf. Based on the output of the sensor, it is possible to verify the work of mixing the chemicals in the correct order by determining whether or not the movement is in the correct order (normal work) or not (abnormal work).

Further, for example, when a predetermined machine is connected by a connector and driven to perform work, by applying the above-described embodiment, based on the output of a sensor capable of detecting vibration when the connector is connected, the connector can be detected. is correctly connected (normal work) or not (abnormal work), it is possible to verify the connector connection work of the machine.

In addition, for example, if there are tools that are used independently of the conveyor, such as trays and pallets, that are transported on a conveyor that operates on a product manufacturing line, based on the output of a sensor that can detect the movement of the tool By determining whether or not the conveying operation of the conveyor is normal, verification of the quality of the conveyer operation is realized.

Also, in the above embodiment, the switch 104 is assumed to be a push button switch, but a known switch such as an optical switch or a foot switch may be employed as the switch 104 instead.

Furthermore, in the above-described embodiment, the work verification system 1 may be configured to automatically determine the start and end of the work to be verified in work verification. For example, in the work system 1 described above, when learning the work, the user explicitly teaches the start and end of the work with the switch 104 (this allows, for example, the characteristics of the sensor data at the start and the sensor data at the end). It is configured to automatically detect the start and end of work based on the characteristics of the sensor data when verifying the work, and extract the sensor data of the movement to be verified. good too.

Further, in the above embodiment, instead of the tool 102, the sensor 103 can be attached to a device such as a wristband that the worker can wear during work, and manual work by the worker can be verified. As a result, for example, when a worker picks up parts and assembles a product, or when the worker puts an object on his or her hand, the manual work of the worker can be verified.

<Appendix 1>
an instrument (102, 107) used to perform the task to be verified;
sensors (103, 106) removably attached to the instrument;
an acquisition unit (211) for acquiring data output from the sensor;
reference data based on data obtained from the sensor when the work is performed using the tool before the verification; and reference data obtained from the sensor when the work as the verification target is performed. a generation unit (223) that generates verification data based on the data
a verification unit (224, 225) that compares the reference data and the verification data to verify the work to be verified;
and an output unit (214) for outputting information on the verification result of the work by the verification unit.

<Appendix 2>
an acquisition unit (211) for acquiring data output from a sensor removably attached to an instrument used to perform the task to be verified;
reference data based on data obtained from the sensor when the work is performed using the tool before the verification; and reference data obtained from the sensor when the work as the verification target is performed. a generation unit (223) that generates verification data based on the data
a verification unit (224, 225) that compares the reference data and the verification data to verify the work to be verified;
and an output unit (214) for outputting information about the verification result of the work by the verification unit.

<Appendix 3>
obtaining data output from sensors removably attached to the instrument used to perform the task to be verified (S302, S304, S403, S405);
reference data based on data obtained from the sensor when the work is performed using the tool before the verification; and reference data obtained from the sensor when the work as the verification target is performed. a step of generating verification data based on the data (S307, S406);
a step of comparing the reference data and the verification data to verify the work to be verified (S407);
and a step (S408) of outputting information about the verification result of the work.

1 work verification system 102 tool 107 hand tool 103, 106 sensor 200 PC 211 acquisition unit 223 sensor output processing unit 224 comparison unit 225 work verification unit 214 output unit

Claims (6)

the equipment used to perform the work being verified;
a sensor removably attached to the instrument;
an acquisition unit that acquires data output from the sensor;
reference data based on data obtained from the sensor when the work is performed using the tool before the verification; and reference data obtained from the sensor when the work as the verification target is performed. a generation unit that generates verification data based on data that
a verification unit that compares the reference data and the verification data to verify the work to be verified;
and an output unit for outputting information about the verification result of the work by the verification unit. The generating unit generates the reference data and the verification data with different contents to be compared according to the type of motion in the work, based on the data output from the sensor. Item 1. The work verification system according to Item 1. The acquisition unit further acquires a start signal indicating the start of the work and an end signal indicating the end of the work,
The generation unit generates the reference data and the verification data based on the data output from the sensor acquired by the acquisition unit between acquisition of the start signal and acquisition of the end signal. The work verification system according to claim 1 or 2, characterized by: an acquisition unit that acquires data output from a sensor that is removably attached to an instrument used to perform the task to be verified;
reference data based on data obtained from the sensor when the work is performed using the tool before the verification; and reference data obtained from the sensor when the work as the verification target is performed. a generation unit that generates verification data based on data that
a verification unit that compares the reference data and the verification data to verify the work to be verified;
and an output unit for outputting information about a verification result of the work by the verification unit. obtaining data output from a sensor removably attached to an instrument used to perform the task to be verified;
reference data based on data obtained from the sensor when the work is performed using the tool before the verification; and reference data obtained from the sensor when the work as the verification target is performed. generating validation data based on data from
a step of comparing the reference data and the verification data to verify the work to be verified;
and a step of outputting information about a verification result of the work. A program for causing a computer to execute each step of the work verification method according to claim 5.

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