JP4932048B1 - Work support system - Google Patents

Abstract

The present invention provides a work support system that can more appropriately determine whether or not a work has been performed in a correct procedure by using a movement trajectory of a worker's body part.
A transmission means 10 held on a body part of an operator, a reception means 20 for receiving a signal transmitted from the transmission means 10, and a control means 30 are provided. The position of the worker's body part in the work space K is detected based on the signal from the transmitting means 10 received by the worker, and the worker's body in the virtual work space in which the virtual coordinate system corresponding to the work space K is set. It is possible to obtain the position of the part and the work trajectory that is the trajectory of the worker's body part. A determination area divided by a predetermined range is set at a predetermined position in the virtual work space together with the order, and the control means 30 determines that the work trajectory obtained in the virtual work space is in a predetermined order. The quality of the work is determined by determining whether or not the determination area has been passed.
[Selection] Figure 1

Description

  The present invention relates to a work support system that supports work by an operator.

In recent manufacturing sites, automation has progressed, and various robots and other machines perform various operations. However, in operations that are difficult to mechanize, assembly operations for small-quantity products, and the like, operations by workers rather than operations by machines are performed.
In general, in the work by an operator, there is a tendency that a defect such as a missing part due to omission of a work procedure or an error due to fatigue, a decrease in concentration, or the like is higher than a work by a machine.
Here, as a method for detecting the worker's work state, for example, in the prior art described in Patent Document 1, a magnetic three-dimensional position / orientation sensor is attached to the finger of the worker, and the work in the three-dimensional work space is performed. A virtual prototype system that detects the movement trajectory by detecting the movement of a person's finger with a motion capture device is disclosed. Then, using the obtained movement trajectory, the movement state of the three-dimensional model is reproduced on the display screen and used for evaluation of workability.
The prior art described in Patent Document 2 uses a portable measuring device that is attached to the finger of an operator and transmits data related to geomagnetism and acceleration, and a trace data processing device that receives data from the portable measuring device. The feature amount of the received data is extracted and compared with standard data stored in advance to determine the accuracy of the work.

JP 2010-117886 A JP 2009-187527 A

In the prior art described in Patent Document 1, workability is evaluated by obtaining the movement trajectory of the operator's fingers in the three-dimensional work space. is not.
Further, in the prior art described in Patent Document 2, a movement trajectory is not obtained, and it is determined whether or not a predetermined feature amount is detected when a predetermined time has elapsed from the start of measurement. There is a possibility that omissions and mistakes cannot be properly determined.
The present invention was devised in view of such points, and can more appropriately determine whether or not work has been performed in the correct procedure by using the movement trajectory of the worker's body part. It is an object to provide a work support system.

In order to solve the above problems, the work support system according to the present invention takes the following means.
First, the first invention of the present invention is a receiving means for receiving a radio signal transmitted from the transmitting means arranged at a predetermined position in the worker's work space, and a transmitting means held on the body part of the worker. A work support system comprising means and control means.
The control means directly detects the position of the body part of the worker in the work space in the work space based on a radio signal from the transmission means received by the receiving means, and corresponds to the work space. The position of the body part of the worker in the virtual work space by applying the detected position of the body part of the worker in the virtual work space in which a virtual three-dimensional coordinate system is set, and the worker It is possible to obtain a work locus that is a locus of the body part.
A determination area divided by a predetermined range is set at a predetermined position in the virtual work space together with an order, and the control means has a predetermined work locus determined in the virtual work space. The quality of the work is judged by judging whether or not the judgment area has been passed in order.

According to the first invention, whether or not the work procedure is a correct procedure is determined by determining whether or not the work trajectory that is the work result of the worker has passed through the determination area in the virtual work space. It can be judged appropriately.
Moreover, the important point in a work procedure can be determined appropriately by determining whether or not the determination area has been passed in a preset order.
Further, a plurality of transmission means and determination areas can be provided, and a plurality of determination areas can be set in the same procedure. For example, it is possible to determine “No” if the two transmission units do not pass through two determination areas at the same time.

Next, the invention described in the present embodiment receives a transmission means held in a body part of an operator and a radio signal transmitted from the transmission means arranged at a predetermined position in the worker's work space. A work support system comprising: a receiving means that controls the body of the worker in the work space based on a signal from the transmitting means received by the receiving means. By detecting the position of the part, it is possible to obtain a work locus that is a locus of the body part of the worker in the work space.
The control means stores a reference trajectory that serves as a reference for the work trajectory, and a predetermined region in the reference trajectory is set with a determination area divided by a predetermined range in order.
Then, the control means compares the obtained work trajectory with the stored reference trajectory, and determines whether the work has passed or not by determining whether or not the determination area has passed in a predetermined order. To do.

According to the invention described in the present embodiment, by comparing a reference trajectory as a model and a work trajectory that is a work result of an actual worker, whether or not the work procedure is a correct procedure is appropriately determined. Can be determined.
Moreover, the important point in a work procedure can be determined appropriately by determining whether or not the determination area has been passed in a preset order.
Further, a plurality of transmission means and determination areas can be provided, and a plurality of determination areas can be set in the same procedure. For example, it is possible to determine “No” if the two transmission units do not pass through two determination areas at the same time.

Next, a second invention of the present invention is the work support system according to the first invention , wherein the control means stores each obtained work locus.
Furthermore, when determining whether or not work is performed, an abnormality that displays a work locus or a determination area that is determined to be negative and that displays a portion of a path or a determination area related to a ground that is determined to be negative in the displayed work locus or determination area is identifiable. A location display means is provided.

According to the second invention, when the determination result of the quality of work is “No”, it is obvious at a glance which part is determined as “No” in the displayed work locus or determination area. Therefore, the analysis of the work result determined as “No” is easy.

Next, a third invention of the present invention is the work support system according to the first invention or the second invention , wherein the control means associates the work in each determination area with each determination area. Related information about is stored.
Furthermore, it includes related information display means for displaying related information associated with each determination area every time the position of the body part of the worker reaches each determination area.

According to the third aspect of the invention, when the body part of the worker holding the transmission means reaches the determination area that is an important point, related information is displayed. For example, when the work precautions and the next action at the target important point are displayed as the related information, the work of the worker can be supported more effectively.

Next, a fourth invention of the present invention is the work support system according to the third invention, wherein the related information associated with the determination area should pass next to the determination area. Next determination area position information, which is information related to the position of the determination area, is included.
Furthermore, a photographing means for photographing at least one of a moving image or a still image of the worker's work in the work space, a captured moving image or a still image are displayed, and the related information is included when the related information is displayed. The next determination area display that identifies the position corresponding to the next determination area in the displayed moving image or still image based on the position information of the next determination area that is displayed, and displays the identified position so that it can be identified Means.

In the fourth aspect of the invention , the state in the work space is displayed by being photographed by the photographing means. Then, when the body part of the worker holding the transmission means reaches the determination area, after finishing the work in the current determination area in the displayed moving image or still image as part of the related information The determination area to be next is displayed in an identifiable manner.
This is convenient because it is possible to instruct the operator of the correct procedure at an appropriate timing.

Next, a fifth invention of the present invention is the work support system according to any one of the first to fourth inventions , wherein the control means includes the first determination from the start of the work. A reference intermediate transit time, which is a time from one of one of the determination areas to the next determination area, or a time from the last determination area to the end of the work, or from the start of the work to the end of the work At least one of the reference work times, which is the time until the time is stored.
The control means further measures a work time when obtaining the work trajectory, the work time corresponding to the work trajectory and the determination region, the stored intermediate passage time or the reference work time, Are compared to determine whether the work is good or bad.

According to the fifth invention, in the determination of the work procedure, in addition to the determination as to whether or not the predetermined area has been passed in order, the time required from the start to the end of the work, By determining the time required to reach the determination area, it is possible to more appropriately determine whether or not the work procedure is the correct procedure.

Next, a sixth invention of the present invention is the work support system according to any one of the first to fifth inventions , further comprising at least one of the receiving means or the control means. A presence signal transmission means for transmitting a receivable presence signal, wherein at least one of the determination areas is set by the operator using a predetermined member when the transmission means held in the body part of the operator passes. It is set as an indispensable member presence determination area that needs to be worked, and the presence signal transmission means transmits the presence signal when the worker uses the predetermined member.
And about the said essential member existence determination area | region, the said control means determines whether the presence signal from the said presence signal transmission means was detected when the said transmission means passes the said essential member presence determination area | region. Then, it is determined whether or not the essential member presence determination region has been normally passed.

According to the sixth aspect of the present invention, for a determination area that requires work using a predetermined member, the presence / absence of a presence signal that is transmitted when the predetermined member is used and the work that holds the transmission means when performing the determination. More accurate determination can be made by both whether or not the person's body part has correctly passed the essential member presence determination region. The presence signal transmission means is a contact type, non-contact type, etc., and the signal transmission means is a wireless type, wired type, etc. When there is a presence signal. The presence signal only needs to be detected by at least one of the receiving unit and the control unit, and the location of the presence signal transmission unit can be arranged regardless of the inside or outside of the work space.

Next, a seventh invention of the present invention is the work support system according to any one of the first to sixth inventions , further comprising a moving image of the worker's work in the work space. Alternatively, it includes an imaging unit that captures at least one of the still images, and at least one of the moving image or the video recording unit that records the still image or the image display unit that displays the moving image or the still image.

According to the seventh aspect of the invention, the moving image or still image taken by the photographing means is recorded on the video recording means, displayed using the image display means, the work trajectory is superimposed or displayed in parallel. As a result, not only the information on the transmission means and the work trajectory but also the posture of the worker, the state of the product, and the like can be displayed. In addition, since it is possible to compare the posture of the worker, the state of the product, and the like during the work on the reference trajectory, it is possible to assist in improving workability.

It is a figure explaining the whole structure of the work assistance system 1 of this invention. It is a figure explaining the example of the transmission means 10 hold | maintained at a worker's hand. It is a figure explaining a mode that the receiving means 20 detects the position of the sensor unit 11 in the working space K which is three-dimensional space based on the signal transmitted from the sensor unit 11. FIG. FIG. 10 is a diagram for explaining an example in which a work locus that is a locus of the sensor unit 11 in the work space K is displayed by the control means 30. It is a figure explaining the example displayed on the control means 30 so that the location determined as "No" as a result of the determination of the work trajectory can be identified.

EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated using drawing.
● [Overall configuration of work support system 1 (Fig. 1)]
As shown in FIG. 1, the work support system 1 includes a receiving unit 20 provided in a part of a work space K in which a target work is performed, a transmitting unit 10 held on the worker's body part, and a receiving unit. The control unit 30 is connected to the unit 20.
The transmission means 10 wirelessly transmits a transmission signal such as an ultrasonic wave or an infrared ray at regular intervals (for example, every 200 msec).
The reception unit 20 receives the transmission signal transmitted from the transmission unit 10 and outputs a detection signal based on the received transmission signal to the control unit 30.
The control means 30 is, for example, a personal computer provided with a display means. The control means 30 specifies the position of the transmission means 10 in the work space K based on the detection signal input from the reception means 20, and transmits the transmission means in the work space K. A work trajectory that is 10 movement trajectories is obtained, the obtained work trajectory is displayed, and the quality of the work by the work trajectory is determined.

[[Example of transmission means 10 held on the worker's body part (FIG. 2)]
Next, the example of the transmission means 10 hold | maintained on a worker's body part is demonstrated using FIG.
In the description of the present embodiment, an example will be described in which the transmission unit 10 is held in the worker's hand as the worker's body part.
As an example of the transmission means 10, three types of examples shown in FIGS. 2A to 2C will be described.
As shown in FIG. 2 (A), a first example of the transmission means 10 includes a holding member 13 held by the wrist and the index finger, and a sensor fixed at a position on the back side of the hand in the vicinity of the index finger in the holding member 13. The unit 11 includes a housing member 12 that houses a power source and a control circuit.
The sensor unit 11 includes, for example, an ultrasonic transmission element 11A that outputs ultrasonic waves, a plurality of infrared transmission elements 11B that output infrared rays, a base member 11C, and the like.
The housing member 12 houses, for example, a power source such as a battery and a control circuit that outputs drive signals for driving the ultrasonic wave transmitting element 11A and the infrared transmitting element 11B. The control circuit outputs drive signals to the ultrasonic transmission element 11A and the infrared transmission element 11B at regular intervals, and outputs ultrasonic waves and infrared rays from the ultrasonic transmission element 11A and the infrared transmission element 11B.

  As shown in FIG. 2 (B), the second example of the transmitting means 10 includes a glove-shaped holding member 13 with five fingertips cut and a position on the back side of the hand that is in the vicinity of the little finger in the holding member 13. The fixed ultrasonic transmission element 11A, a plurality of infrared transmission elements 11B fixed to the back of the hand around the wrist in the holding member 13, and the holding on the opposite side to the fingertip direction with respect to the infrared transmission element 11B The housing member 12 is fixed to the member 13. In this example, as compared with the first example shown in FIG. 2A, the operation of the index finger becomes more free and the work is facilitated, and the housing member 12 is integrated with the holding member 13, so that the housing member 12 is Hard to get in the way of work.

As shown in FIG. 2 (C), a third example of the transmission means 10 includes a glove-shaped holding member 13 with five fingertips cut, and a position on the back side of the hand that is in the vicinity of the wrist in the holding member 13. For a plurality of fixed infrared transmission elements 11B, an ultrasonic transmission element 11A fixed to the holding member 13 on the opposite side of the fingertip direction with respect to the infrared transmission elements 11B, and an ultrasonic transmission element 11A The housing member 12 is fixed to the holding member 13 on the side opposite to the fingertip direction. In this example, as compared with the second example shown in FIG. 2B, the movement of the little finger is further freed and the workability is better.
In addition to the examples of FIGS. 2A to 2C, the transmission unit 10 can have various forms, and the form of the transmission unit 10 is not particularly limited.

[Method for detecting the position of the sensor unit 11 in the work space K, which is a three-dimensional space (FIG. 3)]
Next, an example of a method for detecting the position of the sensor unit 11 in the transmission unit 10 in the work space K will be described with reference to FIGS.
First, orthogonal coordinates of the X axis, the Y axis, and the Z axis are set in the work space K.
The receiving means 20 is arranged at a predetermined position in the work space K (in this case, the origin (0, 0, 0)). In the example shown in FIG. 1, the receiving means 20 is arranged at the upper end portion in the work space K.
The receiving unit 20 includes an ultrasonic receiving unit that receives ultrasonic waves transmitted from the sensor unit 11, an infrared receiving unit that receives infrared rays transmitted from the sensor unit 11, and a sensor unit based on the received ultrasonic waves and infrared rays. And processing means for converting the information into information on the positions of the eleventh position.
For example, the receiving means 20 is based on the ultrasonic waves and infrared rays transmitted from the sensor unit 11 in the work space K, and the distance d, angle θx, angle θy (that is, polar coordinates (d, θx) shown in FIG. , Θy)).
The distance d is a distance between the sensor unit 11 and the receiving unit 20.
The angle θx is an angle formed by a straight line connecting the origin (0, 0, 0) and the sensor unit 11 and the Z axis in the XZ plane shown in FIG.
The angle θy is an angle formed by a straight line connecting the origin (0, 0, 0) and the sensor unit 11 and the Z axis in the YZ plane shown in FIG.
Then, the control unit 30 receives information on the polar coordinates (d, θx, θy) from the receiving unit 20 and converts it into P (X1, Y1, Z1) that is a position on the orthogonal coordinates of the sensor unit 11.
The control means 30 may process the polar coordinates without converting the polar coordinates into orthogonal coordinates, or the receiving means 20 may obtain the orthogonal coordinates and output them to the control means 30. . Further, four or more receiving means 20 are provided, the respective distances from the sensor unit 11 are simultaneously obtained, and the respective distances centered on the virtual positions of the respective receiving means set in advance in the virtual work space of the control means are radiused. The coordinates of the sensor unit 11 in the virtual work space may be obtained by drawing a virtual sphere. In that case, the transmission means arranged in the sensor unit 11 may be only one of the ultrasonic transmission element 11A and the infrared transmission element 11B.
There are no particular limitations on the type of coordinates and what kind of coordinates to be obtained by the receiving means or the control means. It is only necessary that the control unit 30 can recognize the movement locus of the sensor unit 11 based on the coordinates of the sensor unit 11.

[Example of work locus displayed on control means 30 (FIG. 4)]
Next, an outline of a method for creating a work track displayed on the display unit of the control unit 30 will be described with reference to FIG.
The control means 30 displays the virtual work spaces 36 and 37 on the display means. The virtual work space 36 shows a plan view (viewed from above) of the actual work space K, and the virtual work space 37 shows a front view (viewed from the side) of the actual work space K. Yes.
The sensor unit 11 held in the operator's hand transmits ultrasonic waves and infrared rays at regular intervals (for example, every 200 msec) in the actual work space K.
The receiving unit 20 receives the ultrasonic waves and infrared rays, obtains polar coordinates (d, θx, θy) of the sensor unit 11 and outputs them to the control unit 30.
The control unit 30 converts the polar coordinates (d, θx, θy) input from the receiving unit 20 into P (x [i], y [i], z [i]), which is a position on orthogonal coordinates, The position of P (x [i], y [i], z [i]) is plotted in the virtual work spaces 36 and 37, and the previous position P (x [i-1], y [i-1] ], Z [i-1]) and a straight line or a spline curve to create a movement trajectory, and create a work trajectory in the virtual work spaces 36 and 37.
Note that the control means 30 does not plot and connect P (x [i], y [i], z [i]) in the virtual workspaces 36 and 37, but instead of P (x [i], y [i], z [i]) in the three-dimensional virtual workspace. x [i], y [i], z [i]) are plotted and connected to create a plan view and a front view of the work trajectory in the three-dimensional virtual work space, and the virtual work spaces 36 and 37 respectively. The work trajectory may be displayed on the screen.

The control means 30 stores a reference trajectory TRstd (see FIG. 5) that serves as a reference (example) for the trajectory of the target work.
In addition, a determination area divided by a predetermined range is set at a predetermined trajectory position of the reference trajectory TRstd along with the order. In the example shown in FIG. 5, the determination region 1 (reference numeral 37A), the determination area 2 (reference numeral 37B), and the determination area 3 (reference numeral 37C) are set in the reference trajectory TRstd in the order of 1, 2, and 3. .
The reference trajectory TRstd is compared with a work trajectory that is a trajectory of work by an actual worker to determine whether the work is good or bad, but the entire reference trajectory TRstd does not need to match. For example, when assembling each part in the order of part A, part B, and part C to the work product α, in order to determine whether or not the work has been performed without a missing part, the mounting position of the part A and the part B It suffices to determine whether or not the attachment position and the attachment position of the part C are work trajectories that have passed in order. For example, the movement path of the hand from the position where the mounting operation of the component A is completed to the position where the component B is to be mounted does not need to coincide with the reference trajectory TRstd.

Next, an example of a method for creating the reference trajectory TRstd will be described.
An operator who desires creation of the reference trajectory TRstd places an actual work item in the work space K, attaches the transmitter 10 to his / her hand, activates it, and starts / starts on the screen 30A of the controller 30 shown in FIG. The stop button 31 is pressed to start creating a trajectory.
For example, when assembling part A, part B, and part C to a work item, the worker assembles part A, part B, and part C in order according to the correct work procedure for the work item in work space K. When the work is completed, the start / stop button 31 on the screen 30A is pressed to stop the creation of the trajectory.
Next, in order to set the determination area 1 (reference numerals 37A and 36A), the operator moves his / her hand to a position where the part A is assembled and transmits a signal from the sensor unit 11, and presses the CP setting button 34B on the screen 30A. Push. In this operation, a spherical determination region 1 (reference numerals 37A and 36A) having a predetermined radius centered on the position of the sensor unit 11 at that time is set.
Similarly, in order to set the determination area 2 (reference numerals 37B and 36B), the operator moves his / her hand to the position where the part B is assembled and presses the CP setting button 34B to set the determination area 2 (reference numerals 37B and 36B). Set. Similarly, in order to set the determination area 3 (reference numerals 37B and 36B), the operator moves his / her hand to the position where the part C is assembled and presses the CP setting button 34B to determine the determination area 3 (reference numerals 37C and 36C). Set.
When the necessary determination area is set, the operator presses the reference trajectory registration button 34A on the screen 30A to register the reference trajectory TRstd in which the determination area is set in the control means 30.

Next, a procedure for supporting the work of the worker using the reference trajectory TRstd will be described.
On the display means of the control means 30, the reference trajectory TRstd corresponding to the target work is displayed together with the determination area in the virtual work spaces 36 and 37 of the screen 30A.
The operator activates the transmission means 10 attached to the hand, presses the start / stop button 31 on the screen 30A to start the creation of the work locus, and presses the start / stop button 31 when the work is completed. As a result, a work trajectory TR36 is created in the virtual work space 36, and a work trajectory TR37 is created in the virtual work space 37.
The work trajectory TR36 in the virtual work space 36 of FIG. 4 is a one-stroke trajectory (plan view) starting from the start position 36S and ending at the end position 36E. Also, the work trajectory TR37 in the virtual work space 37 of FIG. 4 is a one-stroke trajectory (front view) starting from the start position 37S and ending at the end position 37E.

Then, the control means 30 compares the created work trajectory with the stored reference trajectory TRstd, and determines whether or not the work has passed through each determination area in a predetermined order. Determine.
In the example shown in FIG. 4, the determination area 1 (reference numerals 36A and 37A), the determination area 2 (reference numerals 36B and 37B), and the determination area 3 (reference numerals 36C and 37C) are set as the determination areas. It is determined whether the work trajectories TR36 and TR37 have passed through the respective determination areas in the order of determination area 1 -determination area 2 -determination area 3.
When the control means 30 determines that each of the determination areas 1, 2, and 3 has passed, the operator can recognize the number of the determination area as a target in the checkpoint determination unit 32 on the screen 30A shown in FIG. To be displayed. For example, when it is determined that the determination area 1 has been passed, the control unit 30 changes the “1” portion in the checkpoint determination unit 32 to blue and displays it. When the control unit 30 determines that all of the predetermined determination areas 1 to 3 have passed, the control unit 30 changes the portions “1”, “2”, and “3” in the checkpoint determination unit 32 to blue. indicate. When the control means 30 displays all of the checkpoint determination unit 32 in blue and further determines that the checkpoints have passed in the correct order, the comprehensive determination unit 33 can identify “good” indicating work “good”. To display.

● [Example of displaying the part judged as “No” in the work pass / fail judgment (FIG. 5)]
Here, for example, when the determination areas 1, 2, and 3 are set, an example in which the determination area 2 is not passed is shown in FIG. The example of FIG. 5 shows an example of the work trajectory TR37 and the reference trajectory TRstd displayed in the virtual work space 37 on the screen 30A shown in FIG. 4, the work trajectory TR37 is shown by a solid line, and the reference trajectory TRstd is shown. It is indicated by a dotted line.
The work trajectory TR37 is a trajectory from the start position 37S to the end position 37E, and the reference trajectory TRstd is a trajectory from the start position 80S to the end position 80E.

  In this example, the worker was performing correct work from the start position 37S of the work trajectory TR37 to the determination area 1 (reference numeral 37A), but from the determination area 1 (reference numeral 37A) to the determination area 2 (reference numeral 37B). It can be seen that in the route, the route passing through the determination region 2 (reference numeral 37B) is skipped and the operation is completed after passing through the determination region 3 (reference numeral 37C). In this case, it is estimated that the part B, which is the work corresponding to the determination region 2, is not assembled and is missing.

In this case, the control means 30 does not change the display of the portion “2” of the checkpoint determination unit 32 on the screen 30A of FIG. 4 to the display when it has passed correctly. Thereby, the control means 30 displays in the comprehensive determination part 33 so that x etc. which show "no" of work can be identified.
In addition, instead of displaying the quality of the work result on the overall judgment unit 33, the result of work quality judgment by voice such as a chime sound for “good” and a buzzer sound (alarm sound) for “no” is used. You may notify.

Further, each of the work trajectories is stored by the control means, and the portion of the trajectory that becomes the basis for determining “No” can be identified in the display of the work trajectory TR37 (see FIG. 5) for the operation determined as “No”. An abnormal part display means for displaying on the screen may be provided. The abnormal part display means is composed of control means and display means.
In the example shown in FIG. 5, the determination area 2 (reference numeral 37 </ b> B) that has not been passed is displayed so as to be identifiable by blinking, red, or the like, and the trajectory portion TRer that is directed toward the determination area 3 but not toward the determination area 2 is blinking. Or red so that it can be identified. In the above description, an example has been described in which both the part of the work trajectory that is the basis for determining “No” and the determination area that has not passed are displayed in an identifiable manner, but only the work trajectory is displayed without displaying the determination area. May be displayed in an identifiable manner, and only the judgment area is displayed without displaying the work trajectory, and the judgment area that has not passed can be identified. May be.
As described above, it is possible to determine work omission (shortage of parts) and the like, and it is possible to appropriately support the operator's work.

Further, the image processing apparatus includes a photographing unit capable of photographing at least one of a moving image or a still image, and a video recording unit, and photographs and records at least one of the moving image or the still image corresponding to the obtained position on the work locus. May be. In this case, when verifying the cause of work omission or the like by reproducing the moving image or still image recorded in association with the part of the work trajectory determined to be “no” using the image display means Can be used.
In addition, by displaying moving images and still images captured and recorded by the image capturing means using the image display means, or by superimposing work traces or displaying them in parallel, only the information of the transmission means and work traces can be displayed. In addition, the posture of the worker and the state of the product can be projected. In addition, since it is possible to compare the posture of the worker, the state of the product, and the like during the work on the reference trajectory, it is possible to assist in improving workability.
The photographing means may be a fixed type or a movable type that follows the movement of the work track. The image display means is composed of a control means and a display means. The video recording unit and the image display unit may include at least one.

● [Other functions]
As described above, in the description of the present embodiment, the quality of the work is determined based on whether or not the predetermined determination area has been passed in the determined order, but the time required for the work is further determined as the quality of the work. It may be added to the determination. In addition to the time for the entire work from the start to the end of the work, the time required for a part of the work in the whole work such as the time to pass through each judgment area is also included as the time required for the work. The time required for the work may be added to the determination of the quality of the work.
For example, a reference work time is set in advance in the control means 30 in association with the reference locus.
The control means 30 then passes the determined work trajectories TR36 and TR37 through all the predetermined determination areas in the determined order and time, and when the work is completed within the reference work time, Judge the quality of work. As for the method of measuring the time required for the work, the control means 30 starts the creation of the work locus after the start / stop button 31 is pushed, and then creates the work locus when the start / stop button 31 is pushed. What is necessary is just to measure the time until it stops. If the work time is longer than the reference work time even after passing through all the determination areas in the correct order, the control means 30 determines “no” of the work and displays that the work time is over.

Further, for example, the control means 30 may pass the respective reference passages indicating the time from the start of the work to the first determination area, the time from one determination area to the next determination area, and the time from the last determination area to the end of the work. Time is preset.
When the control means 30 passes the determination area or detects the end of the work, the control means 30 compares the associated reference passage time with the actually required time, passes the determination area and passes the reference passage. You may make it determine "good" of work, when it is within time.
Note that at least one of the reference work time (the time required for the entire work track from start to end) and the reference passage determination time (the time required for a part of the work track) is set. It may be configured to make a determination.
In addition, for each determination area, it is possible to verify which work is inefficient by recording the time required to pass the previous determination area and reach the current determination area. Then, by reproducing the inefficient work on the display means using the moving image or the still image recorded using the photographing means and the video recording means, it is possible to support improvement so that the work becomes efficient.

In addition, the comprehensive determination unit 33 may display not only the above-described ◯ and ×, but also ◯, ×, and a triangle. Also, numerical values may be used instead of symbols such as ◯ and X. For example, if all the judgment areas are passed in the correct order and the work time is within the standard work time, “○” or “100 points”, if all the judgment areas are passed but the order is different, or all If the work time exceeds the reference work time in the correct order, the “triangle” or “(number of 100 points or less)” (a value obtained by subtracting the excess of elapsed time, etc.) If it does not pass through the determination area and does not correspond to “o” or “triangle”, “x” may be displayed.
In this case, in both “◯” and “triangle”, the work product after the work is a non-defective product, but the work itself is preferably the work of “◯” in terms of productivity. Of course, in the case of “x”, there is a high possibility that the work product after work is not good.

As another function, the related information display 38 in FIG. 4 will be described.
The control means 30 stores related information in association with each determination region of the reference trajectory TRstd. For example, when the determination area 1 is an operation of assembling the part A at a predetermined position of the work item, the related information includes a determination area such as the appearance of the part A, the assembly position of the part A, etc. as shown in the related information display 38 of FIG. The precautions of the work in 1 and the next operation are stored.
Then, the work support system 1 displays the related information associated with the determination area 1 when the work trajectories TR36 and TR37 reach the determination area 1 (reference numerals 36A and 37A) (the related information display 38 in FIG. 4 is displayed). Reference) Related information display means is provided. The related information display means is composed of control means and display means.
Thereby, an operator's work can be supported more appropriately.

In the above description, as the determination region setting method, the reference trajectory TRstd is created, and then the operator's hand is set so that the transmission unit is positioned in the desired determination region, and the determination region is set. After creating the trajectory TRstd, the determination area may be set by directly inputting coordinates and a space area into the virtual work space using the control means 30.
Further, without creating the reference trajectory TRstd, the operator's hand may be brought so that the transmission means is located in the desired determination area, and the determination area may be set, or without generating the reference trajectory TRstd. The determination area may be set by directly inputting coordinates and a space area into the virtual work space using the control means 30.

In addition, even when the worker's body part passes through the determination area, there may be a case where an operation using a predetermined member (for example, a predetermined tool or counter) is necessary in the operation in the determination area. In this case, just passing through the determination area in time does not always mean that the correct work has been performed. It is necessary to determine whether or not a predetermined member has been used when the determination area is reached.
Therefore, presence signal transmission means for transmitting presence signals that can be received by at least one of the reception means and the control means is used. The presence signal transmitting means may be a contact type that transmits a presence signal when contacted or a non-contact type that transmits a presence signal in a non-contact manner. The means for transmitting the presence signal to the receiving means or the control means may be wireless or wired.
The presence signal transmitting means is provided on a predetermined member or around the predetermined member, and is configured such that a presence signal is transmitted from the presence signal transmitting means when an operator uses the predetermined member. Further, the presence signal transmitting means only needs to be able to transmit a presence signal when an operator uses a predetermined member and detect the presence signal by at least one of the receiving means or the control means (the position may not be detected). ), Presence signal transmission means can be arranged regardless of the inside or outside of the work space.
And at least 1 in the determination area | region is set as an essential member presence determination area | region which needs to work using a predetermined member.
Then, when the determination is made on the essential member presence determination area, the control means determines whether the presence signal transmitted when the predetermined member is used and the body part of the worker holding the transmission means are the essential member presence determination area. The quality of the work is determined based on both whether or not the vehicle has passed. Further, the determination may be made in consideration of time.

When the work is “dance”, the work support system described in this embodiment can also be used as a system that supports “dance”.
For example, a transmission means is attached to the wrist or ankle, a space for dancing is a work space, and a time during which predetermined music flows is a work time. Then, it is possible to determine whether or not the work (dance) is appropriate by determining whether or not the transmission means sequentially passes through each determination area according to a preset time. The determination can also be displayed as a numerical value, and can be used as a game. In addition to dancing and playing, it can also be applied to the determination of movements such as martial arts and yoga and exercises.
When the “work” is an assembly work at the manufacturing site, the predetermined member is, for example, a specific tool, a parts box, a counter, or the like. When the “work” is dance, the predetermined member is, for example, a specific instrument or When it is a specific ornament or the like, and the “work” is a fist method or the like, the predetermined member is, for example, a specific armor or a weapon. As described above, various members necessary for the work are applied to the “predetermined member” depending on the work.
When the “work” is an assembly work at the manufacturing site, it is convenient to use the start / stop button 31 shown in FIG. 4 in place of the counter operated at the end of one round of the work process. For example, the area around the start / stop button 31 of the display unit shown in FIG. 4 is set as an essential member presence determination area, and when the start / stop button 31 is pressed, the control unit pseudo-start / What is necessary is just to comprise so that it may be judged that the presence signal was transmitted from the stop button 31 and the said presence signal was received.

In addition, it has a photographing unit capable of photographing at least one of a moving image or a still image, and the captured moving image or still image is displayed on the display unit of the control unit in real time, and when the determination area is reached, the moving image displayed on the display unit Alternatively, the work can be supported by indicating the position of the next determination area in the still image.
For example, each piece of related information associated with the determination area includes next determination area position information that is information related to the position of the determination area that should pass next to the determination area.
The control means determines which position in the moving image (in the work space) or the still image displayed on the display means corresponds to the position corresponding to the next determination region position information included in the related information. It is configured to be recognizable.
Then, the work support system 1 identifies the position corresponding to the next determination area in the displayed moving image or still image based on the next determination area position information included in the related information when the related information is displayed. Then, a next determination area display means for displaying the specified position so as to be identifiable may be provided. The next determination area display means includes a control means and a display means. For example, in a moving image or still image being displayed (work space), surround the judgment area to be passed next with a circle, etc., and blink the circle, or make the circle stand out in a different color from the surroundings , Display so that the worker can identify.

The work support system 1 of the present invention is not limited to the appearance, configuration, processing, display example, and the like described in the present embodiment, and various modifications, additions, and deletions can be made without changing the gist of the present invention. .
In the work support system 1 described in the present embodiment, it is convenient to record a work trajectory, video, etc., since it can be used for failure analysis and the like. It is also possible to perform daily daily reports, total work time, etc. using the recorded work trajectory.
In the present embodiment, the “positional deviation” between the reference trajectory and the work trajectory is not particularly determined, but it is determined whether the positional deviation is within a predetermined distance to determine whether the work is good or bad. You may do it.
A plurality of transmission means and determination areas can be provided. For example, if two transmission means do not pass through two determination areas at the same time in the same procedure, it is possible to determine “No”.
In addition, at least two or more display means (monitor devices, etc.) used in the image display means, the abnormal part display means, the related information display means, the next determination area display means, etc. described in this embodiment are displayed in common. Means may be used, or separate display means may be used.

DESCRIPTION OF SYMBOLS 1 Work support system 10 Transmission means 11 Sensor unit 11A Ultrasonic wave transmission element 11B Infrared transmission element 12 Housing member 13 Holding member 20 Reception means 30 Control means 36, 37 Virtual work space 36A, 37A Determination area 1
36B, 37B determination area 2
36C, 37C judgment area 3
38 Related Information TRstd Reference Trajectory TR36, TR37 Work Trajectory K Work Space

Claims (7)

A transmission means held on the worker's body part;
Receiving means for receiving a radio signal arranged at a predetermined position in the work space of the worker and transmitted from the transmitting means;
Control means,
The control means directly detects the position of the body part of the worker in the work space in the work space based on a radio signal from the transmission means received by the receiving means, and corresponds to the work space. The position of the body part of the worker in the virtual work space by applying the detected position of the body part of the worker in the virtual work space in which a virtual three-dimensional coordinate system is set, and the worker It is possible to obtain a work trajectory that is a trajectory of the body part of
At a predetermined position in the virtual work space, a determination area divided by a predetermined range is set together with an order,
The control means determines the quality of the work by determining whether the work trajectory obtained in the virtual work space has passed through the determination area in a predetermined order,
Work support system. The work support system according to claim 1 ,
The control means stores each obtained work locus,
Furthermore, when determining whether or not work is performed, an abnormality that displays a work locus or a determination area that is determined to be negative and that displays a portion of a path or a determination area related to a ground that is determined to be negative in the displayed work locus or determination area is identifiable. Equipped with location display means,
Work support system. The work support system according to claim 1 or 2 ,
The control means stores information related to work in each determination area in association with each determination area,
Furthermore, it includes related information display means for displaying related information associated with the determination area every time the position of the body part of the worker reaches each determination area.
Work support system. The work support system according to claim 3 ,
The related information associated with the determination area includes next determination area position information that is information related to the position of the determination area that should pass next to the determination area.
Furthermore,
Photographing means for photographing at least one of a moving image or a still image of the worker's work in the work space;
When the captured moving image or still image is displayed and the related information is displayed, the next determination region in the displayed moving image or still image is displayed based on the position information of the next determination region included in the related information. A next determination area display means for specifying a corresponding position and displaying the specified position so as to be identifiable,
Work support system. The work support system according to any one of claims 1 to 4 ,
The control means includes a time from the start of work to the first determination area, a time from one of the determination areas to the next determination area, or a time from the last determination area to the end of work. At least one of a reference intermediate transit time or a reference work time that is a time from the start of the work to the end of the work is stored;
The control means further measures a work time when obtaining the work trajectory, and compares the work time corresponding to the work trajectory and the determination area with the stored intermediate transit time or the reference work time. To judge the quality of work,
Work support system. The work support system according to any one of claims 1 to 5 ,
Furthermore, it comprises presence signal transmission means for transmitting a presence signal that can be received by at least one of the reception means or the control means,
At least one of the determination areas is set as an indispensable member presence determination area where the worker needs to work using a predetermined member when the transmission means held on the body part of the worker passes. And
The presence signal transmitting means transmits the presence signal when the worker uses the predetermined member,
For the essential member presence determination area, the control means determines whether or not a presence signal from the presence signal transmission means is detected when the transmission means passes through the essential member presence determination area. Determining whether the essential member presence determination area has passed normally,
Work support system. The work support system according to any one of claims 1 to 6 ,
Furthermore,
Photographing means for photographing at least one of a moving image or a still image of the worker's work in the work space;
At least one of video recording means for recording the moving image or the still image or image display means for displaying the moving image or the still image,
Work support system.

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