JP5215331B2 - Work determination system, work determination method, and recording medium recording the work determination method - Google Patents

Description

  The present invention records a work determination system, a work determination method, and a work determination method for determining a work state of a worker who is performing a part assembly work for fitting parts together in a production line in a factory. The present invention relates to a recording medium.

  In recent years, in the production engineering departments of manufacturers of electrical products and automobiles, it is possible to determine whether an operator's work has been performed normally using motion capture for the purpose of improving productivity. A work training support system is disclosed (for example, refer to Patent Document 1).

  This work training support system compares the three-dimensional spatial coordinate position from the motion capture with the standard work time, hand movement shake (meandering) or hand movement reference value, and deviates from the reference value. In this case, the overall mastery judgment is set to NG. The motion capture can realistically reflect the operation state of the worker, so that it is possible to improve the accuracy of the worker's work determination.

JP 2005-134536 A

  However, in the work training support system described in the background art, the movement of the hand movement (meandering) or the movement of the hand is quantified in absolute coordinates. There is no particular problem in the work, but in parts assembly work where the position where parts fit together fluctuates, there is the difficulty that parts can not be properly fitted together when trying to determine with absolute coordinates there were.

  Examples of the position where these parts are fitted to each other may vary, such as when two wire harnesses are fitted with connectors provided at the ends, or the holes of the cowl side trim and the claw parts of the scuff plate. This is the case when mating. When the connectors of two wire harnesses are mated together, the connector of the other wire harness is not fully restrained if you hold the connector of one wire harness and try to connect it to the connector of the other wire harness. In this case, the coupling position moves in the push-in direction, and the connectors cannot be normally fitted to each other. Further, in the fitting of the cowl side trim and the scuff plate, for example, if the cowl side trim is formed of a soft resin, the claw portion may not be properly fitted into the hole portion.

  Furthermore, in the work training support system described in the background art, when one part is fitted to the other part, if the other part is arranged to be shifted from the normal position toward the worker side, There is a risk that parts such as claws which are fitting parts may be damaged due to excessive load applied to the parts by hand.

  Even if such an event occurs, the work training support system measures and measures the movement of the hand in absolute coordinates, so if the operator overlooks the event, the work is performed normally. It will be judged that it was broken.

  The present invention has been made to solve such a conventional problem, and in the part assembling work for fitting the parts together, accurate work determination is possible even if the movement of the hand is quantified and measured in absolute coordinates. An object of the present invention is to provide a work determination system and a work determination method that can be performed, and a recording medium on which the work determination method is recorded.

  The work determination system according to the first aspect of the present invention that achieves the above-described object is a work in which a part assembly work is performed in which parts are fitted together by being pushed into the other part while holding the one part. Motion capture that is mounted on the operator's hand, provided with a position sensor to measure the work motion of the hand with one part of the worker over time and send work motion detection data as the measurement result And the pressure that is applied to the operator's hand in order to measure the load applied to one component over time and send the pressure detection data that is the measurement result when fitting the components together in the component assembly operation A standard for the load that is applied to one part over time when performing part assembly work, together with the sensor and work operation standard data that is the standard of work movements by the hand of the person performing the part assembly work The work motion detection data is formed by comparing the waveform trajectory formed by the work motion detection data received from the motion capture position sensor with the storage unit in which certain pressure standard data is registered, and the waveform trajectory formed by the work motion standard data. Work motion determination function for determining whether or not the waveform trajectory has reached a threshold set in the waveform trajectory formed by the work motion standard data within a predetermined time, and the work motion detection data by the work motion determination function When the trajectory of the waveform reaches the threshold value set in the waveform trajectory formed by the work operation standard data within a predetermined time, the waveform trajectory formed by the pressure detection data received from the pressure sensor is preset. And a work analysis unit having a part assembly work determination function for determining whether or not the distance between the two thresholds is reached.

  According to a second aspect of the present invention, in the work determination system according to the first aspect, the work analysis unit is a work motion determination function, and the waveform trajectory formed by the work motion detection data is a work motion within a predetermined time. When it is determined that the threshold set in the waveform trajectory formed by the standard data has not been reached, or by the component assembly operation determination function, the waveform trajectory formed by the pressure detection data is within the range of the two preset thresholds. If it is determined that the component has been removed, the component assembling work is determined not to have been performed normally.

  In the work determination system according to the third aspect of the present invention, the work motion determination function compares the waveform trajectory formed by the work motion detection data with the waveform trajectory formed by the work motion standard data. The function of determining whether or not the position of the waveform trajectory formed by the motion detection data is out of the predetermined error range in the waveform trajectory formed by the work motion standard data. If the motion determination function determines that the waveform trajectory formed by the work motion detection data is outside the predetermined error range of the waveform trajectory formed by the work motion standard data, the part assembly operation is performed normally. It is determined that there was not.

  According to a fourth aspect of the present invention, in the work determination system according to the first aspect or the second aspect, the work analysis unit is configured so that the trace of the waveform formed by the work motion detection data is within a predetermined time period. A component that determines whether or not the waveform trajectory formed by the pressure detection data has reached the width formed between two preset thresholds before reaching the threshold set in the waveform trajectory formed by the data In this case, the work analysis unit sets the trajectory of the waveform made by the work motion detection data in the part breakage judgment function as the trace of the waveform made by the work motion standard data within a predetermined time. If it is determined that the waveform trajectory formed by the pressure detection data has reached the width formed between two preset threshold values before reaching the threshold value, Parts It is to determine that there is a possibility that at least one damaged.

  According to a fifth aspect of the present invention, in the work determination system according to any one of the first to fourth aspects, the determination result of the component assembling work by the worker is based on the analysis result by the work analysis unit. An informing unit for informing is provided.

  According to a sixth aspect of the present invention, in the work determination system according to any one of the first to fifth aspects, the motion capture is performed when the position sensor is a magnetic three-dimensional position and orientation sensor. The apparatus includes a signal processing unit that receives the work motion information of the worker detected by the magnetic three-dimensional position and orientation sensor and transmits the work motion detection data to the work analysis unit as three-dimensional coordinate data.

  A seventh aspect of the present invention is the work determination system according to the sixth aspect, wherein a plurality of magnetic three-dimensional position / orientation sensors and pressure sensors are respectively attached to the fingers of the worker.

  In addition, the work determination method according to the eighth aspect of the present invention is the one of the worker who is performing the part assembly work for fitting the parts together by pushing into the other part while holding the one part. The work movement by a hand holding a part is measured over time by a motion capture position sensor attached to the hand, and the work movement detection data, which is the measurement result, is sent to the work analysis unit. When fitting the parts, the load applied to one part is measured over time with a pressure sensor attached to the hand, and the pressure detection data, which is the measurement result, is also sent to the work analysis unit to assemble the parts by the operator Is a work determination method for analyzing whether or not the work is normal, and the work analysis unit uses the waveform trajectory formed by the work motion detection data received from the motion capture position sensor to determine whether the worker performing the part assembly work. Compared to the waveform trajectory formed by the work motion standard data, which is the standard of work motion by, the waveform trajectory formed by the work motion detection data is set to the waveform trajectory formed by the work motion standard data within a predetermined time. In the first step for determining whether or not the set threshold value has been reached, and in the first step, the trajectory of the waveform formed by the work motion detection data is the waveform of the waveform formed by the work motion standard data within a predetermined time. A second step for determining whether or not the waveform locus formed by the pressure detection data received from the pressure sensor has reached a predetermined threshold width when the threshold set for the locus is reached; It is what has.

  A ninth aspect of the present invention is the work determination system according to the eighth aspect, wherein the first step is that the waveform trajectory formed by the work motion detection data is a waveform formed by the work motion standard data within a predetermined time. If the threshold set in the locus is not reached, it is determined that the parts assembling work by the worker is not normally performed.

  In the work determination system according to the tenth aspect of the present invention, in the work determination system according to the eighth aspect, the second step is when the waveform trajectory formed by the pressure detection data deviates from the range of two preset threshold values. Determines that the part assembling work by the worker is not normally performed.

  According to an eleventh aspect of the present invention, in the work determination system according to the eighth aspect, prior to the first step, the waveform trajectory formed by the work movement detection data indicates that the work movement standard data is within a predetermined time. If the waveform trajectory formed by the pressure detection data reaches within the width formed between the two preset thresholds before reaching the threshold set in the trajectory of the formed waveform, the parts set by the operator It has a step of determining that at least one of each component may be damaged in the attaching operation.

  According to a twelfth aspect of the present invention, in the work determination system according to the eighth aspect, in the first step, the waveform trajectory formed by the work motion detection data is compared with the waveform trajectory formed by the work motion standard data. When the position of the waveform trajectory formed by the motion detection data falls outside the predetermined error range of the waveform trajectory formed by the work motion standard data, it is determined that the parts assembly work has not been performed normally. is there.

  According to a thirteenth aspect of the present invention, in the work determination system according to any one of the eighth to twelfth aspects, a step of notifying information of a determination result by a notifying unit is included.

  Furthermore, the recording medium according to the fourteenth aspect of the present invention is a computer-readable recording medium storing a program to be realized by the work determination method according to any one of the eighth to thirteenth aspects. It is.

  Such a work determination system and work determination method according to the present invention enables an operator to start a part assembly operation in which parts are fitted together by being pushed into the other part while holding the one part. The work motion of the hand holding one of the parts is measured over time by a motion capture position sensor attached to the hand, and work motion detection data as the measurement result is transmitted to the work analysis unit. Furthermore, when the operator fits the parts together, the load applied to one part is measured over time by a pressure sensor attached to the hand, and the pressure detection data that is the measurement result is also transmitted to the work analysis unit. . When the work motion detection data is input, the work analysis unit uses the work motion determination function to determine the waveform trajectory formed by the work motion detection data received from the motion capture position sensor by the operator performing the part assembly work. Compared to the waveform trajectory formed by the work motion standard data, which is the standard of work motion, the waveform trajectory formed by the work motion detection data is set to the waveform trajectory formed by the work motion standard data within a predetermined time. It is determined whether or not the set threshold value has been reached.

  The work analysis unit compares the waveform trajectory formed by the work motion detection data with the work motion detection data in the work motion determination function, and as a result, the waveform trajectory formed by the work motion detection data is a predetermined time. When the threshold set in the waveform trajectory formed by the work operation standard data is reached, the component assembly operation determination function performs the component assembly operation using the waveform trajectory formed by the pressure detection data received from the pressure sensor. It is determined whether or not the pressure standard data, which is the standard of the load applied to one part over time when the component is in the range, is within two preset threshold widths.

  If the part assembly work determination function determines that the waveform trajectory formed by the pressure detection data is located within the range of two preset thresholds, the work analysis unit will attach the part by the operator. It is determined that the work has been performed normally.

  The work analysis unit uses the work motion determination function, and the waveform trajectory formed by the work motion detection data does not reach a threshold set in the waveform trajectory formed by the work motion standard data within a predetermined time. If it is determined, it is determined that the parts assembling work has not been performed normally. In addition, when the work analysis unit determines that the locus of the waveform formed by the pressure detection data has deviated from the range of two preset thresholds using the part assembly work determination function, the part assembly work is normal. It is determined that this was not done.

  The work analysis unit compares the waveform trajectory formed by the work motion detection data with the work motion detection function, and compares the waveform trajectory formed by the work motion detection data with the waveform trajectory formed by the work motion detection data. If it is determined that the waveform trajectory formed by the work operation standard data has deviated from a predetermined error range, it is determined that the component assembling work has not been performed normally.

  Further, the work analysis unit is a component damage determination function, and before the waveform trajectory formed by the work motion detection data reaches a threshold set in the waveform trajectory formed by the work motion standard data within a predetermined time, When the locus of the waveform formed by the pressure detection data reaches within a width formed between two preset threshold values, there is a risk that at least one of the components will be damaged in the component assembling operation by the operator. Judge that there is.

  By notifying the determination result of the part assembling work by the worker based on the analysis result by the work analyzing part in the notifying part, the worker can confirm whether or not the part assembling work has been normally performed. it can.

  In addition, when the motion capture position sensor is a magnetic three-dimensional position and orientation sensor, the work operation data can be made into three-dimensional coordinate data, so that the position coordinates (X-axis, Y-axis, Z-axis) and posture can be changed. It becomes possible to obtain the Euler angle information shown.

  Furthermore, by attaching a plurality of magnetic three-dimensional position and orientation sensors and pressure sensors to each operator's finger, it becomes possible to detect delicate movements of the operator's fingers. Since it can be reproduced, it is possible to cope with complicated work movements by the fingers of the operator.

  According to the work determination system, the work determination method, and the recording medium recording the work determination method of the present invention, it is possible to accurately measure and measure the movement of the hand in absolute coordinates in the part assembly work for fitting parts together. It is possible to make a work determination.

It is a block diagram of a system configuration showing a preferred embodiment in the work determination system of the present invention. It is explanatory drawing which shows the example of the calibration of the sensor used for the motion capture of FIG. It is explanatory drawing which shows the example of the positional information detected by the motion capture. It is a figure which shows the analysis method using the curve graph of the coordinate value obtained from the position sensor in a work analysis part. It is a figure which shows the analysis method using the curve graph of the coordinate value obtained from the pressure sensor in a work analysis part. It is a flowchart figure which shows the example of preferable embodiment of the operation | work determination method of this invention.

  The best mode for carrying out a work determination system, a work determination method, and a recording medium on which the work determination method is recorded will be described below with reference to the drawings.

  As shown in FIG. 1, the work determination system of the present invention has one part of an operator who performs a part assembling work for fitting parts together by pushing into the other part while holding one part. A position sensor 21 is provided for measuring a work operation by a hand with time and transmitting work operation detection data as a result of the measurement. A pressure sensor 23 that is attached to the operator's hand to measure the load applied to one component over time and transmit pressure detection data that is the measurement result when fitting the components together in the attaching operation; And a data processing device 3 for determining the work state of the worker based on the work motion detection data from the position sensor 21 and the pressure detection data from the pressure sensor 23. In addition, the work determination system 1 includes a notification unit 4 that notifies the determination result of the part assembling work by the worker based on the analysis result by the data processing device 3.

  The motion capture 2 can be a general-purpose one, and there are an optical type that detects the movement of the moving object based on position information of the optical marker attached to the moving object, and a magnetic type that detects the movement of the magnetic sensor attached to the moving object. It is common. In particular, when the object to be measured over time is a work operation of a worker who is performing a part assembly operation for fitting parts together, the motion capture 2 is a position sensor that is attached to the finger of the worker. A magnetic three-dimensional position / orientation sensor 21, and a signal processing unit 22 that receives work operation information of the worker detected by the magnetic three-dimensional position / orientation sensor and transmits work operation detection data to the data processing device 3. It is preferable to have In the case of this motion capture, it is possible to detect the delicate movement of the operator's finger by arranging multiple magnetic 3D position and orientation sensors on the flexible glove so that the delicate movement of the finger can be detected. Therefore, it is possible to accurately reproduce the work operation of the worker, so that it is possible to cope with a complicated work operation by the finger of the worker.

  The motion capture 2 and the data processing device 3 may be either wired or wireless connection means, and are selected according to installation conditions. As such a magnetic motion capture, for example, a finger motion capture device using a magnetic three-dimensional position and orientation sensor disclosed in Japanese Patent Application Laid-Open No. 2007-236602 is suitable.

  As shown in FIGS. 2 and 3, for example, assuming that the origin of the motion capture device for fingers is the center of the sensor 21 a located at the tip of the thumb, the position coordinates of the sensor 21 a viewed from the fixed reference point of the signal processing unit 22. Information on Euler angles indicating postures obtained from (X-axis, Y-axis, Z-axis) and rotation angles around the X-axis, Y-axis, and Z-axis is obtained and recorded in the data processing device 3. In this case, calibration of positional deviation and angle deviation at the time of mounting the sensor is described in detail in Japanese Patent Application Laid-Open No. 2007-236602, and thus description thereof is omitted.

  The pressure sensor 23 is preferably attached to, for example, the glove of the motion capture 2 and can be detected on the fingertip by placing the pressure sensor 23 on the finger pad of the fingertip. In this case, since the pressure applied to each fingertip can be detected by disposing the pressure sensor 23 on the finger pad portion of each fingertip, it is possible to accurately reproduce the work operation of the operator. It is possible to cope with complicated work movements with fingers. This pressure sensor 23 measures the pressure applied to the fingertip with a pressure-sensitive element through a diaphragm, converts it into an electrical signal, and outputs it. A semiconductor piezoresistive diffusion pressure sensor or a capacitance pressure sensor is known. ing.

  The data processing device 3 is preferably a computer and includes an arithmetic processing device such as a CPU, a display device having a display screen such as a cathode ray tube monitor and a liquid crystal display, an input device such as a keyboard and a mouse, and a hard disk drive. It is composed of a storage device or the like.

  As shown in FIG. 1, such a data processing apparatus 3 is equipped with work operation standard data which is a standard of work operation by the hand of a worker who performs a part assembling work. Work motion standard data is a waveform trajectory formed by the storage unit 31 in which pressure standard data, which is a standard of the load applied to the parts of the machine, is registered, and the work motion detection data received from the position sensor 21 of the motion capture 2. The work motion determination function 32a for determining whether or not the work motion by the worker is normal and the determination result by the work motion determination function 32a is determined that the work motion by the worker is normal compared to the locus of the waveform formed by In such a case, it is determined whether or not the pressure value of the pressure detection data received from the pressure sensor 23 is a value that allows the worker to perform the part assembling work with an appropriate work load. And a work analysis unit 32 having a parts assembly work determination function 32b that. Note that both the work motion detection data and the pressure detection data are transmitted to the work analysis unit 32 via the signal processing unit 22 of the motion capture 2.

  The storage unit 31 includes a RAM that can store data in an updatable manner, a ROM that stores fixed data, and the like. When the position sensor 21 is a magnetic three-dimensional position and orientation sensor, the work operation standard data registered in the storage unit 31 includes position coordinates (X axis, Y axis, Z axis), X axis, Y axis, This is Euler angle information indicating the posture obtained from the rotation angle around the Z axis.

  Whether the work motion by the worker is normal or not is determined by the work motion determination function 32a by setting the waveform trajectory formed by the work motion detection data to the waveform trajectory formed by the work motion standard data within a predetermined time. Judgment is made based on whether or not the set threshold is reached. Further, the reference for determining that the work operation by the worker is normal based on the determination result by the work operation determination function 32a in the part assembly operation determination function 32b is the waveform locus formed by the work operation detection data by the work operation determination function 32a. However, the threshold value set in the locus of the waveform formed by the work operation standard data is reached within a predetermined time. Further, in the part assembly work determination function 32b, whether or not the worker is performing the part assembly work with an appropriate work load depends on whether the waveform locus formed by the pressure detection data is the waveform locus formed by the pressure standard data. Judgment is made based on whether or not the distance falls within the range of two set threshold values.

  Since such work motion detection data and work motion standard data need only be able to detect whether or not a part has moved to a predetermined position, a curve in which the horizontal axis is a time value and the vertical axis is a coordinate value as shown in FIG. Using the waveform of the graph, the waveform of the work motion detection data is compared with the waveform of the work motion standard data. In the figure, the graph on the right shows the waveform of the work motion standard data at the work position, the graph on the left shows the waveform of the work motion detection data from the motion capture 2, and the ellipse formed with a dotted line shows the work position. Is. As a result of the comparison, the work analysis unit 32 detects that the work motion by the worker is not normally performed when the waveform of the work motion detection data does not reach a predetermined threshold based on the waveform of the work motion standard data. To do.

  Specifically, when the operator puts the position sensor 21, which is a magnetic three-dimensional position and orientation sensor, on the hand and pushes it into the other part while holding the one part, the position sensor 21 of the motion capture 2. Outputs the work motion information as work motion detection data in time series. When the work analysis unit 32 receives the work motion detection data in time series from the position sensor 21 of the motion capture 2, for example, as shown in FIG. 4, the work motion detection data detected at the work position on the time axis of the graph. The X-axis component waveform indicates a locus or coordinate value protruding upward from the threshold line TH1 set with reference to the X-axis component waveform of the work operation standard data, and has reached the success range of the work operation. The work analysis unit 32 determines that the work operation is normal in the X-axis component. The detected Y-axis component waveform of the work motion detection data indicates a locus or coordinate value protruding downward from the threshold line TH2 set based on the Y-axis component waveform of the work motion standard data. Thus, the work analysis unit 32 determines that the work operation is normal in the Y-axis component. Further, the Z-axis component waveform of the detected work motion detection data does not show a trajectory or coordinate value protruding downward from the threshold line TH3 set based on the waveform of the Z-axis component of the work motion standard data. Since the operation has not reached the success range, the work analysis unit 32 determines that the Z-axis component is not a normal work operation. The work analysis unit 32 determines that the component assembling work has not been performed normally because the Z-axis component of the work motion detection data does not reach the success range of the work motion.

  Note that the work analysis unit 32 performs the component assembly work only when the work motion has reached the success range in any of the waveforms of the X-axis component, the Y-axis component, and the Z-axis component of the work motion detection data. It is determined that the work operation has been performed normally. This determination is made when all of the X-axis component, the Y-axis component, and the Z-axis component of the work motion detection data reach the threshold values TH1, TH2, and TH3.

  Further, the work motion detection data and the work motion standard data include not only the position coordinates (X axis, Y axis, Z axis) but also Euler angles indicating postures obtained from rotation angles around the X axis, Y axis, and Z axis. With this information, it is possible to perform a work operation analysis using waveforms similar to the position coordinates (X axis, Y axis, Z axis).

  In addition, when the operator puts the pressure sensor 23 on the hand and pushes it into the other part while holding one part, the pressure sensor 23 outputs pressure information in the work operation as pressure detection data in time series. To do. When the work analysis unit 32 receives pressure detection data in time series from the pressure sensor 23, for example, a waveform of a curve graph having a time value on the horizontal axis and a load value on the vertical axis as shown in FIG. 5 is used. In this curve graph, two threshold values TH11 and TH12 are preset. There are two threshold values. When the parts are fitted to each other, the upper threshold value TH11 is for detecting that a pressure is applied so that the parts are broken. The lower threshold value TH12 is for completely fitting the parts to each other. It is for detecting the pressure that cannot be done.

  The work operation standard data registered in the storage unit 31 is data obtained from a part assembling work by a skilled worker, and a motion by a hand holding one part of the skilled worker who is performing the part assembling work is a motion. Measurement is performed with the capture position sensor 21 over time, and the work motion detection data that is the measurement result is used as work motion standard data. The pressure standard data registered in the storage unit is also data obtained from part assembly work by a skilled worker, and the load applied to one part when fitting parts together in the part assembly work by a skilled worker. The pressure detection data which is measured with the pressure sensor 23 with time and the measurement result is used as pressure standard data.

  The work motion determination function 32a of the work analysis unit 32 determines that the waveform trajectory formed by the work motion detection data reaches a threshold set in the waveform trajectory formed by the work motion standard data within a predetermined time. It is determined that the work operation by the worker is normal, and if the threshold is not reached, it is determined that the work operation by the worker has not been performed normally. Here, the predetermined time is a standard time until the worker grasps one part and pushes it into the other part. The work start time by the worker is a predetermined position on the factory line. This is the point when

  The component assembly work determination function 32b of the work analysis unit 32 determines that the work motion by the worker is normal by the work motion determination function 32a, and the waveform locus formed by the pressure detection data received from the pressure sensor 23 is When reaching within the range of two threshold values set in advance, it is determined that the worker is performing the part assembling work with an appropriate work load. When the component assembly operation determination function 32b determines in this way, the operation analysis unit 32 determines that the component assembly operation has been performed normally.

  Since it can be determined by the work analysis unit 32 in this way, in the part assembling work in which the position where the parts are fitted to each other varies, it is possible to normally fit the parts together. Even if the movement of the hand is digitized and measured in absolute coordinates, the work state of the worker can be accurately determined. For example, in the fitting between two wire harness connectors, if you hold the connector of one wire harness by hand and try to connect it to the connector of the other wire harness, the connector of the other wire harness is completely restrained. If not, the coupling position moves in the push-in direction, but since the work operation by the operator is normal, the connector of one wire harness and the connector of the other wire harness are in a position that can be fitted. Therefore, the operator can properly fit the two connectors with an appropriate work load by simply pushing in afterward. When the cowl side trim and the scuff plate are fitted, for example, if the cowl side trim is made of a soft resin, the cowl side trim moves in the pressing direction. Since the nail | claw part and hole part of a trim and a scuff plate are a position which can be fitted, after that, an operator can fit a nail | claw part and a hole part appropriately with an appropriate work load only by pushing.

  The work analysis unit 32 determines that the component assembling work has not been normally performed when the work movement determination function 32a determines that the work movement by the worker has not been normally performed. Further, when the work analysis unit 32 determines that the waveform locus formed by the pressure detection data is out of the two preset threshold widths by the part assembly work determination function 32b, the part assembly work determination function 32b Is determined not to be successful. Since it can be determined by the work analysis unit 32 in this way, it is possible to improve the accuracy of finding a defective product in which the parts are in a semi-fitted state.

  Further, the work motion determination function 32a compares the waveform trajectory formed by the work motion detection data with the waveform trajectory formed by the work motion standard data, so that the position of the waveform trajectory formed by the work motion detection data indicates the work motion standard data. Has a function of determining whether or not the waveform trajectory is out of a predetermined error range. In this case, the work analysis unit 32 uses the work motion determination function 32a to compare the waveform trajectory formed by the work motion detection data with the waveform trajectory formed by the work motion standard data, and the waveform trajectory formed by the work motion detection data. If it is determined that the position is out of the predetermined error range in the waveform trajectory formed by the work operation standard data, it is determined that the part assembly work has not been performed normally, and the waveform of the work operation detection data When it is determined that the position of the trajectory is within an error range predetermined for the trajectory of the waveform formed by the work operation standard data, it is determined that the component assembling work has been normally performed. Since the work analysis unit 32 can make the determination as described above, it is possible to determine whether the work operation by the worker is good or bad. The predetermined error range in the waveform trajectory formed by the work operation standard data does not affect work such as fitting even if the work position of the hand holding one part of the worker varies. It is a range.

  Further, the work analysis unit 32 makes the pressure detection data before the waveform trajectory formed by the work motion detection data reaches the threshold set in the waveform trajectory formed by the work motion standard data within a predetermined time. It has a component determination function 32c for determining whether or not the waveform trajectory has reached a width formed between two preset threshold values. The work analysis unit 32 uses the component determination function 32c to reduce the pressure before the trajectory of the waveform formed by the work motion detection data reaches the threshold set in the waveform trajectory formed by the work motion standard data within a predetermined time. When it is determined that the waveform trajectory formed by the detection data has reached the width formed between two preset thresholds, at least one of the components is damaged in the component assembling operation by the operator. It is determined that there is a risk. Since it can be determined in this way by the work analysis unit 32, when one component is fitted to the other component, even if the other component is arranged to be shifted from the normal position toward the operator side, It is possible to prevent parts such as claws that are fitting parts of two parts from being damaged.

  The notification unit 4 makes it easy to visually grasp the work analysis result by using a display screen that displays the work analysis result of the worker. Note that the notification unit 4 is not limited to the display screen of the display device, and the sound analysis device such as a speaker may be used to confirm the result of the work analysis by hearing, and further, the display screen of the display device and the sound generation device may be connected. It may be used so that the work analysis result can be confirmed.

  If the work motion detection data, which is coordinate data received from the motion capture 2 in time series, has a data format different from that of the coordinate data for the data processing device 3, as shown in FIG. A format converter 32d may be incorporated. The data format conversion unit 32 d has a function of converting work motion detection data received in time series from the motion capture 2 into coordinate data for the data processing device 3.

  As shown in FIG. 1, each component of the work determination system 1 described above is electrically connected. In the motion capture 2, a position sensor 21 and a pressure sensor 23 are respectively connected to the signal processing unit 22. In the data processing device 3, a work analysis unit 32 and a storage unit 31 are connected, and a signal processing unit 22 and a notification unit 4 are connected to the work analysis unit 32.

  Each configuration of the data processing device 3 in the work determination system 1 configured as described above is realized by a program executed by the arithmetic processing device. The data processing procedure by this program will be described based on the flowchart of FIG.

  When the worker mounts the position sensor 21 and the pressure sensor 23 in his / her hand and starts to assemble the parts to fit the parts by pushing into the other part while holding one part (step 101). The work movement of the hand holding one part of the worker is measured over time by the position sensor 21 of the motion capture 2, and the work movement detection data as the measurement result is transmitted to the work analysis unit 32 of the data processing device 3. (Step 102). Furthermore, when the worker fits the components, the load applied to one of the components is measured over time by the pressure sensor 23, and the pressure detection data as the measurement result is also transmitted to the work analysis unit 32 (step 103). . When the work analysis unit 32 acquires the work motion detection data and the pressure detection data, the work analysis unit 32 calls the work motion standard data from the storage unit 31 (step 104) and calls the pressure standard data (step 105).

  When the work analysis unit 32 has the component damage determination function 32c, the component damage determination function 32c is configured such that the waveform trajectory formed by the work motion detection data is the waveform trajectory formed by the work motion standard data within a predetermined time. Before reaching the threshold value set in (2), it is determined whether or not the trace of the waveform formed by the pressure detection data has reached the width formed between the two threshold values set in advance (step 106). When the component breakage determination function 32c determines that the waveform trajectory formed by the pressure detection data has reached the width formed between two preset thresholds, the work analysis unit 32 determines that the component It is determined that at least one of the parts may be damaged in the assembly work. In addition, when the component damage determination function 32c determines that the waveform locus formed by the pressure detection data does not reach the width formed between two preset threshold values, the work analysis unit 32 The process shifts to the work motion determination function 32a.

  When shifting to the work motion determination function 32a, the work motion determination function 32a compares the waveform trajectory formed by the work motion detection data with the waveform trajectory formed by the work motion standard data, and compares the waveform trajectory formed by the work motion detection data. It is determined whether or not the trajectory has reached a threshold value set in the trajectory of the waveform formed by the work operation standard data within a predetermined time (step 107). When the work motion determination function 32a determines that the waveform trajectory formed by the work motion detection data has reached the threshold set in the waveform trajectory formed by the work motion standard data within a predetermined time, The analysis unit 32 determines that the work operation by the worker is normal, and proceeds to the component assembly work determination function 32b. Further, when the work motion determination function 32a determines that the waveform trajectory formed by the work motion detection data has not reached the threshold set in the waveform trajectory formed by the work motion standard data within a predetermined time. The work analysis unit 32 determines that the part assembling work by the worker is not normally performed.

  When the process shifts to the component assembly operation determination function 32b, the component assembly operation determination function 32b determines whether or not the waveform trajectory formed by the pressure detection data has reached a predetermined threshold width. (Step 108). When the component assembly operation determination function 32b determines that the waveform trajectory formed by the pressure detection data has reached the range of two threshold values set in advance, the operation analysis unit 32 determines whether the operation has been performed by the operator. It is determined that the component assembling work is normally performed, and the notification unit 4 notifies the information (step 109). Further, when the component assembly work determination function 32b deviates from the range of the two thresholds set in advance by the waveform of the pressure detection data, the work analysis unit 32 causes the worker to perform component assembly. It is determined that the work is not performed normally.

  The work motion determination function 32a compares the waveform trajectory formed by the work motion detection data with the waveform trajectory formed by the work motion standard data, so that the position of the waveform trajectory formed by the work motion detection data indicates the work motion standard data. If the waveform trajectory is out of the predetermined error range, it is determined that the component assembling work has not been performed normally (step 107).

  When the work analysis unit 32 determines that at least one of the parts may be damaged in the part assembling work by the worker using the part damage judging function 32c, the work assembling work performed by the worker using the work operation judging function 32a. When it is determined that the component assembly work is not normally performed, or when the component assembly work determination function 32b determines that the component assembly work by the worker is not performed normally, the notification unit 4 notifies the information. (Step 110). Therefore, even when the operator overlooks that the parts are not securely fitted to each other or the parts are damaged, the operator can confirm the trouble in the work. .

  As described above, when Step 109 and Step 110 are performed, the work analysis by the work analysis unit 32 ends (Step 111).

  A program in which such a data processing procedure is executed by the arithmetic processing unit of the data processing device 3 can be used by a plurality of data processing devices 3 by recording the program on a computer-readable recording medium such as a CD or a DVD. become.

  Although the present invention has been described with the specific embodiments shown in the drawings, the present invention is not limited to the embodiments shown in the drawings, and is known so far as long as the effects of the present invention are achieved. It goes without saying that any configuration can be adopted.

DESCRIPTION OF SYMBOLS 1 ... Work determination system 2 ... Motion capture 21 ... Position sensor 23 ... Pressure sensor 31 ... Memory | storage part 32 ... Work analysis part 32a ... Work movement determination function 32b ... Component assembly work determination function 32c ... ... Part damage judgment function 4 ... Notification part

Claims (14)

Measure the work operation by the hand holding the one part over time of the worker who is doing the part assembling work to fit the parts by pushing into the other part while holding one part A position sensor for transmitting work movement detection data as a result of the measurement, and a motion capture worn on the hand of the worker;
When fitting the parts together in the part assembling operation, the load applied to the one part is measured over time, and is attached to the hand of the operator in order to transmit pressure detection data as a result of the measurement. A pressure sensor,
Together with the work operation standard data which is the standard of the work operation by the hand of the worker performing the part assembling work, it is added to the one part over time when the part assembling work is performed. A storage unit in which pressure standard data which is a standard of the load is registered;
Comparing the waveform trajectory formed by the work motion detection data received from the position sensor of the motion capture with the waveform trajectory formed by the work motion standard data, the waveform trajectory formed by the work motion detection data is obtained in advance. The work motion detection function determines whether or not a threshold set in the locus of the waveform formed by the work motion standard data within a predetermined time is reached, and the work motion detection data forms the work motion detection function. When the waveform trajectory reaches a threshold value set in the waveform trajectory formed by the work operation standard data within the predetermined time, the waveform trajectory formed by the pressure detection data received from the pressure sensor is And a work analysis unit having a part assembly work determination function for determining whether or not a predetermined threshold value is reached. Working determination system characterized and.   The work analysis unit uses the work motion determination function, and the threshold of the waveform trajectory formed by the work motion detection data is set to the waveform trajectory formed by the work motion standard data within the predetermined time. Or when it is determined by the component assembly work determination function that the trajectory of the waveform formed by the pressure detection data is out of the range of the two preset threshold values. The work determination system according to claim 1, wherein the part assembly work is determined not to be normally performed.   The work motion determination function compares the waveform trajectory formed by the work motion detection data with the waveform trajectory formed by the work motion standard data, and the position of the waveform trajectory formed by the work motion detection data is The work motion standard data has a function of determining whether or not the waveform trajectory formed by the work motion standard data falls outside a predetermined error range. In this case, the work analysis unit uses the work motion determination function to detect the work motion. When it is determined that the position of the waveform trajectory formed by the data is out of the predetermined error range from the waveform trajectory formed by the work operation standard data, the component assembling work is not performed normally. The work determination system according to claim 1, wherein the operation determination system is determined.   The work analysis unit, before the trajectory of the waveform made by the work motion detection data reaches the threshold set in the trajectory of the waveform made by the work motion standard data within the predetermined time, It has a component damage determination function for determining whether or not the waveform locus formed by the pressure detection data has reached the width formed between the two preset threshold values. In this case, the work analysis The part has a waveform trajectory formed by the work motion detection data in the component breakage determination function before the threshold set in the waveform trajectory formed by the work motion standard data within the predetermined time. In addition, if it is determined that the locus of the waveform formed by the pressure detection data has reached the width formed between the two preset threshold values, the component set by the operator Working determination system according to claim 1 or claim 2 wherein said the determining means determines that at least one is a possibility of breakage of the parts in the working.   5. The information processing apparatus according to claim 1, further comprising: a notification unit that notifies a determination result of the part assembly work by the worker based on an analysis result by the work analysis unit. Work judgment system.   When the position sensor is a magnetic three-dimensional position / orientation sensor, the motion capture receives the operation information of the worker detected by the magnetic three-dimensional position / orientation sensor and receives the work operation detection data. The work determination system according to any one of claims 1 to 5, further comprising a signal processing unit that transmits the three-dimensional coordinate data to the work analysis unit.   The work determination system according to claim 6, wherein a plurality of the magnetic three-dimensional position and orientation sensors and the pressure sensors are respectively attached to the fingers of the worker. A work operation by a hand holding the one part of a worker who performs a part assembling work for fitting the parts together by pushing into the other part while holding one part is attached to the hand. Measured with a position sensor of the motion capture that is performed over time, and the work motion detection data that is the measurement result is transmitted to the work analysis unit, and when the worker fits the parts together, The applied load is measured over time with a pressure sensor attached to the hand, and pressure detection data as a result of the measurement is also transmitted to the work analysis unit to determine whether or not the parts assembling work by the operator is normal. A work determination method to analyze,
The work analysis unit
Work motion standard data, which is a standard of the work motion by the hand of the worker who is performing the part assembly work, is a trajectory of the waveform formed by the work motion detection data received from the position sensor of the motion capture. Whether or not the waveform trajectory formed by the work motion detection data reaches a threshold set in the waveform trajectory formed by the work motion standard data within a predetermined period of time, as compared to the waveform trajectory formed. A first step of determining whether or not
In the first step, when the waveform trajectory formed by the work motion detection data reaches the threshold set in the waveform trajectory formed by the work motion standard data within the predetermined time, And a second step of determining whether or not a locus of a waveform formed by the pressure detection data received from the pressure sensor has reached a predetermined threshold width. Method.   In the first step, when the waveform trajectory formed by the work motion detection data does not reach the threshold set in the waveform trajectory formed by the work motion standard data within the predetermined time. 9. The work determination method according to claim 8, wherein it is determined that the parts assembly work by the worker is not normally performed.   In the second step, when the waveform trajectory formed by the pressure detection data deviates from the width of the two preset threshold values, the component assembling work by the operator is normally performed. The work determination method according to claim 8, wherein it is determined that the operation has not been performed.   Before the first step, before the trajectory of the waveform formed by the work motion detection data reaches the threshold set in the waveform trajectory formed by the work motion standard data within the predetermined time. In addition, when the trajectory of the waveform formed by the pressure detection data reaches within the width formed between the two preset threshold values, the parts are assembled in the parts assembly work by the operator. 9. The work determination method according to claim 8, further comprising the step of determining that at least one of them is likely to be damaged.   In the first step, the waveform trajectory formed by the work motion detection data is compared with the waveform trajectory formed by the work motion detection data by comparing the trajectory of the waveform formed by the work motion detection data with the waveform trajectory formed by the work motion standard data. 9. The operation determination according to claim 8, wherein if the waveform trajectory formed by the operation operation standard data deviates from a predetermined error range, it is determined that the component assembly operation has not been performed normally. Method.   The work determination method according to claim 8, further comprising a step of notifying information of the determination result by a notification unit.   A computer-readable recording medium storing a program to be realized by the work determination method according to any one of claims 8 to 13.

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