JP5284179B2 - Work determination system, work determination method, and recording medium recording the work determination method - Google Patents

Description

  The present invention relates to a work determination system and a work determination method for determining a work state of an operator who assembles a part in a product in a production line in a factory, and a recording medium on which the work determination method is recorded.

  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, so there is no particular problem in the work of assembling the parts at a predetermined position without fail. However, if you try to determine with absolute coordinates in the assembly work where the assembly position will be different each time, such as assembling the right hand part to the part you have in the left hand, the assembly work actually ends normally. Regardless, there was a difficulty that it was judged as abnormal termination.

  The present invention has been made to solve such a conventional problem, and in the production line in a factory, when an operator performs assembly work at an arbitrary position with both hands, it is possible to perform accurate work determination. An object of the present invention is to provide a work determination system, a work determination method, 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 to assemble a part held by a worker on the right hand and a part held on the left hand at an arbitrary position in a production line in the factory. assembly of the workers who are working hands work operate with time measured respectively, have a sensor mounted to the hands in order to transmit the working operation detection data is the measurement result, the sensor Is a plurality of magnetic three-dimensional position / orientation sensors attached to the fingers of the worker, and receives the work operation information of the workers detected by the magnetic three-dimensional position / orientation sensor group, and converts the work operation detection data into three-dimensional coordinates. and motion capture and a signal processing unit that transmits the work analysis unit as data, a relative distance threshold between the two sensors of motion capture relative distance threshold data previously created And relative distance threshold data storage unit that is registered for each process receives in time series the work operation detection data is three-dimensional coordinate data detected by the sensors transmitted from the motion capture, between the two sensors In order to grasp the movement of both hands during the work of the worker over time with the relative distance, calculate the relative distance from one of the sensors as the origin, and calculate the relative distance as 3D coordinate data The X-axis component, Y-axis component, and Z-axis component work waveforms of the relative distance calculation data , which is three-dimensional coordinate data, are based on the relative distance threshold data registered in the relative distance threshold data storage unit that matches the data work process. If the relative distance threshold is reached after a predetermined time has elapsed, it is determined that the assembling operation has been performed normally, and the X-axis component of the relative distance calculation data, which is three-dimensional coordinate data, Y Relative distance data determination for determining that the assembly work is not normally performed when any one of the work waveforms of the axis component and the Z-axis component is out of the range of the relative distance threshold after a lapse of a predetermined period. And a work analysis unit having a function.

In the work determination system according to the second aspect of the present invention, relative angle threshold data in which relative angle threshold data, which is a relative angle threshold between two motion capture sensors, is registered in advance for each work process in the work determination system according to the first aspect. A storage unit is provided, and the work analysis unit further determines the three-dimensional coordinates detected by the two sensors when the relative distance calculation data reaches within the range of the relative distance threshold after a predetermined time by the relative distance data determination function. X-axis component of the relative angle calculation data based on the relative angle data registered in the relative angle threshold data storage unit that matches the work process of the relative angle calculation data, calculates the relative angle based on the work motion detection data that is data , Y-axis component, determines that each work waveform of the Z-axis component is assembling work is performed normally when it reaches the inside width of the relative angle threshold after a predetermined time has elapsed, the relative angle If any one of the work waveforms of the X-axis component, Y-axis component, and Z-axis component of the calculated data is out of the relative angle threshold after a predetermined period, the assembling work has been performed normally. It has a relative angle data determination function to determine that there is no.

According to a third aspect of the present invention, in the work determination system according to the first aspect or the second aspect, work operation standard data, which is a standard of work operations of both hands of the worker, is registered in advance for each work process. A work standard data storage unit is provided, and the work analysis unit registers the work motion detection data received in time series from each of the two motion capture sensors and the work motion standard data storage unit that matches the work process of the work motion detection data. The relative distance when the work waveform of the work movement detection data from any one of the sensors deviates from the predetermined threshold width based on the work waveform of the work movement standard data. It has a work motion data judgment function for ending work analysis without shifting to the data judgment function.

According to a fourth aspect of the present invention, in the work determination system according to any one of the first to third aspects, the determination result of the worker's work state is notified based on the analysis result by the work analysis unit. A notification unit is provided.

Further, the work determination method according to the fifth aspect of the present invention performs an assembling work for assembling a part held by a worker on the right hand and a part held on the left hand at an arbitrary position on a production line in the factory. The work motion of both hands of the worker who is currently working is measured over time by the sensors attached to both hands of the motion capture, and the work motion detection data that is the measurement result is sent to the work analysis unit to check the work status of the worker In the analysis , the motion capture is a plurality of magnetic three-dimensional position / orientation sensors mounted on the operator's fingers, and receives the work operation information of the workers detected by the magnetic three-dimensional position / orientation sensor group. Te is work determination method and a signal processing unit for transmitting to the work analysis unit working operation detection data as the three-dimensional coordinate data, the work analysis unit, the motion capture The work motion detection data, which is the three-dimensional coordinate data detected by each sensor transmitted from the sensor, is received in time series, and the movement of both hands during the work of the worker is continued at the relative distance between the two sensors. In order to grasp it, the first step of calculating the relative distance from one of the sensors as the origin and the relative distance calculation data which is the three-dimensional coordinate data calculated in the first step. A second step for calling the relative distance threshold data registered in the corresponding relative distance threshold data storage unit, and an X-axis component and a Y-axis component of the relative distance calculation data that is the three-dimensional coordinate data calculated in the first step , it is determined that the assembly operation in the case where each operation waveform of the Z-axis component reaches within the width of the relative distance threshold after a predetermined time has elapsed is successful, the relative distance calculated data is three-dimensional coordinate data Determining the axial component, Y-axis component, and assembling work if deviates from the width of the relative distance threshold after a predetermined period of time even any one among the working waveforms of the Z axis component is not performed correctly And a third step.

According to a sixth aspect of the present invention, in the work determination method according to the fifth aspect, in the third step, when the relative distance calculation data reaches within the range of the relative distance threshold value after a predetermined time has elapsed, the second step is further performed. A fourth step of calculating a relative angle based on work motion detection data that is three-dimensional coordinate data detected by two sensors, and a relative angle threshold data storage unit corresponding to the relative angle calculation data calculated in the fourth step The fifth step for calling the relative angle threshold value data registered in the above and the X-axis component, Y-axis component, and Z-axis component work waveforms of the relative angle calculation data calculated in the fifth step are relative after a predetermined time has elapsed. When the angle threshold value is reached, it is determined that the assembling work has been normally performed, and any one of the X-axis component, Y-axis component, and Z-axis component work waveforms of the relative angle calculation data is used. Regular Is one having a sixth step of determining that no successful assembly work if deviates from the width of the relative angle threshold after.

According to a seventh aspect of the present invention, in the work determination method according to the fifth aspect or the sixth aspect, before the first step, work motion detection data received in time series from each of the two motion capture sensors. Based on the step of calling the work motion standard data registered in the corresponding work motion standard data storage unit and the work waveform of the work motion detection data from any one of the sensors based on the work waveform of the work motion standard data called in the step And a step of ending the work analysis without moving to the first step when it falls outside the predetermined threshold range.

Furthermore, the recording medium according to the eighth 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 fifth to seventh aspects. It is.

  In such a work determination system and work determination method of the present invention, in the production line during mass production, the work movements of the hands of the worker who is assembling the parts to the product are respectively attached to both hands of the motion capture. When measurement is performed over time by a sensor and work operation data as a result of the measurement is transmitted to the work analysis unit, the work analysis unit uses a relative distance data determination function to set one of the sensors as the origin and the relative to the other sensor. The distance is calculated, and the relative distance threshold data corresponding to the relative distance calculation data between the sensors is selected from the relative distance threshold data storage unit. Since the relative distance between the sensors can grasp the movements of both hands during the work over time, the work state can be grasped even if the worker performs assembly work at any position with both hands. it can. Accordingly, the work analysis unit calls the relative distance threshold data corresponding to the relative distance calculation data between the sensors from the relative distance threshold data storage unit, and the relative distance calculation data reaches within the range of the relative distance threshold after a predetermined time. It is possible to accurately determine the worker's working state based on whether or not he / she did.

  When the work analysis unit is set to execute the work motion data determination function before the relative distance data determination function, it corresponds to the work motion data received in time series from each of the two motion capture sensors. The work operation standard data to be selected is selected from the work operation standard data storage unit. The work analysis unit compares the work motion data from any one of the sensors with the selected work motion standard data, and the work motion data from any one of the sensors is compared with the threshold value of the selected work motion standard data. When it is off, the work analysis is terminated without shifting to the relative distance data determination function. As described above, since the working state of both hands can be grasped individually, the working state of each hand that cannot be detected by the relative distance data determination function can be grasped. Therefore, it is possible to more accurately determine the working state of the worker.

  In addition, when the work determination system includes a relative angle threshold data storage unit and the work analysis unit includes a relative angle data determination function, the work analysis unit uses the relative distance data determination function and the relative distance calculation data has passed after a predetermined time has elapsed. When the relative distance threshold is reached, the relative angle data determination function further calculates the relative angle based on the work motion detection data detected by the two sensors, and the relative angle calculation data obtained from the two sensors. Is selected from the relative angle threshold data storage unit. Since the movement of both hands during the work of the worker can be grasped over time from the relative angle obtained from these two sensors and the relative distance between the sensors, the working state of the worker is stored in a relative angle threshold data storage unit and As compared with the case where the relative angle data determination function is not provided, it can be grasped more accurately.

  Further, when the motion capture sensor is a magnetic three-dimensional position / orientation sensor, the work operation data can be set to three-dimensional coordinate data, which indicates position coordinates (X axis, Y axis, Z axis) and attitude. Euler angle information can be obtained.

  According to the work determination system, the work determination method, and the recording medium on which the work determination method is recorded according to the present invention, an accurate work can be performed even when the worker performs assembly work at any position with both hands on the production line in the factory. Judgment can be made.

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. (A) is explanatory drawing which shows the example of the work process in a factory, (B) is a database model figure which shows an example of the work process stored in the database of a data storage part. It is a figure which shows the analysis method using the curve graph of the coordinate value in a work analysis part. It is a figure which shows the analysis method using the curve graph of the coordinate value in a work analysis part. It is explanatory drawing which shows the specific work process in a production line. It is explanatory drawing which shows the specific work process in a production line. It is a figure which shows the analysis method using the curve graph of the rotation angle in a work analysis part. It is a figure which shows the analysis method using the curve graph of the rotation angle 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. It is a flowchart figure which shows other preferable embodiment of the work determination method of this invention. It is a flowchart figure which shows other preferable embodiment of the 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 measures the work operations of both hands of a worker who is working to assemble parts on a product such as an automobile on a production line in mass production in a factory over time. Then, the motion capture 2 that transmits the work motion data that is the measurement result, and the work motion data transmitted from the motion capture 2 are received, and the worker motion is compared with the standard data by comparing the work motion data with the standard data. And a data processing device 3 for determining a working state. In addition, the work determination system includes a notification unit 4 that notifies a determination 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 assembling a part, the motion capture 2 includes a plurality of magnetic systems 3 that are devices attached to the fingers of the worker. It is preferable to include a three-dimensional position / orientation sensor 21 and a signal processing unit 22 that receives and transmits to the data processing device 3 as work operation information of the worker detected by the magnetic three-dimensional position / orientation sensor group 21. is there. In the case of this motion capture 2, a plurality of magnetic three-dimensional position / orientation sensors 21 are arranged on a flexible glove so that delicate movements of fingers can be detected. It becomes possible.

  The magnetic three-dimensional position / orientation sensor 21 and the data processing device 3 may be either wired or wireless connection means, and are selected according to installation conditions. As such a motion capture, for example, a finger motion capture device using a magnetic 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 is the center of the sensor 21 a located at the tip of the thumb, the motion capture device for fingers assumes the position coordinates (from the fixed reference point of the signal processing unit 22 ( X-axis, Y-axis, Z-axis) and Euler angle information indicating the posture obtained from the 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.

  Since the glove is attached to both hands of the operator, the magnetic three-dimensional position / orientation sensor attached to the right hand will be described as sensor 21R, and the magnetic three-dimensional position / orientation sensor attached to the left hand will be described as sensor 21L.

  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 includes a work motion standard data storage unit 31 in which work motion standard data, which is a standard work motion of both hands of an operator, is registered in advance for each work process, Relative distance threshold value data storage unit 32 in which relative distance threshold value data, which is a relative distance threshold value between two sensors 21R and 21L of capture 2, is registered in advance for each work process, and two sensors 21R and 21L of motion capture 2 respectively. The work motion detection data received in time series from the work motion standard data in the work motion standard data storage unit 31 and the relative distance threshold data in the relative distance threshold data storage unit 32 are compared to analyze the work state of the worker. And an analysis unit 33. The work motion standard data registered in the work motion standard data storage unit 31 has a posture determined from position coordinates (X axis, Y axis, Z axis) and rotation angles around the X axis, Y axis, and Z axis. This is the Euler angle information shown.

  The work operation standard data storage unit 31 and the relative distance threshold data storage unit 32 are each configured by a RAM that can store data in an updatable manner, a ROM that stores fixed data, and the like. For example, as shown in FIG. The assembly process for assembling the headlamp at a predetermined position of the vehicle is the work process (1). After the audio temporarily assembled at the predetermined position of the vehicle is pulled out from the position and the attached parts are assembled, the audio is If the assembly process for storing and assembling at the position is the work process (2), and the assembly process for assembling the side mirror at a predetermined position of the vehicle is the work process (3), the work operation standard data storage unit 31 and the relative distance threshold data Each database in the storage unit 32 is a database model as shown in FIG.

  The work analysis unit 33 receives the work motion detection data detected by the sensors 21R and 21L transmitted from the motion capture 2, and sets the relative distance from the other sensor using either sensor as the origin. Based on the relative distance threshold data registered in the relative distance threshold data storage unit 32 that is calculated and coincides with the work process of the relative distance detection data, the relative distance detection data reaches within the range of the relative distance threshold after a predetermined time. It has a relative distance data determination function 33a for determining the working state of the worker. Furthermore, the work analysis unit 33 registers the work motion detection data received in time series from the two sensors 21R and 21L of the motion capture 2 and the work motion standard data storage unit 31 that matches the work process of the work motion detection data. Compared with the work operation standard data thus obtained, if the work operation detection data from any one of the sensors deviates from the range of the threshold value of the work operation standard data, the work analysis is performed without shifting to the relative distance data determination function 33a. Has a work motion data determination function 33b.

  Further, the work analysis unit 33 detects, for example, a work motion from the sensor 21R of the motion capture 2 when the worker performs work by attaching only one of the two sensors 21R and 21L of the motion capture 2. When the data is received in time series, work operation standard data matching the work process based on the work operation detection data is detected from the database of the work operation standard data storage unit 31, and the work operation standard data and the work operation detection data are compared. If there is a difference, the work defect detection function 33c for detecting a work defect from the difference is provided.

  Such a work analysis unit 33 is a work failure when the worker performs only the work of attaching only one of the two sensors 21R and 21L of the motion capture 2 and assembling the component at a predetermined position. The detection function 33c only needs to be able to detect whether or not the part has moved to a predetermined position. Therefore, by using a work waveform of a curve graph in which the horizontal axis is a time value and the vertical axis is a coordinate value as shown in FIG. The work waveform of the work motion detection data may be compared with the work waveform of the work motion standard data. In the figure, the graph on the right side shows the standard work waveform at the work position, the graph on the left side is the work waveform of the work motion detection data from the motion capture 2, and the ellipse formed by a dotted line shows the work position. is there. As a result of the comparison, the work analysis unit 33 detects a work defect when the work waveform of the work motion detection data is located in a predetermined direction away from a predetermined threshold based on the work waveform of the work motion standard data.

  Specifically, for example, in the work process (1), the headlamp is mounted on the automobile with a quick release type coupling clip in a state in which the workers attach the sensors 21R and 21L, which are magnetic three-dimensional position and orientation sensors, to the fingers of both hands. For example, the sensor 21R of the motion capture 2 outputs information on the work motion as work motion detection data in chronological order when the joint clip is pressed against the joint hole of the frame to be assembled to the front portion of the frame. When the work analysis unit 33 receives the work motion detection data in time series from the sensor 21R of the motion capture 2, for example, as shown in FIG. 5, the work motion detection data detected at the work position on the time axis of the graph is displayed. When the work waveform of the X-axis component shows a locus or coordinate value protruding upward from the threshold line TH1 set with reference to the standard work waveform of the X-axis component, the coupling clip is completely fitted and fixed. Therefore, the work analysis unit 32 detects that the worker has successfully completed the work of the headlamp assembly process (1) in the X-axis component. Therefore, the work analysis unit 32 transmits, to the notification unit 4, detection information indicating that the headlamp assembly process (1) has been normally completed for the X-axis component.

  Further, when the work waveform of the detected Y-axis component of the work motion detection data indicates a locus or coordinate value protruding downward from the threshold line TH2 set with reference to the standard work waveform of the Y-axis component, Since it indicates that the coupling clip has been completely fitted and fixed, the work analysis unit 32 detects in the Y-axis component that the worker has successfully completed the work of the headlamp assembly process (1). Therefore, the work analysis unit 32 transmits, to the notification unit 4, detection information indicating that the headlamp assembly process (1) has been normally completed for the Y-axis component.

  Further, when the work waveform of the Z-axis component of the detected work motion detection data does not indicate a locus or coordinate value protruding downward from the threshold line TH3 set based on the standard work waveform of the Z-axis component, Since it indicates that the coupling clip is not completely fitted and fixed in the Z-axis component, it is detected that an operation failure has occurred in the headlamp assembly step (1). Accordingly, since the work analysis unit 32 transmits detection information indicating that a work failure has occurred in the Z-axis component to the notification unit 4, it is assumed that a work failure has occurred in the headlamp assembly process (1). judge.

  The work analysis unit 32 detects the headlamp in the case of detection information indicating that the headlamp assembly process (1) has been normally completed in any of the work waveforms of the X-axis component, the Y-axis component, and the Z-axis component. It is determined that there were no operational problems in the lamp assembly process (1).

  Further, the work analysis unit 33 is configured to allow the worker to attach the two sensors 21R and 21L of the motion capture 2 to both hands, and to pull out the first part temporarily assembled at a predetermined position of the vehicle from the position and In the case of the work of storing and assembling the first part in the original position of the vehicle after assembling the parts, the relative distance data determination function 33a is used to connect the two sensors 21R and 21L attached to both hands by the operator. Since it is only necessary to detect the relative movement and grasp the relative movement of both hands, using the work waveform of the curve graph in which the horizontal axis is the time value and the vertical axis is the coordinate value as shown in FIG. For example, the relative distance threshold data storage unit that calculates the relative distance from the work motion detection data from the sensor 21L using the work motion detection data from the sensor 21R as the origin, and matches the work process of the relative distance detection data. Call the relative distance threshold data registered in 2. Then, the relative distance data determination function 33a determines that the operation has been normally performed when the relative distance detection data has reached within the range of the relative distance threshold after a lapse of a predetermined time, and deviates from the range of the threshold. If so, it is determined that the work is not performed normally.

  FIG. 6A shows only the work waveform of the X-axis component of the work motion detection data. However, since the sensor 21 of the motion capture 2 is a magnetic three-dimensional position and orientation sensor, the Y axis of the work motion detection data is shown. Each work waveform of the component and the Z-axis component is also detected. Therefore, if any one of the X-axis component, the Y-axis component, and the Z-axis component does not reach the relative distance threshold after the predetermined time has elapsed, the operation is performed normally. Judge that it is not.

  Specifically, as shown in FIGS. 7 and 8, for example, in the work process (2), the operator takes out the audio 6 from the storage rack SL installed in the vicinity of the production line FL with the left hand (FIG. 8), From the wire harness W / H wired in the center console box 5 provided in the vehicle C moving on the production line FL, a pre-assembled connection connector 7 is connected (FIG. 7A). The operation corresponds to the operation (FIG. 7C) in which the audio 6 is pulled out with the right hand from the center console box 5 and connected to the audio 6 (FIG. 7B), and the audio 6 is stored again in the center console box 5 and assembled.

  In this work, as shown in FIG. 8, since the vehicle C to which various parts are assembled is moving on the production line FL, if the movement of the hand is expressed in absolute coordinates, it is accurate as explained in the background art described above. The relative distance data determination function 33a of the work analysis unit 33 can grasp the movements of both hands during the work of the worker over time by the relative distance between the two sensors 21R and 21L. Therefore, even if an assembling work for assembling a part held by the worker on the right hand and a part held on the left hand at an arbitrary position, the working state can be grasped.

  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. The notification unit 4 may be provided not in the vicinity of the production line FL but in the inspection line. In this case, a defective vehicle can be detected without stopping the production line FL.

  If the work motion detection data, which is coordinate data received in time series from the motion capture 2, is different in data format from the coordinate data for the data processing device, as shown in FIG. 1, the motion capture 2 and the work analysis unit 32 may incorporate a data format conversion unit 33d. The data format conversion unit 33d has a function of converting work motion detection data received from the motion capture 2 in time series into coordinate data for the data processing device.

  In such a data processing device 3, in order to increase the determination accuracy of the determination function of the work analysis unit 33, relative angle threshold data that is a threshold of the relative angle between the two sensors 21R and 21L of the motion capture 2 is preliminarily set in the work process. It is preferable to provide a relative angle threshold data storage unit 34 registered for each, and to provide the work analysis unit 33 with a relative angle data determination function 33e for comparing the relative angle threshold data and the relative distance calculation data. The relative angle data determination function 33e is further detected by the two sensors 21R and 21L when the relative distance calculation data reaches the range of the relative distance threshold value after a predetermined time has passed by the relative distance data determination function 33a. A relative angle is calculated based on the work motion detection data, and the relative angle calculation data is based on the relative angle data registered in the relative angle threshold data storage unit 34 that matches the work process of the relative angle calculation data. The worker's work state is determined by whether or not the relative angle threshold is reached after the same predetermined time has elapsed.

  Similar to the work motion standard data storage unit 31 and the relative distance threshold data storage unit 32, the relative angle threshold data storage unit 34 includes a RAM that can store data in an updatable manner, a ROM that stores fixed data, and the like. In addition, the relative angle targeted by the relative angle data determination function 33e is obtained by an arithmetic processing method that calculates an angle with one of the sensors from the origin, but is not limited to this arithmetic processing method. Any calculation processing method may be used as long as it is a known relative angle calculation processing method.

  The work analysis unit 33 having such a relative angle data determination function 33e is configured such that the work analysis unit 33 having the relative angle data determination function 33e has two sensors 21R and 21L of the motion capture 2 attached to both hands. In the case of the work of pulling out the first part temporarily assembled at a predetermined position of the vehicle from the position and assembling the second part and then storing and assembling the first part at the original position of the vehicle, If the relative distance data determination function 33a determines that the relative distance detection data has reached the width of the relative distance threshold after a predetermined time has passed, the relative angle data determination function 33e further detects the two sensors 21R and 21L. Relative angle is calculated based on the obtained work motion detection data, and the relative angle corresponding to the relative angle calculation data obtained from the two sensors 21R and 21L is calculated. Selecting degrees threshold data from the relative angle threshold data storage unit 34.

  At this time, the relative angle data determination function 33e uses a work waveform of a curve graph in which the horizontal axis is the time axis and the vertical axis is the relative angle as shown in FIG. When the relative angle threshold is reached after the predetermined time set in 33a has elapsed, it is determined that the work has been normally performed, and when the work is out of the threshold, the work is performed normally. Judge that it is not. Note that FIG. 9 shows only the work waveform of the X-axis component of the relative angle calculation data, but each work waveform of the Y-axis component and the Z-axis component of the relative angle calculation data can also be obtained. Therefore, if any one of the X-axis component, the Y-axis component, and the Z-axis component does not reach the relative angle threshold after the predetermined time has elapsed, the operation is performed normally. Judge that it is not.

  In addition, the work analysis unit 33 having the relative angle data determination function 33e performs an operation in which the worker only attaches one of the two sensors 21R and 21L of the motion capture 2 and assembles the component at a predetermined position. When performing, when the work defect detection function 33c detects that the part has moved normally to a predetermined position, the work defect detection function 33c further rotates the rotation angle of one sensor of the motion capture 2 at the normal movement position. Since it is only necessary to detect whether or not is rotating within a predetermined angle range, motion capture 2 is performed using a work waveform of a curve graph in which the horizontal axis is a time value and the vertical axis is a rotation angle as shown in FIG. The work waveform of the rotation angle data calculated from the work motion detection data from the work motion and the work waveform of the work motion standard data may be compared.

  The rotation angle of the sensor is calculated by the work analysis unit 33 based on the position coordinates. In FIG. 10, the right graph shows the standard work waveform at the work position, the left graph shows the work waveform of the rotation angle data, and the ellipse formed by the dotted line shows the work position, and the X axis from the top. It is a graph of a component, a Y-axis component, and a Z-axis component. As a result of the comparison, the work analysis unit 33 detects a trouble in the work when the work waveform of the rotation angle data is located in a predetermined direction away from a predetermined threshold based on the work waveform of the work motion standard data.

  As shown in FIG. 1, the components of the data processing device 3 described above are electrically connected, the motion capture 2 has a sensor 21R and a sensor 21L connected to the signal processing unit 22, and the data processing device 3 The operation standard data storage unit 31 and the relative distance threshold storage unit 32 are connected to the work analysis unit 33, respectively. Further, the signal processing unit 22 and the notification unit 4 of the motion capture 2 are connected to the work analysis unit 33 of the data processing device 3. In the case where the data processing device 3 includes the relative angle threshold value data storage unit 34, the relative angle threshold value data storage unit 34 is connected to the work analysis unit 33.

  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. It is assumed that the data processing device 3 does not include the relative angle threshold value data storage unit 34 and does not have the relative angle data determination function 33e in the work analysis unit 33.

  For example, when the worker performs the work of the above-described work process (2) with the sensors 21R and 21L mounted on the fingers of both hands (step 101), the work movement is detected by the sensors 21R and 21L. The work motion detection data which is the work motion information is transmitted to the signal processing unit 22. The signal processing unit 22 transmits the work motion detection data to the work analysis unit 33 of the data processing device 3 in time series.

  When the work analysis unit 33 captures the work motion detection data received in time series from the sensor 21R of the motion capture 2 and the work motion detection data received in time series from the sensor 21L (steps 102 and 103), the data format The conversion unit 33d converts the data into three-dimensional coordinate data for the data processing device (step 104). Based on the work motion detection data from each sensor converted into the data format for the data processing device, the work analysis unit 33 uses the relative distance data determination function 33a to determine the relative distance from the sensor 21L with the sensor 21R as the origin. Calculate (step 105).

  The relative distance data determination function 33a calls the relative distance threshold data registered in the relative distance threshold data storage unit 32 corresponding to the relative distance calculation data calculated in step 105 (step 106), and is calculated in step 105. If the relative distance calculation data reaches within the range of the relative distance threshold after the lapse of a predetermined time, it is determined that the audio temporarily mounted at a predetermined position of the vehicle is pulled out from the position and the accessory part is normally mounted. Data processing by this program ends (steps 107, 108, 109). On the other hand, if the relative distance calculation data calculated in step 105 has not reached the range of the relative distance threshold after a lapse of a predetermined time, the audio temporarily assembled at a predetermined position of the vehicle is extracted from that position and attached. It is determined that the part has not been properly assembled, and an alarm is output from the notification unit 4 to notify the worker and the inspector, and the data processing by this program ends (steps 107, 108, 110, 109).

  As described above, the work analysis unit 33 calls the relative distance threshold value data corresponding to the relative distance calculation data between the sensors 21R and 21L from the relative distance threshold data storage unit, and the relative distance calculation data is obtained after the predetermined time has elapsed. The operator's work state can be accurately determined based on whether or not the threshold is reached.

  For example, when the worker performs the work of the above-described work process (1) with the sensor 21R mounted on the finger of the right hand (step 101), the work movement of the worker is detected by the sensor 21R. The work operation detection data as information is transmitted to the signal processing unit 22. The signal processing unit 22 transmits the work motion detection data to the work analysis unit 33 of the data processing device 3 in time series.

  The work analysis unit 33 captures the work motion detection data received in time series from the sensor 21R of the motion capture 2 but does not capture the work motion detection data received in time series from the sensor 21L (step 102, 103), the process proceeds to step 111 instead of step 104, and the data format conversion unit 33d converts the data into work motion detection data for the data processing apparatus.

  Based on the work motion detection data from the sensor 21R converted into the data format for the data processing device, the work analysis unit 33 works from the database of the work motion standard data storage unit 31 as a work step (head lamp assembly process). The work operation standard data of 1) is called (step 112), and the work operation detection data is compared with the work operation standard data (step 113).

  If there is a difference between the work waveform of the work motion detection data and the work waveform of the work motion standard data as a result of the collation of the work waveform, the work analysis unit 33 causes a malfunction in the worker's work from the difference. Is detected. As a difference, when the work waveform of the work motion detection data is located in a predetermined direction away from a predetermined threshold based on the work waveform of the work motion standard data, a work trouble is detected (step 114), and the work trouble based on the work trouble is detected. Since the information is transmitted to the notification unit 4, the notification unit 4 can warn of a malfunction in the work (step 115). When the notification unit 4 warns of a malfunction in the work, the data processing by this program ends (step 116).

  If there is no difference between the work waveform of the work motion detection data and the work waveform of the work motion standard data, the data processing by this program ends (step 116).

  When the work motion data determination function 33b of the work analysis unit 33 is used together, the data processing procedure by the program is as shown in the flowchart of FIG.

  That is, for example, when the worker performs the work of the above-described work process (2) with the sensors 21R and 21L mounted on the fingers of both hands, the work analysis unit 33 performs steps 101-steps as in the flowchart of FIG. Up to 104 are executed. When step 104 is executed, the work analysis unit 33 stores the work movement standard data based on the work movement detection data from the sensors 21R and 21L converted into the data format for the data processing device by the work movement data determination function 33b. The work operation standard data of the above-described work process (2) is called from the database of the unit 31 (step 201), and the work operation detection data is compared with the work operation standard data (step 202).

  As shown in FIGS. 6B and 6C, the work motion data determination function 33b is the work motion standard data that the work waveform of the work motion detection data from each of the sensors 21R and 21L is called in step 201 after a predetermined time has elapsed. If it is located within a predetermined threshold width based on the work waveform, the process proceeds to step 105, and after a predetermined time has elapsed, it is out of the threshold width of the work operation standard data called in step 201 Then, the process proceeds to step 110 (step 203). Therefore, when the process proceeds to step 105, the relative distance data determination function 33a is started, and when the process proceeds to step 110, the data processing by the program ends.

  Thus, since the work state of both hands can be grasped by monitoring the work waveform of the work motion detection data from the work start to the work end of the work process (2), it cannot be detected by the relative distance data determination function 33a. The working state of each hand can be grasped. Therefore, it is possible to more accurately determine the working state of the worker.

  When the data processing device 3 includes the relative angle threshold value data storage unit 34 and the work analysis unit 33 has the relative angle data determination function 33e, a data processing procedure as shown in FIG. 13 is added. The data processing procedure shown in FIG. 13 is applied to both the data processing procedure of FIG. 11 and the data processing procedure of FIG. 12, and the audio temporarily assembled at a predetermined position of the vehicle in step 108 of FIGS. When it is determined that the attached part is normally assembled after being pulled out from the position, the work analysis unit 33 is based on the work motion detection data from each sensor converted into the data format for the data processing device, and the relative angle data determination function 33e. Thus, for example, the relative angle with the sensor 21L is calculated with the sensor 21R as the origin (step 120).

  The relative angle data determination function 33e calls the relative distance threshold data registered in the relative angle threshold data storage unit 34 corresponding to the relative angle calculation data calculated in step 120 (step 121), and is calculated in step 120. When the relative angle calculation data reaches within the relative angle threshold after the same predetermined time as that of the relative distance data determination function 33a, the audio temporarily assembled at a predetermined position of the vehicle is pulled out from the position and the attached part is removed. It is determined that the assembly has been normally performed, and the data processing by this program ends (steps 122, 123, 109). On the other hand, if the relative angle calculation data calculated in step 120 has not reached the range of the relative angle threshold after a predetermined time has elapsed, the audio temporarily assembled at a predetermined position of the vehicle is pulled out from that position and attached. It is determined that the part has not been assembled normally, and an alarm is output by the notification unit 4 to notify the operator and the inspector, and the data processing by this program ends (steps 122, 123, 110, 109).

  As described above, the work analysis unit 33 can determine the worker's work state even with the relative distance and the relative angle, so that the determination accuracy of the determination function of the work analysis unit 33 can be improved.

  In the flowcharts of FIGS. 11 and 12, step 104 is omitted when the data format conversion unit 33d is not incorporated.

  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.

1 …… Work determination system 2 …… Motion capture 21R, 21L …… Sensor 31 …… Work motion standard data storage unit 32 …… Relative distance threshold data storage unit 33 …… Work analysis unit 33a …… Relative distance data determination function 33b …… Work motion data determination function 33e …… Relative angle data determination function 34 …… Relative angle threshold data storage unit 4 …… Notification unit

Claims (8)

In a production line in a factory, the worker each time measured components and the worker and components have left hand are working assembly assembled in any position both hands of the work operation the have the right to, have a sensor mounted to the hands in order to transmit the working operation detection data is the measurement result, the sensor is a plurality of magnetic three-dimensional position and orientation sensor mounted on the finger of the operator A signal processing unit that receives the work motion information of the worker detected by the magnetic three-dimensional position / orientation sensor group and transmits the work motion detection data to the work analysis unit as three-dimensional coordinate data. With motion capture,
A relative distance threshold data storage unit in which relative distance threshold data that is a threshold of a relative distance between the two sensors of the motion capture is registered in advance for each work process;
The work motion detection data, which is the three-dimensional coordinate data detected by each sensor transmitted from the motion capture , is received in time series, and the worker is working at the relative distance between the two sensors. In order to grasp the movement of both hands over time, one of the sensors is used as an origin, the relative distance from the other sensor is calculated, and the relative distance calculation data that is the three-dimensional coordinate data is processed. The X-axis component, Y-axis component, and Z-axis component work waveforms of the relative distance calculation data , which is the three-dimensional coordinate data, based on the relative distance threshold data registered in the relative distance threshold data storage unit that matches determines that the assembly work is successful when it reaches the width in the relative distance threshold after a time lapse, said a 3-dimensional coordinate data relative distance calculation Day If any one of the work waveforms of the X-axis component, Y-axis component, and Z-axis component is out of the range of the relative distance threshold after the predetermined period, the assembling work is performed normally. A work determination system comprising: a work analysis unit having a relative distance data determination function for determining that there is not . A relative angle threshold data storage unit in which relative angle threshold data that is a threshold of a relative angle between the two sensors of the motion capture is registered in advance for each work process;
The working analyzer, when the relative distance calculated data in the relative distance data determining function has reached within the width of the relative distance threshold after the predetermined time, furthermore, the three said detected by the two sensors The relative angle calculation data is calculated based on the relative angle data registered in the relative angle threshold data storage unit that calculates the relative angle based on the work motion detection data that is the dimensional coordinate data and matches the work process of the relative angle calculation data. When the work waveforms of the X-axis component, Y-axis component, and Z-axis component reach within the range of the relative angle threshold after the lapse of the predetermined time, it is determined that the assembling work has been normally performed, and the relative angle If any one of the X-axis component, Y-axis component, and Z-axis component work waveforms of the calculated data falls outside the range of the relative angle threshold after the predetermined period has elapsed, Working determination system according to claim 1, characterized by having a determining relative angular data determining function and viewed with the work is not normally performed. A work movement standard data storage unit in which work movement standard data, which is the standard of the work movement of each of the hands of the worker, is registered in advance for each work process,
The work analysis unit is registered in the work motion detection data received in time series from each of the two sensors of the motion capture and the work motion standard data storage unit that matches the work process of the work motion detection data When the work waveform of the work motion detection data from any one of the sensors is compared with the work motion standard data and deviates from a predetermined threshold width based on the work waveform of the work motion standard data. The work determination system according to claim 1, further comprising a work motion data determination function for ending work analysis without shifting to the relative distance data determination function. The work determination according to any one of claims 1 to 3 , further comprising a notification unit that notifies a determination result of the work state of the worker based on an analysis result by the work analysis unit. system. In the production line in the factory, the motion movements of both hands of the worker who is performing the assembly work of assembling the parts that the worker has on the right hand and the parts on the left hand at any position are the above-mentioned both hands of motion capture. The motion capture is performed by the sensor when the work is detected by the sensor attached to the sensor and the work motion detection data as a result of the measurement is transmitted to the work analysis unit to analyze the work state of the worker. A plurality of magnetic three-dimensional position / orientation sensors mounted on a person's finger, receiving the worker's work operation information detected by the magnetic three-dimensional position / orientation sensor group, and A work determination method comprising a signal processing unit that transmits to the work analysis unit as coordinate data ,
The work analysis unit
The work motion detection data, which is the three-dimensional coordinate data detected by each sensor transmitted from the motion capture, is received in time series, and the worker is working at the relative distance between the two sensors. a first step of calculating the relative distance between the other said sensor by the movement of both hands to the origin the sensor of one to over time grasp,
A second step of calling the relative distance threshold data registered in the relative distance threshold data storage unit corresponding to the relative distance calculation data that is the three-dimensional coordinate data calculated in the first step;
The work waveforms of the X-axis component, the Y-axis component, and the Z-axis component of the relative distance calculation data that is the three-dimensional coordinate data calculated in the first step reach within the range of the relative distance threshold after a predetermined time. In such a case, it is determined that the assembling work has been normally performed, and any one of the X-axis component, Y-axis component, and Z-axis component work waveforms of the relative distance calculation data that is the three-dimensional coordinate data is used. And a third step of determining that the assembling operation is not normally performed when the relative distance threshold is not within a range after the predetermined period has elapsed . In the third step, when the relative distance calculation data has reached within the width of the relative distance threshold after the predetermined time is further the 3-dimensional coordinate data detected by the two sensors work A fourth step of calculating a relative angle based on the motion detection data;
A fifth step of calling the relative angle threshold data registered in the relative angle threshold data storage unit corresponding to the relative angle calculation data calculated in the fourth step;
X-axis component of the relative angle calculation data calculated by said fifth step, said if the Y-axis component, each work waveform of the Z-axis component has reached the relative angle threshold within the width after the predetermined time It is determined that the assembling work has been normally performed, and the width of the relative angle threshold value is obtained after the predetermined period has elapsed in any one of the X-axis component, Y-axis component, and Z-axis component work waveforms of the relative angle calculation data. 6. The work determination method according to claim 5 , further comprising: a sixth step of determining that the assembly work is not normally performed when it is out of the inside . Calling the work motion standard data registered in the work motion standard data storage unit corresponding to the work motion detection data received in time series from each of the two sensors of the motion capture before the first step; ,
When the work waveform of the work motion detection data from any one of the sensors deviates from a predetermined threshold width based on the work waveform of the work motion standard data called in the step, the first step is performed. claim 5 or 6 working determination method wherein a and a step of finish working analysis without shifting. Working judgment computer-readable recording medium storing a program for implementing the method according to any one of claims 5 to 7.

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