JP6523804B2 - Work movement measuring device, method and program - Google Patents

Description

  The present invention relates to technology for tracking movement of joints in space and measuring work operation.

At plant construction and maintenance sites, generation change is advanced by the retirement of workers with skilled know-how, and succession of skills and training are urgently needed.
In addition, many inexperienced workers are deployed at the site, which may cause a decrease in work quality and an increase in human error.
In order to put such a technically immature worker into the field at an early stage as a battle force, it is required to accurately grasp the skill level of each worker and to set a training curriculum accordingly.

In addition, when many inexperienced workers are deployed on the site, there is concern that prohibited work or manual work may occur.
In such a case, nonconformity can be prevented in advance by monitoring the behavior of each worker one by one and alerting when an inappropriate work is detected.
Therefore, the technology to measure the action of field workers is effective from the viewpoint of skill inheritance associated with generational change.

Technologies for measuring human motion, called motion capture, can be roughly divided into technology for observing the body externally and technology for measuring using a sensor worn on the body.
As a technique for external observation, there is one that measures three-dimensional coordinates by stereo-viewing a marker attached to the body with a plurality of cameras.
In addition, there is a technique using a sensor, in which a six-axis sensor is attached to calculate the displacement of each joint. In addition, there are those using a magnetic sensor and infrared pattern irradiation, and they are used in sports, medicine, game machines and the like.

The following are disclosed as known examples in which motion measurement technology is applied to skill evaluation and training.
The first is a technology that measures the worker's motion using an optical motion capture system, and evaluates the worker's skill in dealing with environmental changes in a special room where any work environment can be reproduced. According to this technology, it is possible to quantitatively evaluate know-how-like skills for appropriately dealing with situations that the operator does not expect.

The second is a system that supports assembly operation training on a production line, and is a technology for constructing a virtual work space in a head mounted display and virtually experiencing assembly operations in that.
In the past, instruction was given by displaying the image of the work site on a large screen, but according to this system, the motion of one hand or both hands is measured using a magnetic three-dimensional sensor, and a standard work trajectory and It is possible to determine whether the work is correct or not by comparing.

The third is a technology for measuring motion by mounting a six-axis sensor on the wrist and the waist.
According to this technique, a vibration pattern measured when performing an action such as walking or sitting is acquired in advance, and it is determined which of the acquired patterns the movement actually measured is similar to. Behavior is recognized.

Patent No. 4100545 gazette Patent No. 5062774 gazette Patent No. 5284179 Patent No. 3570163

However, there are the following problems when measuring a worker's motion at an actual site using a conventional motion capture system.
In the case of the optical method, since it is necessary to surround the space in which the operator operates with the camera, the measurable area is limited. In addition, surrounding the actual work site with a camera requires a large-scale apparatus and is difficult to apply.
In addition, in the case of a complicated work environment or when a plurality of workers cooperate and act, the measurement target is in the blind spot of the camera, so measurement of motion becomes impossible.

  In addition, when using a six-axis sensor, the drawbacks of the above-mentioned optical type are eliminated, but when the sensor is attached to each joint of the worker, a large amount of sensors are attached and a large load is applied, which hinders the operation. There is concern that it will be.

  The embodiment of the present invention has been made in consideration of such circumstances, and it is possible to estimate the operation of the unmounted part of the sensor from the operation of the mounting part of the sensor and reduce the total number of mounted sensors. The purpose is to provide technology.

  In the work movement measuring apparatus according to the embodiment, the first rod rotatably supported at the proximal end by the first joint and the first rod provided with the second joint at the tip and one end rotatably supported by the second joint A six-axis sensor provided at the free end of the working body including a second rod whose other end is a free end, and detection signals of translational movement and axial movement in three axial directions transmitted by the six-axis sensor The reception center for reception, the first operation unit for calculating the mass point coordinates of the six-axis sensor in space based on the detection signal, the curvature center point coordinates and the curvature radius of the arc-shaped locus of the mass point coordinates of the six-axis sensor A second calculation unit to calculate, a registration unit of a database in which mass point coordinates of the six-axis sensor, mass point coordinates of the first joint, curvature center coordinates, and mass point coordinates of the second joint corresponding to a curvature radius are associated; Mass point coordinates of the six-axis sensor The mass point coordinates of the second joint for synchronizing the operation output, characterized in that it comprises a coordinate output section that outputs based on the database.

  According to an embodiment of the present invention, there is provided a work motion measurement technique capable of estimating the motion of the unmounted region of the sensor from the motion of the mounted region of the sensor and reducing the total number of sensors to be mounted.

FIG. 1 is a block diagram showing a work movement measuring device according to a first embodiment of the present invention. Information table registered in figure parameter registration section. (A) A diagram showing the curvature center point coordinates and radius of curvature of the arcuate locus when the first joint is fixed and the second joint is rotating, (b) the first joint is rotating and the second joint is fixed (C) A curvature center point coordinate and a curvature radius of the arc-shaped locus when the first joint and the second joint rotate together. Figure showing. 10 is a flowchart for explaining a work operation measurement method and a work operation measurement program according to a second embodiment of the present invention. The block diagram of the operation | work operation | work body applied to 4th Embodiment of this invention.

First Embodiment
Hereinafter, embodiments of the present invention will be described based on the attached drawings.
As shown in FIG. 1, the work movement measuring device 20 has a first end rotatably supported by the first joint 11 at a base end thereof and a first rod 13 at one end provided with a second joint 12 at a distal end thereof. A six-axis sensor 15 provided at the free end of the work operation body 10 which is rotatably supported and has a second rod 14 whose other end is a free end, and three axial directions transmitted by the six-axis sensor 15 a receiving unit 21 that receives a detection signal a _t the translation and axial circumferential motion, the first operation unit 22 for calculating a mass coordinates gamma _t of six-axis sensor 15 in the space on the basis of the detection signal a _t, six-axis sensor a second calculation unit 23 for calculating the mass coordinate gamma arcuate curvature center point coordinates of the trajectory of _t Q _t and the curvature radius r _t of 15, mass coordinates gamma _t of six-axis sensor, mass coordinates of the first joint alpha, curvature Associate the mass point coordinates β _t of the second joint corresponding to the center coordinates Q _t and the curvature radius r _t A registration unit 24 of the database that includes the coordinate output section 28 for outputting based mass points coordinates beta _t of the second joint for synchronizing the operation output of the mass point coordinates gamma _t of six-axis sensor in the database, the.

The working body 10 is, for example, a body part including a long bone and a joint, such as an arm or a leg of a human body. In this case, the first joint 11 is grasped as a ball joint rotating around a specific two axis like a shoulder joint or a hip joint. Also, the second joint 12 is grasped as a hinge joint that rotates around a specific one axis like an elbow joint or a knee joint.
Then, the first rod 13 is grasped as a long bone such as a humerus or a femur. Further, the second rod 14 is grasped as a long bone such as a rib or a tibia.
The work operation body 10 can also be grasped as a robot arm, and in this case, each of the first joint 11 and the second joint 12 can have either the function of uniaxial rotation or biaxial rotation.

Six-axis sensor 15 includes an acceleration sensor and a gyro sensor, an angular velocity about the acceleration and the axis along the orthogonal three-dimensional coordinate axes by applying the detection time of the detected detection signal a _t function of transmitting to the receiver 21 Have.

The first calculator 22, the acceleration signal and second order integration of the detected signal a _t the receiving unit 21 receives the angular velocity signal is integrated first floor, by further coordinate transformation, mass coordinates of six-axis sensor 15 in the space to calculate the γ _t.
When the first joint 11 and / or the second joint 12 is rotated, the mass coordinate gamma _t of six-axis sensor, an arc-shaped trajectory in space.

The second arithmetic unit 23 calculates the mass coordinates γ curvature center point coordinates of the arc-shaped _{locus t} draws Q _t and the curvature radius r _t of the six-axis sensor.
The curvature center point coordinate _Qt is a normal from the mass point coordinate γt _-1 of the six-axis sensor of the circular arc trajectory at the time information t-1, and the mass point coordinate γt of the six axis sensor at the circular trajectory at the time information _t It is determined as the intersection of the normal from.
The radius of curvature r _t is represented as the distance from the intersection of two normals to the mass point coordinate γ _t of the six-axis sensor.

The registration unit 24 has a database that associates the mass point coordinates γ _t of the six-axis sensor, the mass point coordinates α of the first joint, the curvature center coordinate Q _t and the mass point coordinates β _t of the second joint 12 corresponding to the curvature radius r _t. It is registered. This database is created on the basis of a standard musculoskeletal model. In the first embodiment, the position of the first joint 11 in the space is fixed, and its mass point coordinates α are fixed in advance to the registration unit 24 as fixed points. Settings are registered.

As shown in FIG. 2, the parameter registration unit 25 parameterizes and organizes information that affects body dimensions, such as age and gender, in addition to information that directly determines body dimensions, such as height and weight. sign up.
The user interface 26 such as a keyboard acquires parameters matching the work operation body 10 from the registration unit 25 and transfers the parameters to the database correction unit 27.
The database correction unit 27 corrects information of the database set in the standard musculoskeletal model based on the transferred parameters.
As a result, an association database (correction database) of various coordinates γ _t , α, Q _t , r _t , and β _t that correspond faithfully to the posture of the work operation object 10 to be measured is created.

FIG. 2 shows an information table registered in the parameter registration unit 25.
As shown in FIG. 2, the parameters include a bone information table 41, a joint information table 42, and a muscle information table 43. Then, these three tables are created as a set for each age and sex.
The information stored in the bone information table is bone number. , Bone name, size, joint no. , No. of connecting muscle It is. Bone No. Is an ID assigned to all bones constituting the human body. Bone No. , Joint No. And muscle no. Is a number referenced to describe the connection between bones, joints, and muscles.

The connection information is stored in the items of connecting joints and connecting muscles, connecting bones, and acting joints. In addition, the dimensions describe the standard size of each gender and generation.
The information described in the joint information table 42 includes no. , Joint name, shape, movable range, connecting bone, connecting muscle. The shape describes information on the shape of a joint such as a hinge type or a ball joint type, and is information that limits the bending direction and angle of the joint as well as movable range information.
Information stored in the muscle information table 43 includes muscle no. , Muscle name, tension, connecting bone, working joint.

Coordinate output section 28 outputs based mass points coordinates beta _t of the second joint for synchronizing the operation output of the mass point coordinates gamma _t of six-axis sensor in the database.
That is, the detection signal a _t the applied time information t as a source for calculating as a key, these mass coordinates gamma _t, beta _t is pegging.
The motion drawing unit 29 reproduces the skeletal model of the work moving body 10 in the virtual space based on the mass point coordinates α, β _t , and γ _t , and operates this skeletal model.

If the association between the mass point coordinates α of the first joint, the mass point coordinates γ _t of the six-axis sensor, the curvature center coordinates Q _t and the curvature radius r _t of the first joint is not registered in the database, the initialization unit 30 The error accumulated in the process of calculating the coordinate trajectory of the sensor 15 is regarded as exceeding the allowable range, and this process is initialized.
Mass coordinates gamma _t of six-axis sensor in the stationary system is a relationship that obtained by integrating processes the detection signal a _t, detection error will be cumulative.
For this reason, a combination of mass point coordinates α, β _t , and γ _t that indicate a practically impossible positional relationship may be derived on the operation.

Initializing section 30, in this case the excess of error as compared to the allowable value is detected, discontinue the reception of the detection signal a _t in the receiving unit 21 resets the integral in the first arithmetic unit 22 to the initial state. And as six-axis sensor 15 comes to the initial position, to adjust the attitude of the working operation member 10, resumes reception of the detection signal a _t.
The error detection is performed by comparing the distance between the mass point coordinates α, β _t , and γ _{t with} the lengths of the first rod 13 and the second rod 14. However, deviation from the true value can be minimized.

Second Embodiment
In the first embodiment, the coordinate output unit 28 outputs the mass point coordinate β _t of the second joint based on only the database. In the second embodiment, as shown in FIG. 3, the movement method of the first joint 11 and the second joint 12 is classified, and the output method of the mass point coordinate β _t of the second joint is changed.

3 (a) is the first joint 11 is fixed, when the second joint 12 is rotated, shows a curvature center point coordinates Q _t and the curvature radius r _t of the arcuate path.
In this case, remains in a position different from the center of curvature coordinates Q _t is the mass point coordinates α of the first joint, the radius of curvature r _t is matched to the length of the second rod 14 unchanged _{(r t = r t-1} ) is there.
If this condition is satisfied, the first joint 11 for rotating the first rod 13 is determined to be a fixed state, the coordinate output section 28, the center of curvature coordinates Q _t, and outputs a mass point coordinates beta _t of the second joint .

FIG. 3 (b), the first joint 11 is rotated, when the second joint 12 is fixed, shows a curvature center point of the arc-shaped locus coordinates Q _t and the curvature radius r _t.
In this case, remains in the position of curvature center coordinates Q _t coincides with mass coordinate α of the first joint, the radius of curvature r _t is unchanged _{(r t = r t-1} ).
When this condition is satisfied, it is determined that the second joint 12 which rotates the first rod 13 and the second rod 14 is in a fixed state.
Then, the coordinate output unit 28 angularly displaces the mass point coordinate β _t-1 of the previous second joint by the same amount as the angular displacement φ of the mass point coordinate γ _t of the six-axis sensor centered on the mass point coordinate α of the first joint It outputs the mass point coordinates β _t of the second joint.

FIG. 3 (c) show a first joint and center of curvature of the arcuate path when the second joint is rotated together coordinate Q _t and the curvature radius r _t.
In this case, the movement of the center of curvature coordinate Q _t is observed.
When this condition is established, it is determined that the first joint 11 and the second joint 12 are simultaneously in the pivoting state, and the coordinate output unit 28 determines the second joint based on only the database as in the first embodiment. Output the mass point coordinates β _t of
According to the second embodiment, the motion of the mass point coordinates β _t of the second joint can be reproduced with high accuracy in the virtual space.

  The work operation measurement apparatus 20 described above includes a control device in which a processor such as a dedicated chip, an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), or a CPU (Central Processing Unit) is highly integrated, and a ROM. Storage devices such as (Read Only Memory) and RAM (Random Access Memory), external storage devices such as a Hard Disk Drive (HDD) and Solid State Drive (SSD), a display device such as a display, and a mouse and a keyboard An input device and a communication I / F are provided, and can be realized by a hardware configuration using a normal computer.

  The program executed by the work operation measuring apparatus 20 is provided by being incorporated in advance in a ROM or the like. Alternatively, this program is provided as a file in an installable format or an executable format, stored in a computer readable storage medium such as a CD-ROM, a CD-R, a memory card, a DVD, a flexible disk (FD), etc. You may do it.

Further, the program executed by the work operation measuring apparatus 20 may be stored on a computer connected to a network such as the Internet, and may be downloaded and provided via the network.
The work movement measuring apparatus 20 can also be configured by mutually connecting and combining separate modules that independently exhibit each function of the components by a network or a dedicated line.

The operation of the work operation measurement program and the work operation measurement method according to the second embodiment will be described based on the flowchart of FIG. 4 (see FIGS. 1, 2 and 3 as appropriate).
Based on the standard musculoskeletal model, create a database showing the relationship between mass point coordinates α, β _t , γ _t , curvature center coordinates Q _t and curvature radius r _t , and correct this database according to the body features A parameter is created and registered (S11).

The user interface 26 is operated to acquire parameters matching the work operation body 10, and the database is corrected (S12). Set the mass point coordinates α of the first joint 11, which is a fixed point in space (S13), and set the mass point coordinates γ _t (initial coordinates γ ₀ ) of the initial state (t = 0) of the six-axis sensor 15 (S14) .

It starts the operation of the working operation body 10, and starts sending the detection signal a _t the six-axis sensor 15, received at the receiving section 21 (S15). Based on the detection signal a _t, it calculates the mass coordinate gamma _t of six-axis sensor in the space (S16), and calculates the mass point coordinate gamma curvature center point coordinates of _t draws the locus Q _t and the curvature radius r _t ( S17, S18).

Here, the curvature center coordinate Q _t remains at a position different from the mass point coordinate α of the first joint (S 19 No), and the curvature radius r _t is invariant to match the length of the second rod 14 (r _t = r _t If it is _-1) (S20 Yes), the first joint 11 for rotating the first rod 13 is determined to be a fixed state, the center of curvature coordinates Q _t, is set as mass coordinates beta _t of the second joint ( S21).

Then, remain in a position of curvature center coordinates Q _t coincides with mass coordinate α of the first joint (S19 Yes), if the radius of curvature r _t is unchanged _{(r t = r t-1} ) (S22 Yes), The second joint 12 for rotating the first rod 13 and the second rod 14 is determined to be in a fixed state.
The angular displacement phi of mass coordinates gamma _t of six-axis sensor around the mass point coordinates α of the first joint is calculated (S23), mass coordinates of the second joint of the previous by the same amount and the angular displacement phi beta _{t The} angular displacement of _-1 is made to set the mass point coordinate β _t of the second joint (S24).

In the case of (S20 No) and (S22 No), it is determined that the first joint 11 and the second joint 12 are simultaneously in the rotating state, and the mass point coordinate β _t of the second joint is set with reference to the database. (S25).
Next, the integrated cumulative error of the mass point coordinates β _t of the second joint set after various condition determinations is verified. The distance between mass point coordinates α, β _t , γ _{t and} the lengths of the first rod 13 and the second rod 14 are compared, and if there is a mismatch, an error signal is transmitted (S26 No).

In this case, return the position of the six-axis sensor 15 to the initial coordinate gamma _0, resumes the operation of the detection signals a _t resets the integral (S14).
If there is no error in the verification of the integral cumulative error (S26 Yes), the skeleton model of the work subject 10 is reproduced in the virtual space based on the mass point coordinates α, β _t , γ _t in the time information t (S27). By repeating the above-described flow until the measurement of the operation is completed, the operation of the work operation body 10 can be reproduced (S28 No Yes END).
The operation of the first embodiment is described by skipping the flow from (S19) to (S24) and directly jumping from (S18) to (S25).

Third Embodiment
In the first embodiment and the second embodiment, it has been shown that the operation of the skeletal model is reproduced in the virtual space based on the mass point coordinates α, β _t , γ _t in the time information t, but in the third embodiment The motion is reproduced by an animation image 31 simulating the three-dimensional form of the motion body 10.
Mass coordinates of the specific part first joint animation image 31 alpha, to correspond to the mass point coordinates beta _t and hexaxial mass point coordinates gamma _t of the sensor of the second joint, these mass points coordinates alpha, beta _t, corresponding to the trajectory of the gamma _t The animation image 31 is operated in the virtual space.
Thereby, by changing the observation direction of the animation image 31, it becomes possible to intuitively understand the operation mode.

Furthermore, the background image 32 in the space where the animation image 31 is disposed is moved in accordance with the movement and viewing direction of the virtual image.
The background image 32 of this space is created from the floor map of the building where the work operation body 10 acts. This floor map includes information on dimensions and levels of building structures, layers, structures such as rooms, walls, doors and the like, and positions and shapes of facilities fixed inside the building such as pumps and motors.
As a result, it is possible to draw the state of the worker who performs work in the plant building with animation, and to monitor the worker from an angle that can not be visually recognized by the video of the monitoring camera.

There are cases where a plurality of work operation bodies 10 are operated in close proximity to each other in one space. In this case, the second joint 12 of one animation image 31 may overlap with or pierce a part of the other animation image 31 due to the error measurement.
If such a case is detected as an error, initialization is performed to reset the accumulated error in operation.

  This makes it possible to avoid unnatural drawing such as the arm of a certain worker penetrating the body of another worker when creating an animation for drawing the motions of a plurality of workers. This makes it possible to simultaneously monitor a plurality of workers who cooperate in the plant. In addition, using the monitoring results, it is possible to review work plans, work procedures, and the placement of workers.

Fourth Embodiment
As shown in FIG. 5, the work operation body 40 applied to the fourth embodiment is configured by connecting a plurality of (n, n; 2) unit work operation bodies 10 _n .
That is, the free end of one unit operation body 10 _n-1 is rotatably supported by the first joint 11 _n of another unit operation body 10 _n .

In the first embodiment, the mass point coordinate α of the first joint 11 is a fixed point in the space.
However, the work operation body 40 which is applied to the fourth embodiment is a mass point coordinates α of the first joint 11 ₁ and fixed point, mass coordinates of the other of the first joint 11 _{n (n} ≧ 2), the unit A mass point coordinate γ _n-1 guided based on a detection signal transmitted by the six-axis sensor 15 _n-1 provided at the free end of the work operation body 10 _{n -1} is set.

Then, the mass point coordinate obtained by calculating the curvature center point coordinates Q _n and the curvature radius r _n of the circular trajectory of the gamma _n, mass coordinates of six-axis sensor gamma _n, mass coordinate gamma _n-1, the center of curvature of the first joint The mass point coordinates β _n (n ≧ 2) of the second joint corresponding to the coordinates Q _n and the curvature radius r _n are derived.
The mass point coordinates β _n (n = 1) of the second joint are derived by the method shown in the first embodiment (or the second embodiment).
As a result, it is possible to measure the motion of the work operation body constituted by the multi-joints.

  According to the work movement measuring apparatus of at least one embodiment described above, it is possible to estimate the movement of the unmounted part of the sensor from the movement of the part to which the sensor is mounted and to reduce the total number of mounted sensors.

  While certain embodiments of the present invention have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. These embodiments can be implemented in other various forms, and various omissions, substitutions, changes, and combinations can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the invention described in the claims and the equivalents thereof as well as included in the scope and the gist of the invention.

DESCRIPTION OF SYMBOLS 10, 40 ... Work operation body, 11 ... 1st joint, 12 ... 2nd joint, 13 ... 1st rod, 14 ... 2nd rod, 15 ... 6-axis sensor, 20 ... Work operation measuring device, 21 ... Reception part, 22: first operation unit, 23: second operation unit, 24: registration unit, 25: parameter registration unit, 26: user interface, 27: database correction unit, 28: coordinate output unit, 29: operation drawing unit, 30 ... Initialization part, 31: animation image, 32: background image, 40: working body, 41: bone information table, 42: joint information table, 43: muscle information table, a: detection signal, α: mass point of the first joint Coordinates, β: mass point coordinates of the second joint, γ: mass point coordinates of the six-axis sensor, Q: curvature center point coordinates, r: curvature radius.

Claims (8)

A first rod rotatably supported at its first joint at its first end and provided with a second joint at its tip, and a second rod whose one end is rotatably supported at the second joint and whose other end is a free end A six-axis sensor provided at the free end of the work operation body comprising
A receiving unit that receives detection signals of translational movement and axial movement in three axial directions transmitted by the six-axis sensor;
A first calculation unit that calculates mass point coordinates of the six-axis sensor in space based on the detection signal;
A second operation unit that calculates a curvature center point coordinate and a curvature radius of an arc-like locus of mass point coordinates of the six-axis sensor;
A registration unit of a database in which mass point coordinates of the six-axis sensor, mass point coordinates of the first joint, curvature center coordinates, and mass point coordinates of the second joint corresponding to the curvature radius are associated;
And a coordinate output unit that outputs, based on the database, the mass point coordinates of the second joint synchronized with the calculation output of the mass point coordinates of the six-axis sensor. In the work operation measuring apparatus according to claim 1,
If the curvature center coordinates remain at a different position than the mass point coordinates of the first joint, and the radius of curvature is invariant to match the length of the second rod,
The work movement measuring apparatus according to claim 1, wherein the first joint for rotating the first rod is determined to be in a fixed state, and the curvature center coordinate is output as a mass point coordinate of the second joint. In the work operation measuring apparatus according to claim 1,
If the curvature center coordinates remain at a position coincident with the mass point coordinates of the first joint, and the curvature radius is invariant:
It is determined that the second joint for rotating the first rod and the second rod is in a fixed state,
The work movement measuring apparatus is characterized in that the mass point coordinates of the second joint are angularly displaced by the same amount as the angular displacement of the mass point coordinates of the six-axis sensor centering on the mass point coordinates of the first joint . The work operation measuring apparatus according to any one of claims 1 to 3.
When the relationship between the mass point coordinates of the six-axis sensor, the mass point coordinates of the first joint, the curvature center coordinates, and the curvature radius is not registered in the database,
The work operation measuring apparatus according to claim 1, further comprising: an initialization unit that regards the error accumulated in the process of calculating the coordinate trajectory of the six-axis sensor as exceeding the allowable range and initializes the process. The work operation measuring apparatus according to any one of claims 1 to 4.
Equipped with a motion drawing unit,
The motion drawing unit corresponds a specific part of the animation image to the mass point coordinates of the first joint, the mass point coordinates of the second joint, and the mass point coordinates of the six-axis sensor, and corresponds to the locus of these mass point coordinates. Work in three dimensions,
It is characterized in that it is detected that the mass point coordinates of the second joint of any one virtual image among a plurality of virtual images operating in the same space are included in another virtual image. Work movement measuring device. In the work operation measuring apparatus according to any one of claims 1 to 5,
The free end of one work operation body is rotatably supported by the first joint of another work operation body, and the mass point coordinates of the first joint are provided at the free end. It is set based on said detection signal which said six-axis sensor transmits. A first rod rotatably supported at its first end by a first joint and having a second joint at its tip, and a six-axis sensor at its other end, one end of which is rotatably supported at the second joint and is a free end Allowing a working body comprising a second rod provided with
Receiving triaxial translational and axial motion detection signals transmitted by the six-axis sensor;
Computing mass point coordinates of the six-axis sensor in space based on the detection signal;
Calculating a curvature center point coordinate and a curvature radius of an arc-like locus of mass point coordinates of the six-axis sensor;
Registering a database associating the mass point coordinates of the second joint corresponding to the mass point coordinates of the six-axis sensor, the mass point coordinates of the first joint, the curvature center coordinates, and the curvature radius;
And D. outputting based on the database the mass point coordinates of the second joint synchronized with the calculation output of the mass point coordinates of the six-axis sensor. On the computer
A first rod rotatably supported at its first joint at its first end and provided with a second joint at its tip, and a second rod whose one end is rotatably supported at the second joint and whose other end is a free end A function of receiving detection signals of triaxial translational movement and axial movement transmitted by the six-axis sensor provided at the free end of the work operation body,
A function of calculating mass point coordinates of the six-axis sensor in space based on the detection signal;
A function of calculating a curvature center point coordinate and a curvature radius of an arc-like locus of mass point coordinates of the six-axis sensor;
A function of registering a database associating mass point coordinates of the second joint corresponding to mass point coordinates of the six-axis sensor, mass point coordinates of the first joint, the curvature center coordinates, and the curvature radius,
And a function of outputting based on the database the mass point coordinates of the second joint synchronized with the calculation output of the mass point coordinates of the six-axis sensor.

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