JP7098486B2 - Work support system and work support method - Google Patents

Description

The present invention relates to a work support system and a work support method for supporting a worker's work on a work.

For example, in the work support system described in Patent Document 1, the shape of the current work is three-dimensionally measured, and the difference between the shape data of the work and the target shape data obtained by the three-dimensional measurement is calculated. The calculated difference is imaged and presented to the operator via the display. As a result, the worker can determine the work content required to obtain the target shape, that is, the portion of the work to be worked (processed) and the amount of work (processed amount) in a short time.

International Publication No. 2017/115620

However, in the case of the work support system described in Patent Document 1, a three-dimensional measuring machine is required. In addition, the coordinate measuring machine, which is a precision machine, has problems such as dust floating in the air and vibration that cannot be measured in a working environment, and the working environment in which it can be used is limited.

Therefore, it is an object of the present invention to support the work of the worker on the work so that the time required for the worker to determine the work content for the work is shortened without using the coordinate measuring machine. ..

In order to solve the above technical problems, according to one aspect of the present invention,
It is a work support system that supports the work of workers on the work.
A first projector device that projects a first marker toward the surface of the work,
It has a second projector device, which is arranged at a position different from that of the first projector device and projects a second marker toward the surface of the work.
Each of the first projector device and the second projector device has a target shape so that the first marker and the second marker match on the surface of the work when the work is deformed into the target shape. A work support system is provided that projects the first and second markers toward the surface of the work before it becomes.

According to another aspect of the invention.
It is a work support system that supports the work of workers on the work.
A projector device that projects a marker toward the surface of the work,
A camera that photographs the surface of the work on which the marker is projected, and
It has an arithmetic unit that calculates the required deformation amount of the work required to reach the target shape based on the image taken by the camera.
The arithmetic unit
On the work, based on the distance between the position on the image taken by the camera where the marker appears when the work is deformed into the target shape and the position on the image taken by the camera where the marker actually appears. A required deformation amount calculation unit that calculates the required deformation amount at each of multiple points,
A work support system including a required deformation amount map creating unit that creates a required deformation amount map showing the distribution of the required deformation amount on the work based on the required deformation amount calculated by the required deformation amount calculation unit. Is provided.

According to different aspects of the invention
It is a work support method that supports the work of workers on the work.
A first marker is projected from the first projector device toward the surface of the work,
A second marker is projected toward the surface of the work from the second projector device arranged at a position different from that of the first projector device.
Each of the first projector device and the second projector device has a target shape so that the first marker and the second marker match on the surface of the work when the work is deformed into the target shape. A work support method is provided in which the first and second markers are projected onto the surface of the work before it becomes.

According to a further different aspect of the invention.
It is a work support method that supports the work of workers on the work.
A marker is projected from the projector device toward the surface of the work,
The surface of the work on which the marker is projected is photographed by a camera.
A plurality of on the work based on the distance between the position on the image taken by the camera in which the marker appears when the work is deformed into the target shape and the position on the camera image in which the marker actually appears. Calculate the required deformation amount at each point and
A work support method for creating a required deformation amount map showing the distribution of the required deformation amount on the work based on the calculated required deformation amount is provided.

According to the present invention, it is possible to support the worker's work on the work so that the time required for the worker to determine the work content for the work is shortened without using the coordinate measuring machine.

A perspective view showing a press working machine using the work support system according to the first embodiment of the present invention. The figure which shows schematic the work support system which concerns on Embodiment 1. The figure which shows the surface of the work in the state which the 1st and 2nd markers are projected by the 1st and 2nd projector apparatus. The figure which shows a plurality of first markers projected on the surface of a work from a 1st projector apparatus. The figure which shows the plurality of 2nd markers projected on the surface of a work from the 2nd projector device. The figure which shows the relationship between the shape of a work and the position of the 1st and 2nd markers on the surface of the work. The figure which shows the position of the 1st and 2nd markers in the work of the initial shape. The figure which shows the position of the 1st and 2nd markers in the work of an intermediate shape. The figure which shows the position of the 1st and 2nd markers in the work of a target shape. The figure which shows the position of the 1st and 2nd markers in the work in the state of being extra-deformed. Block diagram of the work support system according to the first embodiment The figure which shows schematic the work support system which concerns on Embodiment 2. Conceptual diagram for explaining the method of calculating the required deformation amount of the work from the image taken by the camera. A diagram showing an image taken by an example camera showing an intermediate-shaped workpiece. Block diagram of the work support system according to the second embodiment A diagram showing an example of a required deformation amount map The figure which shows schematic the work support system which concerns on Embodiment 3. Conceptual diagram for explaining the method of calculating the required deformation amount of the work from the image taken by the camera. A diagram showing an image taken by an example camera showing an intermediate-shaped workpiece. Block diagram of the work support system according to the third embodiment The figure which shows the surface of the work of the intermediate shape which the marker is projected from each of three projector devices. The figure which shows the photograph image of an example camera which shows the work of an intermediate shape when using three projector devices.

One aspect of the present invention is a work support system that supports a worker's work on a work, the first projector device that projects a first marker toward the surface of the work, and the first projector device. It has a second projector device which is arranged at a different position from the above and projects a second marker toward the surface of the work, and when the work is deformed into a target shape, the first marker and the second marker are present. The first and second projectors are directed toward the surface of the work before each of the first projector device and the second projector device has a target shape so that the markers of the above are aligned on the surface of the work. Project the marker.

According to such an aspect, it is possible to support the worker's work on the work so that the time required for the worker to determine the work content for the work is shortened without using the coordinate measuring machine. can.

For example, the work support system captures a camera that photographs the surface of the work on which the first and second markers are projected, and a required amount of deformation of the work that is required to reach a target shape based on the images captured by the camera. It has a calculation device for calculating, and the calculation device is required at each of a plurality of points on the work based on the amount of deviation between the first marker and the second marker in the captured image of the camera. Necessary deformation to create a required deformation amount map showing the distribution of the required deformation amount on the work based on the required deformation amount calculation unit for calculating the deformation amount and the required deformation amount calculated by the required deformation amount calculation unit. It may be provided with a quantity map creation unit. By referring to the required deformation amount map, the operator can know the required deformation amount required for the work to reach the target shape.

For example, the work support system may have a display for displaying the required deformation amount map.

For example, one of the first and second projector devices may project the required deformation amount map onto the surface of the work.

For example, the work support system may have a projector device different from the first and second projector devices that projects the required deformation amount map onto the surface of the work.

Another aspect of the present invention is a work support system that supports a worker's work on a work, a projector device that projects a marker toward the surface of the work, and a surface of the work on which the marker is projected. It has a camera to be photographed and a calculation device for calculating the required deformation amount of the work required to reach the target shape based on the captured image of the camera, and when the calculation device deforms the work to the target shape. The required deformation amount at each of the plurality of points on the work is calculated based on the distance between the position on the captured image of the camera in which the marker is captured and the position on the camera image in which the marker is actually captured. The required deformation amount calculation unit and the required deformation amount map creation unit that creates a required deformation amount map showing the distribution of the required deformation amount on the work based on the required deformation amount calculated by the required deformation amount calculation unit. , Equipped with.

According to such another aspect, it is necessary to support the worker's work on the work so that the time required for the worker to determine the work content for the work is shortened without using the coordinate measuring machine. Can be done.

For example, the work support system may have a display for displaying the required deformation amount map.

For example, one of the projector devices may project the required deformation amount map onto the surface of the work.

For example, the work support system may have a projector device different from the projector device that projects the required deformation amount map onto the surface of the work.

A different aspect of the present invention is a work support method for supporting a worker's work on a work, in which a first marker is projected from a first projector device toward the surface of the work, and the first projector device is used. The second marker is projected from the second projector device arranged at a position different from the above toward the surface of the work, and when the work is deformed into the target shape, the first marker and the second marker are formed. The first and second markers are projected toward the surface of the work before each of the first projector device and the second projector device has a target shape so as to match on the surface of the work. ..

According to such a different aspect, it is possible to support the worker's work on the work so that the time required for the worker to determine the work content for the work is shortened without using the coordinate measuring machine. can.

For example, the surface of the work on which the first and second markers are projected is photographed by a camera, and the displacement between the first marker and the second marker in the captured image of the camera is used as the basis for the above-mentioned. The required deformation amount at each of the plurality of points on the work may be calculated, and a required deformation amount map showing the distribution of the required deformation amount on the work may be created based on the calculated required deformation amount. By referring to the required deformation amount map, the operator can know the required deformation amount required for the work to reach the target shape.

For example, the required deformation amount map may be displayed on the display.

For example, one of the first and second projector devices may project the required deformation amount map onto the surface of the work.

For example, the required deformation amount map may be projected onto the surface of the work from a projector device different from the first and second projector devices.

A further different aspect of the present invention is a work support method for supporting a worker's work on a work, in which a marker is projected from a projector device toward the surface of the work, and the surface of the work on which the marker is projected is projected. Based on the distance between the position on the captured image of the camera where the marker is captured when the work is deformed into the target shape and the position on the captured image of the camera where the marker is actually captured. , The required deformation amount at each of the plurality of points on the work is calculated, and a required deformation amount map showing the distribution of the required deformation amount on the work is created based on the calculated required deformation amount.

According to such a further different aspect, it is necessary to support the worker's work on the work so that the time required for the worker to determine the work content for the work is shortened without using the coordinate measuring machine. Can be done.

For example, the required deformation amount map may be displayed on the display.

For example, the projector device may project the required deformation amount map onto the surface of the work.

For example, the required deformation amount map may be projected onto the surface of the work from a projector device different from the projector device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 shows a press working machine using the work support system according to the first embodiment of the present invention. Although the figure shows an XYZ Cartesian coordinate system, this is for facilitating the understanding of the invention and does not limit the invention. The X-axis direction and the Y-axis direction indicate the horizontal direction, and the Z-axis indicates the vertical direction.

The work support system 10 according to the first embodiment is configured to support the work of the worker deforming the plate-shaped work W by using the press working machine 100. The work W is bent into a desired shape by being repeatedly pressed by a punch 104 provided on a head 102 that moves in the horizontal direction and advances and retreats in the vertical direction. The work W is, for example, a part of the inner wall of the tank, and is a rectangular flat plate of 15 m × 4 m before the start of processing.

In order to support the deformation processing of the work W, the work support system 10 according to the first embodiment includes a first projector device 12, a second projector device 14, and first and second projector devices 12. An arithmetic unit 16 connected to 14, an output device 18 such as a display or a printer for the arithmetic unit 16 to output information to an operator, and an instruction for an operator to input an instruction to the arithmetic unit 16. It has an input device 20 such as a keyboard and a mouse.

FIG. 2 is a diagram schematically showing a work support system according to the first embodiment. FIG. 3 is a diagram showing the surface of a work in which the first and second markers are projected by the first and second projector devices.

As shown in FIGS. 1 to 3, the first projector device 12 projects a plurality of first contour lines La-1 to La-3 as a first marker toward the surface Ws of the work W. The second projector device 14 is arranged at a position different from that of the first projector device 12, and has a plurality of second contour lines Lb-1 to Lb-3 as a second marker toward the surface Ws of the work W. Project. Therefore, as shown in FIG. 3, a plurality of first contour lines La-1 to La-3 from the first projector device 12 and a plurality of second posting lines Lb-1 to the second projector device 14 Lb-3 overlaps on the surface Ws of the work W.

FIG. 4A shows a plurality of first markers projected onto the surface of the work from the first projector device. FIG. 4B shows a plurality of second markers projected onto the surface of the work from the second projector device.

In the case of the first embodiment, as shown in FIG. 4A, the plurality of first contour lines La-1 to La-3 projected from the first projector device 12 onto the surface Ws of the work W as the first marker. , Is a contour line showing the uneven shape of the work W. Specifically, it is a contour line when the work W has a target shape. In the figure, the work of the target shape is designated by the reference numeral “Wt”. Further, in the case of the first embodiment, as shown in FIG. 2, the work Wt having the target shape has a “bow” shape in which the central portion is displaced downward in the longitudinal direction (Y-axis direction).

Similarly, as shown in FIG. 4B, the plurality of second contour lines Lb-1 to Lb-3 projected as the second marker from the second projector device 14 onto the surface Ws of the work W are also the work of the target shape. It is a contour line of Wt.

The target shape does not necessarily have to be the completed shape of the work. The work may be deformed into a completed shape through a plurality of target shapes. For example, the work is deformed into the first target shape, the work processed into the first target shape is deformed into the second target shape, and the work with the second target shape is the final target shape. It may be deformed into a completed shape.

Further, the plurality of first contour lines La-1 to La-3 and the plurality of second contour lines Lb-1 to Lb-3 have different colors, for example, so that they can be distinguished from each other on the surface Ws of the work W. be. Instead or in addition, for example, one is a solid line and the other is a dashed line.

Therefore, as shown in FIG. 3, the first and second projector devices 12 and 14 have a plurality of first contour lines La-1 to La- as the first marker when the work W is deformed into the target shape. Project the first and second contour lines toward the work W so that the third and the plurality of second contour lines Lb-1 to Lb-3 as the second marker coincide with each other on the surface of the work W. ..

While the work W is deformed by the press working machine 100 so as to have a target shape, the first projector device 12 projects a plurality of first contour lines La-1 to La-3 onto the surface Ws of the work W. .. Similarly, the second projector device 14 also projects a plurality of second contour lines Lb-1 to Lb-3 onto the surface Ws of the work W.

As a matter of course, until the work W has the target shape, the plurality of first contour lines La-1 to La-3 and the plurality of second contour lines Lb-1 to Lb-3 are mutual on the surface Ws of the work W. Misalignment occurs without matching. This will be explained.

FIG. 5 is a diagram showing the relationship between the shape of the work and the positions of the first and second markers on the surface of the work. 6A to 6D are views showing the positions of the first and second markers in the shape of the work, respectively.

In FIG. 5, as the work W having four shapes, the work W0 having the initial shape before the deformation processing is started, the work W1 having the intermediate shape (the shape between the initial shape and the target shape), and the work Wt having the target shape. Then, the work W2 in a state of being extra-deformed is shown.

As shown in FIGS. 5 and 6A to 6D, the first contour lines Lan and the second contour lines Lbn overlapping on the surface Ws of the work Wt having the target shape are the work W0, W1 and the work W1 having other shapes. On the surface Ws of W2, there is a deviation without matching. The first and second contour lines La-n and Lb-n in the workpieces W0, W1 and W2 having other shapes are the first and second contour lines La-n'and Lb-n' in the work Wt having the target shape. Is located on a straight line connecting the position of 1 and the first and second projector devices 12 and 14.

As shown in FIGS. 5 and 6A to 6D, when the shape of the work is different, the amount of deviation between the first contour line Lan and the second contour line Lbn on the surface thereof is different. For example, during the transition from the work W0 having the initial shape to the work Wt having the target shape via the work W1 having the intermediate shape, the amount of deviation between the first contour line Lan and the second contour line Lbn decreases. go. Further, when the work Wt having the target shape is excessively deformed, the amount of deviation between the first contour line Lan and the second contour line Lbn increases.

That is, the amount of deviation between the first contour line La-n and the second contour line Lb-n in the work of the intermediate shape, which is the shape between the initial shape and the target shape, and the first in the work of the intermediate shape. In the vertical direction (Z-axis direction) between the contour lines La-n (second contour line Lb-n) and the first contour line La-n'(second contour line Lb-n') in the work Wt of the target shape. The distances are substantially in correspondence. When the amount of deviation decreases, the distance between the first contour line La-n in the intermediate shape and the first contour line La-n'in the target shape decreases, and the second contour line Lb- in the intermediate shape decreases. The distance between n and the second contour line Lb-n'in the target shape is also reduced. The vertical direction is the pressing direction of the press processing machine 100 for the work.

Therefore, when the amount of deviation between the first contour line La-n and the second contour line Lb-n becomes small, it indicates that the work is approaching the target shape. Therefore, the operator can deform the work so that the first contour line Lan and the second contour line Lbn coincide with each other, so that the work can be made into a target shape.

This eliminates the labor of the operator such as confirming the target shape of the work and measuring the shape of the work in the middle of machining, and eliminates the need to consider the machining contents in consideration of the confirmation and measurement results. As a result, the time required for the operator to determine (change) the work content (in the case of the first embodiment, the processing conditions of the press working machine 100) for the work is shortened.

It is preferable that the smaller the difference between the intermediate shape and the target shape of the work, the smaller the angle between the projection direction and the horizontal direction of each of the first and second projector devices 12 and 14.

When the difference between the intermediate shape of the work and the target shape is small, when the first and second projector devices 12 and 14 project onto the work of the intermediate shape in a direction close to the vertical direction, the first and the second projector devices 12 and 14 of the work have the intermediate shape. The distance between the contour line Lan of 1 and the contour line Lbn of the second contour line Lbn is small. On the other hand, when the first and second projector devices 12 and 14 project in a direction close to the horizontal direction, the distance between the first contour line La-n and the second contour line Lb-n in the work of the intermediate shape is large. ..

Therefore, when the difference between the intermediate shape and the target shape of the work is small by reducing the angle between the projection direction and the horizontal direction of the first and second projector devices 12 and 14, the operator , The vertical distance between the work of the intermediate shape and the work of the target shape is based on the distance between the first contour line La-n and the second contour line Lb-n of the work of the intermediate shape. It can be known accurately (compared to the case where the angle between the projection direction and the horizontal direction is large).

FIG. 7 is a block diagram of the work support system according to the first embodiment.

The arithmetic unit 16 shown in FIGS. 1 and 7 is, for example, a PC (personal computer), and is configured to create projected images (data) projected by the first and second projector devices 12 and 14 on the work W. (The program for that is installed).

As shown in FIG. 7, in the arithmetic unit 16, the target shape data acquisition unit 50 for acquiring the target shape data of the work W and the first and second projector devices 12 and 14 project by the first and second projector devices 12 and 14, respectively. It has a marker image creating unit 52 that creates a projected image (contour image) of the marker (provides these functions by a program).

The target shape data acquisition unit 50 of the arithmetic unit 16 acquires data indicating the target shape of the work W, for example, 3D CAD data from the outside. For example, the data is acquired from the server that stores the 3D CAD data of the work W via the LAN.

The marker image creation unit 52 of the arithmetic unit 16 has the first projected image Im1 and the second projector for the first projector device 12 based on the target shape data of the work W acquired by the target shape data acquisition unit 50. A second projected image Im2 for the device 14 is created. That is, as shown in FIGS. 4A and 4B, the first projected image Im1 including the images of the first contour lines La-1 to La-3 and the images of the second contour lines Lb-1 to Lb-3 are included. A second projected image Im2 is created.

As shown in FIGS. 1 and 2, the positions of the first and second projector devices 12 and 14 with respect to the work W are different from each other. In consideration of this, the first contour lines La-1 to La-3 and the second contour lines Lb-1 to Lb-3 on the surface Ws of the work W having the target shape (in the case of the present embodiment, the contour lines). It is necessary to create the first and second projected images Im1 and Im2 so that they match. That is, the first and second projected images Im1 and Im2 are different images from each other.

In the case of the first embodiment, the marker image creation unit 52 creates contour line data based on the target shape data of the work W. The marker image creation unit 52 creates first and second projected images Im1 and Im2 whose contour lines are appropriately projected onto the surface Ws of the actual work W having the target shape. The first projected image Im1 is created based on the positional relationship between the first projector device 12 and the surface Ws of the work W, and the second projected image Im2 is the surface Ws of the second projector device 14 and the work W. Created based on positional relationships. That is, the first projected image Im1 corresponds to a projection of contour lines on the surface Ws of the work W having the target shape on a plane orthogonal to the optical axis of the first projector device 12. Further, the second projected image Im2 corresponds to a projection of contour lines on the surface of the work W having the target shape on a plane orthogonal to the optical axis of the second projector device 14. Such a method is called projection mapping.

The arithmetic unit 16 transmits the first projected image Im1 created by the marker image creating unit 52 to the first projector device 12. The first projector device 12 projects the first projected image Im1 toward the surface Ws of the work W. As a result, as shown in FIG. 4A, the first contour lines La-1 to La-3 are projected onto the surface Ws of the work W.

Similarly, the arithmetic unit 16 transmits the second projected image Im2 created by the marker image creating unit 52 to the second projector device 14. The second projector device 14 projects the second projected image Im2 toward the surface Ws of the work W. As a result, as shown in FIG. 4B, the second contour lines Lb-1 to Lb-3 are projected onto the surface Ws of the work W.

According to the first embodiment as described above, the work of the worker for the work is supported so that the time required for the worker to determine the work content for the work is shortened without using the coordinate measuring machine. can do.

(Embodiment 2)
In the case of the first embodiment described above, the operator can use the work from the amount of deviation between the first marker (first contour line) and the second marker (second contour line) projected on the surface of the work. Can know how close to the target shape. However, it is difficult to know the amount of deformation required for the operator to reach the target shape from the amount of deviation. Therefore, the second embodiment is different from the first embodiment described above in that the required deformation amount is presented to the operator. Therefore, the second embodiment will be described with a focus on the differences. Further, the components in the second embodiment, which are substantially the same as the components in the first embodiment described above, are designated by the same reference numerals.

FIG. 8 schematically shows the work support system according to the second embodiment.

As shown in FIG. 8, the work support system 110 according to the second embodiment has, in addition to the first and second projector devices 12 and 14, a camera 22 for photographing the surface Ws of the work W.

Specifically, the camera 22 photographs the surface Ws of the work W in a state where the first and second markers are projected by the first and second projector devices 12 and 14. In the case of the second embodiment, the camera 22 is arranged so that the optical axis extends in the vertical direction (Z-axis direction). The camera 22 may be arranged with the optical axis tilted with respect to the vertical direction. Using the captured image of the work W captured by the camera 22, the required deformation amount required for the work W to reach the target shape is calculated. The calculation method will be described.

FIG. 9 is a conceptual diagram for explaining a method of calculating the required deformation amount of the work from the image taken by the camera.

FIG. 9 shows a work W3 having an intermediate shape and a work Wt having a target shape. Here, a method of calculating the required deformation amount Dn (that is, the press amount of the press working machine 100) in the vertical direction (Z-axis direction) at an arbitrary point Pn in the work W3 having an intermediate shape will be described.

As shown in FIG. 9, in the work W3 having an intermediate shape, the point Pn is located between the first marker Ma-n and the second marker Mb-n. These first marker Ma-n and the second marker Mb-n overlap each other in the work Wt having the target shape. The first and second markers Ma-n and Mb-n are points on contour lines that overlap each other in the work Wt having the target shape.

Let Gn be the amount of horizontal displacement between the first marker Ma-n and the second marker Mb-n in the work W3 having an intermediate shape.

As shown in FIG. 9, the required deformation amount Dn in the vertical direction (Z-axis direction) at the point Pn on the work W3 of the intermediate shape is the first marker Ma-n'and the second marker Ma-n'overlapping in the work Wt of the target shape. It can be regarded as the vertical distance between the marker Mb-n'and the work W3 having an intermediate shape.

This required deformation amount Dn (that is, the vertical distance between the first marker Ma-n'and the second marker Mb-n'that overlap in the work Wt of the target shape and the work W3 of the intermediate shape) and the deviation amount Gn. Is in effect a correspondence. That is, the required deformation amount Dn is substantially a function of the deviation amount Gn. Therefore, if this correspondence (function formula) is obtained experimentally or theoretically in advance, the required deformation amount Dn can be easily calculated from the deviation amount Gn. Strictly speaking, the shape (for example, curvature) of the work W3 having an intermediate shape is not always constant, that is, in reality, there are variations in the shape of the work W3 having a plurality of intermediate shapes. Therefore, an approximate expression for calculating the required deformation amount Dn from the deviation amount Gn is obtained as a functional expression based on the deviation amount Gn in each of the plurality of workpieces W3 having similar intermediate shapes.

The first marker Ma-n and the second marker Mb-n in the work W3 having an intermediate shape are photographed by the camera 22. As shown in FIG. 10, in the captured image Si of the camera 22 in which the work W3 having an intermediate shape is captured, the deviation between the first marker (its image) Mai-n and the second marker (its image) Mbin-n. The amount Gin corresponds to the actual amount of deviation Gn between the first marker Ma-n and the second marker Mb-n in the work W3 having an intermediate shape. Based on the position of the camera 22 with respect to the work, the actual deviation amount Gn can be calculated from the deviation amount Gin in the captured image Si of the camera 22.

Therefore, from the amount of deviation Gin between the first marker Mai-n and the second marker Mbin-n in the captured image Si of the camera 22 in which the work W3 having the intermediate shape is captured, the work W3 having the intermediate shape is finally used. The required deformation amount Dn at an arbitrary point Pn can be calculated.

In addition, the required deformation amount is calculated for each of a plurality of points in the work W3 having an intermediate shape by the same method. That is, based on the amount of deviation between the first marker and the second marker that overlap in the work Wt having the target shape and are displaced in the work W3 having the intermediate shape, the first marker and the second marker in the work W3 having the intermediate shape are different. The required amount of deformation is calculated at points located on or between each of the markers.

FIG. 11 is a block diagram of the work support system according to the second embodiment.

As shown in FIG. 11, in addition to the target shape data acquisition unit 50 and the marker image creation unit 52, the arithmetic unit 116 includes a work capture image acquisition unit 54 that acquires a capture image of the work W captured by the camera 22. The marker deviation measuring unit 56 that measures the deviation amount of the first and second markers (the images) in the captured image of the work W, and the required deformation amount at each of a plurality of points on the work W based on the measured deviation amount. It includes a required deformation amount calculation unit 58 to be calculated and a required deformation amount map creation unit 60 that creates a required deformation amount map based on the calculated required deformation amount (these functions are provided by an installed program).

The work captured image acquisition unit 54 of the arithmetic unit 116 acquires a captured image of the work W3 having an intermediate shape in which the first marker and the second marker are captured, as shown in FIG. 10, from the camera 22.

As shown in FIG. 10, the marker deviation measuring unit 56 of the arithmetic unit 116 measures the deviation amount Gin of the first marker and the second marker in the captured image of the camera 22.

The required deformation amount calculation unit 58 of the arithmetic unit 116 is a plurality of points Pn on the work W, respectively, based on the deviation amount Gin of the first and second markers measured by the marker deviation measuring unit 56 by the method described above. The required deformation amount Dn in is calculated.

The required deformation amount map creation unit 60 of the arithmetic unit 116 creates a required deformation amount map based on the required deformation amount Dn at each of the plurality of points Pn on the work W calculated by the required deformation amount calculation unit 58. FIG. 12 shows an example of a required deformation amount map. As shown in FIG. 12, the required deformation amount map DM is a map showing the distribution of the required deformation amount. The required deformation amount map DM shown in FIG. 12 shows the distribution of the required deformation amounts D1 to D6 (D1> D2> D3> D4> D5> D6). In the case of the second embodiment, since the first and second markers are points on the contour lines of the work of the target shape, the required deformation amount map DM is a contour line diagram.

The arithmetic unit 116 outputs the required deformation amount map DM created by the required deformation amount map creating unit 60 to the operator. For example, the required deformation amount map DM is output to the operator via an output device 18 such as a display. As a result, the worker can know the required amount of deformation of the work required to reach the target shape.

In addition to or in addition to the output device 18, the required deformation amount map DM may be projected onto the surface Ws of the work W by one of the first and second projector devices 12 and 14. Alternatively, another projector device (not shown) different from the first and second projector devices 12 and 14 may be prepared, and the required deformation amount map DM may be projected onto the surface of the work W by the other projector device. ..

In the second embodiment as described above, as in the first embodiment described above, the time required for the operator to determine the work content for the work is shortened without using the coordinate measuring machine. It is possible to support the work of the worker on the work. In addition, since the operator can easily know the required deformation amount required to reach the target shape by referring to the required deformation amount map, the time required for the operator to determine the required deformation amount can be shortened. can.

(Embodiment 3)
The third embodiment is an improved form of the second embodiment described above, and is different from the second embodiment in that one projector device projects a marker on the surface of the work. Therefore, the third embodiment will be described with a focus on the differences. Further, the components in the third embodiment, which are substantially the same as the components in the second embodiment described above, are designated by the same reference numerals.

FIG. 13 schematically shows the work support system according to the third embodiment.

As shown in FIG. 13, the work support system 210 according to the second embodiment does not have the second projector device 14, unlike the second embodiment described above. Therefore, the required change amount at each of the plurality of points on the work is calculated by a method different from the above-described second embodiment. The method will be described.

FIG. 14 is a conceptual diagram for explaining a method of calculating the required deformation amount of the work from the image taken by the camera.

As shown in FIG. 14, the camera 22 photographs the surface of the work W4 having an intermediate shape on which the first marker Man is projected by the first projector device 12. In the case of the third embodiment, only the first marker Man is shown in the captured image of the work W4 having the intermediate shape. Therefore, the required deformation amount cannot be calculated by the same method as in the second embodiment described above.

Therefore, in the case of the third embodiment, the horizontal shift amount Shan between the first marker Ma-n in the work W4 having the intermediate shape and the first marker Man-n'in the work Wt having the target shape is used. Then, the required deformation amount Dn at the point Pn on the work W of the intermediate shape is calculated. In the case of the third embodiment, the point Pn is the first marker Ma-n in the work W4 having an intermediate shape and the first marker Man-n'in the work Wt having a target shape in the vertical direction (Z-axis direction). Located between and.

As shown in FIG. 14, the required deformation amount Dn in the vertical direction (Z-axis direction) at the point Pn on the work W4 of the intermediate shape is the work of the intermediate shape with the first marker Ma-n'in the work Wt of the target shape. It can be regarded as the vertical distance from W4.

The required deformation amount Dn (that is, the vertical distance between the first marker Ma-n'in the work Wt of the target shape and the work W4 of the intermediate shape) and the shift amount Shan are substantially in a corresponding relationship. That is, the required deformation amount Dn is substantially a function of the deviation amount Gn. Therefore, if this correspondence (function formula) is obtained experimentally or theoretically in advance, the required deformation amount Dn can be easily calculated from the shift amount Shan. Strictly speaking, the shape (for example, curvature) of the work W4 having an intermediate shape is not always constant, that is, in reality, there are variations in the shape of the work W4 having a plurality of intermediate shapes. Therefore, an approximate expression for calculating the required deformation amount Dn from the shift amount Shan is obtained as a functional expression based on the shift amount Shan in a plurality of works W4 having similar intermediate shapes.

As a matter of course, the first marker Man'in the work W4 having the intermediate shape and the first marker Man'n'in the work Wt having the target shape cannot be captured in the 22 captured images of the camera at the same time. Therefore, it is necessary to specify in advance the position where the first marker Ma-n'(the image thereof) in the work Wt having the target shape is reflected in the image captured by the camera 22.

Unless the camera 22 moves and the work W is not changed, the first marker Ma-n'in the work Wt having the target shape appears at the same position on the captured image of the camera 22. Therefore, for example, if the first marker Man projected from the first projector device 12 on the work Wt having the target shape or the mockup model having the same shape is photographed in advance, the first marker Man in the target shape can be photographed. The position on the captured image in which the marker Ma-n'is captured can be specified. Instead of this, the first marker in the target shape is based on the relationship between the position of the work Wt of the target shape (that is, the position when the work becomes the target shape) and the position of the camera by calculation by a computer. It is also possible to specify the position on the captured image in which Man'is captured.

FIG. 15 shows an image taken by an example camera in which a work having an intermediate shape according to the third embodiment is captured.

As shown in FIG. 15, in the captured image Si of the camera 22 in which the work W4 having the intermediate shape is captured, the first marker (its image) Mai-n in the work W4 having the intermediate shape is the work Wt having the target shape. The image is reflected from the position of the first marker (its image) Mai-n'to the position shifted by the shift amount Shi. The shift amount Shan in the captured image Si is the shift amount Shan between the first marker Man'in the work W4 having the intermediate shape and the first marker Man'n'in the work Wt having the target shape shown in FIG. It corresponds. Based on the position of the camera 22 with respect to the work, the actual shift amount Shan can be calculated from the shift amount Shan in the captured image Si of the camera 22.

Therefore, the distance between the position of the first marker in the captured image Si of the camera 22 in which the work W4 of the intermediate shape is captured and the first marker captured in the captured image when the work Wt of the target shape is captured (shift amount Shin). Therefore, the required deformation amount Dn at an arbitrary point Pn in the work W4 having an intermediate shape can be calculated.

FIG. 16 is a block diagram of the work support system according to the third embodiment.

As shown in FIG. 16, the arithmetic unit 216 is substantially the same as the arithmetic unit 116 according to the second embodiment, except that the marker shift amount calculation unit 256 is provided in place of the marker deviation measurement unit 56. be. Therefore, the marker shift amount calculation unit 256 will be mainly described.

The marker shift amount calculation unit 256 of the arithmetic unit 216 identifies the position of the first marker in the captured image of the camera 22 in which the work W4 having the intermediate shape is captured by the image recognition technique. The shift amount Shin of the first marker in the captured image based on the position of the first marker in the identified captured image and the position of the first marker in the captured image when the work Wt has the target shape specified in advance. Is calculated.

The required deformation amount calculation unit 258 of the arithmetic unit 216 is required at each of the plurality of points Pn on the work W based on the shift amount Shin of the first marker measured by the marker shift amount calculation unit 256 by the method described above. The amount of deformation Dn is calculated.

The required deformation amount map creation unit 60 of the arithmetic unit 216 creates a required deformation amount map based on the required deformation amount at each of the plurality of points on the work W calculated by the required deformation amount calculation unit 258.

The arithmetic unit 216 outputs the required deformation amount map DM created by the required deformation amount map creating unit 60 to the operator. For example, the required deformation amount map DM is output to the operator via an output device 18 such as a display. As a result, the worker can know the required amount of deformation of the work required to reach the target shape.

In addition, instead of or in addition to the output device 18, the required deformation amount map DM may be projected onto the surface Ws of the work W by the first projector device 12. Alternatively, another projector device (not shown) different from the first projector device 12 may be prepared, and the required deformation amount map DM may be projected onto the surface of the work W by the other projector device.

Also in the third embodiment as described above, similarly to the first embodiment described above, the time required for the operator to determine the work content for the work is shortened without using the coordinate measuring machine. It is possible to support the work of the worker on the work. In addition, since the operator can easily know the required deformation amount required to reach the target shape by referring to the required deformation amount map, the time required for the operator to determine the required deformation amount can be shortened. can.

Although the present invention has been described above with reference to the above-described embodiments 1 to 3, the embodiment of the present invention is not limited to this.

For example, in the case of the above-described embodiment, the work Wt having the target shape has a “bow” shape in which the central portion is displaced downward in the longitudinal direction (Y-axis direction). However, the target shape of the work in the embodiment of the present invention is not limited to this. The target shape may be, for example, a shape in which the center is recessed in the longitudinal direction and the lateral direction. Further, the processing on the work is not limited to the bending processing, and may be a removal processing such as cutting in which a part is removed. Further, the processing on the work may be welding processing or assembly processing in which parts are added. That is, in the embodiment of the present invention, the work is subjected to deformation processing in which the shape changes toward the target shape.

Further, in the case of the above-described embodiment, one or two projector devices project a marker on the work. However, embodiments of the present invention are not limited thereto. Three or more projector devices may project markers onto the surface of the work, respectively.

FIG. 17 shows the surface of an intermediate-shaped workpiece on which markers are projected from each of the three projector devices. Further, FIG. 18 shows an image taken by an example camera in which a work having an intermediate shape is captured when three projector devices are used.

As shown in FIG. 17, the first contour line Lan is projected from the first projector device 12 onto the surface Ws of the work W5 having an intermediate shape. Further, the second contour line Lbn is projected from the second projector device 14. Then, the third contour line Lcn is projected from the third projector device 30. These first to third contour lines do not overlap on the surface Ws of the work W5 having an intermediate shape, but do overlap on the work having a target shape.

As shown in FIG. 18, the photographed image Si of the camera in which the work W5 having an intermediate shape is captured includes a first marker (its image) Mai-n, a second marker (its image) Mbin, and a third marker (its image) Mbin. The marker (its image) Mci-n is shown. The first marker is a point on the first contour line Lan, the second marker is a point on the second contour line Lbn, and the third marker is on the third contour line Lc-n. It is a point. These first to third markers overlap on the surface of the work of the target shape.

Similar to the second embodiment described above, the first required change amount is calculated from the amount of deviation between the first marker Mai-n and the second marker Mbi in the captured image Si of the camera. Further, the second required change amount is calculated from the amount of deviation between the second marker Mbi and the third marker Mci-n. Further, the third required change amount is calculated from the amount of deviation between the third marker Mci-n and the first marker Mai-n. The average value of these first to third required changes is taken as the required change at the point Pn on the work W5 of the intermediate shape.

By using three or more projector devices, that is, three or more markers in this way, the required change amount required for the target shape can be calculated with higher accuracy. Further, when some projector devices cannot project a marker at a predetermined position of the work among three or more projector devices, for example, a part on the work on which the marker is projected is hidden by the head of a press processing machine. However, if at least two projector devices can project the marker, the required amount of change can be calculated.

Further, in the case of the above-mentioned embodiments 2 and 3, the work support system creates a required deformation amount map showing the deformation amount of the work required to obtain the target shape, and presents the created map to the operator. .. However, the embodiment of the present invention is not limited to this. The processing conditions of the press processing machine (for example, press position, press amount, etc.) may be calculated based on the required deformation amount map, and the processing conditions may be presented to the operator. Further, when the press processing machine is configured to be automatically operated, an automatic operation program for the press processing machine to automatically perform the press processing may be created based on the required deformation amount map.

The present invention can be applied not only to machining work on a work but also to inspection work on a work, that is, it is a work performed on a work by an operator, and it is necessary to know the state of the work periodically or intermittently. It is possible to support some work.

10 Work support system 12 1st projector device 14 2nd projector device La-1 1st marker (1st contour line)
La-2 1st marker (1st contour line)
La-3 1st marker (1st contour line)
Lb-1 2nd marker (2nd contour line)
Lb-2 2nd marker (2nd contour line)
Lb-3 2nd marker (2nd contour line)
W work Ws surface

Claims (16)

It is a work support system that supports the work of workers on the work.
A first projector device that projects a first marker toward the surface of the work,
It has a second projector device, which is arranged at a position different from that of the first projector device and projects a second marker toward the surface of the work.
Each of the first projector device and the second projector device has a target shape so that the first marker and the second marker match on the surface of the work when the work is deformed into the target shape. A work support system that projects the first and second markers toward the surface of the work before it becomes.
A camera that photographs the surface of the work on which the first and second markers are projected, and
It has an arithmetic unit that calculates the required deformation amount of the work required to reach the target shape based on the image taken by the camera.
The arithmetic unit
A required deformation amount calculation unit that calculates a required deformation amount at each of a plurality of points on the work based on the amount of deviation between the first marker and the second marker in the image captured by the camera.
Claim 1 is provided with a required deformation amount map creating unit that creates a required deformation amount map showing a distribution of the required deformation amount on the work based on the required deformation amount calculated by the required deformation amount calculation unit. Work support system described in.
The work support system according to claim 2, further comprising a display for displaying the required deformation amount map.
The work support system according to claim 2 or 3, wherein one of the first and second projector devices projects the required deformation amount map onto the surface of the work.
The work support system according to claim 2 or 3, further comprising a projector device different from the first and second projector devices, which projects the required deformation amount map onto the surface of the work.
It is a work support system that supports the work of workers on the work.
A projector device that projects a marker toward the surface of the work,
A camera that photographs the surface of the work on which the marker is projected, and
It has an arithmetic unit that calculates the required deformation amount of the work required to reach the target shape based on the image taken by the camera.
The arithmetic unit
On the work, based on the distance between the position on the image taken by the camera where the marker appears when the work is deformed into the target shape and the position on the image taken by the camera where the marker actually appears. A required deformation amount calculation unit that calculates the required deformation amount at each of multiple points,
The projector device includes a required deformation amount map creating unit that creates a required deformation amount map showing the distribution of the required deformation amount on the work based on the required deformation amount calculated by the required deformation amount calculation unit. However, a work support system that projects the required deformation amount map onto the surface of the work.
It is a work support system that supports the work of workers on the work.
A projector device that projects a marker toward the surface of the work,
A camera that photographs the surface of the work on which the marker is projected, and
It has an arithmetic unit that calculates the required deformation amount of the work required to reach the target shape based on the image taken by the camera.
The arithmetic unit
On the work, based on the distance between the position on the image taken by the camera where the marker appears when the work is deformed into the target shape and the position on the image taken by the camera where the marker actually appears. A required deformation amount calculation unit that calculates the required deformation amount at each of multiple points,
A necessary deformation amount map creation unit for creating a necessary deformation amount map showing the distribution of the required deformation amount on the work based on the required deformation amount calculated by the required deformation amount calculation unit is provided.
A work support system having a projector device different from the projector device that projects the required deformation amount map onto the surface of the work.
The work support system according to claim 6 or 7, further comprising a display displaying the required deformation amount map.
It is a work support method that supports the work of workers on the work.
A first marker is projected from the first projector device toward the surface of the work,
A second marker is projected toward the surface of the work from the second projector device arranged at a position different from that of the first projector device.
Each of the first projector device and the second projector device has a target shape so that the first marker and the second marker match on the surface of the work when the work is deformed into the target shape. A work support method for projecting the first and second markers toward the surface of the work before becoming.
The surface of the work on which the first and second markers are projected is photographed by a camera.
Based on the amount of deviation between the first marker and the second marker in the image captured by the camera, the required deformation amount at each of the plurality of points on the work is calculated.
The work support method according to claim 9 , wherein a required deformation amount map showing the distribution of the required deformation amount on the work is created based on the calculated required deformation amount.
The work support method according to claim 10 , wherein the required deformation amount map is displayed on a display.
The work support method according to claim 10 or 11 , wherein one of the first and second projector devices projects the required deformation amount map onto the surface of the work.
The work support method according to claim 10 or 11 , wherein the required deformation amount map is projected onto the surface of the work from a projector device different from the first and second projector devices.
It is a work support method that supports the work of workers on the work.
A marker is projected from the projector device toward the surface of the work,
The surface of the work on which the marker is projected is photographed by a camera.
On the work, based on the distance between the position on the image taken by the camera where the marker appears when the work is deformed into the target shape and the position on the image taken by the camera where the marker actually appears. Calculate the required deformation amount at each of multiple points,
Based on the calculated required deformation amount, a required deformation amount map showing the distribution of the required deformation amount on the work is created.
A work support method in which the projector device projects the required deformation amount map onto the surface of the work.
It is a work support method that supports the work of workers on the work.
A marker is projected from the projector device toward the surface of the work,
The surface of the work on which the marker is projected is photographed by a camera.
On the work, based on the distance between the position on the image taken by the camera where the marker appears when the work is deformed into the target shape and the position on the image taken by the camera where the marker actually appears. Calculate the required deformation amount at each of multiple points,
Based on the calculated required deformation amount, a required deformation amount map showing the distribution of the required deformation amount on the work is created.
A work support method for projecting the required deformation amount map onto the surface of the work from a projector device different from the projector device.
The work support method according to claim 14 or 15, wherein the required deformation amount map is displayed on a display.

Images