JPWO2019003340A1 - Position detection system - Google Patents

Abstract

A vibration detector (1) that is attached to the moving body (12), detects vibration, and transmits a signal having vibration information and identification information indicating the detected vibration, and is attached to the moving body (12) and is periodically A transmitter (2) that transmits a signal having identification information to the receiver, a plurality of receivers (3) that receive the signal, and the identification information included in the signal received by the receiver (3), the source of the signal The position of the transmitter (2) that is the transmission source of the signal is detected from the identification unit (402) that identifies the signal, the reception intensity of the signal received by the receiver (3), and the identification result by the identification unit (402) From the vibration information contained in the signal received by the receiver (3) and the signal received by the receiver (3), the identification result by the identification unit (402), and the detection result by the position detection unit (403). A certain vibration detector (1) And a working state detector which detects a working state (404) for vignetting moving object (12) or said movable body (12) in the placed workpiece (11).

Description

  The present invention relates to a position detection system that detects the position of a moving object on which a work object is placed and the working state of the moving object or the work object placed on the moving object.

  Conventionally, for example, an apparatus disclosed in Patent Document 1 is known as an apparatus for detecting the position of an operator. In the apparatus disclosed in Patent Document 1, the position of the worker is detected by using an ultrasonic transmitter mounted on the worker's helmet and an ultrasonic receiver installed in the industrial vehicle.

JP 2010-20548 A

  However, the apparatus disclosed in Patent Document 1 has a problem that the working state by the worker cannot be detected. Moreover, in the apparatus disclosed in Patent Document 1, since the ultrasonic transmitter is attached to the helmet of the worker, there is a problem that the burden on the worker is large.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a position detection system that can detect a work state without imposing a burden on an operator.

  A position detection system according to the present invention is attached to a moving body on which a work object is placed, detects a vibration, and transmits a signal having vibration information and identification information indicating the detected vibration, A transmitter that is attached to a mobile body and periodically transmits a signal having identification information, a plurality of receivers that receive the signal, and an identification information included in the signal received by the receiver, determines the transmission source of the signal. An identification unit for identifying, a position detection unit for detecting the position of the transmitter that is the transmission source of the signal, and a signal received by the receiver, from the reception intensity of the signal received by the receiver and the identification result by the identification unit From the vibration information held by the identification unit, the identification result by the identification unit, and the detection result by the position detection unit, the moving object to which the vibration detection unit that is the transmission source of the signal is attached or the work object placed on the moving object Characterized in that a working state detector which detects the working state.

  According to this invention, since it comprised as mentioned above, a working state can be detected without imposing a burden on an operator.

It is a figure which shows the structural example of the position detection system which concerns on Embodiment 1 of this invention. It is a figure which shows the structural example of the control apparatus in Embodiment 1 of this invention. It is a figure which shows the structural example of the production site where the position detection system which concerns on Embodiment 1 of this invention is applied. It is a flowchart which shows the operation example of the position detection system which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the reception result by the receiver in Embodiment 1 of this invention. It is a figure which shows the operation example of the position detection system which concerns on Embodiment 1 of this invention. In the position detection system which concerns on Embodiment 1 of this invention, it is a figure explaining the case where a working state is detected by a vibration pattern. In the position detection system which concerns on Embodiment 1 of this invention, it is a figure explaining the case where a working state is detected with a vibration pattern, and is a figure which shows the case where a vibration pattern is registered for every process. In the position detection system which concerns on Embodiment 1 of this invention, it is a figure explaining the case where a working state is detected with a vibration pattern, and is a figure which shows the case where the vibration pattern for every process is changed. It is a figure which shows the structural example by the side of the transmission in the position detection system which concerns on Embodiment 2 of this invention. It is a figure which shows the structural example of the control apparatus in Embodiment 2 of this invention. It is a flowchart which shows the operation example of the position detection system which concerns on Embodiment 2 of this invention. It is a figure which shows the structural example by the side of the transmission in the position detection system which concerns on Embodiment 3 of this invention. It is a figure which shows the structural example of the control apparatus in Embodiment 3 of this invention. 15A and 15B are diagrams showing a hardware configuration example of the control device according to Embodiment 1-4 of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1 FIG.
1 is a diagram showing a configuration example of a position detection system according to Embodiment 1 of the present invention.
The position detection system detects the position of a carriage (moving body) 12 on which a work object 11 such as a product (see FIG. 6 or the like) is placed at a production site, and is placed on the carriage 12 or the carriage 12. The working state of the worker with respect to the work object 11 thus detected is detected. One or more carts 12 are used at the production site. As shown in FIG. 1, the position detection system includes a vibration detection unit 1, a transmitter 2, a plurality of receivers 3, and a control device 4. In the example of FIG. 1, two receivers 3 are shown.

  The vibration detection unit 1 is attached to the carriage 12 and detects vibration. Then, every time vibration is detected, the vibration detection unit 1 transmits a signal having vibration information indicating the detected vibration and identification information for identifying itself (vibration detection unit 1) to the outside. The signal transmitted by the vibration detection unit 1 is set to have a high radio wave intensity so that the receiver 3 does not miss it. As this vibration detection part 1, a vibration sensor is mentioned, for example.

  The transmitter 2 is attached to the carriage 12 and transmits a signal having identification information for identifying itself (transmitter 2) to the outside periodically (for example, every 0.5 seconds).

  The receiver 3 receives a signal. The receiver 3 is arranged for each process at the production site, for example.

  The control device 4 processes the reception result by the receiver 3. As illustrated in FIG. 2, the control device 4 includes a storage unit 401, an identification unit 402, a position detection unit 403, and a work state detection unit 404.

  The storage unit 401 stores identification information of the vibration detection unit 1 and the transmitter 2. The storage unit 401 also stores a correspondence relationship between the vibration detection unit 1 and the transmitter 2. Examples of the storage unit 401 include a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), and an EEPROM (Electrically EPROM). , Magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), and the like.

  The identification unit 402 identifies the transmission source of the signal from the identification information included in the signal received by the receiver 3. At this time, the identification unit 402 identifies the transmission source of the signal by comparing the identification information included in the signal received by the receiver 3 with the identification information stored in the storage unit 401.

  The position detection unit 403 detects the position of the transmitter 2 that is the transmission source of the signal from the reception intensity of the signal received by the receiver 3 and the identification result by the identification unit 402. At this time, the position detection unit 403 first identifies the receiver 3 having the highest signal reception intensity from the transmitter 2 that is the detection target identified by the identification unit 402 among the plurality of receivers 3. And the position detection part 403 detects the area (for example, process) where the specified receiver 3 is arrange | positioned as a position of the said transmitter 2. FIG.

  From the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403, the work state detection unit 404 is attached with the vibration detection unit 1 that is a transmission source of the signal. The work state by the worker with respect to the cart 12 or the work object 11 placed on the cart 12 is detected. At this time, the work state detection unit 404 includes the vibration information included in the signal from the vibration detection unit 1 that is the detection target identified by the identification unit 402 and the transmitter attached to the same carriage 12 as the vibration detection unit 1. The operation state is detected from the position 2.

Next, an operation example of the position detection system according to Embodiment 1 will be described with reference to FIGS.
In the following, it is assumed that the production line method at the production site is the cell production method. In this production site, for example, as shown in FIG. 3, a plurality of steps (cells) are provided. One or a plurality of workers are arranged for one or a plurality of processes, and the workers perform work on the work target 11 placed on the carriage 12. In addition, there is a process in which no worker is arranged and no work is performed. Further, the stop position of the carriage 12 is determined for each process. Further, the carriage 12 may be moved to the next process by an operator who has performed work in the previous process, or may be taken from the previous process by an operator who performs work in the next process. After the carriage 12 stops at the stop position, the operator sets the parts and performs the work with the tools after setting the parts if necessary. The worker may work without moving, or may work while moving around the carriage 12.

  On the other hand, the storage unit 401 stores in advance the identification information of the vibration detection unit 1 and the transmitter 2 and the correspondence relationship between the vibration detection unit 1 and the transmitter 2. Further, a set of vibration detection unit 1 and transmitter 2 are attached to the carriage 12. For example, two vibration sensors having functions of vibration detection and position beacon can be used as one set of vibration detection unit 1 and transmitter 2. The vibration detection unit 1 detects vibration and transmits a signal having vibration information and identification information indicating the detected vibration to the outside. Further, the transmitter 2 periodically transmits a signal having identification information to the outside. Moreover, the some receiver 3 is arrange | positioned for every process and is receiving the signal.

  In the control device 4, as shown in FIG. 4, first, the identification unit 402 identifies the transmission source of the signal from the identification information included in the signal received by the receiver 3 (step ST401). At this time, the identification unit 402 identifies the transmission source of the signal by comparing the identification information included in the signal received by the receiver 3 with the identification information stored in the storage unit 401.

Next, the position detection unit 403 detects the position of the transmitter 2 that is the transmission source of the signal from the reception intensity of the signal received by the receiver 3 and the identification result by the identification unit 402 (step ST402). At this time, the position detection unit 403 first identifies the receiver 3 having the highest signal reception intensity from the transmitter 2 that is the detection target identified by the identification unit 402 among the plurality of receivers 3. And the position detection part 403 detects the process by which the specified receiver 3 is arrange | positioned as a position of the said transmitter 2. FIG.
As described above, the transmitter 2 that periodically transmits a signal is attached to the carriage 12, and the plurality of receivers 3 are arranged on the production site, so that the control device 4 can transmit the signals received by the receiver 3. The position of the transmitter 2 can be detected from the received intensity. Therefore, the control device 4 can detect the position of the carriage 12 to which the transmitter 2 is attached. Moreover, when it determines with the trolley | bogie 12 having stopped at the stop position of the process, the control apparatus 4 can also instruct | indicate an operation | work start with a display (screen display or light etc.) or an audio | voice.

In addition, the work state detection unit 404 uses the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403, so that the vibration detection unit 1 that is the transmission source of the signal is The work state by the worker with respect to the attached cart 12 or the work object 11 placed on the cart 12 is detected (step ST403). At this time, the work state detection unit 404 includes the vibration information included in the signal from the vibration detection unit 1 that is the detection target identified by the identification unit 402 and the transmitter attached to the same carriage 12 as the vibration detection unit 1. The operation state is detected from the position 2.
As described above, the vibration detection unit 1 that detects vibration is attached to the carriage 12, so that the control device 4 can detect the work state (the carriage 12) from the vibration detected by the vibration detection unit 1 and the detection result by the position detection unit 403. Or the presence or absence of work on the work object 11 placed on the carriage 12).

  FIG. 5 shows a signal reception result by the receiver 3 arranged in a specific process. In FIG. 5, the horizontal axis indicates time, and the vertical axis indicates reception intensity. In FIG. 5, reference numeral 501 indicates a signal transmitted by the transmitter 2 attached to the specific carriage 12. Reference numeral 502 indicates vibration (acceleration) in the x-axis direction detected by the vibration detection unit 1 attached to the specific carriage 12, and reference numeral 503 indicates vibration in the y-axis direction detected by the vibration detection unit 1. (Acceleration) is indicated, and reference numeral 504 indicates the vibration (acceleration) in the z-axis direction detected by the vibration detector 1.

In FIG. 5, since the reception intensity of the signal 501 by the receiver 3 is low in the time zone 505, the position detection unit 403 determines that the specific carriage 12 is not located in the specific process. In the time zone 505, vibrations 502 to 504 are detected by the vibration detection unit 1. Therefore, the work state detection unit 404 determines that the carriage 12 is moving from the detection result by the position detection unit 403 and the vibrations 502 to 504.
On the other hand, since the reception intensity of the signal 501 by the receiver 3 is high in the time zone 506, the position detection unit 403 determines that the specific carriage 12 is located in the specific process. In the time zone 506, vibrations 502 to 504 are detected by the vibration detection unit 1. Therefore, the work state detection unit 404 determines that the work on the work target 11 placed on the carriage 12 is being performed based on the detection result by the position detection unit 403 and the vibrations 502 to 504.

  Further, as shown in FIG. 5, the reception intensity of the signal 501 is displaced in the time zone 505 in which the carriage 12 is moving, and the reception intensity of the signal 501 is substantially constant in the time zone 506 in which the carriage 12 is stopped. It has become. Therefore, the work state detection unit 404 may detect the work state in consideration of a change in the reception intensity of the signal 501.

  Then, the control device 4 determines the position of the carriage 12 detected by the position detection unit 403 and the operation state with respect to the carriage 12 detected by the operation state detection unit 404 or the work object 11 placed on the carriage 12. Manage progress at production sites.

In FIG. 6, the control device 4 uses the receivers 3-1 to 3-4 arranged in the first process to the fourth process, respectively, and the three carts 12-1 to 12-3 or the cart 12-1. The case where the working state with respect to the work target object 11 mounted on -12-3 is detected is shown. 6 shows the positional relationship between the receivers 3-1 to 3-4 and the carriages 12-1 to 12-3, and the carriages 12-1 to 12-3 or the carriages 12-1 to 12-3. The work state with respect to the work object 11 is shown. Further, the lower part of FIG. 6 shows the reception results of the signals by the receivers 3-1 to 3-4.
In FIG. 6, the receiver 3-1 arranged in the first step and the receiver 3-2 arranged in the second step show vibrations detected by the vibration detector 1 attached to the carriage 12-1. A signal including vibration information and a signal transmitted by the transmitter 2 are received. The receiver 3-1 gradually decreases the signal reception intensity from the transmitter 2, and the receiver 3-2 gradually increases the signal reception intensity from the transmitter 2. That is, vibration is detected by the vibration detection unit 1 attached to the carriage 12-1 from the reception results of the receiver 3-1 and the receiver 3-2, and the carriage 12-1 is separated from the receiver 3-1. It can also be seen that the receiver 3-2 is approaching. Therefore, the control device 4 determines that the carriage 12-1 is moving from the first process side to the second process side.

  Moreover, in FIG. 6, the receiver 3-3 arrange | positioned at the 3rd process and the receiver 3-4 arrange | positioned at the 4th process are the vibrations detected by the vibration detection part 1 attached to the trolley | bogie 12-2. The signal including the vibration information shown and the signal transmitted by the transmitter 2 are received. Further, there is no change in the reception intensity of the signal from the transmitter 2 at the receiver 3-3 and the receiver 3-4, and the reception intensity of the signal at the receiver 3-3 is the same as that at the receiver 3-4. High relative to signal reception strength. That is, vibration is detected by the vibration detection unit 1 attached to the carriage 12-2 from the reception results by the receiver 3-3 and the receiver 3-4, and the carriage 12-2 is close to the receiver 3-3. And it turns out that it is far from the receiver 3-4. Therefore, it determines with the control apparatus 4 being working with respect to the work target object 11 mounted in the trolley | bogie 12-2 in a 3rd process.

  Moreover, in FIG. 6, the receiver 3-4 arrange | positioned at the 4th process receives the signal transmitted by the transmitter 2 attached to the trolley | bogie 12-3, and the receiving intensity is high. Further, the receiver 3-4 does not receive a signal from the vibration detection unit 1 attached to the carriage 12-3. That is, from the reception result by the receiver 3-4, it is understood that the vibration is not detected by the vibration detector 1 attached to the carriage 12-3, and the carriage 12-3 is close to the receiver 3-4. Therefore, the control device 4 determines that the carriage 12-3 is stopped in the fourth step.

  As described above, according to the first embodiment, the vibration detector 1 is attached to the carriage 12, detects vibrations, and transmits a signal having vibration information and identification information indicating the detected vibration, and the carriage 12. Transmitter 2 that periodically transmits a signal having identification information, a plurality of receivers 3 that receive the signal, and the identification information included in the signal received by receiver 3, the source of the signal A position detection unit 403 for detecting the position of the transmitter 2 that is the transmission source of the signal from the reception intensity of the signal received by the receiver 3 and the identification result by the identification unit 402 From the vibration information contained in the signal received by the machine 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403, the cart 12 to which the vibration detection unit 1 that is the transmission source of the signal is attached or Since a work state detection unit 404 for detecting the working state for the work object 11 placed on the carriage 12, and can detect the work state. Moreover, since the vibration detection unit 1 and the transmitter 2 are attached to the carriage 12, the burden on the operator is reduced as compared with the prior art.

  In the above, the production line method at the production site is the cell production method, and the case where the carriage 12 is used as the moving body is shown. However, the present invention is not limited to this, and the moving body only needs to have the work object 11 placed thereon. For example, even when the production line method is a line production method and a belt conveyor is used as the moving body, the position detection system according to the first embodiment can be applied.

  Further, in the above, the position detection unit 403 specifies the receiver 3 having the highest signal reception intensity from the transmitter 2 as the detection target identified by the identification unit 402 among the plurality of receivers 3. The case where the area where the receiver 3 is arranged is detected as the position of the transmitter 2 is shown. However, the present invention is not limited to this, and the position detection unit 403 may detect the position of the transmitter 2 based on the difference in signal reception strength from the transmitter 2 in the plurality of receivers 3. Thus, position detection using a plurality of receivers 3 enables more detailed position detection within the area.

  In the above description, the work state detection unit 404 detects the work state using the presence or absence of vibration indicated by the vibration information included in the signal received by the receiver 3. However, not limited to this, for example, the work state detection unit 404 may detect the work state by machine learning using the vibration pattern indicated by the vibration information included in the signal received by the receiver 3. In this case, the work state detection unit 404 previously learns a vibration pattern from vibrations detected by the vibration detection unit 1 when a corresponding operation is performed by a manager (a team leader at a production site). . As a result, the work state detection unit 404 can detect the work content for the work object 11.

  In the production site, a plurality of operations are usually performed in each process. Therefore, the work state detection unit 404 performs work state detection using an enormous number of vibration patterns. For example, FIG. 7 shows a case where a plurality of processes (first to ninth) exist and 45 operations are performed as a whole, and the work state detection unit 404 uses 45 vibration patterns in each process. This shows a case where work state detection is performed. In this case, the processing in the work state detection unit 404 takes time.

  Therefore, in such a case, the work content executed for each process is associated with the vibration pattern corresponding to the work state detection unit 404 and registered in advance. Thereby, the number of vibration patterns used in each process can be reduced, and the processing in the work state detection unit 404 can be shortened. In the example illustrated in FIG. 8, a case is shown in which the work state detection unit 404 is registered by linking three work contents performed in the first process and corresponding vibration patterns.

  Further, the work content and vibration pattern for each process registered in the work state detection unit 404 may be changed. Thereby, according to the work load of the day, it becomes possible to change the work performed in a certain process into the work in another process. The example shown in FIG. 9 shows a case where the 45th work (compressor screw tightening) performed in the first process is changed to be performed in the second process.

Embodiment 2. FIG.
In the first embodiment, a set of vibration detection unit 1 and transmitter 2 are attached to the carriage 12, so that the position detection unit 403 detects the position of the carriage 12, and the work state detection unit 404 is the carriage 12 or the carriage. The case where the work state with respect to the work object 11 placed on the work object 11 is detected is shown.
On the other hand, conventionally, there is known a method of attaching a vibration detecting unit to a tool and detecting whether or not the work has been normally performed (see, for example, Patent Documents 2 and 3). However, these conventional techniques cannot detect whether the worker is working at the correct work position. In the following, a method for solving this will be described.
JP 2000-117357 A JP 2012-139766 A

  FIG. 10 is a diagram showing a configuration example of a transmission side (functional unit excluding the receiver 3 and the control device 4) in the position detection system according to the second embodiment of the present invention, and FIG. 11 is a second embodiment of the present invention. It is a figure which shows the structural example of the control apparatus 4 in. In the position detection system according to the second embodiment shown in FIGS. 10 and 11, a plurality of vibration detection units (second vibration detection units) 1b are compared with the position detection system according to the first embodiment shown in FIGS. , And a work position determination unit 405 is added. Other configurations are the same, and only the different parts are described with the same reference numerals.

  A plurality of vibration detectors 1b are attached to the work object 11 and detect vibration. Each time the vibration detection unit 1b detects vibration, the vibration detection unit 1b transmits a signal having vibration information indicating the detected vibration and identification information for identifying itself (vibration detection unit 1b) to the outside. The signal transmitted by the vibration detection unit 1b is set to have a high radio wave intensity so that the receiver 3 does not miss it. As this vibration detection part 1b, a vibration sensor is mentioned, for example. In the example of FIG. 10, two vibration detection units 1b are shown.

  The storage unit 401 stores identification information of the vibration detection unit 1, the vibration detection unit 1 b, and the transmitter 2, and correspondence relationships between the vibration detection unit 1, the vibration detection unit 1 b, and the transmitter 2.

  The work position determination unit 405 is attached with the vibration detection unit 1b that is a transmission source of the signal based on the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403. Whether the work position is correct with respect to the work object 11 is determined. The work position determination unit 405 performs the above determination by machine learning. At this time, the work position determination unit 405 includes the vibration information included in the signal from the vibration detection unit 1b that is the determination target identified by the identification unit 402, and the transmitter attached to the same carriage 12 as the vibration detection unit 1b. From the position of 2, the correctness of the work position with respect to the work object 11 is determined. The work position determination unit 405 is previously detected by the vibration detection unit 1b when an administrator (such as a team leader at a production site) performs a work at a correct work position or when a work is performed at an incorrect work position. The machine learns the vibration pattern from the generated vibration.

Next, an operation example of the position detection system according to Embodiment 2 will be described with reference to FIG.
In the position detection system according to Embodiment 2, as shown in FIG. 12, first, the control device 4 detects work on the work object 11 based on the signal received by the receiver 3 (step ST1201). ). The process in step ST1201 is realized by the process shown in FIG.

  Next, the work position determination unit 405 determines whether the vibration detection unit 1b that is a transmission source of the signal is based on the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403. The work position for the attached work object 11 is specified (step ST1202).

Next, the work position determination unit 405 determines whether the work position is correct (step ST1203). In step ST1203, when the work position determination unit 405 determines that the work position is correct, the sequence ends. Thereafter, the work position determination unit 405 proceeds to work position determination for the next work.
On the other hand, when the work position determination unit 405 determines in step ST1203 that the work position is incorrect, the fact is notified to the outside by display or voice.

As described above, when a plurality of vibration detection units 1b that detect vibrations are attached to the work object 11, a plurality of vibration detection units 1b are attached to the work object 11, for example, when a screw is tightened on the work object 11 using a screwdriver. From the combination of the vibration patterns detected by the vibration detection unit 1b, the work position determination unit 405 can determine whether the screw tightening position is correct.
In addition, for work requiring accuracy, the work is repeatedly performed a plurality of times in advance, and the work position determination unit 405 performs machine learning of the vibration pattern, whereby the vibration pattern can be standardized.

  As described above, according to the second embodiment, the vibration detector 1b that is attached to the work object 11, detects vibration, and transmits a signal having vibration information and identification information indicating the detected vibration, From the vibration information contained in the signal received by the receiver 3, the identification result by the identification unit 402 and the detection result by the position detection unit 403, work on the work object 11 to which the vibration detection unit 1 b that is the transmission source of the signal is attached. Since the work position determination unit 405 that determines whether the position is correct or not is provided, in addition to the effects of the first embodiment, it is possible to detect whether the worker is working at the correct work position.

  In the above description, the work position determination unit 405 indicates a case of determining whether the work position is correct. However, the present invention is not limited to this, and the work position determination unit 405 may determine whether the number of operations or the order is correct in addition to the above.

Embodiment 3 FIG.
In the first embodiment, the transmitter 2 is attached to the carriage 12, the plurality of receivers 3 are arranged at the production site, and the position detection unit 403 transmits the transmitter based on the reception intensity of the signals received by the plurality of receivers 3. The case where the position of 2 is detected is shown. On the other hand, in the third embodiment, the sheet-like uneven portion 5 is provided on the ground on which the carriage 12 moves, and the position detection unit 403b is based on the vibration pattern generated when the carriage 12 moves on the uneven portion 5. A method for detecting the position of the carriage 12 will be described.
FIG. 13 is a diagram showing a configuration example of a transmission side (functional unit excluding the receiver 3 and the control device 4) in the position detection system according to the third embodiment of the present invention, and FIG. 14 is a third embodiment of the present invention. It is a figure which shows the structural example of the control apparatus 4 in. In the position detection system according to the third embodiment shown in FIGS. 13 and 14, the transmitter 2 is removed from the position detection system according to the first embodiment shown in FIGS. The position detection unit 403 is changed to a position detection unit 403b. A plurality of receivers 3 may be a single receiver 3. Other configurations are the same, and the same reference numerals are given and description thereof is omitted.

  The concavo-convex portion 5 is a sheet-like member that has a concavo-convex pattern and is disposed on the ground on which the carriage 12 moves. The concavo-convex pattern is configured in a pattern that can identify the position of the carriage 12.

  The position detection unit 403b detects the position of the vibration detection unit 1 that is the transmission source of the signal from the vibration information included in the signal received by the receiver 3 and the identification result by the identification unit 402. The position detection unit 403b performs the above detection by machine learning. At this time, the position detection unit 403b detects the position of the vibration detection unit 1 from the vibration information included in the signal from the vibration detection unit 1 that is the detection target identified by the identification unit 402. The position detection unit 403b previously learns a vibration pattern from the vibration detected by the vibration detection unit 1 when the carriage 12 moves on the uneven portion 5 by an administrator (such as a team leader at the production site).

As described above, the uneven portion 5 is provided on the ground on which the carriage 12 moves, and the position detection unit 403b detects the carriage from the vibration pattern detected by the vibration detection unit 1 when the carriage 12 moves on the uneven portion 5. Since the position of 12 is detected, the position of the carriage 12 and the working state of the carriage 12 or the work object 11 can be compared with the first embodiment without using the transmitter 2 with the single vibration detector 1. Can be detected.
This also improves the maintainability of the position detection system. That is, a button battery may be used in sensors such as the vibration detection unit 1 and the transmitter 2, and in this case, battery replacement is necessary. In particular, the transmitter 2 used as a position beacon is likely to consume a battery. Further, the sensor requires parameter settings for functioning as vibration detection or a position beacon. Therefore, by using only the single vibration detection unit 1 without using the transmitter 2, the frequency of battery replacement and the number of parameter settings can be suppressed, and the maintainability is improved.

Embodiment 4 FIG.
In the first and third embodiments, the vibration detection unit 1 is attached to the carriage 12, and in the second embodiment, the vibration detection unit 1b is attached to the work object 11. On the other hand, a vibration detection unit similar to the vibration detection units 1 and 1b may be attached to an operator or a tool to perform progress management at the production site.

For example, when a vibration detection unit is attached to an operator's arm and parts are insufficient in the assembly process, the vibration detection unit detects the vibration by causing the operator to perform a predetermined operation (such as shaking) the arm. And the control apparatus 4 recognizes a component shortage from the vibration pattern, and alert | reports outside with a display or an audio | voice.
Further, for example, a vibration detection unit is attached to the driver, and the vibration detection unit detects vibration of screw tightening by the driver. Then, the control device 4 calculates the screw tightening time and the number of rotations by the driver from the vibration pattern (amplitude, period, etc.), and if the screw tightening is completed within a predetermined time or less than the predetermined number of rotations, no tightening is performed. Is determined and notified to the outside by display or voice.

Finally, an example of the hardware configuration of the control device 4 according to Embodiment 1-4 will be described with reference to FIG. In the following, a hardware configuration example of the control device 4 in the first embodiment is shown, but the same applies to the second to fourth embodiments.
The functions of the identification unit 402, the position detection unit 403, and the work state detection unit 404 in the control device 4 are realized by the processing circuit 51. As shown in FIG. 15A, the processing circuit 51 is a CPU (Central Processing Unit, a central processing unit, a processing unit that executes a program stored in the memory 53, as shown in FIG. 15B, even if it is dedicated hardware. , An arithmetic device, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor) 52.

  When the processing circuit 51 is dedicated hardware, the processing circuit 51 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field Programmable Gate). Array) or a combination thereof. The functions of the respective units of the identification unit 402, the position detection unit 403, and the work state detection unit 404 may be realized by the processing circuit 51, or the functions of the respective units may be collectively realized by the processing circuit 51.

  When the processing circuit 51 is the CPU 52, the functions of the identification unit 402, the position detection unit 403, and the work state detection unit 404 are realized by software, firmware, or a combination of software and firmware. Software and firmware are described as programs and stored in the memory 53. The processing circuit 51 implements the functions of each unit by reading and executing the program stored in the memory 53. Further, it can be said that these programs cause the computer to execute the procedures and methods of the identification unit 402, the position detection unit 403, and the work state detection unit 404. Here, the memory 53 is, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like. Applicable.

  In addition, about each function of the identification part 402, the position detection part 403, and the work state detection part 404, a part may be implement | achieved by exclusive hardware and a part may be implement | achieved by software or firmware. For example, the function of the identification unit 402 is realized by the processing circuit 51 as dedicated hardware, and the processing circuit 51 reads and executes the program stored in the memory 53 for the position detection unit 403 and the work state detection unit 404. By doing so, the function can be realized.

  As described above, the processing circuit 51 can realize the above-described functions by hardware, software, firmware, or a combination thereof.

  In the present invention, within the scope of the invention, any combination of the embodiments, any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  The position detection system according to the present invention can detect a work state, and detects a position of a moving body on which the work object is placed and a work state with respect to the moving body or the work object placed on the moving body. Suitable for use in position detection systems and the like.

  DESCRIPTION OF SYMBOLS 1 Vibration detection part, 1b Vibration detection part (2nd vibration detection part), 2 Transmitter, 3 Receiver, 4 Control apparatus, 5 Uneven part, 11 Work object, 12 Moving body, 51 Processing circuit, 52 CPU, 53 memory, 401 storage unit, 402 identification unit, 403, 403b position detection unit, 404 work state detection unit, 405 work position determination unit.

Claims (5)

A vibration detection unit that is attached to a movable body on which a work object is placed, detects vibration, and transmits a signal having vibration information and identification information indicating the detected vibration;
A transmitter attached to the mobile body and periodically transmitting a signal having identification information;
A plurality of receivers for receiving signals;
An identification unit for identifying a transmission source of the signal from identification information included in the signal received by the receiver;
From the received intensity of the signal received by the receiver and the identification result by the identification unit, a position detection unit that detects the position of the transmitter that is the transmission source of the signal;
From the vibration information included in the signal received by the receiver, the identification result by the identification unit, and the detection result by the position detection unit, the movable body or the movement to which the vibration detection unit that is the transmission source of the signal is attached A position detection system comprising: a work state detection unit that detects a work state of the work object placed on the body. A vibration detection unit that is attached to a movable body on which a work object is placed, detects vibration, and transmits a signal having vibration information and identification information indicating the detected vibration;
A sheet-like uneven portion disposed on the ground on which the moving body moves; and
A receiver for receiving the signal;
An identification unit for identifying a transmission source of the signal from identification information included in the signal received by the receiver;
A position detection unit that detects a position of the vibration detection unit that is a transmission source of the signal from vibration information included in the signal received by the receiver and the identification result by the identification unit;
From the vibration information included in the signal received by the receiver, the identification result by the identification unit, and the detection result by the position detection unit, the movable body or the movement to which the vibration detection unit that is the transmission source of the signal is attached A position detection system comprising: a work state detection unit that detects a work state of the work object placed on the body. The position detection according to claim 2, wherein the position detection unit machine-learns a vibration pattern in advance from vibration detected by the vibration detection unit when the moving body moves on the uneven portion. system. A plurality of second vibration detectors attached to the work object, detecting vibrations, and transmitting a signal having vibration information and identification information indicating the detected vibrations;
The work object to which the second vibration detection unit, which is a transmission source of the signal, is attached from the vibration information included in the signal received by the receiver, the identification result by the identification unit, and the detection result by the position detection unit. The position detection system according to any one of claims 1 to 3, further comprising: a work position determination unit that determines whether the work position with respect to the object is correct or not. The work position determination unit calculates a vibration pattern from the vibration detected by the second vibration detection unit in advance when the work is performed at the correct work position and when the work is performed at the wrong work position. The position detection system according to claim 4, wherein learning is performed.

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