WO2018061504A1

WO2018061504A1 - Control device, system, control method, and program

Info

Publication number: WO2018061504A1
Application number: PCT/JP2017/029429
Authority: WO
Inventors: 豪青木
Original assignee: オムロン株式会社
Priority date: 2016-09-30
Filing date: 2017-08-16
Publication date: 2018-04-05
Also published as: JP2018055611A; JP6330882B2

Abstract

A control device is provided with: an acquisition unit (103) for acquiring biological information (107) measured from an operator; a storage unit for storing the biological information according to a skill level for each skill level of an operation; a determination unit for comparing a characteristic amount (Cri) of the biological information acquired during an operation with the characteristic amount of biological information (BM1) for each skill level in the storage unit, and determining, on the basis of the result of the comparison, the skill level to which the acquired biological information corresponds; and a decision unit for deciding the control amount of a drive unit on the basis of the determined skill level.

Description

Control device, system, control method and program

This disclosure relates to a control device, a system, a control method, and a program, and more particularly, to a control device, a system, a control method, and a program that control a drive unit for production.

In the factory production line, workers may perform work in cooperation with robots and other machines. In this case, it is desired to control a machine such as a robot in accordance with the level of skill of the worker for the work.

Patent Document 1 (Japanese Patent Application Laid-Open No. 2015-230621) holds (stores) in advance in a personal information holding unit the skill level and physical characteristics of an operator's work when the worker and the robot work together. In addition, during the work, a configuration is disclosed in which the skill level of the worker is acquired by referring to the stored personal information, and the behavior (position and orientation and activation) of the robot is set according to the acquired skill level. .

Japanese Patent Laying-Open No. 2015-230621

The configuration of Patent Literature 1 is cumbersome because it is necessary to perform processing for acquiring and storing (storing) information on skill level for each worker in advance. In addition, when the configuration of Patent Document 1 is introduced into a large-scale work process with many workers or a work process in which workers are frequently replaced, the cost (time, There are problems such as an increase in memory capacity.

Therefore, it is desired to control the drive unit of the production line according to the skill level of the operator's work.

A control device for controlling a drive unit for production according to an aspect of the disclosure stores an acquisition unit that acquires biological information measured from an operator, and biological information corresponding to the skill level for each skill level of the work The biometric information acquired by the acquisition unit at the time of work and the biometric information possessed by the biometric information for each skill level of the storage unit are compared, and the acquired based on the comparison result A determination unit that determines which skill level the biological information corresponds to, and a determination unit that determines a control amount of the drive unit based on the determined skill level.

Preferably, the biological information includes information indicating the movement of the body during work.
Preferably, the information processing apparatus further includes a storage unit that acquires, for each skill level, a feature amount of biometric information corresponding to the skill level and stores the feature amount in the storage unit.

Preferably, the feature amount stored in the storage unit includes a feature amount included in the biological information corresponding to the skill level determined by the determination unit.

The control device further includes a work information acquisition unit that acquires work information indicating a movement of a work handled by an operator during work, and a work information storage for storing work information corresponding to the skill level for each skill level The feature quantity of the work information acquired at the time of the work of the operator and the feature quantity of the work information for each skill level of the work information storage section are compared, and based on the comparison result, A work information determination unit that determines which skill level the information corresponds to, and the determination unit performs control based on the skill level determined by the determination unit and the skill level determined by the work information determination unit Determine the amount.

Preferably, the feature amount includes a feature amount that can identify the skill level.
Preferably, the determination unit determines the skill level every predetermined time, and the control device statistics the skill level determined every predetermined time and outputs statistical information.

A system according to another aspect of the present disclosure includes a drive unit for production, a sensor that measures the biological information of the worker, and a control device that controls the drive unit. The control device includes an acquisition unit that acquires biological information output from the sensor, a storage unit that stores biological information corresponding to the skill level of each work skill level, and a biological information acquired when the operator works Judgment to determine which skill level the acquired biometric information corresponds to by comparing the feature value of the information with the feature value of the biometric information for each skill level of the storage unit And a determination unit that determines a control amount of the drive unit based on the determined skill level.

A control method according to still another aspect of the present disclosure is a method of controlling a drive unit for production, the step of acquiring biological information measured from an operator, and a biological body acquired at the time of the operator's work The step of comparing the feature quantity of the information with the feature quantity of the biometric information for each skill level stored in the storage unit, and based on the comparison result, the acquired biometric information corresponds to any skill level And a step of determining a control amount of the drive unit based on the determined skill level.

A program according to still another aspect of the present disclosure is a program for causing a computer to execute a method of controlling a drive unit for production, and the method acquires biological information measured from an operator. And the step of comparing the feature amount of the biometric information acquired at the time of the work of the operator with the feature amount of the biometric information stored for each skill level stored in the storage unit, and the acquired based on the comparison result And a step of determining to which skill level the biometric information corresponds to, and a step of determining a control amount of the drive unit based on the determined skill level.

制御 Control the drive unit for production according to the skill level of the worker's work.

1 is a diagram schematically illustrating an overall configuration of a system 1 according to a first embodiment. It is a figure which shows typically the hardware constitutions of the control computer 100 of FIG. It is a figure which shows schematically the structure of the robot 60 of FIG. It is a figure which illustrates the biometric information concerning Embodiment 1. FIG. It is a figure which illustrates the biometric information concerning Embodiment 1. FIG. FIG. 2 is a diagram schematically illustrating a functional configuration of a control computer 100 according to the first embodiment. 4 is a process flowchart of “learning mode” according to the first exemplary embodiment; FIG. 7 is a diagram for explaining a method of determining an effective pattern EP and threshold values TH1 to TH3 according to the first embodiment. 4 is a process flowchart of “operation mode” according to the first exemplary embodiment; It is a figure which shows typically the other example of the determination method of the threshold value in the learning mode concerning Embodiment 1. FIG. FIG. 10 is a diagram showing a display example of the recording content of skill level according to the second embodiment. It is a figure which shows the example of a display of the change of the moving speed of the hand during work. It is a figure which shows the example of a display of the change of the acceleration concerning the movement of the hand during work. FIG. 6 is a diagram schematically illustrating a functional configuration of a control computer 100 according to a fourth embodiment. 10 is a process flowchart of “learning mode” according to the fourth exemplary embodiment; 10 is a process flowchart of “operation mode” according to the fourth exemplary embodiment;

Embodiments of the present invention will be described in detail with reference to the drawings. In the following drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated.

[Embodiment 1]
(System configuration)
FIG. 1 is a diagram schematically illustrating an overall configuration of a system 1 according to the first embodiment. A production line such as FA (Factory Automation) includes one or a plurality of units 200 used for the work of the worker 10, a control computer 100 such as a PLC (Programmable Logic Controller), and a management computer 300 operated by the administrator. . These units communicate with each other by wire or wireless. The control computer 100 can communicate with the terminal 11 carried by the worker 10, but the management computer 300 may communicate with the terminal 11. In addition, the system 1 should just be installed in a production site, and the installation object is not limited to a production line.

The unit 200 includes an industrial robot 60 (hereinafter simply referred to as a robot 60) that cooperates with the worker 10 and a sensor 50 that detects human biological information in a non-contact manner. In FIG. 1, the worker 10 performs a work of transporting the workpiece W in cooperation with the robot 60, for example.

In the first embodiment, the level of skill of the work (hereinafter referred to as skill level) is determined from the “biological information” at the time of the work of the worker 10, and the control amount of the robot 60 is determined using the determined skill level. To do.

Sensor 50 has a function of measuring changes in body movement over time (posture change, movement, etc.). Specifically, it includes a distance image sensor as a hardware circuit, and a microcomputer that executes a software program for estimating the movement of the human body from the output of the distance image sensor. The distance image sensor acquires a distance image by analyzing an infrared pattern obtained by irradiating an object (human body) with infrared rays. The microcomputer collates the distance image with a pre-registered pattern image, and based on the result of the collation, each part of the body (head, torso, shoulders, arms, waist, legs, hands, fingers, etc.) in the distance image. The position (coordinate value) is detected. And the change with time of the position of each part of the body is detected from the distance image acquired in time series. As described above, the sensor 50 transmits the biological information 107 indicating the temporal change in the movement of the worker's body located in the infrared irradiation range to the control computer 100.

Note that the method of measuring the movement of the body is not limited to the method of measuring from the distance image such as the sensor 50. In FIG. 1, the sensor 50 is provided for each unit 200, but one sensor 50 may be shared by a plurality of units 200.

Further, the biological information 107 is not limited to information indicating the change of the body movement over time. For example, the biological information 107 may further include information indicating changes over time such as the body temperature, the respiratory rate, the pulse rate, and the blood pressure of the worker 10. The body temperature and the respiratory rate can be measured from an infrared image captured by the sensor 50. Further, the pulse, blood pressure, and the like are measured by a wristwatch type device carried by the operator 10, and the device transmits measurement data to the control computer 100.

(Configuration of control computer 100)
FIG. 2 is a diagram schematically showing a hardware configuration of the control computer 100 of FIG. Referring to FIG. 2, control computer 100 includes a CPU (Central Processing Unit) 110 that is an arithmetic processing unit, a memory 112 and a hard disk 114 as a storage unit, and a timer 113 that measures time and outputs timing data to CPU 110. An input interface 118, a display controller 120 for controlling the display 122, a communication interface 124, and a data reader / writer 126. These units are connected to each other via a bus 128 so that data communication is possible.

The CPU 110 executes various calculations by executing a program (code) stored in the hard disk 114. The memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory), and in addition to program data read from the hard disk 114, biological information received from the sensor 50, and work Data etc. are stored.

The input interface 118 mediates data transmission between the CPU 110 and an input device such as a keyboard 121, a mouse (not shown), a touch panel (not shown). That is, the input interface 118 accepts an operation command given by the user operating the input device.

The communication interface 124 mediates data transmission between the unit 200 (the sensor 50, the robot 60), the management computer 300, or the terminal 11. The data reader / writer 126 mediates data transmission between the CPU 110 and the memory card 123 that is a recording medium.

(Configuration of robot 60)
FIG. 3 is a diagram schematically showing the configuration of the robot 60 of FIG. The robot 60 includes an arm 63 that freely rotates to grip and transfer the workpiece W, a drive unit 62 that rotates the arm 63 to transfer the workpiece W, and a controller that controls the drive unit 62. 61 is provided. The work content is not limited to the conveyance of the work W, and may be an attachment work of the work W to the main body when the work W is a part.

The drive unit 62 is, for example, a servo motor. The arm 63 of the robot 60 is connected to a drive unit 62 (rotary shaft of a servo motor). An encoder (not shown) is attached to the drive unit 62. The encoder detects a physical quantity indicating the operating state of the drive unit 62, generates a feedback signal indicating the detected physical quantity, and outputs the feedback signal to the controller 61 corresponding to the servo driver. The feedback signal includes, for example, position information about the rotation position (angle) of the rotation shaft of the motor of the drive unit 62, information on the rotation speed of the rotation shaft, and the like. In the first embodiment, the rotational position and rotational speed of the rotating shaft of the motor are detected as physical quantities indicating the operating state of the drive unit 62 (servo motor). In addition to or instead of the rotation position and rotation speed, acceleration, change amount (movement amount), change direction (movement direction), and the like may be detected.

The controller 61 receives the command signal 106 from the control computer 100 and the feedback signal output from the encoder. The controller 61 drives the drive unit 62 based on the command signal 106 from the control computer 100 and the feedback signal from the encoder.

The controller 61 sets a command value related to the operation of the drive unit 62 based on the command signal 106 from the control computer 100. Furthermore, the controller 61 drives the drive unit 62 so that the operation of the drive unit 62 follows the command value. Specifically, the controller 61 controls the drive current of the drive unit 62 (servo motor) according to the command value.

Thus, when the robot 60 transports the workpiece W gripped by the arm 63 in cooperation with the operator 10, the control amount of the arm 63 (angle, direction, speed, etc. for rotating the arm) is as follows. The controller 61 and the drive unit 62 are variably controlled remotely by a command signal 106 from the control computer 100.

(Biological information and features)
4 and 5 are diagrams illustrating the biological information according to the first embodiment. In the first embodiment, the skill level of the work is determined using the feature value of the biological information 107. In order to simplify the description, information on temporal changes in body movement included in the biological information 107 (information on temporal changes in position, movement speed, movement acceleration, movement distance of each part of the body) is included. Use the feature quantity. It should be noted that the skill level can be determined in the same manner by using a feature amount included in information indicating changes with time such as body temperature, pulse, blood pressure, and the like.

The biological information 107 includes, for example, a change in the amount of movement of the head (specifically, a change in the position of the head over time). FIG. 4 is a graph showing a temporal change in the amount of movement of the head (change in the position of the head over time) when the worker 10 is an expert. Similarly, FIG. The graph shows the change over time in the position of the head when the user is a beginner (such as a beginner). These graphs are data acquired by the inventors' experiments.

In the graphs of FIGS. 4 and 5, the movement amount of the head of the worker 10 is taken on the vertical axis, and the time is taken on the horizontal axis. In the case of the skilled person in FIG. 4, the amount of head movement converges within a certain range. On the other hand, in the case of the unskilled person in FIG. 5, the amount of head movement does not converge to a certain range over time. Therefore, the inventor has learned from experiments that it is possible to estimate the degree of skill of the worker 10 from the movement of each part of the body of the worker 10 acquired during the work.

(Functional configuration of control computer 100)
FIG. 6 is a diagram schematically illustrating a functional configuration of the control computer 100 according to the first embodiment. The function shown in FIG. 6 includes a function of determining the control amount of the drive unit 62 from the biological information 107 of the worker. The operation mode of the control computer 100 according to the first embodiment includes a “learning mode” and an “operation mode”. Referring to FIG. 6, the control computer 100 includes a learning unit 101, an acquisition unit 103 that acquires biological information 107 from the sensor 50, a determination unit 104 that determines the skill level of the work of the worker 10, and a control amount determination unit 105. Is provided. The control computer 100 also includes an information memory 102 corresponding to a storage unit (such as the hard disk 114).

In the first embodiment, in the “learning mode”, the learning unit 101 stores the biological information 107 acquired by the acquisition unit 103 in the information memory 102 and identifies the skill level based on the stored biological information 107. A quantity (hereinafter also referred to as an identification feature quantity) is determined. Further, in the “operation mode”, the determination unit 104 includes a feature amount corresponding to the identification feature amount among a plurality of types of feature amounts (hereinafter, also referred to as acquired feature amounts) included in the biological information 107 acquired from the worker 10. And the threshold value are compared, and based on the comparison result, it is determined to which skill level the acquired biological information 107 corresponds. The control amount determination unit 105 determines the control amount of the drive unit 62 based on the determined skill level.

Here, the skill level is classified into three categories: high (hereinafter referred to as high skill level), medium (hereinafter referred to as medium skill level), and low (hereinafter referred to as low skill level), but the classification is limited to three. The number may be two, or four or more.

Referring to FIG. 6, information memory 102 includes areas E1, E2, E3, and E4. The area E1 is a storage area for storing high skill level information 151, medium skill level information 152, and low skill level information 153. The area E2 is an area for storing the learning result of the “learning mode”. The learning result includes a pattern EP indicating a combination of one or more identification feature values and thresholds TH1, TH2, and TH3 for determining the skill level. Areas E3 and E4 correspond to work areas.

The high skill level information 151 includes biometric information BM1 that is a plurality of pieces of biometric information 107 acquired at the time of work of the worker 10 who is highly skilled in the “learning mode”. The high skill level information 151 further includes a label LB1 indicating “high skill level” in association with each biological information BM1, and a plurality of acquired feature amounts CRi (i = 1, 2, 3,...) Acquired from the biological information BM1. ., N) are included.

Similarly, the medium skill level information 152 includes biometric information BM1 that is a plurality of pieces of biometric information 107 acquired at the time of the work of the worker 10 having the medium skill level in the “learning mode”. The medium skill level information 152 further includes a label LB2 indicating “medium skill level” in association with each biological information BM1, and a plurality of acquired feature amounts CRi (i = 1, 2, 3,...) Acquired from the biological information BM2. ., N) are included.

Similarly, the low skill level information 153 includes biometric information BM1 that is a plurality of pieces of biometric information 107 acquired at the time of the work of the worker 10 who has a low skill level in the “learning mode”. The low skill level information 153 further includes a label LB3 indicating “low skill level” in association with each biological information BM1, and a plurality of acquired feature amounts CRi (i = 1, 2, 3,...) Acquired from the biological information BM1. ., N) are included.

6 may be deleted when the learning mode ends. In this case, the capacity required for the information memory 102 can be reduced.

The acquisition unit 103 controls the communication interface 124 to acquire (receive) the biological information 107 from the sensor 50, and output the acquired biological information 107 to each unit.

When the operation mode of the control computer 100 is “learning mode”, the learning unit 101 inputs biometric information 107 for each skill level from the acquisition unit 103, and associates the input biometric information 107 with each skill level in the information memory. 102 in the area E1. Thereby, in the “learning mode”, a plurality of pieces of biological information 107 are accumulated (stored) in the information memory 102 for each skill level. The learning unit 101 is an example of an “accumulation unit” that accumulates the biological information 107 in the information memory 102 for each skill level.

Further, when in the “learning mode”, the learning unit 101 determines one or more of the acquired feature amounts CRi from the biological information BM1 of the high skill level information 151 of the information memory 102 as the identification feature amount CRi. In addition, the learning unit 101 stores the combination including the determined one or more identification feature amounts CRi in the region E2 as the effective pattern EP. The effective pattern EP indicates a combination of one or more identification feature amounts CRi effective for identifying the skill level. The learning unit 101 includes a combination of acquired feature amounts CRi corresponding to a combination of the identification feature amounts CRi of the effective pattern EP among the acquired feature amounts CRi of the high skill level information 151, the medium skill level information 152, and the low skill level information 153. Is identified. Then, based on the specified combination value, threshold values TH1, TH2, and TH3 are acquired and stored in the region E2.

The determination unit 104 acquires the biological information 107 of the worker 10 engaged in the work from the acquisition unit 103 when the operation mode of the control computer 100 is the “operation mode”. The determination unit 104 identifies a combination of feature amounts CRi corresponding to the combination of the identification feature amounts CRi of the effective pattern EP from the feature amounts CRi included in the biological information 107. The determination unit 104 compares the combination value of the specified feature amount CRi with threshold values TH1, TH2, and TH3. Then, based on the comparison result, it is determined to which skill level the obtained biological information 107 corresponds.

In Embodiment 1, each of the threshold values TH1, TH2, and TH3 for each skill level is set as a width (range) of values having an upper limit value and a lower limit value. The determination unit 104 determines 'high skill level' when the value of one or more acquired feature values CRi corresponding to the effective pattern EP of the biological information 107 acquired from the worker 10 is within the range of the threshold value TH1. When it is within the range of the threshold value TH2, it is determined as “medium skill level”, and when it is within the range of the threshold value TH3, it is determined as “low skill level”.

Control amount determination unit 105 determines the control amount of drive unit 62 based on the skill level determined by determination unit 104 in the “operation mode”. The control amount determination unit 105 generates a command signal 106 indicating the determined control amount and transmits the command signal 106 to the controller 61 of the robot 60 via the communication interface 124.

(Change of information memory 102)
Each skill data in the information memory 102 may be variable. For example, when the type of the work W is changed, the “learning mode” may be performed and the data in the information memory 102 may be changed.

Further, in the “operation mode”, when the determination of “high skill level” continues for N times (however, N> 2) for the same worker 10, the biological information 107 of the worker 10 is stored in the high skill level information. 151, the biometric information BM1 is added to the area E1 of the information memory 102, and the learning unit 101 may acquire the effective pattern EP and the threshold values TH1, TH2, and TH3 again based on the information of the added area E1. Good. Thereby, the identification feature amount CRi indicated by the effective pattern EP can be changed to one having a higher identification rate. Further, the threshold values TH1, TH2, and TH3 can be changed to values that make the skill level determination accuracy more accurate.

(Processing flowchart)
The processing of the above “learning mode” and “operation mode” will be described. In each unit 200 of FIG. 1, the “learning mode” and “operation mode” processes described below are similarly performed.

FIG. 7 is a process flowchart of the “learning mode” according to the first exemplary embodiment. FIG. 8 is a diagram for explaining a method of determining the effective pattern EP and the thresholds TH1 to TH3 according to the first embodiment. FIG. 9 is a process flowchart of the “operation mode” according to the first exemplary embodiment. 7 and 9 is stored as a program in a storage unit (memory 112, hard disk 114, memory card 123, etc.) of the control computer 100. CPU110 reads a program from a memory | storage part and performs it. Here, in the production line, when the worker 10 finishes the transfer operation of the robot 60 and the workpiece W, the transfer operation of the next workpiece W is similarly repeated. The production line includes a sensor (not shown) that detects the completion of each transfer operation. For example, a proximity switch that detects that the workpiece W has moved to a predetermined position on the production line. The control computer 100 processes the detection signal from the sensor as a timing signal that indicates the repetitive timing of each transfer operation.

Note that the control computer 100 that implements the “learning mode” may be the same as or different from the control computer 100 that implements the “operation mode”. If they are different, the control computer 100 in the “operation mode” sends the high skill level information 151, the medium skill level information 152 and the low skill level information 153, and the effective pattern EP and the threshold values TH1 to TH3 to other control computers. 100 and received in the areas E1 and E2 of the information memory 102. Alternatively, these pieces of information are read from the memory card 123 and stored in the areas E1 and E2 of the information memory 102.

("Learning mode" processing)
Referring to FIG. 7, in the “learning mode”, the controller 61 is given a command signal 106 indicating a standard control amount. The acquisition unit 103 acquires the biological information 107 from the sensor 50 when the skilled worker 10 is working (step S3), and the learning unit 101 acquires the feature amount CRi included in the biological information 107 from the acquisition unit 103 (step S3). S4). The learning unit 101 stores the acquired feature amount (acquired feature amount) CRi in the information memory 102 with a label indicating the skill level of the worker 10 (step S5).

(Acquisition of feature amount (step S4))
Processing for acquiring a feature amount from the biological information 107 will be described. The learning unit 101 processes the biological information 107 from the acquisition unit 103, and extracts feature amounts indicating changes over time in the movement of each part of the body, as shown in FIG. 4 or FIG. Each part of the body includes the head, torso, shoulders, arms, waist, legs, hands, fingers, and the like. The learning unit 101 acquires feature quantities (changes in movement over time) of each part. Note that the feature amount may be a change over time in the relative positional relationship between different parts of the body (for example, the positional relationship indicated by the distance between the head and the arm).

By repeating the processes in steps S3 to S5 for the workers 10 having different skill levels, the high skill level information 151, the medium skill level information 152, and the low skill level information 153 are registered in the area E1. . Here, the administrator inputs the labels LB 1, LB 2, and LB 3 indicating the type of skill level from the keyboard 121.

(Analysis process (step S6))
The learning unit 101 performs an analysis process on the information stored in the area E1 (step S6). The analysis process includes a process (steps S7, S8 and S9) for determining the effective pattern EP.

First, as shown in FIG. 8, the learning unit 101 generates a plurality of combinations of acquired feature amounts CRi of the high skill level information 151 of the area E1 in the work area E3 (Step S7). An identification rate for identifying the skill level for each pattern is calculated (step S8). In order to simplify the calculation of the identification rate, the pattern uses a representative value of the acquired feature amount CRi. This representative value may include, for example, an average value, median value, integral value, variance value, mode value, and the like of the amount of change in movement (for example, the amount of head movement). Note that the types of representative values are not limited to these.

The learning unit 101 calculates the above-described identification rate by calculation according to a known pattern classification method (step S8). In the first embodiment, for example, the discrimination rate of each pattern is calculated in accordance with the discrimination function of SVM (support vector machine) (see area E3 in FIG. 8). The calculation of the identification rate is not limited to a method according to SVM, and may be a calculation method according to NN (neural network).

The learning unit 101 identifies a pattern corresponding to, for example, the maximum identification rate among the identification rates calculated for each pattern (see the region E3 in FIG. 8), and determines the identified pattern as an effective pattern EP. (Step S9). Referring to FIG. 8, since the combination with the maximum identification rate (= 0.9) is specified as (CR1, CR2), here, the combination of the identification features CRi of the effective pattern EP is (CR1, CR2). Is determined.

Learning unit 101 acquires threshold values TH1, TH2, and TH3 based on the combination of feature amount CR1 and feature amount CR2 indicated by the determined effective pattern EP (step S10).

Specifically, the learning unit 101 defines a two-dimensional plane based on the combination (CR1, CR2) of the identification feature amounts CRi of the effective pattern EP in the work area E4. Then, the combination values (CR1, CR2) of the acquired feature amounts CR1 and CR2 corresponding to the biological information BM1 of the high skill level information 151 of the area E1 are plotted on the specified plane (marks in the area E4 in FIG. 8). X ′). Further, on this plane, the combination values (CR1, CR2) of the feature amounts CR1 and CR2 corresponding to each biological information BM1 of the medium skill level information 152 in the area E1 are plotted (see the mark “Y” in the area E4 in FIG. 8). To do. Further, on this plane, the combination values (CR1, CR2) of the feature amounts CR1 and CR2 corresponding to each biological information BM1 of the low skill level information 153 of the region E1 are plotted (see the mark “Z” in the region E4 in FIG. 8). To do.

The learning unit 101 is a region where the combination values (CR1, CR2) of the high skill level, the medium skill level, and the low skill level are plotted on the two-dimensional plane of the region E4 based on the distribution state of the plot values of each skill level. Boundary lines B1, B2 and B3 are identified. The learning unit 101 determines threshold values TH1, TH2, and TH3 based on the values indicated by the boundary lines B1, B2, and B3. For example, the learning unit 101 determines the combination value (CR1, CR2) near the boundary line B1 as the threshold value TH1 for determining the high skill level. Similarly, the combination value (CR1, CR2) near the boundary line B2 is determined as the threshold value TH2 for determining the intermediate skill level. Similarly, the combination value (CR1, CR2) near the boundary line B3 is determined as the threshold value TH2 for determining the low skill level.

The learning unit 101 stores the determined effective pattern EP and the acquired threshold values TH1, TH2, and TH3 in the area E2 of the information memory 102 (step S11). Thus, the “learning mode” process ends.

In FIG. 7, since a sufficient number of pieces of biological information 107 are acquired for each skill level in step S3, it is not necessary to repeat the process of FIG. 7, but a sufficient number of pieces of biological information 107 have been acquired. If not, the process of FIG. 7 may be repeated.

Whether or not to repeat the process is determined based on the distribution situation on the two-dimensional plane. Specifically, it is determined whether or not a number of combination values (CR1, CR2) that can specify the boundary lines B1, B2, and B3 are plotted, and it is determined whether to repeat the processing based on the determination result. In the case of repeating the processing, the learning unit 101 returns to step S3 in FIG. 7 and performs subsequent processing (acquisition of biological information 107 according to each skill level (step S3), acquisition of feature amount CRi (step S4), Label addition (step S5) and analysis processing (step S6)) are performed in the same manner as described above.

Although a two-dimensional plane is defined in FIG. 8, the plane dimension is not limited to two dimensions. That is, this dimension is variable depending on the number of identification feature amounts CRi included in the effective pattern EP.

("Operation mode" processing)
The “operation mode” process will be described with reference to FIG. At the start of the “operation mode”, the effective pattern EP and the threshold values TH1, TH2, and TH3 are stored in the area E2 of the information memory 102. At the start of the “operation mode”, the controller 61 is given a command signal 106 indicating a standard control amount (corresponding to a medium skill level).

First, the acquisition unit 103 acquires the biological information 107 of the worker 10 on the production line from the sensor 50 (step S23).

The determination unit 104 acquires the feature amount (identification feature amount) of the set indicated by the effective pattern EP from the feature amount CRi included in the acquired biological information 107 of the worker 10 (step S25), and the acquired feature amount And the thresholds TH1, TH2, and TH3 stored in the information memory 102, the skill level corresponding to the biological information 107 is determined based on the comparison result, and the determination result is output (step S27). Thereby, the skill level of the operator 10 is determined.

As described above, the skill level is determined by comparing the value of the identification feature amount CRi included in the acquired biological information 107 with the threshold values TH1, TH2, and TH3, and comparing the value of the identification feature amount CRi with the high skill level of the region E1. This corresponds to a comparison with the value of the identification feature amount CRi included in each of the biometric information 107 of the medium skill level and the low skill level. Therefore, the skill level determination method is not limited to the comparison method with the threshold values TH1, TH2, and TH3. For example, the value of the identification feature amount CRi included in the acquired biological information 107 is plotted on the two-dimensional plane of the region E4, and based on the positional relationship between the plotted position and the boundary lines B1, B2, and B3, The degree may be determined.

The control amount determination unit 105 determines the control amount of the drive unit 62 based on the skill level indicated by the determination of the determination unit 104 (steps S29 to S35). For example, a case where the speed V of the arm 63 (V = α × V1, where V1 is a basic speed and α is a coefficient) is determined as the control amount will be described.

When it is determined that the determination result indicates the low skill level (“low” in step S29), the control amount determination unit 105 sets the coefficient α as (α <1) (step S31), and the determination result indicates the medium skill level. If it is determined that it is shown (“medium” in step S29), the coefficient α is set to (α = 1) (step S33), and if it is determined that the determination result indicates a high skill level (“high” in step S29), the coefficient α is set as (α> 1) (step S35).

Then, the control amount determination unit 105 calculates the speed V (V = α × V1) using the coefficient α set according to the determined skill level (step S37).

The control amount determination unit 105 generates a command signal 106 indicating the speed V that is the calculated control amount, and outputs it via the communication interface 124 (step S39). The acquisition of the control amount is not limited to such a calculation method. For example, a table in which a plurality of sets of skill levels and control amounts are registered is stored, the table is searched based on the skill levels determined in step S27, and the corresponding control amounts are read from the table. Good.

Based on the signal from the production line, the CPU 110 determines whether or not to end the repetitive work. When determining that the repetitive work is not to be ended, the CPU 110 returns to step S23 and repeats the subsequent processes, but ends the repetitive work. At the time (for example, when the operation of the production line itself is finished), the processing of FIG. 9 is finished.

Note that the process of FIG. 9 may be performed every predetermined time. For example, the CPU 110 may perform the process of FIG. 9 every time the above timing signal is input from the production line a predetermined number of times.

(Example of skill level classification and threshold setting)
FIG. 10 is a diagram schematically illustrating another example of the threshold value determination method in the learning mode according to the first embodiment. In FIG. 8, the threshold values TH1, TH2, and TH3 are acquired according to the distribution state of the combination values (CR1, CR2) of the two feature amounts that are the effective patterns EP in the two-dimensional plane. However, the acquisition method is not limited to this method. .

Referring to FIG. 10, a method for determining a threshold value TH for distinguishing between a group of high skill levels, a medium skill level, and a group of low skill levels when the effective pattern EP is composed of one feature amount CRi will be described. To do. The characteristic amount CRi for determining the threshold value TH indicates the amount of head movement.

In step S <b> 10, the learning unit 101 acquires the value of each feature amount CRi included in each of the biological information BM <b> 1 of the high skill level information 151, the medium skill level information 152, and the low skill level information 153 of the region E <b> 1. Perform the process of counting the number of times. FIG. 10 schematically shows the result of the counting process in a graph. In FIG. 10, the horizontal axis represents the value of the characteristic amount CRi (the average head movement amount (unit: m / frame)), and the vertical axis represents the frequency (count value) at which each value is acquired. . The learning unit 101 can determine, for example, that the value corresponding to the boundary dividing the high / medium skill level and the low skill level is 0.017 (m / frame) from the count processing result (see FIG. 10). Therefore, the learning unit 101 can determine 0.017 (m / frame) as the threshold value TH.

[Embodiment 2]
In the second embodiment, a method for managing the skill level of the worker 10 will be described. The control computer 100 records (stores) the skill level determined by the determination unit 104 for each worker 10 in a storage unit such as the hard disk 114, and outputs (displays) the recorded content. FIG. 11 is a diagram illustrating a display example of the recording content of the skill level according to the second embodiment.

The CPU 110 stores the determined skill level for each worker 10 in the storage unit in association with the number of work days (first day, second day, third day,...). Here, the association period is not limited to every day, and may be every few hours or every week, for example.

CPU 110 performs statistical processing of the skill level of each worker 10 (for example, calculation of an average value, a variance value, the number of appearances (frequency) of each skill level, and the like) from the stored association information, and is obtained Display data based on the statistical value is created and driven to the display 122 according to the display data. Thereby, for example, a graph as shown in FIG. 11 is displayed on the display 122.

11 can provide the manager with information indicating the skill level of each worker 10 and the change in skill level. The administrator can use the statistical information for process management or production management. For example, the manager adjusts the work time zone of the worker 10 so that a person with high skill and a person with low skill work in the same time zone. As described above, according to the second embodiment, information on the skill level of the worker 10 can be provided as a support tool for leveling work and improving productivity. Note that the screen of FIG. 11 may be displayed on the management computer 300.

[Embodiment 3]
In the third embodiment, information relating to the feature amount or the skill level is provided to the worker 10 via the terminal 11. FIG. 12 is a diagram illustrating a display example of changes in the moving speed of the hand during work. FIG. 13 is a diagram illustrating a display example of a change in acceleration according to movement of a hand during work. In Embodiment 3, the combination value (CR1, CR2) of the identification feature amount indicated by the effective pattern EP indicates (hand movement speed, hand movement acceleration).

The CPU 110 acquires the identification feature amounts CR1 and CR2 of the worker 10 when the work W is transported. Then, the CPU 110 displays display data for displaying the acquired identification feature value CR1 and the highly skilled person's feature value CR1 in association with each other, and displays the acquired identification feature value CR1 and the highly skilled person's feature value CR1 in association with each other. Display data to be generated, and the generated display data is transmitted to the terminal 11. The terminal 11 displays an image (see FIGS. 12 and 13) according to the received display data.

The screen of FIG. 12 or FIG. 13 visually provides the worker 10 with the current skill level, information indicating changes in the skill level, the size of the gap between the high skill level of his / her skill level, and the like. can do. In addition, the worker 10 can obtain a guideline for correcting his / her hand movement to a highly skilled movement from the provided information. As described above, according to the third embodiment, it is possible to provide the worker 10 with a support tool for matching the movement of the body during work with the movement of the highly skilled worker.

[Embodiment 4]
In the fourth embodiment, the skill level is determined from the change in the movement of the workpiece W over time. In each of the above embodiments, the skill level is determined using the biological information 107 of the worker 10, but in the fourth embodiment, the movement of the workpiece W also changes according to the change in the movement of the worker 10's body. Focusing on the points, the skill level is determined from the change in the movement of the workpiece W.

Specifically, the production line includes a sensor 50A that measures the movement of the workpiece W having the same function as the sensor 50. The sensor 50A detects (measures) the workpiece information 107A indicating the change in the movement of the workpiece W over time. As the feature amount of the work information 107A, a change with time of the movement of each part of the work W (change with time such as position, moving speed, moving acceleration, etc.) can be used. The sensor 50A is provided independently of the sensor 50, but the sensor 50 may have the function of the sensor 50A.

FIG. 14 is a diagram schematically illustrating a functional configuration of the control computer 100 according to the fourth embodiment. FIG. 15 is a process flowchart of the “learning mode” according to the fourth embodiment. FIG. 16 is a process flowchart of the “operation mode” according to the fourth exemplary embodiment. In the flowchart in FIG. 15, step S3 in FIG. 7 is changed to step S3a, but the other steps are the same as in FIG. In the flowchart of FIG. 16, step S23 of FIG. 9 is changed to step S23a, but other steps are the same as those of FIG. Therefore, in FIG. 15 and FIG. 16, the changed steps S3a and S23a will be described, and description of other processes will not be repeated.

Note that the processing of the flowcharts of FIGS. 15 and 16 is stored as a program in a storage unit (memory 112, hard disk 114, memory card 123, etc.) of the control computer 100. CPU110 reads a program from a memory | storage part and performs it.

Referring to FIG. 14, the control computer 100 uses the acquisition unit 103A that acquires the workpiece information 107A from the sensor 50A and the workpiece information 107A that is acquired by the acquisition unit 103A in the “learning mode” to use the effective pattern EP1 and the threshold value TH11. , TH22 and TH33 are provided with a learning unit 101A and an information memory 102A. Further, the control computer 100 determines the skill level of the work information 107A acquired by the acquisition unit 103A in the “operation mode”, the determination unit 104A, and the drive unit 62 based on the determined skill level. A control amount determination unit 105A that determines a control amount and outputs a command signal 106A indicating the determined control amount to the controller 61.

Referring to FIG. 14, information memory 102 includes areas E11, E22, E33, and E44. The area E11 is a storage area for storing high skill level information 1511, medium skill level information 1521, and low skill level information 1531. The region E22 is a region for storing a pattern EP1 indicating one or more combinations of identification feature amounts determined in the “learning mode” and thresholds TH11, TH22, and TH33 for determining the skill level. The area E33 and the area E44 correspond to a work area for the “operation mode”.

The high skill level information 1511 includes work information BM11 which is a plurality of work information 107A acquired at the time of the work of the worker 10 having a high skill level in the “learning mode”. The high skill level information 1511 further includes a label LB1 indicating “high skill level” in association with each piece of work information BM11, and a plurality of acquired feature amounts CR1i (i = 1, 2, 3,...) Acquired from the work information BM11. ., N) are included.

Similarly, the medium skill level information 1521 includes a plurality of pieces of work information BM11, a label LB2 associated with each piece of work information BM11, and a plurality of acquired feature amounts CR1i acquired from the work information BM11.

Similarly, the low skill level information 1531 includes a plurality of pieces of work information BM11, a label LB3 associated with each piece of work information BM11, and a plurality of acquired feature amounts CR1i acquired from the work information BM11.

The work information BM11 in the area E11 in FIG. 12 may be deleted when the learning mode ends. Thereby, it is possible to save the consumption capacity in the information memory 102A.

When the operation mode of the control computer 100 is the “learning mode”, the learning unit 101A associates the work information 107A from the acquisition unit 103 with each skill level in the area E11 as in the learning unit 101 of the first embodiment. To store. The learning unit 101A is an example of an “accumulation unit” that accumulates work information 107A in the information memory 102A for each skill level.

Further, when the learning unit 101A is in the “learning mode”, one of the acquired feature values CRi included in the work information BM11 of the high skill level information 1511 of the area E1 is the same as the learning unit 101 of the first embodiment. The identification feature amount CRi described above is determined, and a set of one or more determined identification feature amounts CRi is stored in the region E22 as an effective pattern EP1 for identifying the skill level. Similar to the learning unit 101 of the first embodiment, the learning unit 101A also includes the feature amount CRi of the effective pattern EP1 among the acquired feature amounts CRi of the high skill level information 1511, the medium skill level information 1521, and the low skill level information 1531. Threshold values TH11, TH22, and TH33 for determining each skill level are acquired based on the set values and stored in the region E22.

When the operation mode of the control computer 100 is “operation mode”, the determination unit 104A acquires the feature amount CR1i included in the work information 107A acquired from the acquisition unit 103A, as in the determination unit 104 of the first embodiment. Then, one or more identification feature amounts CR1i corresponding to the effective pattern EP1 among the acquired feature amounts CR1i are compared with threshold values TH11, TH22, and TH33. Then, based on the comparison result, it is determined to which skill level the acquired work information 107A corresponds.

Similarly to the control amount determination unit 105 of the first embodiment, the control amount determination unit 105A determines the control amount based on the skill level determined by the determination unit 104A in the “operation mode” and indicates the determined control amount. A command signal 106 is generated and transmitted to the controller 61 of the robot 60.

Referring to FIG. 15, in the “learning mode”, the acquisition unit 103A acquires the work information 107A from the sensor 50A when the skilled worker 10 is working (step S3a). In the subsequent processing, the learning unit 101A performs the same processing as the learning unit 101 of the first embodiment using the acquired work information 107A. Accordingly, the effective pattern EP1 and the threshold values TH11, TH22, and TH33 are stored in the region E22, and the “learning mode” process ends.

Referring to FIG. 14, in “operation mode”, acquisition unit 103A acquires work information 107A from sensor 50A when worker 10 is working (step S23a). In the subsequent processing, the determination unit 104A performs the same processing as in the first embodiment and the determination unit 104 using the acquired work information 107A. Thereby, a command signal 106 indicating a control amount corresponding to the skill level of the worker 10 is output to the controller 61 of the robot 60.

According to the fourth embodiment, the skill level of the worker 10 is determined from the workpiece information 107A indicating the change over time of the movement of the workpiece W handled by the worker 10 in cooperation with the robot 60 in the production line. The drive unit 62 can be controlled in accordance with the control amount based on the skill level.

In the “operation mode”, both the determination of the skill level from the biological information 107 described in the first to third embodiments and the determination of the skill level from the work information 107A of the fourth embodiment are performed. The skill level of the operator 10 may be comprehensively determined based on the results of both determinations. For example, when both determination results are different, the lower skill level (or the higher skill level) may be selected.

[Embodiment 5]
In the fifth embodiment, a program for causing the CPU 110 of the control computer 100 to execute at least one of the “learning mode” and the “operation mode” in each of the above embodiments is provided. Such a program is recorded on a computer-readable recording medium such as a flexible disk attached to the control computer 100, a CD-ROM (Compact Disk-Read Only Memory), a ROM, a RAM, and a memory card 123 to obtain a program product. Can also be provided. Alternatively, the program can be provided by being recorded on a recording medium such as the hard disk 114 built in the control computer 100. The program can also be provided by downloading from a network (not shown) via the communication interface 124.

The program may be a program module that is provided as part of the OS (operating system) of the control computer 100 and that calls necessary modules in a predetermined arrangement at a predetermined timing to execute processing. . In that case, the program itself does not include the module, and the process is executed in cooperation with the OS. A program that does not include such a module can also be included in the program of the fifth embodiment.

Also, the program according to the fifth embodiment may be provided by being incorporated in a part of another program. Even in this case, the program itself does not include the module included in the other program, and the process is executed in cooperation with the other program. Such a program incorporated in another program can also be included in the program according to the second embodiment.

The provided program product is installed in a program storage unit such as a hard disk and executed. The program product includes the program itself and a recording medium on which the program is recorded.

[Configuration of the embodiment]
The control computer 100 of the above embodiment corresponds to a control device that controls the drive unit 62 for production. The control device includes an acquisition unit 103 that acquires biological information 107 measured from the worker 10, high skill level information 151 including medium information 107 corresponding to the skill level for each skill level, and medium skill level information. 152 and the low skill level information 153, the storage unit (information memory 102), the characteristic amount CRi of the biological information 107 acquired by the acquisition unit 103 during work, and the biological information for each skill level of the storage unit ( The feature amount CRi included in the high skill level information 151, the medium skill level information 152, and the low skill level information 153) is compared, and based on the comparison result, which skill level the acquired biological information 107 corresponds to And a determination unit (control amount determination unit 105) that determines a control amount of the drive unit 62 based on the determined skill level.

Therefore, according to the biological information 107 acquired from the worker 10 at the time of work for production, the skill level for the work can be determined, and the drive unit 62 can be controlled with a control amount corresponding to the determined skill level.

The biological information 107 includes information indicating the movement of the body during work. Therefore, the skill level can be determined from the body movement of the worker 10.

The control computer 100 further includes a storage unit that acquires the characteristic amount CRi of the biological information 107 corresponding to the skill level and stores it in the storage unit (area E1 of the information memory 102) for each skill level. This accumulation unit corresponds to the learning unit 101.

Therefore, the biometric information 107 having the feature amount CRi for each skill level can be obtained by learning by the learning unit 101.

The above-described accumulated feature amount includes the feature amount included in the biological information corresponding to the skill level determined by the determination unit 104. Therefore, the feature amount acquired in both the learning mode by the learning unit 101 and the operation mode by the determination unit 104 can be included in the feature amount of the storage unit.

The control device further includes a work information acquisition unit (acquisition unit 103A) that acquires work information 107A indicating the movement of the work W handled by the worker 10 during work, and work information corresponding to the skill level for each skill level. The work information storage unit (area E11) for storing information, the feature amount CR1i of the work information 107A acquired when the worker 10 is working, and the work information (high skill level information) for each skill level of the work information storage unit 1511, the medium skill level information 1521 and the low skill level information 1531) are compared with the characteristic amount CR1i, and based on the comparison result, the work level for which the acquired work information 107A corresponds to which skill level is determined. An information determination unit (determination unit 104A), and the determination unit determines the skill level determined by the determination unit 104 and the skill level determined by the work information determination unit. Based on time, to determine the control amount.

Therefore, the skill level can be determined by using both the feature amount CRi of the movement of the worker 10 and the feature amount CR1i of the movement of the workpiece W.

The above-described feature amounts CRi and CR1i include feature amounts (effective patterns EP, EP1) that can identify skill levels. Accordingly, it is possible to determine the skill level of the worker 10 using the feature amount that can identify the skill level.

The

determination units

104 and 104A determine the skill level at each predetermined time, and the control device statistics the skill level determined at the predetermined time and provides statistical information (see FIG. 11). Output. Thereby, the support information in the case of managing the worker in production can be provided.

The control computer 100 of the above embodiment corresponds to a control device that controls the drive unit 62 for production. This control device stores a work information acquisition unit (acquisition unit 103A) that acquires work information 107A indicating the movement of the work W handled by the worker 10 during work, and workpiece information corresponding to the skill level for each skill level. Work information storage unit (area E11), feature amount CR1i of the work information 107A acquired when the worker 10 works, and work information for each skill level of the work information storage unit (high skill level information 1511, medium The skill information 1521 and the low skill information 1531) are compared with the characteristic amount CR1i, and based on the comparison result, a work information determination unit that determines which skill level the acquired work information 107A corresponds to (Determination unit 104A) and a determination unit (control amount determination unit 105A) that determines the control amount of the drive unit 62 based on the determined skill level.

The system of each embodiment includes a drive unit 62 for production, a sensor 50 that measures the biological information 107 of the worker, and a control computer 100 that controls the drive unit. The control computer 100 includes an acquisition unit 103 that acquires the biological information 107 output from the sensor 50, and a storage unit (an area of the information memory 102) that stores the biological information 107 corresponding to the skill level for each work skill level. E1) is compared with the feature amount CRi included in the biological information 107 acquired when the worker 10 is working, and the feature amount CRi included in the biological information 107 for each skill level of the storage unit. Based on the comparison result, A determination unit 104 that determines to which skill level the acquired biological information 107 corresponds, and a control amount determination unit 105 that determines a control amount of the drive unit 62 based on the determined skill level.

The system of each embodiment includes a drive unit 62 for production, a sensor 50A that measures workpiece information 107A indicating the movement of the workpiece W handled by the worker 10 during work, a control computer 100 that controls the drive unit, Is provided. The control computer 100 includes an acquisition unit 103A that acquires the work information 107A output from the sensor 50A, and a storage unit (an area of the information memory 102A) that stores the work information 107A corresponding to the skill level for each work skill level. E11) is compared with the feature amount CRi possessed by the work information 107A acquired at the time of the work of the worker 10 and the feature amount CRi possessed by the work information 107A for each skill level of the storage unit, and based on the comparison result, A determination unit 104A that determines to which skill level the acquired workpiece information 107A corresponds, and a control amount determination unit 105A that determines a control amount of the drive unit 62 based on the determined skill level.

The control method of each embodiment is a method of controlling the drive unit 62 for production, and the steps of obtaining the biological information 107 measured from the worker 10 (Step S3, Step S23) and the worker 10 And the biometric information (high skill level information 151, medium skill level information 152, and low level) for each skill level stored in the storage unit (area E1 of the information memory 102). A step of comparing the feature amount CRi of the skill level information 153) (step S27) and a step of determining which skill level the acquired biological information corresponds to based on the comparison result (step S27) And a step of determining a control amount of the drive unit based on the determined skill level (step S37).

The control method of each embodiment is a method of controlling the drive unit 62 for production, the step of acquiring the workpiece information 107A indicating the movement of the workpiece W handled by the worker 10 during the work, The feature amount CRi of the work information 107A acquired at the time of work, and the work information (high skill level information 1511, medium skill level information 1521 and low skill level) for each skill level stored in the storage unit (area E11 of the information memory 102A). A step of comparing the feature amount CRi included in the degree information 1531), a step of determining which skill level the acquired work information 107A corresponds to based on the comparison result, and the determined skill level And a step of determining a control amount of the drive unit based on.

[Effect of the embodiment]
According to the above embodiment, the skill level of the worker 10 is determined in real time from the biological information 107 or work information 107A being worked, and the control amount is changed according to the determined skill level. If it is determined that the skill level is low, for example, the robot 60 (more specifically, the arm 63) changes the control amount so that it moves slower than usual, thereby reducing human errors and increasing the skill level. If it is determined, the production efficiency can be increased by changing the control amount of the robot 60 (more specifically, the arm 63) so as to move faster than usual.

The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 system, 10 workers, 11 terminals, 50, 50A sensor, 60 robot, 61 controller, 62 drive unit, 63 arm, 100 control computer, 101, 101A learning unit, 102, 102A information memory, 103, 103A acquisition unit, 104, 104A determination unit, 105, 105A control amount determination unit, 106, 106A command signal, 107, BM1 biological information, 107A, BM11 work information, 112 memory, 113 timer, 114 hard disk, 118 input interface, 120 display controller, 121 keyboard, 122 display, 123 memory card, 124 communication interface, 151, 1511 high skill information, 152, 1521 medium skill information, 153, 1531 Degree information, 200 units, 300 management computer, B1, B2, B3 boundary line, CR1i, CRi identification feature, E1, E2, E3, E4, E11, E22, E33, E44 area, EP, EP1 effective pattern, LB1, LB2, LB3 label, TH, TH1, TH2, TH3, TH11, TH22, TH33 threshold, V speed, W work.

Claims

A control device for controlling a drive unit for production,
An acquisition unit for acquiring biological information measured from an operator;
A storage unit for storing the biological information corresponding to the skill level for each skill level of work;
The biometric information acquired by the biometric information acquired by the acquisition unit during work is compared with the characteristic amount of the biometric information for each skill level of the storage unit, and the biometric information acquired is based on the comparison result. A determination unit that determines to which skill level
And a determination unit that determines a control amount of the drive unit based on the determined skill level.
The control apparatus according to claim 1, wherein the biological information includes information indicating a movement of the body at the time of work.
The control device according to claim 1, further comprising a storage unit that acquires a feature amount of the biological information corresponding to the skill level for each skill level and stores the feature amount in the storage unit.
The control device according to any one of claims 1 to 3, wherein the feature amount stored in the storage unit includes a feature amount included in the biological information according to the skill level determined by the determination unit.
The control device further includes:
A workpiece information acquisition unit that acquires workpiece information indicating the movement of the workpiece handled by the worker during the operation;
A work information storage unit for storing the work information according to the skill level for each skill level;
The feature amount possessed by the work information acquired at the time of the work of the worker is compared with the feature amount possessed by the work information for each skill level of the work information storage unit, and the feature amount is acquired based on a comparison result. A work information determination unit that determines which skill level the work information corresponds to;
5. The determination unit according to claim 1, wherein the determination unit determines the control amount based on the skill level determined by the determination unit and the skill level determined by the work information determination unit. Control device.
The control device according to any one of claims 1 to 5, wherein the feature amount includes a feature amount capable of identifying the skill level.
The determination unit determines the skill level at predetermined time intervals,
The said control apparatus is a control apparatus of any one of Claim 1 to 6 which statistics the skill level determined for every said predetermined time, and outputs statistical information.
A drive for production,
A sensor for measuring the biological information of the worker;
A control device for controlling the drive unit,
The control device includes:
An acquisition unit for acquiring the biological information output from the sensor;
A storage unit for storing the biological information corresponding to the skill level for each skill level of work;
The biometric information acquired at the time of the operator's work is compared with the characteristic amount of the biometric information for each skill level of the storage unit, and the acquired biometric information is based on the comparison result. A determination unit that determines to which skill level
A determination unit that determines a control amount of the drive unit based on the determined skill level.
A method for controlling a drive for production comprising:
Obtaining biological information measured from the operator;
Comparing the feature quantity possessed by the biological information acquired during the work of the worker with the feature quantity possessed by the biometric information for each skill level stored in a storage unit;
A step of determining which skill level the acquired biological information corresponds to based on a result of the comparison;
Determining a control amount of the drive unit based on the determined skill level.
A program for causing a computer to execute a method for controlling a drive unit for production,
The method
Obtaining biological information measured from the operator;
Comparing the feature quantity possessed by the biological information acquired during the work of the worker with the feature quantity possessed by the biometric information for each skill level stored in a storage unit;
A step of determining which skill level the acquired biological information corresponds to based on a result of the comparison;
Determining a control amount of the drive unit based on the determined skill level.