WO2020137122A1 - Work assistance device and work assistance method - Google Patents

Work assistance device and work assistance method Download PDF

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Publication number
WO2020137122A1
WO2020137122A1 PCT/JP2019/041430 JP2019041430W WO2020137122A1 WO 2020137122 A1 WO2020137122 A1 WO 2020137122A1 JP 2019041430 W JP2019041430 W JP 2019041430W WO 2020137122 A1 WO2020137122 A1 WO 2020137122A1
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WIPO (PCT)
Prior art keywords
information
worker
work
sense
motion
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PCT/JP2019/041430
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French (fr)
Japanese (ja)
Inventor
明秀 田中
旭東 張
直也 沖崎
高橋　勇
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株式会社日立製作所
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Publication of WO2020137122A1 publication Critical patent/WO2020137122A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/24—Use of tools
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes

Definitions

  • the present invention relates to a work support device and a work support method.
  • Patent Document 1 discloses a device for evaluating the skill level of a worker who needs to acquire work skills when performing manual welding.
  • This skill evaluation result presentation device measures the work status related to the work requiring the skill to be evaluated, such as the movement of the welder's tool, hand movement, face orientation, etc., and quantitative behavior data is obtained. And a result of comparison between a specific significant pattern obtained from the work state data and a pattern of an exemplary data stored in a pattern storage device that stores information about the previously constructed exemplary data and its data range/pattern The index obtained from is presented as an evaluation result.
  • Patent Document 1 The system of Patent Document 1 or the like that directly evaluates the action of the welder is still insufficient as a means for instructing the skill of an expert. In some cases, it is possible to detect an operation error such as the trajectory of the hand being clumsy and the trajectory protruding in an unintended direction by evaluating the operation such as the trajectory of welding. On the other hand, it is not only the dexterity of the hands that is the factor of the advanced skill of the skilled person, but also the excellent judgment according to the sense of the situation of how and under what circumstances. That is, a skilled person can make an appropriate judgment according to the sense directly obtained from sight and hearing at the welding site.
  • Patent Document 1 merely evaluates the motion after the judgment such as the motion of the welder's tool and the motion of the hand, and what motion was performed by what judgment. It is not shown.
  • the main object of the present invention is to present the beginner with appropriate judgment contents of the expert according to the sense of the situation to encourage learning.
  • the work support device of the present invention has the following features.
  • the present invention provides the first worker through a sensor mounted on the body of the first worker, a sensor arranged in the vicinity of the first worker, or a work tool operated by the first worker.
  • a detection unit that acquires the sense that the worker obtains during work as the first sense information;
  • Second sense information which is a sense obtained by the second worker during past work, which should serve as a model for the first worker, judgment information when the second sense information is perceived, and the judgment information
  • a storage unit that stores the next motion information performed in accordance with Operation for searching the storage unit for the second sensory information that matches the acquired first sensory information, and obtaining the determination information corresponding to the searched second sensory information and the corresponding next motion information.
  • the degree of coincidence between the motion information of the first worker at the time of acquisition of the first sensory information and the next motion information obtained by the calculation unit is set as past motion evaluation information, and the past motion evaluation information is obtained.
  • a notification unit that notifies the determination information as work support information. Other means will be described later.
  • FIG. 1 is an overall view of a work support system according to an embodiment of the present invention. It is a block diagram of the control apparatus regarding one Embodiment of this invention. It is an external view of the welder at the time of welding work regarding one embodiment of the present invention.
  • FIG. 4 is a perspective view showing an object to be welded before being welded by the welder of FIG. 3 according to an embodiment of the present invention. It is a perspective view showing a welding subject after being welded concerning one embodiment of the present invention.
  • FIG. 6 is a plan view of the base material of FIG. 5 as viewed from above in the Z axis according to the embodiment of the present invention.
  • FIG. 7 is a plan view showing a bead range into which a bead is poured in the plan view of FIG.
  • FIG. 6 is a perspective view of the welding object of FIG. 5 according to an embodiment of the present invention when a bead protrudes due to a beginner's unfamiliar work.
  • FIG. 13 is a plan view of the welding object of FIG. 12 according to an embodiment of the present invention.
  • FIG. 1 shows an overall view of a work support system.
  • the work support system presents the work support information of the skilled worker (second worker) prepared in advance as a model for the work to the beginner (first worker) who is the target of the support this time. , Contributes to work improvement for beginners.
  • the work support information presented here may be past motion evaluation information or future motion presentation information.
  • a method in which the welder 1 who is the worker evaluates the work of welding the welding object 2 by semi-automatic welding will be described.
  • the work support system is not limited to welding work, and can be applied to any work such as welding, brazing, grinder, painting, casting, and polishing. That is, the work support system can be used in a situation where a human or a robot industrially works in a certain posture.
  • the marker 13 indicated by a circle in the figure is a member for recognizing the current position of the target object to which the marker 13 is attached from the image captured by the marker measuring camera 14.
  • the light emitting means of the marker 13 for example, a member that reflects light, a member that emits light by itself, or a member coated with a paint that reflects light may be used.
  • the marker 13 is also attached to the torch 4 with the absorption film 4x held by the welder 1 and the welding object 2 to be welded by the torch 4. Furthermore, by attaching the marker 13 to various parts of the body of the welder 1, the light-shielding surface 3, the filler material, etc., it is possible to obtain more detailed coordinate data.
  • the marker measuring camera 14 is arranged around the welder 1 and the welding object 2.
  • the light irradiation unit of the marker measurement camera 14 can set and irradiate the wavelength of light of 350 nm to 11 ⁇ m so as to avoid the wavelength of light at the time of arc welding.
  • 850 nm of light is emitted. ..
  • the control device 11 controls the operation of each of the following measurement devices connected by wire or wirelessly and acquires the following data from each measurement device.
  • the control device 11 stores the acquired data in the storage unit as the sensory information of the worker and displays the data on the display unit.
  • -Operation data of the welder 1 measured from the position of the marker 13 in the image captured by the marker measuring camera 14.
  • the operation data is, for example, work data such as the average moving speed of the torch, the torch height, the weaving conditions, the torch angle, and the amount of filler material supplied.
  • the sensory information of the measured worker includes information that can be substituted for the information acquired by the actual worker.
  • a camera having a dynamic range showing a ratio of a minimum value and a maximum value of a signal capable of discriminating brightness to a value close to 110 dB which is human eyes is used. It may be preferable to use.
  • the position and direction of the sensor need to be appropriately corrected so as to correspond to the sense of the operator. The same applies to temperature, humidity, wind power, etc.
  • FIG. 2 is a configuration diagram of the control device 11.
  • the control device 11 is configured as a computer having a CPU (Central Processing Unit), a memory, a storage unit (storage unit) such as a hard disk, and a network interface.
  • a CPU Central Processing Unit
  • a memory e.g., a hard disk
  • storage unit e.g., a hard disk
  • a program also called an application or its abbreviation application
  • the control device 11 includes a worker feeling information detection unit 21, a worker feeling information storage unit 22, a worker feeling information calculation unit 23, and a worker feeling information notification unit 24.
  • the worker sense information detection unit 21 includes a marker-type motion capture (marker 13, marker measurement camera 14), acceleration/angular velocity/geomagnetic measurement device, global positioning system, indoor global positioning system, stereo camera, glasses-type camera 3 m. , The simple electroencephalograph 7, and at least one of the sound sensor 18, the temperature/heat/humidity sensor, and the sensory information of the operator are acquired, and the acquired result is notified to the operator sensory information calculation unit 23. To do.
  • the worker sense information storage unit 22 is a database that stores know-how such as tips and tricks of experts. That is, the worker sense information storage unit 22 is a database in which the sense information of the worker and the work support information are associated with each other. As described above, the work support information may be past motion evaluation information or future motion presentation information.
  • one piece of work support information may be associated with one worker's sense information, or a plurality of work supports may be provided for each type even if the same worker's sense information.
  • the information may be stored separately.
  • the types include, for example, the type of work (welding, brazing, painting, grinder, polishing, casting%), the type of material of the object 2 to be welded, the type of creating condition, the type of purpose of use (education of skills). , Work inspection, etc.) and the type of final shape of processed product, etc.
  • the worker sense information calculation unit 23 refers to the worker sense information storage unit 22 based on the sense information of the worker (beginner) notified from the worker sense information detection unit 21 and matches the sense information of a skilled worker. Is output, and work support information corresponding to the sensory information of the expert is output.
  • the processing performed by the worker sense information calculation unit 23 will be described along with the function of the human brain at each stage of “sense ⁇ perception ⁇ judgment ⁇ motion”.
  • the worker sense information calculation unit 23 extracts the feature amount necessary for the work from the huge sense information of the worker obtained by the five senses.
  • a method of extracting such a feature amount for example, the following method may be mentioned.
  • a method of extracting a feature amount by using other measurement data such as temperature, humidity, wind power, and brain waves, and operation data of a processing tool such as the torch 4 alone or in combination.
  • the worker sense information calculation unit 23 indirectly evaluates the present worker's sense information by using a predetermined determination criterion for the perceived feature amount.
  • a predetermined criterion for example, a relational expression for scoring the validity of the work evaluation of the perceived feature amount is used.
  • the worker sense information calculation unit 23 determines a future motion based on the determined content. Generally, if the current judgment is good, the future operation is continued, and if the current judgment is bad, the future operation is corrected.
  • the worker sense information calculation unit 23 determines that the current viewpoint of the beginner is not desirable by collating with the know-how of the worker sense information storage unit 22.
  • the worker motion information when the worker sense information detection unit 21 acquires the worker sense information and the worker sense information calculation.
  • the degree of coincidence with the operation information of the expert obtained by the unit 23 is also included.
  • the worker sense information calculation unit 23 retrieves corresponding work support information by the worker sense information calculation unit 23 based on the sense information of the beginner worker when a new beginner performs work. By presenting the retrieved work support information of the expert to the beginner, the beginner's skill learning is supported.
  • the operator feeling information calculation unit 23 may update the calculation result of this time in the operator feeling information storage unit 22 to be useful for the calculation of the next time and thereafter.
  • the worker feeling information notification unit 24 notifies the beginner of the work support information notified from the worker feeling information calculation unit 23.
  • Examples of the notification method include screen display of character data, screen display of graph data, and notification by alarm or vibration.
  • the work support information is, for example, the following data. ⁇ Numerical data (open tip distance and suitable range, etc. shown in Fig. 8) ⁇ Character data such as comments, suggestions for improvement, and points to be noted ⁇ Explanatory diagram data showing the judgment method (entire graph shown in Fig. 8) Further, the operator sense information notifying unit 24 may use not only the display 80 but also a correction jig, holography, or the like to assist the operator in grasping the judgment.
  • FIG. 3 is an external view of the welder 1 during welding work.
  • a welder 1 who wears a glasses-type camera 3m on the inside of the light-shielding surface 3 performs welding to build up with a torch 4 on a welding object 2 which is a test piece having an open groove while weaving by semi-automatic welding. ..
  • FIG. 4 is a perspective view showing the welding object 2 before being welded by the welder 1 of FIG.
  • the object to be welded 2 is a combination of the left base metal 89a and the right base metal 89b.
  • the butt portion 83a which is the right end portion of the base material 89a
  • the butt portion 83b which is the left end portion of the base material 89b
  • FIG. 5 is a perspective view showing the welding object 2 after being welded.
  • the bead 88 which is a welding material, is poured into a space (molten pool) formed by the groove walls (open end portions 82a and 82b) and the groove bottom (butt portion 83) in FIG. Two base materials are welded.
  • FIG. 6 is a plan view of the base materials 89a and 89b of FIG. 5 as viewed from above in the Z axis.
  • the welder 1 moves the welding wire 4b of the torch 4 while meandering (weaving) from the left side to the right side of the X axis.
  • the weaving locus of the tip of the welding wire 4b (the location where the arc light is emitted) is shown by an arrow.
  • the weaving locus is turned back at three points during the movement, as indicated by turning points P1, P2, and P3.
  • the weaving locus can be obtained by tracking the position of the marker 13 attached to the torch 4.
  • the weaving width TW is defined as the width of the weaving locus from the minimum value in the Y-axis downward direction (that is, the turning points P1, P3) to the maximum value in the Y-axis upward direction (that is, the turning point P2).
  • the weaving width TW can be obtained from the coordinates of the turning points of the weaving locus.
  • FIG. 7 is a plan view showing a bead area 85 into which the bead 88 is poured in the plan view of FIG.
  • the bead range 85 is registered as a substantially rectangular shape based on the Y-axis width of the open tip 82a to the open tip 82b and the X-axis length of the base materials 89a and 89b. That is, it can be said that proper work is performed so that the welder 1 can form a weaving locus so that the bead 88 of the welding wire 4b can be poured into the bead range 85.
  • FIG. 8 is explanatory drawing which shows the visual field at the time of welding work of an expert.
  • the weaving locus W1 starts from the abutting portion 83 at the center of the left side, meanders toward the right side, and turns back at turn points P11, P12, and P13 in the middle.
  • the open tip end distance between each turnaround point and the nearest open tip end portion 82a or 82b is set to distances L11, L12, L13 in order.
  • the worker sense information storage unit 22 stores the worker sense information “perceive the open tip end distance for each turning point of the weaving trajectory” and the work support information “open tip end distance of FIG. 8”.
  • the first stage “sense ⁇ perception” attention is paid to the turning points P11, P12, P13 of the weaving locus W1, and the open tip distances L11, L12, L13 are set as the characteristic amounts to be perceived.
  • the worker sense information notification unit 24 presents to the welder 1 a motion for forming the weaving locus W1 so that the open tip distance is within an appropriate range.
  • FIG. 9 is an explanatory diagram showing the field of view during welding work by a beginner.
  • the weaving locus W2 starts from the abutting portion 83 at the center on the left side, meanders toward the right side, and folds back at midway turning points P21, P22, and P23. , L23.
  • a beginner who does not know the know-how of the expert draws a weaving locus W2 outside to the very end of the bead range 85 in FIG. In this weaving locus W2, the welding material may flow out to the outside of the molten pool.
  • the operator sense information calculation unit 23 determines that the open tip distances L21, L22, and L23 are all outside the proper range from the image corresponding to the field of view of the operator.
  • the operator feeling information calculation unit 23 makes a judgment in comparison with one threshold value, makes a judgment with respect to an optimum numerical value, or exceeds the threshold value, in addition to the judgment in the appropriate range (upper limit to lower limit). You may decide based on time, etc. Further, the worker sensation information notification unit 24 feeds back the following to the beginner welder 1 according to the judgment of the worker sensation information calculation unit 23.
  • FIG. 10 is explanatory drawing which shows the visual field at the time of the coating operation of an expert.
  • the top and bottom of FIG. 10 are the height direction of the wall to be painted, and the left and right are the lateral direction of the wall.
  • the expert applies the paint to the area 201 by the first application and the paint on the area 202 by the second application.
  • the know-how to paint so that the shape of the lower end portion 201u of the area 201 and the shape of the lower end portion 202u of the area 202 are similar to each other is registered in advance in the operator sense information storage unit 22.
  • the worker's sense information “perceive the shape of the lower end of the area” and the work support information “determine whether the shape is similar to the shape at the time of previous painting> are similar if not similar. “Operation correction” as described above.
  • FIG. 11 is an explanatory diagram showing a field of view of a beginner during painting work. It is assumed that the beginner applies the paint to the area 211 by the first application. (1) A case of notifying past motion evaluation information will be described. It is assumed that the paint is applied to the sum area of the area 212 and the area 213 by the second application. Since the shape of the lower end portion 211u of the area 211 and the shape of the lower end portion 213u of the area 213 are dissimilar to each other, the operator sensation information notification unit 24 determines that the second painting has a low evaluation in the past operation. Notify beginners of evaluation information.
  • the worker sense information notifying unit 24 applies the second coating as in the area 212 to make the shape of the lower end portion 211u and the shape of the lower end portion 212u of the area 212 similar to each other. You may also notify the model answer which makes it do.
  • the worker sense information notification unit 24 notifies the beginner of a region 212 in which the shape of the lower end portion 211u and the shape of the lower end portion 212u of the region 212 are similar to each other as future motion presentation information. As a result, a beginner can prevent the mistake of applying extra paint not only to the area 212 but also to the area 213.
  • the worker sense information notifying unit 24 notifies the future motion presentation information, so that the result of a judgment made by a skilled worker in advance by looking at the workpiece is the next motion. It is possible to present the beginner's sense of the expert in a form close to the actual sense as reflected in. Further, the worker sense information notification unit 24 can evaluate the beginner based on the sense of the expert by notifying the past motion evaluation information. Thereby, the beginner can improve the judgment and the movement by devising the working tool and the work based on the work support information obtained before and during the work.
  • FIG. 12 is a perspective view of the welding object 2 shown in FIG. 5 when the bead 88 protrudes due to an unfamiliar work of a beginner.
  • FIG. 12 is a perspective view of the welding object 2 shown in FIG. 5 when the bead 88 protrudes due to an unfamiliar work of a beginner.
  • FIG. 13 is a plan view of the welding object 2 of FIG.
  • a beginner uses a grinder to perform grinder work for cutting the protrusions 88p and 88q of the bead 88.
  • the worker sense information calculation unit 23 of the work support system acquires the beginner's sense information from the worker sense information detection unit 21 and relates to the grinder work registered in the worker sense information storage unit 22.
  • An expert's appropriate judgment of the grinder and the operation of the grinder are requested from the work support information.
  • the worker sense information notifying unit 24 notifies the beginner of the obtained work support information of the expert to prompt the improvement of the grinder work.
  • the angle and width of the motion information of the processing tool (grinding machine) when cutting the protrusions 88p and 88q are notified to the beginner as work support information.
  • the worker sense information storage unit 22 stores, for example, the following information as work support information regarding the grinder work. -How to image-process the information obtained visually-Method of touching the workpiece to check the surface roughness, R degree, etc. Further, the worker sense information notifying unit 24 is acquired by the worker with a sense. Based on the information that can replace the information, it is suggested that it is desirable to perform a future operation for the welding object 2 welded halfway.
  • the present invention is not limited to the above-described embodiments, but includes various modifications.
  • the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described.
  • a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment.
  • each of the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in hardware by designing a part or all of them with, for example, an integrated circuit.
  • each of the above-described configurations and functions may be realized by software by a processor interpreting and executing a program that realizes each function.
  • Information such as programs, tables, and files that realize each function is stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or an IC (Integrated Circuit) card, an SD card, a DVD (Digital Versatile Disc), etc. Can be stored in the recording medium.
  • the control lines and information lines are shown to be necessary for explanation, and not all the control lines and information lines on the product are necessarily shown. In practice, it may be considered that almost all configurations are connected to each other.
  • the communication means for connecting the respective devices is not limited to the wireless LAN, and may be changed to a wired LAN or other communication means.

Abstract

A control device (11) has: a worker sensory information storage unit (22) that stores, in an associated manner, skilled worker sensory information about the sensation acquired by a skilled worker during work in the past, determination information pertaining a case when the skilled worker sensory information has been perceived, and information about a next operation to be performed in accordance with the determination information; a worker sensory information arithmetic unit (23) that searches, in the worker sensory information storage unit (22), for the skilled worker sensory information that matches acquired novice worker sensory information, and obtains the determination information corresponding to the searched skilled worker sensory information and the corresponding next operation information; and a worker sensory information notification unit (24) that sets, as past operation evaluation information, the degree of match between the next operation information obtained by the worker sensory information arithmetic unit (23) and operation information of a novice worker when the novice worker sensory information is acquired, and that notifies, as work assistance information, the past operation evaluation information and the obtained determination information.

Description

作業支援装置、および、作業支援方法Work support device and work support method
　本発明は、作業支援装置、および、作業支援方法に関わる。 The present invention relates to a work support device and a work support method.
　昨今の社会情勢に伴い、モノづくりの環境は大きく変化している。海外生産の増加や海外からの調達品の増加、熟練者の減少などにより、モノづくりの技能を維持しにくくなっており、品質管理はより厳しい状況にさらされている。これまでの技能伝承方法としては、熟練者から直接的な指導によって、引き継がれてきた。
　しかしながら、熟練者が自身では作業を上手にできても、その技能を初心者にもできるように伝えることは、困難である。よって、高度な技能を指導するために時間を要したり、高度な技能が不正確に伝わることで一部の技能が失われてしまったりすることも危惧される。 The environment for manufacturing has changed significantly with the recent social situation. Due to the increase in overseas production, the increase in procured goods from overseas, and the decrease in skilled workers, it is becoming difficult to maintain manufacturing skills and quality control is exposed to severer conditions. As a method of handing down the skills up to now, it has been handed over by direct guidance from experts.
However, even if a skilled person is good at the work himself, it is difficult to convey the skill so that even a beginner can do it. Therefore, it is feared that it takes time to teach advanced skills, and some skills may be lost due to incorrect transmission of advanced skills.
　一方で近年の計測技術の発展により、熟練の技能を計測して、評価する取り組みが見られるようになってきた。例えば、種々の計測機器を用いて、対象者の作業を計測し、評価する取り組みが行われている。計測されたデータは過去に計測したデータと比較することにより、良否が評価され、品質管理や溶接作業の訓練に用いる方法が提案されている。 On the other hand, with the recent development of measurement technology, efforts to measure and evaluate skilled skills have come to be seen. For example, efforts have been made to measure and evaluate the work of a target person using various measuring devices. By comparing the measured data with the data measured in the past, the quality is evaluated, and a method used for quality control and training of welding work is proposed.
　特許文献１には、手溶接施工が行われる際に作業の技能を修得する必要がある作業者の技能水準を評価する装置が開示されている。この技能評価結果提示装置は、溶接士の道具の動きや手の動きや顔の向き等の評価の対象となる技能が必要とされる作業に関連した作業の状態を測定し定量的な挙動データおよび作業状態データから得られる特定の有意なパターンと、あらかじめ構築された模範的なデータおよびそのデータ範囲・パターンに関する情報を記憶するパターン記憶装置が記憶する模範的なデータのパターンとを比較した結果から得られる指標を評価結果として提示する。 [Patent Document 1] discloses a device for evaluating the skill level of a worker who needs to acquire work skills when performing manual welding. This skill evaluation result presentation device measures the work status related to the work requiring the skill to be evaluated, such as the movement of the welder's tool, hand movement, face orientation, etc., and quantitative behavior data is obtained. And a result of comparison between a specific significant pattern obtained from the work state data and a pattern of an exemplary data stored in a pattern storage device that stores information about the previously constructed exemplary data and its data range/pattern The index obtained from is presented as an evaluation result.
特開２００６－１７１１８４号公報JP, 2006-171184, A
　特許文献１などの溶接士の動作をそのまま評価するシステムでは、熟練者の技能を指導する手段としては、まだ不充分である。溶接の軌跡などの動作を評価することで、たしかに、手先が不器用で意図しない方向に軌跡がはみ出してしまうなどの操作ミスを検出できる場合もある。
　一方で、熟練者の高度な技能の要因は、手先の器用さだけでなく、どういう状況でどう動くかというその場の感覚に応じた判断が優れていることが挙げられる。つまり、溶接現場で視覚や聴覚から直に得られる感覚に応じて、適切な判断ができるのが熟練者である。 The system of Patent Document 1 or the like that directly evaluates the action of the welder is still insufficient as a means for instructing the skill of an expert. In some cases, it is possible to detect an operation error such as the trajectory of the hand being clumsy and the trajectory protruding in an unintended direction by evaluating the operation such as the trajectory of welding.
On the other hand, it is not only the dexterity of the hands that is the factor of the advanced skill of the skilled person, but also the excellent judgment according to the sense of the situation of how and under what circumstances. That is, a skilled person can make an appropriate judgment according to the sense directly obtained from sight and hearing at the welding site.
　しかし、熟練者の判断そのものは、作業の途中で無意識に行われているものであり、あのときはこう判断したと初心者に直接言及して指導される機会は少ない。よって、初心者の学習効率の観点から、熟練者の判断を提示してくれるシステムは、大変有益である。
　なお、特許文献１の手法では、溶接士の道具の動きや手の動きなど、判断がなされた後の動作を評価しているにすぎず、どのような判断でどのような動作が行われたのかは、示されていない。 However, the expert's judgment itself is unconsciously made in the middle of the work, and at that time, there is little opportunity to directly instruct the beginner that he has made such a judgment and be instructed. Therefore, from the viewpoint of learning efficiency for beginners, a system that presents the judgment of the expert is very useful.
Note that the method of Patent Document 1 merely evaluates the motion after the judgment such as the motion of the welder's tool and the motion of the hand, and what motion was performed by what judgment. It is not shown.
　そこで、本発明は、その場の感覚に応じた熟練者の適切な判断内容を、初心者に提示して学習を促すことを、主な課題とする。 Therefore, the main object of the present invention is to present the beginner with appropriate judgment contents of the expert according to the sense of the situation to encourage learning.
　前記課題を解決するために、本発明の作業支援装置は、以下の特徴を有する。
　本発明は、第１作業者の体に装着されたセンサ、前記第１作業者の近傍に配置されたセンサ、または、前記第１作業者が操作する作業道具を介して、前記第１作業者が作業時に得る感覚を第１感覚情報として取得する検知部と、
　前記第１作業者にとって作業の手本とすべき第２作業者が過去の作業時に得た感覚である第２感覚情報と、その第２感覚情報を知覚したときの判断情報と、その判断情報に従って行われる次の動作情報とを対応付けて格納する格納部と、
　取得した前記第１感覚情報と合致する前記第２感覚情報を前記格納部から検索し、検索された前記第２感覚情報に対応する前記判断情報と、対応する前記次の動作情報とを求める演算部と、
　前記第１感覚情報の取得時の前記第１作業者の動作情報と、前記演算部が求めた前記次の動作情報との一致度合いを過去の動作評価情報とし、その過去の動作評価情報と求めた前記判断情報とを作業支援情報として報知する報知部とを有することを特徴とする。
　その他の手段は、後記する。 In order to solve the above-mentioned subject, the work support device of the present invention has the following features.
The present invention provides the first worker through a sensor mounted on the body of the first worker, a sensor arranged in the vicinity of the first worker, or a work tool operated by the first worker. A detection unit that acquires the sense that the worker obtains during work as the first sense information;
Second sense information, which is a sense obtained by the second worker during past work, which should serve as a model for the first worker, judgment information when the second sense information is perceived, and the judgment information A storage unit that stores the next motion information performed in accordance with
Operation for searching the storage unit for the second sensory information that matches the acquired first sensory information, and obtaining the determination information corresponding to the searched second sensory information and the corresponding next motion information. Department,
The degree of coincidence between the motion information of the first worker at the time of acquisition of the first sensory information and the next motion information obtained by the calculation unit is set as past motion evaluation information, and the past motion evaluation information is obtained. And a notification unit that notifies the determination information as work support information.
Other means will be described later.
　本発明によれば、その場の感覚に応じた熟練者の適切な判断内容を、初心者に提示して学習を促すことができる。 According to the present invention, it is possible to prompt a beginner to learn by presenting appropriate judgment contents of an expert according to the sense of the place.
本発明の一実施形態に関する作業支援システムの全体図を示す。1 is an overall view of a work support system according to an embodiment of the present invention. 本発明の一実施形態に関する制御装置の構成図である。It is a block diagram of the control apparatus regarding one Embodiment of this invention. 本発明の一実施形態に関する溶接作業時の溶接士の外観図である。It is an external view of the welder at the time of welding work regarding one embodiment of the present invention. 本発明の一実施形態に関する図３の溶接士によって溶接される前の溶接対象物を示す斜視図である。FIG. 4 is a perspective view showing an object to be welded before being welded by the welder of FIG. 3 according to an embodiment of the present invention. 本発明の一実施形態に関する溶接された後の溶接対象物を示す斜視図である。It is a perspective view showing a welding subject after being welded concerning one embodiment of the present invention. 本発明の一実施形態に関する図５の母材をＺ軸の上方向から見下ろした平面図である。FIG. 6 is a plan view of the base material of FIG. 5 as viewed from above in the Z axis according to the embodiment of the present invention. 本発明の一実施形態に関する図６の平面図において、ビードが流し込まれるビード範囲を示す平面図である。FIG. 7 is a plan view showing a bead range into which a bead is poured in the plan view of FIG. 6 according to the embodiment of the present invention. 本発明の一実施形態に関する熟練者の溶接作業時の視野を示す説明図である。It is explanatory drawing which shows the visual field at the time of welding operation of the expert regarding one Embodiment of this invention. 本発明の一実施形態に関する初心者の溶接作業時の視野を示す説明図である。It is explanatory drawing which shows the visual field at the time of welding work of the beginner regarding one Embodiment of this invention. 本発明の一実施形態に関する熟練者の塗装作業時の視野を示す説明図である。It is explanatory drawing which shows the visual field at the time of the coating operation of the expert regarding one Embodiment of this invention. 本発明の一実施形態に関する初心者の塗装作業時の視野を示す説明図である。It is explanatory drawing which shows the visual field at the time of the painting work of the beginner regarding one Embodiment of this invention. 本発明の一実施形態に関する図５の溶接対象物に対して、初心者の不慣れな作業によりビードがはみ出してしまった場合の斜視図である。FIG. 6 is a perspective view of the welding object of FIG. 5 according to an embodiment of the present invention when a bead protrudes due to a beginner's unfamiliar work. 本発明の一実施形態に関する図１２の溶接対象物の平面図である。FIG. 13 is a plan view of the welding object of FIG. 12 according to an embodiment of the present invention.
　以下、本発明の一実施形態を、図面を参照して詳細に説明する。 Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.
　図１は、作業支援システムの全体図を示す。作業支援システムは、今回の支援対象となる初心者（第１作業者）に対して、作業の手本として、事前に用意された熟練者（第２作業者）の作業支援情報を提示することで、初心者の作業改善に貢献するものである。ここでの提示される作業支援情報とは、過去の動作評価情報でもよいし、未来の動作提示情報でもよい。
　なお、実施例１では、作業者である溶接士１が半自動溶接にて溶接対象物２を溶接する作業を評価する方法を説明する。なお、作業支援システムは、溶接作業に限定されず、例えば溶接、ろう付け、グラインダ、塗装、鋳造、研磨などの任意の作業に適用できる。つまり、作業支援システムは、人間やロボットがある姿勢で工業的に作業する場面で使用可能である。 FIG. 1 shows an overall view of a work support system. The work support system presents the work support information of the skilled worker (second worker) prepared in advance as a model for the work to the beginner (first worker) who is the target of the support this time. , Contributes to work improvement for beginners. The work support information presented here may be past motion evaluation information or future motion presentation information.
In addition, in the first embodiment, a method in which the welder 1 who is the worker evaluates the work of welding the welding object 2 by semi-automatic welding will be described. The work support system is not limited to welding work, and can be applied to any work such as welding, brazing, grinder, painting, casting, and polishing. That is, the work support system can be used in a situation where a human or a robot industrially works in a certain posture.
　図中で丸印で示すマーカ１３は、マーカ１３が貼り付けられている対象物の現在位置をマーカ計測用カメラ１４の撮影画像から認識させるための部材である。マーカ１３の発光手段として、例えば、光を反射する部材や自発光する部材、光を反射する塗料が塗布された部材を用いればよい。
　マーカ１３は、溶接士１が把持する吸収フィルム４ｘ付きのトーチ４や、トーチ４により溶接される溶接対象物２にも貼り付けられている。さらに、マーカ１３を溶接士１の身体各所、遮光面３、溶加材などにも貼り付けることで、より詳細な座標データを得ることが可能となる。
　マーカ計測用カメラ１４は、溶接士１および溶接対象物２の周囲に配置されている。マーカ計測用カメラ１４の光照射部は、アーク溶接時の光の波長を避けるように、３５０ｎｍ～１１μｍの光の波長を設定し、照射することができる、実施例１では８５０ｎｍの光を照射する。 The marker 13 indicated by a circle in the figure is a member for recognizing the current position of the target object to which the marker 13 is attached from the image captured by the marker measuring camera 14. As the light emitting means of the marker 13, for example, a member that reflects light, a member that emits light by itself, or a member coated with a paint that reflects light may be used.
The marker 13 is also attached to the torch 4 with the absorption film 4x held by the welder 1 and the welding object 2 to be welded by the torch 4. Furthermore, by attaching the marker 13 to various parts of the body of the welder 1, the light-shielding surface 3, the filler material, etc., it is possible to obtain more detailed coordinate data.
The marker measuring camera 14 is arranged around the welder 1 and the welding object 2. The light irradiation unit of the marker measurement camera 14 can set and irradiate the wavelength of light of 350 nm to 11 μm so as to avoid the wavelength of light at the time of arc welding. In Example 1, 850 nm of light is emitted. ..
　制御装置１１は、有線または無線で通信接続される以下の各計測装置の動作を制御するとともに、各計測装置から以下の各データを取得する。制御装置１１は、取得した各データを作業者の感覚情報として記憶部に記憶するとともに、表示部で表示する。
　・マーカ計測用カメラ１４の撮影画像内のマーカ１３の位置から計測された、溶接士１の動作データ。動作データは、例えば、トーチの平均移動速度、トーチ高さ、ウィービング条件、トーチ角度、溶加材の供給量、などの作業データである。
　・簡易脳波計７が計測した溶接士１の脳波データ。
　・メガネ型カメラ３ｍ（図３）が撮影した溶接士１の視野に近い（つまり、溶接士１の目線の視点から見える）視覚データ。
　・音センサ１８が録音した溶接士１の聴覚に近い（つまり、溶接士１の耳で聞こえる空気中を伝搬する音である）音声データ。
　・半自動溶接電源５、電気計測装置１２が計測した電流値、電圧値データ。
　・環境計測装置１６が計測した温度・湿度・風力データなどの環境データ。
　その他、トーチ４などの道具からの反力データや、手などの触覚で感じる表面粗さデータなども計測対象に含めてもよい。 The control device 11 controls the operation of each of the following measurement devices connected by wire or wirelessly and acquires the following data from each measurement device. The control device 11 stores the acquired data in the storage unit as the sensory information of the worker and displays the data on the display unit.
-Operation data of the welder 1 measured from the position of the marker 13 in the image captured by the marker measuring camera 14. The operation data is, for example, work data such as the average moving speed of the torch, the torch height, the weaving conditions, the torch angle, and the amount of filler material supplied.
・Electroencephalogram data of welder 1 measured by simple electroencephalograph 7.
Visual data close to the field of view of the welder 1 (that is, visible from the viewpoint of the welder 1's eyes) captured by the glasses-type camera 3 m (FIG. 3 ).
-Sound data that is recorded by the sound sensor 18 and is close to the hearing of the welder 1 (that is, the sound propagating in the air heard by the welder 1).
-Current value and voltage value data measured by the semi-automatic welding power source 5 and the electric measuring device 12.
-Environmental data such as temperature/humidity/wind force data measured by the environmental measurement device 16.
In addition, reaction force data from a tool such as the torch 4 and surface roughness data sensed by a tactile sense such as a hand may be included in the measurement target.
　なお、計測される作業者の感覚情報は、実際の作業者が取得している情報に代替できる情報を含んでいることが好ましい。さらに、例えば輝度などを用いて人間が判断している場合は、明るさの識別可能な信号の最小値と最大値の比率を示すダイナミックレンジを、人間の目である１１０ｄＢに近い値のカメラを用いる方が好ましい場合がある。センサの位置や方向は、作業者の取得している感覚に対応するように適宜修正する必要がある。温度、湿度、風力なども同様である。 Note that it is preferable that the sensory information of the measured worker includes information that can be substituted for the information acquired by the actual worker. Further, for example, when a human makes a judgment using the brightness or the like, a camera having a dynamic range showing a ratio of a minimum value and a maximum value of a signal capable of discriminating brightness to a value close to 110 dB which is human eyes is used. It may be preferable to use. The position and direction of the sensor need to be appropriately corrected so as to correspond to the sense of the operator. The same applies to temperature, humidity, wind power, etc.
　図２は、制御装置１１の構成図である。
　制御装置１１は、ＣＰＵ（Central Processing Unit）と、メモリと、ハードディスクなどの記憶手段（記憶部）と、ネットワークインタフェースとを有するコンピュータとして構成される。
　このコンピュータは、ＣＰＵが、メモリ上に読み込んだプログラム（アプリケーションや、その略のアプリとも呼ばれる）を実行することにより、各処理部により構成される制御部（制御手段）を動作させる。
　制御装置１１は、作業者感覚情報検知部２１と、作業者感覚情報格納部２２と、作業者感覚情報演算部２３と、作業者感覚情報報知部２４とを有する。 FIG. 2 is a configuration diagram of the control device 11.
The control device 11 is configured as a computer having a CPU (Central Processing Unit), a memory, a storage unit (storage unit) such as a hard disk, and a network interface.
In this computer, a CPU executes a program (also called an application or its abbreviation application) read on a memory to operate a control unit (control unit) configured by each processing unit.
The control device 11 includes a worker feeling information detection unit 21, a worker feeling information storage unit 22, a worker feeling information calculation unit 23, and a worker feeling information notification unit 24.
　作業者感覚情報検知部２１は、マーカ式モーションキャプチャ（マーカ１３、マーカ計測用カメラ１４）、加速度・角速度・地磁気計測装置、全地球測位システム、屋内全地球測位システム、ステレオカメラ、メガネ型カメラ３ｍ、簡易脳波計７、および、音センサ１８、温度・熱・湿度センサのうちの少なくとも１つの各計測装置から作業者の感覚情報を取得し、その取得結果を作業者感覚情報演算部２３に通知する。
　作業者感覚情報格納部２２は、熟練者のカンやコツといったノウハウが格納されているデータベースである。つまり、作業者感覚情報格納部２２は、作業者の感覚情報と、作業支援情報とが関連づけられているデータベースである。前記したように作業支援情報は、過去の動作評価情報でもよいし、未来の動作提示情報でもよい。 The worker sense information detection unit 21 includes a marker-type motion capture (marker 13, marker measurement camera 14), acceleration/angular velocity/geomagnetic measurement device, global positioning system, indoor global positioning system, stereo camera, glasses-type camera 3 m. , The simple electroencephalograph 7, and at least one of the sound sensor 18, the temperature/heat/humidity sensor, and the sensory information of the operator are acquired, and the acquired result is notified to the operator sensory information calculation unit 23. To do.
The worker sense information storage unit 22 is a database that stores know-how such as tips and tricks of experts. That is, the worker sense information storage unit 22 is a database in which the sense information of the worker and the work support information are associated with each other. As described above, the work support information may be past motion evaluation information or future motion presentation information.
　なお、作業者感覚情報格納部２２において、１つの作業者の感覚情報に対応付けられる作業支援情報は１つでもよいし、同じ作業者の感覚情報であっても、タイプごとに複数の作業支援情報を別々に格納してもよい。タイプとは、例えば、作業のタイプ（溶接、ろう付け、塗装、グラインダ、磨き、鋳造…）や、溶接対象物２の材質のタイプや、作成条件のタイプや、使用目的のタイプ（技能の教育、作業の検査など）や、加工品の最終形態のタイプなど、実質的に異なる作業内容ごとに規定される。 In the worker sense information storage unit 22, one piece of work support information may be associated with one worker's sense information, or a plurality of work supports may be provided for each type even if the same worker's sense information. The information may be stored separately. The types include, for example, the type of work (welding, brazing, painting, grinder, polishing, casting...), the type of material of the object 2 to be welded, the type of creating condition, the type of purpose of use (education of skills). , Work inspection, etc.) and the type of final shape of processed product, etc.
　作業者感覚情報演算部２３は、作業者感覚情報検知部２１から通知された作業者（初心者）の感覚情報を元に、作業者感覚情報格納部２２を参照して適合する熟練者の感覚情報を検索し、その熟練者の感覚情報に対応する作業支援情報を出力する。以下、作業者感覚情報演算部２３による処理を、「感覚→知覚→判断→動作」の各段階の人間の脳の働きに沿って説明する。 The worker sense information calculation unit 23 refers to the worker sense information storage unit 22 based on the sense information of the worker (beginner) notified from the worker sense information detection unit 21 and matches the sense information of a skilled worker. Is output, and work support information corresponding to the sensory information of the expert is output. Hereinafter, the processing performed by the worker sense information calculation unit 23 will be described along with the function of the human brain at each stage of “sense→perception→judgment→motion”.
　第１段階「感覚→知覚」では、作業者感覚情報演算部２３は、五感で得た膨大な作業者の感覚情報から、作業に必要な特徴量を抽出する。このような特徴量を抽出する方法としては、例えば、以下の方法が挙げられる。
　・メガネ型カメラ３ｍで取得した動画や画像から特徴的な箇所を画像解析で抽出する方法。
　・音センサ１８で計測された音の情報から特定の周波数成分を抽出する方法。この際、特定の周波数区間の積分値の比率などを用いて、人間が普段聞いている音階や音調に対応しているように処理する。
　・温度、湿度、風力、脳波などの他の計測データや、トーチ４などの加工器具の動作データを単独または組み合わせて、特徴量を抽出する方法。 In the first stage “sense→perception”, the worker sense information calculation unit 23 extracts the feature amount necessary for the work from the huge sense information of the worker obtained by the five senses. As a method of extracting such a feature amount, for example, the following method may be mentioned.
-A method of extracting a characteristic part by image analysis from a moving image or image acquired by the glasses-type camera 3 m.
A method of extracting a specific frequency component from the sound information measured by the sound sensor 18. At this time, processing is performed so as to correspond to the scale or tone that humans normally hear by using the ratio of the integrated value in a specific frequency section.
A method of extracting a feature amount by using other measurement data such as temperature, humidity, wind power, and brain waves, and operation data of a processing tool such as the torch 4 alone or in combination.
　第２段階「知覚→判断」では、作業者感覚情報演算部２３は、知覚された特徴量に対して所定の判定基準を用いることで、現在の作業者の感覚情報を間接的に評価する。所定の判定基準として、例えば、知覚された特徴量について、その作業評価の妥当性を点数化する関係式が用いられる。
　第３段階「判断→動作」では、作業者感覚情報演算部２３は、判断された内容をもとに、これからの動作を決定する。一般的には、現在の判断が良好なら今後の動作を継続させ、現在の判断が不良なら今後の動作を修正させる。 In the second step “perception→judgment”, the worker sense information calculation unit 23 indirectly evaluates the present worker's sense information by using a predetermined determination criterion for the perceived feature amount. As the predetermined criterion, for example, a relational expression for scoring the validity of the work evaluation of the perceived feature amount is used.
In the third step “judgment→motion”, the worker sense information calculation unit 23 determines a future motion based on the determined content. Generally, if the current judgment is good, the future operation is continued, and if the current judgment is bad, the future operation is corrected.
　以上、第１段階～第３段階で述べた人間の脳の働きの事例を、以下に示す。
　第１段階「感覚→知覚」：熟練者は、溶接対象物２に接触するトーチ４の先端部に対して、その進行方向よりもやや後方に視点を合わせることで、先端部の周囲に形成されるビードの出来を確認する。よって、作業者の感覚情報として、トーチ４の先端部の位置情報と、溶接士１の視点情報とをそれぞれ知覚するように、あらかじめ作業者感覚情報格納部２２にノウハウとして登録しておく。
　第２段階「知覚→判断」：初心者が、トーチ４の先端部に対して、その進行方向の前方に視点を合わせていることが、メガネ型カメラ３ｍから作業者感覚情報検知部２１を介して検出されたとする。作業者感覚情報演算部２３は、作業者感覚情報格納部２２のノウハウと照合することで、初心者の現状の視点が望ましくないと判断する。
　第３段階「判断→動作」：作業者感覚情報報知部２４は、初心者に対して、過去の動作評価情報「進行方向の前方に視点をおく初心者の現状は望ましくない」と、未来の動作提示情報「今後は進行方向の後方に視点をおくように動作を修正すべき」と、を報知する。これにより、初心者は納得感を持って自身の動作を修正できる。
　なお、作業者感覚情報報知部２４が出力する過去の動作評価情報には、作業者感覚情報検知部２１が作業者の感覚情報を取得した時の作業者の動作情報と、作業者感覚情報演算部２３が求めた熟練者の動作情報との一致度合いも含まれる。 Examples of the functions of the human brain described in the first to third steps are shown below.
First stage "sensation→perception": A skilled person forms the periphery of the torch 4 by touching the tip of the torch 4 in contact with the welding target 2 slightly rearward of the traveling direction. Check the quality of the beads. Therefore, as the worker's sense information, the position information of the tip of the torch 4 and the viewpoint information of the welder 1 are registered in advance in the worker's sense information storage unit 22 as know-how so that they are perceived.
Second stage “perception→judgment”: It is possible for the beginner to adjust the viewpoint to the front of the torch 4 in the traveling direction from the glasses-type camera 3m through the operator sense information detection unit 21. Suppose it was detected. The worker sense information calculation unit 23 determines that the current viewpoint of the beginner is not desirable by collating with the know-how of the worker sense information storage unit 22.
Third stage “judgment→motion”: The worker sense information notification unit 24 presents future motion evaluation information to the beginner, saying that the motion evaluation information of the past is “the current condition of the beginner who looks ahead in the traveling direction is not desirable”. Information "The operation should be corrected so that the viewpoint is placed behind the traveling direction in the future" is notified. As a result, the beginner can correct his/her actions with a sense of satisfaction.
In the past motion evaluation information output by the worker sense information notification unit 24, the worker motion information when the worker sense information detection unit 21 acquires the worker sense information and the worker sense information calculation. The degree of coincidence with the operation information of the expert obtained by the unit 23 is also included.
　このように、過去の熟練者における「作業者の感覚情報（感覚→知覚）→作業支援情報（判断→動作）」の一連の流れを作業者感覚情報演算部２３内に事前に用意しておく。
　そして、作業者感覚情報演算部２３は、新たに初心者が作業を行うときには、その初心者の作業者の感覚情報をもとに、作業者感覚情報演算部２３で対応する作業支援情報を検索し、その検索した熟練者の作業支援情報を初心者に提示することで、初心者の技能学習を支援する。なお、作業者感覚情報演算部２３は、今回の計算結果を作業者感覚情報格納部２２にアップデートすることで、次回以降の計算に役立ててもよい。 In this way, a series of flows of “sensory information of a worker (sensory→perceived)→work support information (judgment→motion)” in the past skilled worker is prepared in advance in the worker sensory information calculation unit 23. ..
Then, the worker sense information calculation unit 23 retrieves corresponding work support information by the worker sense information calculation unit 23 based on the sense information of the beginner worker when a new beginner performs work. By presenting the retrieved work support information of the expert to the beginner, the beginner's skill learning is supported. The operator feeling information calculation unit 23 may update the calculation result of this time in the operator feeling information storage unit 22 to be useful for the calculation of the next time and thereafter.
　作業者感覚情報報知部２４は、作業者感覚情報演算部２３から通知された作業支援情報を初心者に報知する。報知方法は、例えば、文字データの画面表示、グラフデータの画面表示、アラームや振動での通知などが挙げられる。
　作業支援情報は、例えば、以下のデータである。
　・数値データ（図８に示す開先端部距離とその適性範囲など）
　・コメント、改善提案、注意点などの文字データ
　・判断のやり方を示す説明図データ（図８に示すグラフ全体）
　また、作業者感覚情報報知部２４は、表示ディスプレイ８０だけでなく、矯正治具やホログラフィなどを用いて、熟練者の判断を把握させることを補助してもよい。 The worker feeling information notification unit 24 notifies the beginner of the work support information notified from the worker feeling information calculation unit 23. Examples of the notification method include screen display of character data, screen display of graph data, and notification by alarm or vibration.
The work support information is, for example, the following data.
・Numerical data (open tip distance and suitable range, etc. shown in Fig. 8)
・Character data such as comments, suggestions for improvement, and points to be noted ・Explanatory diagram data showing the judgment method (entire graph shown in Fig. 8)
Further, the operator sense information notifying unit 24 may use not only the display 80 but also a correction jig, holography, or the like to assist the operator in grasping the judgment.
　以下、実際の溶接現場において作業支援システムが溶接士１を支援する具体例を説明する。
　図３は、溶接作業時の溶接士１の外観図である。遮光面３の内側にメガネ型カメラ３ｍを装着した溶接士１は、開先が空いた試験片である溶接対象物２に対して、半自動溶接でウィービングさせながらトーチ４で肉盛りする溶接を行う。 Hereinafter, a specific example in which the work support system supports the welder 1 at an actual welding site will be described.
FIG. 3 is an external view of the welder 1 during welding work. A welder 1 who wears a glasses-type camera 3m on the inside of the light-shielding surface 3 performs welding to build up with a torch 4 on a welding object 2 which is a test piece having an open groove while weaving by semi-automatic welding. ..
　図４は、図３の溶接士１によって溶接される前の溶接対象物２を示す斜視図である。溶接対象物２は、左側の母材８９ａと、右側の母材８９ｂとの組み合わせである。母材８９ａの右端部である突合せ部８３ａと、母材８９ｂの左端部である突合せ部８３ｂとが互いに突合せ部８３として密着される。母材８９ａのＺ軸上部の開先端部８２ａと、母材８９ｂのＺ軸上部の開先端部８２ｂとは母材間が密着した状態でも距離が空いている。
　図５は、溶接された後の溶接対象物２を示す斜視図である。図４の開先壁（開先端部８２ａ，８２ｂ）と、開先底（突合せ部８３）とで形成される空間（溶融池）に対して溶接材であるビード８８が流し込まれることで、２つの母材が溶接される。 FIG. 4 is a perspective view showing the welding object 2 before being welded by the welder 1 of FIG. The object to be welded 2 is a combination of the left base metal 89a and the right base metal 89b. The butt portion 83a, which is the right end portion of the base material 89a, and the butt portion 83b, which is the left end portion of the base material 89b, are in close contact with each other as the butt portion 83. There is a distance between the open tip 82a of the base material 89a at the upper portion of the Z axis and the open tip portion 82b of the base material 89b at the upper portion of the Z axis even when the base materials are in close contact with each other.
FIG. 5 is a perspective view showing the welding object 2 after being welded. The bead 88, which is a welding material, is poured into a space (molten pool) formed by the groove walls ( open end portions 82a and 82b) and the groove bottom (butt portion 83) in FIG. Two base materials are welded.
　図６は、図５の母材８９ａ，８９ｂをＺ軸の上方向から見下ろした平面図である。溶接士１は、Ｘ軸の左側から右側に向かって蛇行（ウィービング）しながら、トーチ４の溶接ワイヤ４ｂを移動させる。この溶接ワイヤ４ｂの先端部（アーク光を発する箇所）のウィービング軌跡を、矢印で図示した。ウィービング軌跡は、折り返し点Ｐ１，Ｐ２，Ｐ３で示すように、移動途中で３箇所折り返している。ウィービング軌跡は、トーチ４に付されたマーカ１３の位置を追跡することで、求めることができる。
　ウィービング幅ＴＷを、ウィービング軌跡のうちのＹ軸下方向の最小値（つまり折り返し点Ｐ１，Ｐ３）から、Ｙ軸上方向の最大値（つまり折り返し点Ｐ２）までの幅として定義する。ウィービング幅ＴＷは、ウィービング軌跡の折り返し点の座標から、求めることができる。 FIG. 6 is a plan view of the base materials 89a and 89b of FIG. 5 as viewed from above in the Z axis. The welder 1 moves the welding wire 4b of the torch 4 while meandering (weaving) from the left side to the right side of the X axis. The weaving locus of the tip of the welding wire 4b (the location where the arc light is emitted) is shown by an arrow. The weaving locus is turned back at three points during the movement, as indicated by turning points P1, P2, and P3. The weaving locus can be obtained by tracking the position of the marker 13 attached to the torch 4.
The weaving width TW is defined as the width of the weaving locus from the minimum value in the Y-axis downward direction (that is, the turning points P1, P3) to the maximum value in the Y-axis upward direction (that is, the turning point P2). The weaving width TW can be obtained from the coordinates of the turning points of the weaving locus.
　図７は、図６の平面図において、ビード８８が流し込まれるビード範囲８５を示す平面図である。
　ビード範囲８５は、開先端部８２ａ～開先端部８２ｂのＹ軸幅と、母材８９ａ，８９ｂのＸ軸長さとをもとにした略長方形として登録される。つまり、このビード範囲８５内に溶接ワイヤ４ｂのビード８８を流し込めるように、ウィービング軌跡を溶接士１に形成させることが、適正な作業といえる。 FIG. 7 is a plan view showing a bead area 85 into which the bead 88 is poured in the plan view of FIG.
The bead range 85 is registered as a substantially rectangular shape based on the Y-axis width of the open tip 82a to the open tip 82b and the X-axis length of the base materials 89a and 89b. That is, it can be said that proper work is performed so that the welder 1 can form a weaving locus so that the bead 88 of the welding wire 4b can be poured into the bead range 85.
　図８は、熟練者の溶接作業時の視野を示す説明図である。
　ウィービング軌跡Ｗ１が、左側中央の突合せ部８３から開始して右側に向かって蛇行し、途中の折り返し点Ｐ１１，Ｐ１２，Ｐ１３で折り返している。各折り返し点と、最寄りの開先端部８２ａまたは開先端部８２ｂとの間の開先端部距離を、順に距離Ｌ１１，Ｌ１２，Ｌ１３とする。
　前準備として、作業者感覚情報格納部２２には、作業者の感覚情報「ウィービング軌跡の各折り返し点についての開先端部距離を知覚する」と、作業支援情報「開先端部距離が図８の適正範囲内（上限～下限）か否かを判断し、適正範囲外と判断されたウィービング軌跡の開先端部距離を適正範囲になるように修正する動作を促す」とが対応付けられる。
　溶接材はウィービング軌跡の周辺に流れ出す性質があり、図７のビード範囲８５のぎりぎりまで外側にウィービング軌跡を描いてしまうと、溶接材が溶融池の外側に流出してしまうためである。なお、図８での熟練者は、ノウハウに適合するようにウィービング軌跡Ｗ１を操作しているので、距離Ｌ１１，Ｌ１２，Ｌ１３は、いずれも適正範囲内になっている。 FIG. 8: is explanatory drawing which shows the visual field at the time of welding work of an expert.
The weaving locus W1 starts from the abutting portion 83 at the center of the left side, meanders toward the right side, and turns back at turn points P11, P12, and P13 in the middle. The open tip end distance between each turnaround point and the nearest open tip end portion 82a or 82b is set to distances L11, L12, L13 in order.
As a preliminary preparation, the worker sense information storage unit 22 stores the worker sense information “perceive the open tip end distance for each turning point of the weaving trajectory” and the work support information “open tip end distance of FIG. 8”. It is determined whether or not it is within the proper range (upper limit to lower limit), and the operation of correcting the open tip end distance of the weaving locus determined to be outside the proper range to be within the proper range is urged”.
This is because the welding material has the property of flowing out to the periphery of the weaving locus, and if the weaving locus is drawn to the outside of the bead range 85 in FIG. 7, the welding material will flow to the outside of the molten pool. Since the expert in FIG. 8 operates the weaving locus W1 so as to fit the know-how, the distances L11, L12, and L13 are all within the proper range.
　以下が、作業者感覚情報格納部２２に登録されているノウハウに沿った作業者感覚情報演算部２３の処理内容である。
　第１段階「感覚→知覚」では、ウィービング軌跡Ｗ１の折り返し点Ｐ１１，Ｐ１２，Ｐ１３に着目し、その開先端部距離Ｌ１１，Ｌ１２，Ｌ１３を知覚すべき特徴量とする。
　第２段階「知覚→判断」では、開先端部距離Ｌ１１，Ｌ１２，Ｌ１３それぞれについて、図８に示す適正範囲内か否かを所定の判定基準とする。
　第３段階「判断→動作」では、開先端部距離が適正範囲内になるようにウィービング軌跡Ｗ１を形成する動作を、作業者感覚情報報知部２４から溶接士１に提示する。 The following is the processing content of the worker sense information calculation unit 23 according to the know-how registered in the worker sense information storage unit 22.
In the first stage “sense→perception”, attention is paid to the turning points P11, P12, P13 of the weaving locus W1, and the open tip distances L11, L12, L13 are set as the characteristic amounts to be perceived.
In the second step “perception→judgment”, whether or not each of the open tip end distances L11, L12, L13 is within the proper range shown in FIG.
In the third step “judgment→motion”, the worker sense information notification unit 24 presents to the welder 1 a motion for forming the weaving locus W1 so that the open tip distance is within an appropriate range.
　図９は、初心者の溶接作業時の視野を示す説明図である。
　ウィービング軌跡Ｗ２が、左側中央の突合せ部８３から開始して右側に向かって蛇行し、途中の折り返し点Ｐ２１，Ｐ２２，Ｐ２３で折り返しており、このときの開先端部距離を、順に距離Ｌ２１，Ｌ２２，Ｌ２３とする。
　熟練者のノウハウを知らない初心者は、図７のビード範囲８５のぎりぎりまで外側にウィービング軌跡Ｗ２を描いてしまう。このウィービング軌跡Ｗ２では、溶接材が溶融池の外側に流出してしまう恐れがある。 FIG. 9 is an explanatory diagram showing the field of view during welding work by a beginner.
The weaving locus W2 starts from the abutting portion 83 at the center on the left side, meanders toward the right side, and folds back at midway turning points P21, P22, and P23. , L23.
A beginner who does not know the know-how of the expert draws a weaving locus W2 outside to the very end of the bead range 85 in FIG. In this weaving locus W2, the welding material may flow out to the outside of the molten pool.
　よって、作業者感覚情報演算部２３は、作業者の視野に相当する画像から、開先端部距離Ｌ２１，Ｌ２２，Ｌ２３は、いずれも適正範囲外であると判断する。なお、作業者感覚情報演算部２３は、適正範囲（上限～下限）で判断する他にも、１つの閾値との比較で判断したり、最適な数値に対する差分で判断したり、閾値をはみ出た時間などで判断したりしてもかまわない。
　さらに、作業者感覚情報報知部２４は、作業者感覚情報演算部２３の判断に従い、以下を初心者の溶接士１にフィードバックする。
　・熟練者の判断情報「開先端部距離が適正範囲から外れないようにウィービングすべき」
　・過去の動作評価情報「開先端部距離が適正範囲から外れている現状は低評価である」
　・未来の動作提示情報「開先端部距離が適正範囲内に復帰するようにウィービング軌跡Ｗ１を修正すべき」 Therefore, the operator sense information calculation unit 23 determines that the open tip distances L21, L22, and L23 are all outside the proper range from the image corresponding to the field of view of the operator. The operator feeling information calculation unit 23 makes a judgment in comparison with one threshold value, makes a judgment with respect to an optimum numerical value, or exceeds the threshold value, in addition to the judgment in the appropriate range (upper limit to lower limit). You may decide based on time, etc.
Further, the worker sensation information notification unit 24 feeds back the following to the beginner welder 1 according to the judgment of the worker sensation information calculation unit 23.
・Expert judgment information "Weaving should be done so that the open tip distance does not deviate from the proper range."
・Past movement evaluation information “Currently, the open tip distance is out of the proper range is low evaluation”
・Future action presentation information “Weaving locus W1 should be modified so that the open tip distance returns to within the proper range.”
　このフィードバックにより、熟練者が普段行っている判断そのものをベースに初心者の過去の動作を評価するので、初心者の判断が不良である理由を教育的な根拠をもって説明できる。そして、初心者は、開先端部距離が適正範囲から外れないように、ウィービング軌跡Ｗ２の折り返し点を設けるようにトーチ４を操作するように動作を修正できる。 By this feedback, since the beginner's past movements are evaluated based on the judgment itself that the expert usually makes, the reason why the beginner's judgment is bad can be explained on an educational basis. Then, a beginner can correct the operation so as to operate the torch 4 so as to set the turning point of the weaving locus W2 so that the open tip distance does not deviate from the proper range.
　図１０は、熟練者の塗装作業時の視野を示す説明図である。図１０の上下は塗装される壁の高さ方向であり、左右は壁の横方向である。
　熟練者は１回目の塗装により領域２０１に塗料を塗り、２回目の塗装により領域２０２に塗料を塗ったとする。ここで、領域２０１の下端部２０１ｕの形状と、領域２０２の下端部２０２ｕの形状とが類似するように塗装するというノウハウを、作業者感覚情報格納部２２に事前登録しておく。
　つまり、作業者感覚情報格納部２２には、作業者の感覚情報「領域下端部の形状を知覚」と、作業支援情報「前回塗装時の形状と類似するかを判断→非類似なら類似になるように動作修正」とが対応付けられる。 FIG. 10: is explanatory drawing which shows the visual field at the time of the coating operation of an expert. The top and bottom of FIG. 10 are the height direction of the wall to be painted, and the left and right are the lateral direction of the wall.
It is assumed that the expert applies the paint to the area 201 by the first application and the paint on the area 202 by the second application. Here, the know-how to paint so that the shape of the lower end portion 201u of the area 201 and the shape of the lower end portion 202u of the area 202 are similar to each other is registered in advance in the operator sense information storage unit 22.
That is, in the worker sense information storage unit 22, the worker's sense information “perceive the shape of the lower end of the area” and the work support information “determine whether the shape is similar to the shape at the time of previous painting> are similar if not similar. “Operation correction” as described above.
　図１１は、初心者の塗装作業時の視野を示す説明図である。
　初心者は１回目の塗装により領域２１１に塗料を塗ったとする。
　（１）過去の動作評価情報を報知する場合を説明する。２回目の塗装により領域２１２＋領域２１３の和領域に塗料を塗ったとする。
　作業者感覚情報報知部２４は、領域２１１の下端部２１１ｕの形状と、領域２１３の下端部２１３ｕの形状とが非類似であることから、２回目の塗装が低評価であるとする過去の動作評価情報を初心者に報知する。さらに、過去の動作評価情報として、作業者感覚情報報知部２４は、２回目の塗装は領域２１２のように塗ることで、下端部２１１ｕの形状と、領域２１２の下端部２１２ｕの形状とを類似させるようにする模範解答も併せて報知してもよい。 FIG. 11 is an explanatory diagram showing a field of view of a beginner during painting work.
It is assumed that the beginner applies the paint to the area 211 by the first application.
(1) A case of notifying past motion evaluation information will be described. It is assumed that the paint is applied to the sum area of the area 212 and the area 213 by the second application.
Since the shape of the lower end portion 211u of the area 211 and the shape of the lower end portion 213u of the area 213 are dissimilar to each other, the operator sensation information notification unit 24 determines that the second painting has a low evaluation in the past operation. Notify beginners of evaluation information. Further, as the past motion evaluation information, the worker sense information notifying unit 24 applies the second coating as in the area 212 to make the shape of the lower end portion 211u and the shape of the lower end portion 212u of the area 212 similar to each other. You may also notify the model answer which makes it do.
　（２）未来の動作提示情報を報知する場合を説明する。２回目の塗装はまだ行われていない時点とする。作業者感覚情報報知部２４は、下端部２１１ｕの形状と、領域２１２の下端部２１２ｕの形状とを類似させるような領域２１２を未来の動作提示情報として初心者に報知する。
　これにより、初心者は、領域２１２だけでなく領域２１３も余分に塗料を塗ってしまうミスを予防できる。 (2) A case of notifying future motion presentation information will be described. The second painting is not yet done. The worker sense information notification unit 24 notifies the beginner of a region 212 in which the shape of the lower end portion 211u and the shape of the lower end portion 212u of the region 212 are similar to each other as future motion presentation information.
As a result, a beginner can prevent the mistake of applying extra paint not only to the area 212 but also to the area 213.
　以上から実施例１の作業支援システムでは、作業者感覚情報報知部２４は、未来の動作提示情報を報知することで、あたかも熟練者が事前に加工物などを見て判断した結果を次の動作に反映するように、実際の感覚に近い形で、熟練者の感覚を初心者に提示できる。
　また、作業者感覚情報報知部２４は、過去の動作評価情報を報知することで、熟練者の感覚に基づいて初心者を評価できる。これにより、初心者は、作業前および作業中に得た作業支援情報をもとに、加工道具や作業を工夫して判断や動作を改善できる。 As described above, in the work support system according to the first embodiment, the worker sense information notifying unit 24 notifies the future motion presentation information, so that the result of a judgment made by a skilled worker in advance by looking at the workpiece is the next motion. It is possible to present the beginner's sense of the expert in a form close to the actual sense as reflected in.
Further, the worker sense information notification unit 24 can evaluate the beginner based on the sense of the expert by notifying the past motion evaluation information. Thereby, the beginner can improve the judgment and the movement by devising the working tool and the work based on the work support information obtained before and during the work.
　実施例２では、実施例１の作業支援システムを、グラインダ作業に応用する一例を説明する。
　図１２は、図５の溶接対象物２に対して、初心者の不慣れな作業によりビード８８がはみ出してしまった場合の斜視図である。ビード８８の出っ張り８８ｐ，８８ｑをグラインダ作業で取り除く追加作業を考える。 In the second embodiment, an example in which the work support system of the first embodiment is applied to grinder work will be described.
FIG. 12 is a perspective view of the welding object 2 shown in FIG. 5 when the bead 88 protrudes due to an unfamiliar work of a beginner. Consider an additional work for removing the protrusions 88p and 88q of the bead 88 by the grinder work.
　図１３は、図１２の溶接対象物２の平面図である。初心者は研削盤を用いて、ビード８８の出っ張り８８ｐ，８８ｑを削るグラインダ作業を行う。このグラインダ作業においても、作業支援システムの作業者感覚情報演算部２３は、初心者の感覚情報を作業者感覚情報検知部２１から取得し、作業者感覚情報格納部２２に登録されているグラインダ作業に関する作業支援情報から熟練者の適切なグラインダの判断や、グラインダの動作を求める。そして、作業者感覚情報報知部２４は、求めた熟練者の作業支援情報を初心者に報知することで、グラインダ作業の改善を促す。図１３の例では、出っ張り８８ｐ，８８ｑを削る際の加工道具（研削盤）の動き情報の角度や幅が、作業支援情報として初心者に報知される。 FIG. 13 is a plan view of the welding object 2 of FIG. A beginner uses a grinder to perform grinder work for cutting the protrusions 88p and 88q of the bead 88. Also in this grinder work, the worker sense information calculation unit 23 of the work support system acquires the beginner's sense information from the worker sense information detection unit 21 and relates to the grinder work registered in the worker sense information storage unit 22. An expert's appropriate judgment of the grinder and the operation of the grinder are requested from the work support information. Then, the worker sense information notifying unit 24 notifies the beginner of the obtained work support information of the expert to prompt the improvement of the grinder work. In the example of FIG. 13, the angle and width of the motion information of the processing tool (grinding machine) when cutting the protrusions 88p and 88q are notified to the beginner as work support information.
　なお、作業者感覚情報格納部２２には、グラインダ作業に関する作業支援情報として、例えば以下の情報が格納されている。
　・視覚で入手した情報をどのように画像処理するか
　・加工物を触って表面粗さやＲ度などを確認する方法
　また、作業者感覚情報報知部２４は、作業者が感覚で取得している情報を代替できる情報を元に、中途半端に溶接された溶接対象物２に対し、未来の動作をどのようにするのが望ましいか提案する。 The worker sense information storage unit 22 stores, for example, the following information as work support information regarding the grinder work.
-How to image-process the information obtained visually-Method of touching the workpiece to check the surface roughness, R degree, etc. Further, the worker sense information notifying unit 24 is acquired by the worker with a sense. Based on the information that can replace the information, it is suggested that it is desirable to perform a future operation for the welding object 2 welded halfway.
　なお、本発明は前記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、前記した実施例は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。
　また、ある実施例の構成の一部を他の実施例の構成に置き換えることが可能であり、また、ある実施例の構成に他の実施例の構成を加えることも可能である。
　また、各実施例の構成の一部について、他の構成の追加・削除・置換をすることが可能である。また、上記の各構成、機能、処理部、処理手段などは、それらの一部または全部を、例えば集積回路で設計するなどによりハードウェアで実現してもよい。
　また、前記の各構成、機能などは、プロセッサがそれぞれの機能を実現するプログラムを解釈し、実行することによりソフトウェアで実現してもよい。 It should be noted that the present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described.
Further, a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment.
Further, it is possible to add/delete/replace other configurations with respect to a part of the configurations of the respective embodiments. Further, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in hardware by designing a part or all of them with, for example, an integrated circuit.
Further, each of the above-described configurations and functions may be realized by software by a processor interpreting and executing a program that realizes each function.
　各機能を実現するプログラム、テーブル、ファイルなどの情報は、メモリや、ハードディスク、ＳＳＤ（Solid State Drive）などの記録装置、または、ＩＣ（Integrated Circuit）カード、ＳＤカード、ＤＶＤ（Digital Versatile Disc）などの記録媒体におくことができる。
　また、制御線や情報線は説明上必要と考えられるものを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。実際にはほとんど全ての構成が相互に接続されていると考えてもよい。
　さらに、各装置を繋ぐ通信手段は、無線ＬＡＮに限定せず、有線ＬＡＮやその他の通信手段に変更してもよい。 Information such as programs, tables, and files that realize each function is stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or an IC (Integrated Circuit) card, an SD card, a DVD (Digital Versatile Disc), etc. Can be stored in the recording medium.
Further, the control lines and information lines are shown to be necessary for explanation, and not all the control lines and information lines on the product are necessarily shown. In practice, it may be considered that almost all configurations are connected to each other.
Further, the communication means for connecting the respective devices is not limited to the wireless LAN, and may be changed to a wired LAN or other communication means.
　１　　　溶接士
　２　　　溶接対象物
　３　　　遮光面
　３ｍ　　メガネ型カメラ
　４　　　トーチ
　４ｂ　　溶接ワイヤ
　４ｘ　　吸収フィルム
　５　　　半自動溶接電源
　７　　　簡易脳波計
　１１　　制御装置
　１２　　電気計測装置
　１３　　マーカ
　１４　　マーカ計測用カメラ
　１６　　環境計測装置
　１８　　音センサ
　２１　　作業者感覚情報検知部（検知部）
　２２　　作業者感覚情報格納部（格納部）
　２３　　作業者感覚情報演算部（演算部）
　２４　　作業者感覚情報報知部（報知部）
　８０　　表示ディスプレイ
　８１　　関連知識表示
　８２　　開先端部
　８３　　突合せ部
　８５　　ビード範囲
　８８　　ビード
　８９　　母材 1 Welder 2 Welding object 3 Light-shielding surface 3m Glasses type camera 4 Torch 4b Welding wire 4x Absorption film 5 Semi-automatic welding power source 7 Simple electroencephalograph 11 Controller 12 Electric measuring device 13 Marker 14 Marker measuring camera 16 Environmental measuring device 18 Sound Sensor 21 Worker sense information detection unit (detection unit)
22 Worker sense information storage (storage)
23 Operator sense information calculation unit (calculation unit)
24 Worker sense information notification unit (notification unit)
80 Display Display 81 Related Knowledge Display 82 Open Tip 83 Butt Part 85 Bead Range 88 Bead 89 Base Material

Claims (10)

  1. 　第１作業者の体に装着されたセンサ、前記第１作業者の近傍に配置されたセンサ、または、前記第１作業者が操作する作業道具を介して、前記第１作業者が作業時に得る感覚を第１感覚情報として取得する検知部と、
    　前記第１作業者にとって作業の手本とすべき第２作業者が過去の作業時に得た感覚である第２感覚情報と、その第２感覚情報を知覚したときの判断情報と、その判断情報に従って行われる次の動作情報とを対応付けて格納する格納部と、
    　取得した前記第１感覚情報と合致する前記第２感覚情報を前記格納部から検索し、検索された前記第２感覚情報に対応する前記判断情報と、対応する前記次の動作情報とを求める演算部と、
    　前記第１感覚情報の取得時の前記第１作業者の動作情報と、前記演算部が求めた前記次の動作情報との一致度合いを過去の動作評価情報とし、その過去の動作評価情報と求めた前記判断情報とを作業支援情報として報知する報知部とを有することを特徴とする
    　作業支援装置。     The sensor is attached to the body of the first operator, a sensor arranged in the vicinity of the first operator, or a work tool operated by the first operator, and is obtained by the first operator during work. A detection unit that acquires a sense as the first sense information;
    Second sense information, which is a sense obtained by the second worker during past work, which should serve as a model for the first worker, judgment information when the second sense information is perceived, and the judgment information A storage unit that stores the next motion information performed in accordance with
    A calculation for searching the storage unit for the second sensory information that matches the acquired first sensory information, and obtaining the determination information corresponding to the searched second sensory information and the corresponding next motion information. Department,
    The degree of coincidence between the motion information of the first worker at the time of acquisition of the first sensory information and the next motion information obtained by the calculation unit is set as past motion evaluation information, and the past motion evaluation information is obtained. And a notification unit that notifies the determination information as work support information.
  2. 　第１作業者の体に装着されたセンサまたは前記第１作業者が操作する作業道具を介して、前記第１作業者が作業時に得る感覚を第１感覚情報として取得する検知部と、
    　前記第１作業者にとって作業の手本とすべき第２作業者が過去の作業時に得た感覚である第２感覚情報と、その第２感覚情報を知覚したときの判断情報と、その判断情報に従って行われる次の動作情報とを対応付けて格納する格納部と、
    　取得した前記第１感覚情報と合致する前記第２感覚情報を前記格納部から検索し、検索された前記第２感覚情報に対応する前記判断情報と、対応する前記次の動作情報とを求める演算部と、
    　前記演算部が求めた前記次の動作情報を未来の動作提示情報とし、その未来の動作提示情報と求めた前記判断情報とを作業支援情報として報知する報知部とを有することを特徴とする
    　作業支援装置。     A detection unit that acquires, as first sensory information, the sensation that the first worker obtains during work through a sensor attached to the body of the first worker or a work tool operated by the first worker;
    Second sense information, which is a sense obtained by the second worker during past work, which should serve as a model for the first worker, judgment information when the second sense information is perceived, and the judgment information A storage unit that stores the next motion information performed in accordance with
    Operation for searching the storage unit for the second sensory information that matches the acquired first sensory information, and obtaining the determination information corresponding to the searched second sensory information and the corresponding next motion information. Department,
    The next motion information obtained by the calculation unit is used as future motion presentation information, and a notification unit for notifying the future motion presentation information and the obtained determination information as work support information is provided. Support device.
  3. 　前記格納部には、前記第２感覚情報と前記判断情報と前記次の動作情報との組み合わせが、作業種別ごとに個別に登録されており、
    　前記演算部は、取得した前記第１感覚情報と合致する前記第２感覚情報を前記格納部から検索するときに、前記第１作業者が行う作業種別に合致した前記第２感覚情報から検索することを特徴とする
    　請求項１または請求項２に記載の作業支援装置。     In the storage unit, a combination of the second sensory information, the determination information, and the next motion information is individually registered for each work type,
    The arithmetic unit, when searching the storage unit for the second sense information that matches the acquired first sense information, searches the second sense information that matches the work type performed by the first worker. The work support device according to claim 1 or 2, wherein:
  4. 　前記格納部には、溶接の作業種別として、溶接対象物に進行させる溶接道具に対して前記第２作業者の視点を後方にする旨の前記第２感覚情報が登録されており、
    　前記報知部は、取得した前記第１感覚情報における溶接道具に対する視点をもとに、前記作業支援情報を報知することを特徴とする
    　請求項３に記載の作業支援装置。     In the storage unit, as the work type of welding, the second sense information indicating that the viewpoint of the second worker is set backward with respect to the welding tool to be advanced to the welding object is registered,
    The work support device according to claim 3, wherein the notification unit notifies the work support information based on a viewpoint of the welding tool in the acquired first sensation information.
  5. 　前記格納部には、溶接の作業種別として、溶接対象物に進行させる溶接道具の開先端部距離を適性範囲内にする旨の前記第２感覚情報が登録されており、
    　前記報知部は、取得した前記第１感覚情報における溶接道具の開先端部距離をもとに、前記作業支援情報を報知することを特徴とする
    　請求項３に記載の作業支援装置。     In the storage unit, as the work type of welding, the second sensory information indicating that the open tip distance of the welding tool to be advanced to the welding object is within an appropriate range is registered,
    The work support apparatus according to claim 3, wherein the notification unit notifies the work support information based on a distance of an open tip of a welding tool in the acquired first sensation information.
  6. 　前記格納部には、塗装の作業種別として、複数回の塗装を行うときの各回で塗装された領域の端部形状と、その次回に塗装された領域の端部形状とが類似する旨の前記第２感覚情報が登録されており、
    　前記報知部は、取得した前記第１感覚情報における各回で塗装された領域の端部形状の類似度合いをもとに、前記作業支援情報を報知することを特徴とする
    　請求項３に記載の作業支援装置。     As a work type of painting, in the storage part, the end shape of the area painted at each time when painting is performed a plurality of times and the end shape of the area painted next time are similar. Second sense information is registered,
    The work according to claim 3, wherein the notification unit notifies the work support information based on a degree of similarity of an end shape of an area painted each time in the acquired first sensation information. Support device.
  7. 　前記検知部は、マーカ式モーションキャプチャ、加速度・角速度・地磁気計測装置、全地球測位システム、屋内全地球測位システム、ステレオカメラ、メガネ型カメラ、簡易脳波計、および、音センサ、温度・熱・湿度センサのうちの少なくとも１つを用いて、前記第１感覚情報を取得することを特徴とする
    　請求項１または請求項２に記載の作業支援装置。     The detection unit is a marker-type motion capture, acceleration/angular velocity/geomagnetism measuring device, global positioning system, indoor global positioning system, stereo camera, glasses-type camera, simple electroencephalograph, and sound sensor, temperature/heat/humidity. The work support apparatus according to claim 1 or 2, wherein the first sensory information is acquired using at least one of the sensors.
  8. 　前記報知部は、ディスプレイ、矯正治具、および、ホログラフィのうちの少なくとも１つを用いて、前記作業支援情報を報知することを特徴とする
    　請求項１または請求項２に記載の作業支援装置。     The work support device according to claim 1 or 2, wherein the notification unit notifies the work support information using at least one of a display, a correction jig, and a holography.
  9. 　作業支援装置は、検知部と、格納部と、演算部と、報知部とを備えており、
    　前記検知部は、第１作業者の体に装着されたセンサ、前記第１作業者の近傍に配置されたセンサ、または、前記第１作業者が操作する作業道具を介して、前記第１作業者が作業時に得る感覚を第１感覚情報として取得し、
    　前記格納部には、前記第１作業者にとって作業の手本とすべき第２作業者が過去の作業時に得た感覚である第２感覚情報と、その第２感覚情報を知覚したときの判断情報と、その判断情報に従って行われる次の動作情報とを対応付けて格納されており、
    　前記演算部は、取得した前記第１感覚情報と合致する前記第２感覚情報を前記格納部から検索し、検索された前記第２感覚情報に対応する前記判断情報と、対応する前記次の動作情報とを求め、
    　前記報知部は、前記第１感覚情報の取得時の前記第１作業者の動作情報と、前記演算部が求めた前記次の動作情報との一致度合いを過去の動作評価情報とし、その過去の動作評価情報と求めた前記判断情報とを作業支援情報として報知することを特徴とする
    　作業支援方法。     The work support device includes a detection unit, a storage unit, a calculation unit, and a notification unit,
    The detection unit may include a sensor attached to a body of a first worker, a sensor arranged in the vicinity of the first worker, or a work tool operated by the first worker to perform the first work. The sense that a person gets at work is acquired as the first sense information,
    The storage unit stores second sense information, which is a sense obtained by the second worker as a model of work for the first worker during past work, and determination when the second sense information is perceived. The information and the next motion information performed according to the determination information are stored in association with each other,
    The calculation unit searches the storage unit for the second sense information that matches the acquired first sense information, and determines the determination information corresponding to the retrieved second sense information and the corresponding next operation. Seeking information and
    The notification unit sets the degree of coincidence between the motion information of the first worker at the time of acquisition of the first sense information and the next motion information obtained by the calculation unit as past motion evaluation information, and the past motion evaluation information. A work support method comprising notifying the motion evaluation information and the obtained determination information as work support information.
  10. 　作業支援装置は、検知部と、格納部と、演算部と、報知部とを備えており、
    　前記検知部は、第１作業者の体に装着されたセンサまたは前記第１作業者が操作する作業道具を介して、前記第１作業者が作業時に得る感覚を第１感覚情報として取得し、
    　前記格納部には、前記第１作業者にとって作業の手本とすべき第２作業者が過去の作業時に得た感覚である第２感覚情報と、その第２感覚情報を知覚したときの判断情報と、その判断情報に従って行われる次の動作情報とを対応付けて格納されており、
    　前記演算部は、取得した前記第１感覚情報と合致する前記第２感覚情報を前記格納部から検索し、検索された前記第２感覚情報に対応する前記判断情報と、対応する前記次の動作情報とを求め、
    　前記報知部は、前記演算部が求めた前記次の動作情報を未来の動作提示情報とし、その未来の動作提示情報と求めた前記判断情報とを作業支援情報として報知することを特徴とする
    　作業支援方法。     The work support device includes a detection unit, a storage unit, a calculation unit, and a notification unit,
    The detection unit acquires a sensation that the first worker obtains during work as first sensation information via a sensor attached to the body of the first worker or a work tool operated by the first worker,
    The storage unit stores second sense information, which is a sense obtained by the second worker as a model of work for the first worker during past work, and determination when the second sense information is perceived. The information and the next motion information performed according to the determination information are stored in association with each other,
    The calculation unit searches the storage unit for the second sense information that matches the acquired first sense information, and determines the determination information corresponding to the retrieved second sense information and the corresponding next operation. Seeking information and
    The notification unit notifies the next motion information obtained by the calculation unit as future motion presentation information, and notifies the future motion presentation information and the obtained determination information as work support information. How to help.
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