JP2019188599A - Control device and work management system using the same - Google Patents

Abstract

To provide a control device capable of grasping the state of work using a tool: and to provide a work management system using the control device.SOLUTION: A control device 2 is provided with a communication part 23 and a processing part 24. The communication part 23 performs communication respectively with a tool 3 used at the time of a work for fastening a fastening part (e.g., a screw 10), and with an imaging device 41 for imaging a work portion where the work is performed. The processing part 24 executes a determination processing for determining whether or not the work is normally performed, on the basis of a fastening torque to be given to the fastening part by the tool 3 and of a captured image imaged by the imaging device 41. The processing part 24 determines whether or not the work is normally performed, on the basis of the result of comparison between a target torque and a fastening torque, and the result of comparison between a target image and the captured image, in the determination processing.SELECTED DRAWING: Figure 1

Description

  The present invention generally relates to a control device and a work management system, and more particularly to a control device that manages work using tools and a work management system using the control device.

  Conventionally, there are known tightening tools and tightening management systems equipped with devices and mechanisms for preventing forgetting tightening in the work of tightening fastening parts such as bolts at predetermined positions of an object, for example, Patent Document 1 is disclosed. The tightening management system described in Patent Literature 1 includes a torque wrench that is a tightening tool and a management device that manages tightening position information.

  The torque wrench outputs a tightening torque obtained by tightening the fastening component to the management device by wireless communication. In addition, when the torque wrench is moved, the torque wrench specifies a tightening position based on signals output from the acceleration sensor, the gyro sensor, and the geomagnetic sensor, and wirelessly transmits tightening position information indicating the tightening position. To the management device via a communication medium such as The management device acquires the tightening position information output from the torque wrench and the tightening torque using a communication medium, and manages the acquired tightening position information and the tightening torque.

JP 2013-188858 A

  However, in the above-described conventional example, the operator can know the position where the fastening part is tightened with the tool (that is, the worker has worked with the tool), but the state of the work with the tool can be determined. There was a problem that it was not possible to grasp. For example, even if an operator thinks that a fastening part has been tightened, the fastening part may not actually be fastened correctly. In such a case, in the above-described conventional example, it is impossible to grasp the state (that is, the state of work using the tool) as to whether or not the fastening part is correctly tightened.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a control device capable of grasping the state of work using a tool and a work management system using the control device.

  The control device according to the present invention includes a communication unit that performs communication with a tool that is used when a fastening part is tightened and an imaging device that captures a work location where the work is performed, and the tool. A processing unit that executes a determination process for determining whether or not the fastening component is correctly tightened based on a tightening torque applied to the fastening component and a captured image captured by the imaging device; In the determination process, the processing unit compares the target torque required in the work with the tightening torque, the target image indicating the state in which the fastening component is normally tightened at the work location, and the imaging. It is characterized in that it is determined whether or not the fastening part is correctly tightened based on a comparison result with an image.

  The work management system of the present invention includes the control device, the tool having a communication unit that transmits the tightening torque data to the control device, the imaging device, and the captured image data. And a wearable terminal having a communication device that transmits data to the mobile phone.

  The present invention can grasp the state of work using a tool.

It is a schematic block diagram of the control apparatus and work management system which concern on embodiment. It is a schematic diagram showing an example of a work management system concerning an embodiment. It is the schematic which shows an example of the tool in the work management system which concerns on embodiment. It is the schematic which shows an example of the tool in the work management system which concerns on embodiment. It is a flowchart figure which shows operation | movement of the work management system which concerns on embodiment. 6A is a diagram illustrating a state in which the screw is normally tightened in the work management system according to the embodiment, and FIG. 6B is a state in which the screw is not normally tightened in the work management system according to the embodiment. FIG. FIG. 7A is a schematic diagram of the component management system, and FIG. 7B is a schematic block diagram of the component management system to which the work management system according to the embodiment is applied.

  As shown in FIGS. 1 and 2, the control device 2 according to the embodiment of the present invention includes a communication unit 23 and a processing unit 24. The communication unit 23 performs communication with the tool 3 used in the work of tightening the fastening component (for example, the screw 10) and with the imaging device 41 that images the work location where the work is performed. The processing unit 24 executes a determination process for determining whether or not the work is normally performed based on the tightening torque applied to the fastening part by the tool 3 and the captured image captured by the imaging device 41. .

  Moreover, the work management system 1 which concerns on embodiment of this invention is provided with the control apparatus 2, the tool 3, and the wearable terminal (wearable device) 4 of this embodiment, as shown in FIG. 1, FIG. . The tool 3 includes a communication unit 32 that transmits tightening torque data to the control device 2. The wearable terminal 4 includes an imaging device 41 and a communication device 43 that transmits captured image data to the control device 2.

  Hereinafter, the control device 2 and the work management system 1 of this embodiment will be described in detail. However, the configuration described below is only an example of the present invention, and the present invention is not limited to the following embodiment, and the technical idea according to the present invention is not deviated from this embodiment. Various changes can be made in accordance with the design or the like as long as they are not.

  As shown in FIG. 1, the work management system 1 of this embodiment includes a control device 2, a tool 3, and a wearable terminal 4. In addition, the work management system 1 of this embodiment includes a host device 5 that communicates with the control device 2.

  The control device 2 includes a display unit 21, a storage unit 22, a communication unit 23, and a processing unit 24. The display unit 21 includes, for example, a liquid crystal display, an organic EL (Electro-Luminescence) display, and the like, and displays various information such as instruction contents for the worker W1 using at least one of characters and images. In the control device 2 of the present embodiment, the display unit 21 is configured by a touch panel type liquid crystal display.

  The storage unit 22 is configured by, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory, and stores various types of information such as applications that are activated by the processing unit 24. The storage unit 22 stores the tightening torque data transmitted from the tool 3 and the captured image data captured by the wearable terminal 4 for each work location. In addition, the storage unit 22 includes torque (target torque) required when fastening the fastening part, data of an image (instruction image) indicating a work location where the worker W1 should perform the work, and fastening part is normally tightened. An image (target image) indicating the obtained state is stored for each work location. The fastening parts are members such as screws 10 (see FIG. 6A) and bolts, for example.

  An example of data stored in the storage unit 22 is shown in Table 1. Table 1 represents data when the worker W1 performs an operation of tightening the screw 10 as a fastening part. In Table 1, “No.” is a number assigned to each work location where the worker W1 works. The “standard” is a standard for fastening parts required for each work location (for example, “M8”, “M10”, etc.).

  The communication unit 23 includes a communication module that supports a standard for wired communication and a standard for wireless communication (for example, Bluetooth (registered trademark) or WiFi (registered trademark)). In the control device 2 of the present embodiment, the communication unit 23 performs wireless communication with the tool 3 and with the host device 5 and with the wearable terminal 4 via the cable CA1 (see FIG. 2). Wired communication. Of course, the communication unit 23 may perform wireless communication with the wearable terminal 4, or perform wired communication with the tool 3 and with the host device 5 via cables (not shown). You may go.

  The processing unit 24 is configured by, for example, a CPU (Central Processing Unit), and implements various processes by activating an application stored in the storage unit 22. Specifically, the processing unit 24 executes a process of reading the instruction content data from the storage unit 22 and transmitting an instruction signal to the wearable terminal 4. Further, the processing unit 24 determines whether the work by the worker W1 is normally performed based on the tightening torque applied to the fastening part by the tool 3 and the captured image captured by the wearable terminal 4. Execute the determination process. Details of the determination process will be described later.

  As shown in FIG. 2, the control device 2 of the present embodiment is configured by a tablet-type mobile terminal. Therefore, the control device 2 of the present embodiment can perform work while being carried by the worker W1, and is excellent in convenience. Of course, the control device 2 is not limited to a tablet-type mobile terminal. For example, the control device 2 may be configured with a smartphone. Moreover, the control apparatus 2 may be comprised with PLC (Programmable Logic Controller: Programmable logic controller), PC (Personal Computer: Personal computer) etc. other than a portable terminal. Furthermore, the control apparatus 2 should just be provided with the communication part 23 and the process part 24 at least, and it is arbitrary whether the display part 21 and the memory | storage part 22 are provided. For example, the control device 2 may include a voice output unit (not shown) that outputs the work instruction content for the worker W1 by voice without providing the display unit 21. Of course, the control device 2 may include both the audio output unit and the display unit 21.

  The tool 3 is configured to fasten the fastening part to the workpiece 11 (see FIG. 6A) by applying a predetermined torque to the fastening part. In addition, the workpiece | work 11 represents the member used as the object of work (here, work which fastens a fastening component) like a wooden board or an iron plate, for example. As shown in FIG. 1, the tool 3 includes a measuring unit 31 that measures the tightening torque applied to the fastening component, and a communication unit 32 that communicates with the control device 2.

  Examples of the tool 3 include a torque wrench and an electric impact driver. In addition, examples of the tool 3 include an electric impact wrench. Note that the impact driver and impact wrench need not be electrically operated, and may be a tool using compressed air as a power source, for example. Further, the tool 3 may be a manual screw driver. Any tool 3 has a communication unit 32. The tool 3 does not need to have the measurement unit 31. When the tool 3 does not have the measuring unit 31, for example, a set torque set by a torque limiter (described later) may be transmitted to the control device 2 as a tightening torque.

  Hereinafter, as an example of the tool 3, a torque wrench 300 and an impact driver 310 will be briefly described with reference to the drawings.

  As shown in FIG. 3, the torque wrench 300 includes a head 301, an arm part 303, a grip part 304, and a case 308. In addition, a magnetostrictive load cell (detection unit) 305 is provided inside the arm unit 303. Further, a CPU (torque calculation unit) 306 and a communication I / F (interface) 307 are accommodated in the case 308.

  The head 301 is a part that becomes the center of rotation in the tightening operation by the worker W1. The head 301 is provided with an insertion angle 302 to which a socket 302A is attached. The socket 302A is a member that fits into a fastening part such as a bolt. With the socket 302A attached to the insertion angle 302, the socket 302A is fitted to the fastening part, and the head 301 is rotated, whereby a predetermined torque can be applied to the fastening part. In other words, the socket 301A according to the standard of the fastening component is mounted on the head 301, and torque is applied to the fastening component via the socket 302A by rotation. In addition, the socket 302A according to the specification of a fastening component can be suitably attached to the insertion angle 302.

  The gripping part 304 is a member that the worker W1 grips when fastening the fastening component, and is formed in a shape that the worker W1 can easily grip. The arm portion 303 is a rod-shaped member that transmits the force applied to the grip portion 304 to the fastening component via the head 301. A torque limiter (not shown) is provided inside the arm portion 303.

  The torque limiter is a mechanism that operates when the torque applied to the fastening part reaches a preset torque that is set in advance, and restricts excessive torque from being applied to the fastening part. Since the torque limiter is a conventionally well-known mechanism, detailed description thereof is omitted here. The set torque for operating the torque limiter can be set, for example, by an adjustment knob (not shown). Since such adjustment knobs are also well known in the art, a detailed description thereof is omitted here.

  The load cell 305 includes a strain gauge (not shown). The load cell 305 is slightly deformed according to the torque applied when fastening the fastening part. Then, the load cell 305 detects a strain generated by the deformation with a strain gauge, and outputs an electrical signal proportional to the strain to the CPU 306. That is, the load cell 305 outputs an electrical signal corresponding to the torque applied to the fastening part. The CPU 306 calculates a tightening torque based on the electric signal output from the load cell 305. That is, in the torque wrench 300, the load cell 305 and the CPU 306 correspond to the measurement unit 31.

  The communication I / F 307 includes a communication module that supports a wireless communication standard (for example, Bluetooth (registered trademark)). Here, the communication I / F 307 is configured to transmit a signal including tightening torque data calculated by the CPU 306 to the control device 2 by wireless communication using an antenna (not shown). That is, in the torque wrench 300, the communication I / F 307 corresponds to the communication unit 32. The communication I / F 307 may be configured to transmit a signal including tightening torque data calculated by the CPU 306 to the control device 2 by wired communication via a cable (not shown). .

  The torque wrench 300 may be provided with a liquid crystal display (not shown) for displaying information such as tightening torque so as to be exposed from one surface of the case 308. This configuration is preferable because the operator W1 can immediately confirm the tightening torque.

  As shown in FIG. 4, the impact driver 310 includes an impact mechanism 311, a motor 312, an output shaft 314, a magnetostrictive torque sensor 316 (first detection unit), and an acceleration sensor 315 (second detection unit). And a control circuit 317 (torque calculation unit). The impact driver 310 includes a cylindrical body 318 and a grip 319 that protrudes from the peripheral surface of the body 318 in a direction (downward in FIG. 4) that intersects the axial direction of the output shaft 314.

  A battery pack 320 in which a rechargeable battery 321 is housed in a resin case is detachably attached to one end of the grip portion 319 (the lower end in FIG. 4). The impact driver 310 operates with electric power supplied from the rechargeable battery 321. Specifically, the impact driver 310 operates by supplying electric power from the rechargeable battery 321 to the motor 312 and the control circuit 317 via the electric wires 323 and 324, respectively.

  In addition, the grip portion 319 is provided with an operation lever 325 that can be pushed by the operator W1. A switch circuit (not shown) is mechanically connected to the operation lever 325. The switch circuit is configured to output an operation signal to the control circuit 317 in response to a pressing operation of the operation lever 325 by the worker W1.

  The impact mechanism 311 is connected to the shaft 313 of the motor 312, and is configured to generate a pulsed impact force according to the rotation of the shaft 313 and apply the generated impact force to the output shaft 314. . That is, the impact mechanism 311 generates a pulsed impact force. The motor 312 is configured by a brushed DC (Direct Current) motor or a brushless DC motor, for example. The motor 312 is housed in the body 318 so that the shaft 313 matches the axis of the body 318. A drive current is supplied to the motor 312 from the control circuit 317 via the electric wire 324. Further, the rotational speed and rotational speed of the shaft 313 of the motor 312 are controlled by the control circuit 317.

  The output shaft 314 is rotatably attached to one end (left end in FIG. 4) of the body 318 so as to coincide with the axis of the body 318. The output shaft 314 is configured to rotate by an impact force applied from the impact mechanism 311. For example, a bit 314A corresponding to the standard of a fastening part such as a screw 10 or a bolt is attached to the tip of the output shaft 314. By fitting the bit 314A to the fastening component with the bit 314A attached to the output shaft 314, it is possible to apply a predetermined torque to the fastening component using the impact driver 310. That is, the output shaft 314 is rotated by an impact force applied from the impact mechanism 311 with the bit 314 </ b> A corresponding to the fastening part standard attached.

  The torque sensor 316 detects, in a non-contact manner, distortion generated in the output shaft 314 when torque is applied to the output shaft 314 when fastening components are tightened. The torque sensor 316 outputs an electrical signal proportional to the distortion to the control circuit 317 via the electric wire 322. That is, the torque sensor 316 detects the torque applied to the output shaft 314.

  The acceleration sensor 315 is provided, for example, so as to be attached to a groove (not shown) formed by subjecting a part of the output shaft 314 to D-cut processing. The acceleration sensor 315 detects at least one of the circumferential acceleration of the output shaft 314 and the angular velocity of the output shaft 314. The acceleration sensor 315 may be configured to detect the radial acceleration of the output shaft 314 in addition to the circumferential acceleration of the output shaft 314.

  The output shaft 314 is provided with a pair of communication coils (not shown) in order to supply power to the acceleration sensor 315 and transmit the detection value of the acceleration sensor 315 to the control circuit 317. One communication coil (first communication coil) is fixed to the circumferential surface of the output shaft 314. The other communication coil (second communication coil) is formed in a cylindrical shape, and the output shaft 314 is passed through the center of the communication coil and is disposed so as to face the first communication coil.

  When the control circuit 317 causes an alternating current to flow through the second communication coil, an alternating current flows through the first communication coil due to mutual induction. The acceleration sensor 315 secures operating power by, for example, storing electric charge in a capacitor (not shown) after converting the alternating current flowing through the first communication coil into direct current. Further, the acceleration sensor 315 sends a detection signal to the control circuit 317 via the second communication coil and the electric wire 322 by passing a pulse signal having a frequency different from that of the alternating current input from the control circuit 317 to the first communication coil. Send.

  The control circuit 317 includes a microcomputer (microcontroller) and a communication module corresponding to a wireless communication standard (for example, Bluetooth (registered trademark)). The control circuit 317 has a function of controlling the rotation of the shaft 313 of the motor 312 based on an operation signal output from the switch circuit in response to the pressing operation of the operation lever 325.

  In the impact driver 310, the control circuit 317 calculates a tightening torque based on the detected value of the torque sensor 316 and the inertia torque of the output shaft 314 and the bit 314A obtained from the detected value of the acceleration sensor 315. That is, in the impact driver 310, the torque sensor 316, the acceleration sensor 315, and the control circuit 317 correspond to the measurement unit 31. The control circuit 317 has a function of stopping the operation of the motor 312 when the calculated tightening torque reaches a preset set torque.

  Further, the control circuit 317 has a function of transmitting a signal including the calculated tightening torque data to the control device 2 by wireless communication using an antenna (not shown). That is, in the impact driver 310, the control circuit 317 corresponds to the communication unit 32. The control circuit 317 may be configured to transmit a signal including the calculated tightening torque data to the control device 2 through wired communication via a cable (not shown).

  The wearable terminal 4 is configured by attaching an imaging device 41 and a display device 42 to equipment worn on the head of the worker W1, such as glasses, goggles, and a helmet. In the work management system 1 of the present embodiment, the wearable terminal 4 is configured as a glasses-type terminal as shown in FIG. 2, and includes an imaging device 41, a display device 42, a communication device 43, a processing device 44, and the like. Are provided integrally.

  The imaging device 41 is configured using, for example, a charge coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. The imaging device 41 is provided so that its imaging range substantially matches the display range of the display device 42 and substantially matches the field of view of the worker W1 wearing the wearable terminal 4. Therefore, the imaging device 41 can capture a range close to the field of view of the worker W1. Note that the range captured by the imaging device 41 does not exactly match the field of view of the worker W1, and therefore, the captured range and the field of view of the worker W1 are matched by performing correction processing on the captured image. preferable. Further, as illustrated in FIG. 6A, the imaging device 41 captures an image so that the captured image is an image obtained by viewing the workpiece 11 (work location) from a direction orthogonal to the construction surface (a direction orthogonal to the paper surface in the figure). . Note that “orthogonal” does not have to be “orthogonal” in a strict sense.

  The display device 42 includes, for example, a head mounted display (HMD) or the like, and displays various information for the worker W1 using at least one of characters and images. The head-mounted display may be a projection method that enables observation of an image by forming a virtual image using a half mirror or the like, or a projection method that directly forms an image on the retina using the crystalline lens of the eye. May be.

  The communication device 43 is configured by a module corresponding to the standard of wired communication, and performs communication with the control device 2 via the cable CA1. Note that the communication device 43 may be configured by a module corresponding to a wireless communication standard (for example, Bluetooth (registered trademark)). In this case, wireless communication can be performed between the control device 2 and the wearable terminal 4.

  The processing device 44 is constituted by a CPU, for example, and realizes various processes by executing a program. Specifically, the processing device 44 executes processing for causing the imaging device 41 to image the work location based on the instruction signal transmitted from the control device 2. Further, the processing device 44 executes processing for causing the display device 42 to display the instruction content for the worker W <b> 1 based on the data included in the instruction signal transmitted from the control device 2. In addition, the processing device 44 executes processing for transmitting data of the captured image captured by the imaging device 41 to the control device 2.

  The host device 5 is composed of, for example, a PLC, a PC, a server, and the like. The host device 5 has a function of communicating with the control device 2. In the work management system 1 of the present embodiment, the control device 2 performs wireless communication with the host device 5 via the wireless access point 51 (see FIG. 2) provided in the host device 5. The host device 5 has a function of collectively managing data transmitted from the control device 2. Specifically, the host device 5 manages the history of the work performed by the worker W1 by storing the tightening torque data and the captured image data transmitted from the control device 2 for each work.

  The timing at which the control device 2 transmits data to the higher-level device 5 is arbitrary. For example, the control device 2 may periodically transmit data to the higher-level device 5, or may transmit data to the higher-level device 5 when all the operations are completed. In addition, the control device 2 may transmit data to the host device 5 when the host device 5 is requested to transmit data.

  Hereinafter, operation | movement of the work management system 1 of this embodiment is demonstrated using FIG. First, when the operator W1 operates the control device 2 to start work, the processing unit 24 of the control device 2 executes a process of transmitting an instruction signal including work content data to the wearable terminal 4 (S1). ). Note that the processing unit 24 of the control device 2 may be configured to execute the flow of “S1” with the operation of either the tool 3 or the wearable terminal 4 by the worker W1 as a trigger.

  When the processing device 44 of the wearable terminal 4 receives the instruction signal, the instruction image data representing the work location included in the instruction signal and the instruction data necessary for the work (for example, the standard of the screw 10 or the specified tightening torque). Is projected (displayed) on the display device 42 (S2). The worker W1 identifies the work location by looking at the instruction image projected on the display device 42. Also, the worker W1 makes preparations necessary for work using the tool 3 by looking at the instruction data (S3). For example, if the tool 3 is the impact driver 310, the worker W1 attaches a bit 314A corresponding to the standard of the screw 10 to the output shaft 314, or sets a set torque.

  Next, the worker W1 operates the imaging device 41 of the wearable terminal 4. By this operation, the processing device 44 executes an imaging process for causing the imaging device 41 to image the work location and the periphery of the work location (S4). At this time, it is preferable that the operator W1 adjusts the position of the imaging device 41 by moving the head or the like so that the work location is located in the center of the field of view before imaging. When displaying a frame that is an index of the imaging range on the display device 42, the worker W1 adjusts the position of the imaging device 41 by moving the head or the like so that the work location is within the frame. . Then, the processing device 44 executes processing for transmitting captured image data to the control device 2.

  When the processing unit 24 of the control device 2 receives the captured image data, it compares the instruction image of the work location stored in advance with the captured image, and determines whether or not the worker W1 is working at the correct work location. A confirmation process is performed to confirm whether or not (S5). In this confirmation process, for example, the captured image data and the instruction image data are compared to determine the similarity. In this confirmation processing, if the obtained similarity is equal to or greater than a preset threshold value, it is determined that the worker is normal (the worker W1 is attempting to work at a correct work location), and if the similarity is less than the threshold value, an abnormality ( It is determined that the worker W1 is going to work at an incorrect work location). When it determines with it being normal, the process part 24 performs the process which transmits the start signal which instruct | indicates the worker W1 to start work toward the wearable terminal 4 (S6).

  Here, the “similarity” may be a parameter obtained by quantifying how much the captured image data and the instruction image data are similar. For example, a difference image between the captured image and the instruction image may be obtained, and the number of pixels having a gray value smaller than a predetermined value in the difference image may be obtained as the similarity. Further, for example, a difference image between the captured image and the instruction image is obtained, and further, the difference image is binarized to obtain a binary image, the binary image is labeled, and the area of the labeled region is obtained as the similarity. Also good.

  If it is determined that there is an abnormality, the processing unit 24 performs a process of transmitting a signal to the wearable terminal 4 that instructs the worker W1 to image the work location again. Then, the above-described flow of ‘S1’, ‘S2’, ‘S4’, and ‘S5’ is repeated until it can be confirmed that the worker W1 is working at the correct work location.

  When the processing device 44 of the wearable terminal 4 receives the start signal, the processing device 44 executes a process of projecting an image or a message for prompting the worker W1 to start the work on the display device 42 (S7). The worker W1 starts work using the tool 3 by viewing the image or message projected on the display device 42 (S8). Here, the operator W <b> 1 performs an operation of tightening the screw 10 to the workpiece 11 using the tool 3. At this time, the measurement unit 31 of the tool 3 measures the tightening torque applied to the screw 10 when the screw 10 is tightened. When the work is completed, the communication unit 32 of the tool 3 executes a process of transmitting the tightening torque data measured by the measurement unit 31 to the control device 2 (S9).

  When the tightening torque data is received, the processing unit 24 of the control device 2 determines that the work by the worker W1 is finished, and sends a signal that instructs the worker W1 to image the work location after the work. The process of transmitting to 4 is executed (S10). When the signal is received, the processing device 44 of the wearable terminal 4 performs a process of projecting an image or a message on the display device 42 that prompts the worker W1 to image the work location.

  The worker W1 operates the imaging device 41 by looking at the image or message displayed on the display device 42. By this operation, the processing device 44 executes an imaging process for causing the imaging device 41 to image the work location and the periphery of the work location (S11). At this time, it is preferable that the operator W1 adjusts the position of the imaging device 41 by moving the head before imaging, as in the flow of 'S4'. Then, the processing device 44 executes processing for transmitting captured image data to the control device 2.

  In the flow of 'S4' and 'S11' described above, the worker W1 operates the imaging device 41 to capture the work location and the vicinity of the work location, but the imaging device 41 automatically captures the image. It may be a configuration. For example, the configuration may be such that the imaging device 41 automatically captures an image when the work location is within the frame displayed on the display device 42.

  When the captured image data is received, the processing unit 24 of the control device 2 performs a determination process for determining whether or not the operation has been normally performed based on the already acquired tightening torque and the captured image data. Execute (S12). When it determines with it being normal (S13: YES), the process part 24 determines with the operation | work in the present work location having been complete | finished, and performs the process which transmits the instruction | indication signal regarding the next work location toward the wearable terminal 4. . When it determines with it being abnormal (S13: NO), the process part 24 performs the process which transmits the signal which instruct | indicates to work correctly toward the wearable terminal 4. FIG. Then, the above-described flow of “S6” to “S13” is repeated until it is determined that the worker W1 has performed the work normally. Then, the above-described flow of “S1” to “S13” is repeated until the work is completed for all work points.

  Here, if it is determined that there is an abnormality in the flow of 'S13', the processing unit 24 of the control device 2 instructs the worker W1 to perform the same work again. Is optional. In addition, the processing unit 24 of the control device 2 is configured to instruct the worker W1 to perform the same work again for each of the work determined to be abnormal after the work is completed for all work points. May be.

  Hereinafter, the determination process in the flow of ‘S12’ will be described in detail. First, the processing unit 24 of the control device 2 executes a process of comparing the tightening torque transmitted from the tool 3 with the target torque. For example, if the work corresponds to the number “1” in Table 1, the tightening torque measured with the tool 3 is 19.8 (N · m), and the target torque is 20 ± 10% (N · m). ). Therefore, in this case, the processing unit 24 determines that the screw 10 is sufficiently tightened. In addition, when the tightening torque is not within the range of the target torque, the processing unit 24 determines that it is abnormal (operation is not normally performed).

  Here, even when the fastening component (here, the screw 10) is sufficiently tightened, the work is not always performed normally. For example, as shown in FIG. 6A, when the screw 10 is not tilted when the work 11 (work location) is viewed from a direction orthogonal to the construction surface (a direction orthogonal to the paper surface in the figure), the screw 10 is correctly tightened. (That is, the work is done normally). On the other hand, as shown in FIG. 6B, when the screw 10 is tilted when the work 11 is viewed from the direction orthogonal to the construction surface, the screw 10 is not correctly tightened (that is, the operation is not normally performed). . Note that “orthogonal” does not have to be “orthogonal” in a strict sense.

  Therefore, when it is determined that the fastening component is sufficiently tightened, the processing unit 24 next executes a process of comparing the captured image data with the target image data. In this process, for example, similarly to the flow of ‘S5’, the captured image data and the target image data are compared to obtain the similarity. In this process, if the obtained similarity is equal to or higher than a preset threshold value, it is determined to be normal (the operation is performed normally), and if it is less than the threshold value, an abnormality (the operation is performed normally). No). For example, if the work corresponds to the number “1” in Table 1, the processing unit 24 uses the threshold obtained by comparing the target image data B (1) and the captured image data C (1) as a threshold value. If it is above, it determines with it being normal (the screw 10 is correctly fastened by the workpiece | work 11). On the other hand, if the obtained similarity is less than the threshold value, the processing unit 24 determines that the abnormality (the screw 10 is not correctly tightened to the workpiece 11).

  In the determination process, the processing unit 24 compares the captured image data with the target image data so that the diameter of the head 100 of the screw 10 conforms to the standard (for example, 'M8', 'M10', etc.). It may be determined whether or not they match. For example, when the screw of the “M8” standard is accidentally tightened at the work location where the screw of the “M10” standard must be tightened, the processing unit 24 determines that it is abnormal. In this case, the processing unit 24 can determine whether or not the screw 10 having an appropriate standard corresponding to the work location is tightened.

  In the determination process, the processing unit 24 may determine that there is an abnormality in the measurement unit 31 of the tool 3 when the tightening torque shows an abnormal value such as significantly exceeding the target torque. In this case, by notifying the operator W1 through the tool 3 or the wearable terminal 4 that there is an abnormality in the measuring unit 31 of the tool 3, repair or replacement of the tool 3 can be promoted. In addition, in the determination process, the processing unit 24 periodically acquires the tightening torque from the tool 3 from the start to the end of the work (work period), and the tightening is normal based on the time-series data. It may be determined whether or not this is done. For example, if the tightening torque is substantially constant during the work period, the processing unit 24 can determine that the tightening is normally performed. On the other hand, if the tightening torque changes discontinuously during the work period, the processing unit 24 can determine that the tightening is not normally performed.

  As described above, in the control device 2 and the work management system 1 according to the present embodiment, the work is performed based on the tightening torque applied to the fastening part by the tool 3 and the captured image of the work location imaged by the imaging device 41. It is determined whether or not the work by the person W1 is normally performed. Therefore, the control device 2 and the work management system 1 according to the present embodiment can grasp the state (that is, the state of work using the tool 3) as to whether or not the fastening part is correctly tightened. For this reason, in the control device 2 and the work management system 1 of the present embodiment, work efficiency can be improved by giving an appropriate instruction to the worker W1 according to the work state. Furthermore, in the control device 2 and the work management system 1 according to the present embodiment, it is possible to reduce mistakes caused by the worker W1 by grasping the state of the work, so that the quality of a product produced by the work is improved. There is also an advantage of being able to.

  In particular, in the control device 2 of the present embodiment, the processing unit 24 obtains similarity by comparing a target image indicating a state in which a fastening part is normally tightened at a work location with a captured image in the determination process. . In addition, the processing unit 24 determines whether the work is normally performed based on the comparison result between the target torque required for the work and the tightening torque, and the comparison result between the similarity and a preset threshold value. It is determined whether or not. With this configuration, it is possible to more accurately grasp the state of whether or not the fastening component is correctly tightened. Note that whether or not to adopt the configuration is arbitrary.

  Further, in the control device 2 of the present embodiment, when receiving the tightening torque data, the processing unit 24 determines that the work by the worker W1 has been completed, and causes the worker W1 to image the work location after the work. A process of transmitting a signal instructing to the wearable terminal 4 may be executed. And the imaging device 41 of the wearable terminal 4 may image a work location automatically, if the said signal is received. That is, in the control device 2 of the present embodiment, the timing of imaging by the imaging device 41 may be determined using a signal from the tool 3 as a trigger. In this configuration, when the worker W1 finishes the work using the tool 3, the image pickup device 41 performs the image pickup. Therefore, there is an advantage that the work part can be picked up without bothering the operator W1. Note that whether or not to adopt the configuration is arbitrary.

  In addition, the control device 2 of the present embodiment includes a display unit 21 that displays work instruction content for the worker W1 using at least one of characters and images. In this configuration, the instruction content can be visually transmitted to the worker W1. Note that whether or not to adopt the configuration is arbitrary.

  In the control device 2 of the present embodiment, the captured image is an image obtained by viewing the work location from the direction orthogonal to the construction surface. For this reason, since the control apparatus 2 of this embodiment can determine whether the fastening part is fastened in the direction orthogonal to the construction surface, it is determined whether the fastening part is correctly fastened to the construction surface. It can be easily determined. Note that whether or not to adopt the configuration is arbitrary.

  Further, in the work management system 1 of the present embodiment, the wearable terminal 4 includes a display device 42 that displays work instruction content for the worker W1 transmitted from the control device 2 using at least one of characters and images. Yes. For this reason, in the work management system 1 of the present embodiment, the worker W1 can easily confirm the content of work instructions simply by looking at the display device 42 worn. Note that whether or not to adopt the configuration is arbitrary.

  In the work management system 1 of the present embodiment, the tool 3 is preferably a torque wrench 300 including a head 301, a load cell (detection unit) 305, and a CPU (torque calculation unit) 306. In this configuration, the torque actually applied to the fastening part by the tool 3 can be measured to obtain the tightening torque, so that it is possible to accurately determine whether or not the work has been normally performed. Whether or not the tool 3 is the torque wrench 300 is arbitrary.

  The tool 3 includes an impact mechanism 311, an output shaft 314, a magnetostrictive torque sensor 316 (first detection unit), an acceleration sensor 315 (second detection unit), and a control circuit 317 (torque calculation unit). The impact driver 310 may be provided. Even in this configuration, it is possible to obtain the tightening torque by measuring the torque actually applied to the fastening part by the tool 3, so that it is possible to accurately determine whether or not the work has been normally performed. Whether or not the tool 3 is the impact driver 310 is arbitrary.

  In the work management system 1 of the present embodiment, the wearable terminal 4 is a device that is worn on the head of the worker W1, such as protective glasses, goggles, and a helmet. With this configuration, the field of view of the worker W1 is almost the same as the imaging range of the imaging device 41, and thus there is an advantage that it is easy to image the work location. Further, in this configuration, since information such as work instruction contents is displayed on the display device 42 in the field of view of the worker W1 without the worker W1 being conscious, the worker W1 can easily work, and the worker W1. However, there is an advantage that it is difficult to overlook the contents of work instructions. Note that whether or not to adopt the configuration is arbitrary.

  Further, in the work management system 1 of the present embodiment, it is preferable that at least one of the wearable terminal 4 and the control device 2 has a function of outputting work instruction contents for the worker W1 by voice. In this configuration, the instruction content of the work can be transmitted to the worker W1 by using the auditory sense, so that there is an advantage that the worker W1 does not need to interrupt the work and is easy to work. Note that whether or not to adopt the configuration is arbitrary.

  In addition, the work management system 1 of this embodiment includes a host device 5. The host device 5 stores tightening torque data and captured image data transmitted from the control device 2 for each operation. In this configuration, since the history of work performed by the worker W1 can be managed using the host device 5, there is an advantage that work management and quality management can be easily performed together.

  Furthermore, in the work management system 1 of the present embodiment, the host device 5 preferably stores information on devices (for example, the tool 3 and the wearable terminal 4) that are electrically connected to the control device 2. The device information includes, for example, calibration information of various parameters of the device, position information of the device, information on the worker W1 who handles the device, and information on time when the operation was performed using the device. In this configuration, not only the tightening torque for each work can be managed, but also the equipment connected to the control device 2 and the worker W1 handling the equipment can be managed, and more detailed work management is performed. Is possible. For example, in this configuration, it is possible to change the work plan so that more accurate work can be performed by referring to the work accuracy of the worker W1 who handles the equipment and the history of work time. In this configuration, it is also possible to give individual guidance such as browsing the work manual to the worker W1 with low work accuracy.

  Note that whether or not the work management system 1 of the present embodiment includes the higher-level device 5 is arbitrary. When the work management system 1 of the present embodiment does not include the host device 5, the storage unit 22 of the control device 2 may store tightening torque data, captured image data, and device information for each work. . If comprised in this way, the control apparatus 2 can be given the function similar to the high-order apparatus 5. FIG.

  By the way, the work management system 1 of the present embodiment can also be linked with a parts management system 6 as shown in FIGS. 7A and 7B. The parts management system 6 is a system used in a so-called cell production method in which parts P1 are taken out from a plurality of parts boxes 71 in order according to a predetermined production plan, and the taken out parts P1 are assembled. As shown in FIGS. 7A and 7B, the component management system 6 includes a component shelf 7 composed of a plurality of component boxes 71, a plurality of indicators 8 attached to the plurality of component boxes 71 on a one-to-one basis, A work table 9 on which the worker W1 works is provided. In each of the plurality of component boxes 71, a component P1 is arranged. The parts P1 may be of different types for each of the parts boxes 71. In some parts boxes 71, the same kind of parts P1 may be arranged. In the component management system 6, the control device 2 of this embodiment controls a plurality of indicators 8.

  The indicator 8 is electrically connected to the control device 2 by a cable (not shown). The indicator 8 is configured to light up in response to a signal transmitted from the control device 2. The control device 2 urges the operator W1 to take out the component P1 from the component box 71 corresponding to the display 8 by lighting any one of the plurality of displays 8 according to a predetermined production plan. It is configured. In addition, the display 8 includes a switch (or lever) 81 that can be operated by the worker W1. When the display unit 8 is lit, the operator W1 operates the switch 81 to turn off the display unit 8.

  Hereinafter, the operation of the control device 2 in the component management system 6 will be described. The processing unit 24 of the control device 2 determines that the part P <b> 1 has been taken out from the part box 71 corresponding to the display 8 based on a signal output from the display 8 by operating the switch 81. When the processing unit 24 determines that the part P1 has been taken out, the processing unit 24 performs processing for transmitting a signal for instructing the worker W1 to take an image of the part P1 taken out toward the wearable terminal 4. When the processing device 44 of the wearable terminal 4 receives the signal, the processing device 44 executes a process of projecting on the display device 42 an image or message that prompts the worker W1 to take an image of the component P1 taken out.

  The worker W1 operates the imaging device 41 by looking at the image or message displayed on the display device 42. By this operation, the processing device 44 executes an imaging process for causing the imaging device 41 to image the picked-up component P1. Note that the processing device 44 may execute a process of causing the imaging device 41 to automatically capture an image when receiving a signal from the control device 2. Then, the processing device 44 executes processing for transmitting captured image data to the control device 2.

  When receiving the captured image data, the processing unit 24 of the control device 2 compares the image of the component P1 stored in advance with the captured image, and confirms whether or not the operator W1 has taken out the correct component. Execute. In other words, the processing unit 24 compares the image obtained by capturing the extracted component P1 with the imaging device 41 with the image of the component P1 stored in advance, so that the correct component P1 is one of the plurality of component boxes 71. A process of determining whether or not it has been taken out from is executed. In this process, for example, the degree of similarity is obtained by comparing captured image data and image data of the component P1. In this process, if the obtained similarity is equal to or higher than a preset threshold value, it is determined to be normal (the worker W1 has taken out a correct part P1), and if it is less than the threshold value, an abnormality (the worker W1 is incorrect). It is determined that the component P1 is taken out).

  When it determines with it being normal, the process part 24 performs the process which lights the indicator 8 corresponding to the components box 71 in which the components P1 which should be taken out next is accommodated. If it is determined that there is an abnormality, for example, the processing unit 24 sends a signal for instructing the wearable terminal 4 to blink the display unit 8 corresponding to the component box 71 in which the correct component P1 is stored or to take out the correct component P1. Execute the process to send to.

  In this configuration, the control device 2 can collectively manage the work of assembling the taken out part P1 (here, the work of fastening the fastening part) and the work of taking out the part P1, which is the previous stage. There is. Further, in this configuration, if it is determined by the above determination process that the worker W1 has taken out the wrong component P1, the control device 2 notifies the worker W1 so that the worker W1 takes out the correct component P1. It is possible to prompt.

  In the control device 2 and the work management system 1 of the present embodiment, the determination process is executed for the work of fastening the fastening part, but the determination process may be executed for other work. For example, in the case of an operation for making a hole in the workpiece 11, the tool 3 transmits data of torque to be applied to the workpiece 11 to the control device 2 when making a hole. Moreover, the imaging device 41 images the work location with the hole after work. And if the torque transmitted from the tool 3 exceeds the target torque, the processing unit 24 of the control device 2 executes a process for determining that a sufficiently large hole is formed in the workpiece 11. Further, the processing unit 24 compares the target image data and the captured image data to obtain the similarity, and compares the similarity with a preset threshold value, thereby correctly punching the workpiece 11. A process for determining whether or not the

  Further, in the work management system 1 of the present embodiment, the imaging device 41 is provided in the wearable terminal 4, but the imaging device 41 may be provided in the tool 3, for example. In this case, the tool 3 transmits, to the control device 2, processing for causing the imaging device 41 to image the work location based on the instruction signal transmitted from the control device 2, and data of the captured image captured by the imaging device 41. What is necessary is just to have the function to perform a process.

  In the work management system 1 of the present embodiment, the control device 2 and the host device 5 perform wireless communication using Bluetooth (registered trademark). For example, WiFi (registered trademark) or ZigBee ( Wireless communication using a wireless standard such as a registered trademark may be performed. In addition, for wireless communication between the control device 2 and the host device 5, a mobile phone communication standard such as LTE (Long Term Evolution) may be used. In the case of performing wireless communication using a cellular phone communication standard, for example, the control device 2 is installed outdoors, which is particularly effective when the worker W1 works outdoors.

  In particular, when performing wireless communication using mobile phone communication standards, existing services that use mobile phone lines, such as positioning services using GPS (Global Positioning System) and weather forecasts, can be used. ,preferable. That is, in this case, since the position of the control device 2 can be specified by GPS, the host device 5 can manage the positions of the control device 2 and the worker W1. In this case, the environment (for example, a hot and humid climate) in the place where the control device 2 is located can be grasped by the weather forecast. For this reason, the host device 5 can estimate and manage the lifetime of devices (including the tool 3 and the wearable terminal 4) according to the use environment of the control device 2.

  Further, in the work management system 1 of the present embodiment, the tool 3 may be a battery drive type using a rechargeable battery (secondary battery) 321 like the impact driver 310. This configuration eliminates the need for a cable connecting the tool 3 and the power source or between the tool 3 and the compressed air source (air compressor), so that the operator W1 can easily use the tool 3 without worrying about the cable. There is an advantage that it can be handled.

  Further, in the work management system 1 of the present embodiment, the control device 2 is configured to control one tool 3 and one wearable terminal 4, but may have other configurations. For example, the control device 2 may be configured to control each of the plurality of sets, with the tool 3 and the wearable terminal 4 as one set. Further, in the work management system 1 of the present embodiment, the host device 5 communicates with one control device 2, but is configured to communicate with each of the plurality of control devices 2. May be.

1 Work management system 10 Screw (fastening part)
2 Control Device 23 Communication Unit 24 Processing Unit 3 Tool 32 Communication Unit 300 Torque Wrench 301 Head 302A Socket 305 Load Cell (Detection Unit)
306 CPU (torque calculation unit)
310 impact driver 311 impact mechanism 314 output shaft 314A bit 316 torque sensor (first detection unit)
315 Acceleration sensor (second detection unit)
317 Control circuit (torque calculation unit)
4 Wearable Terminal 41 Imaging Device 42 Display Device 43 Communication Device 5 Host Device 6 Parts Management System 71 Parts Box 8 Display P1 Parts W1 Worker

The control device of the present invention can receive a captured image obtained by imaging a tightening torque applied to the fastening component by a tool used in the operation of tightening the fastening component, and a work location where the operation of tightening the fastening component is performed. a communication unit, a front torque with Kishime, based on the previous SL IMAGING image, and a processing unit that executes determination processing of determining whether or not the fastening parts are properly tightened, the processing unit In the determination process, a comparison result between the target torque required in the work and the tightening torque, and a comparison between the target image indicating the state in which the fastening part is normally tightened at the work location and the captured image Based on the result, it is determined whether or not the fastening part is correctly tightened.

Claims (10)

A communication unit that communicates with a tool that is used in the operation of tightening a fastening component, and an imaging device that images a work location where the work is performed;
A processing unit that executes a determination process for determining whether or not the fastening component is correctly tightened based on a tightening torque applied to the fastening component by the tool and a captured image captured by the imaging device; With
In the determination process, the processing unit compares the target torque required in the work with the tightening torque, the target image indicating the state in which the fastening component is normally tightened at the work location, and the imaging. A control device that determines whether or not the fastening component is correctly tightened based on a comparison result with an image.   The control device according to claim 1, the tool having a communication unit that transmits the tightening torque data to the control device, and the imaging device and the data of the captured image are transmitted to the control device. A work management system comprising: a wearable terminal having a communication device.   The work management system according to claim 2, wherein the wearable terminal includes a display device that displays an instruction content of the work transmitted to the worker transmitted from the control device using at least one of a character and an image. The tool is
A head according to the standard of the fastening part is mounted, and a head that applies torque to the fastening part through the socket by rotation;
A detector that outputs an electrical signal corresponding to the torque applied to the fastening component;
The work management system according to claim 2, wherein the work management system is a torque wrench including a torque calculation unit that calculates the tightening torque based on the electrical signal. The tool is
An impact mechanism that generates a pulse-like impact force;
An output shaft that is mounted by a bit according to the standard of the fastening part and rotates by an impact force applied from the impact mechanism;
A first detector for detecting torque applied to the output shaft;
A second detector for detecting at least one of a circumferential acceleration of the output shaft and an angular velocity of the output shaft;
It is an impact driver provided with the torque calculating part which calculates the said tightening torque based on the detected value of the said 1st detection part, and the inertia torque calculated | required from the detected value of the said 2nd detection part. Item 2. The work management system according to Item 2 or 3.   The work management system according to claim 2, wherein the wearable terminal is a device that is worn on a worker's head.   The work management system according to any one of claims 2 to 6, wherein at least one of the wearable terminal and the control device has a function of outputting the work instruction content to the worker by voice. A host device that communicates with the control device;
The work management system according to claim 2, wherein the host device stores the tightening torque and the captured image transmitted from the control device for each work.   The work management system according to claim 8, wherein the host device stores information on a device electrically connected to the control device. In the component management system including a plurality of component boxes in which components are respectively arranged and a plurality of indicators attached to the plurality of component boxes on a one-to-one basis, In response to, by lighting any one of the plurality of indicators, configured to prompt the operator to take out the part from the parts box corresponding to the indicator,
The processing unit determines whether the correct part is taken out from the part box by comparing an image obtained by picking up the picked-up part with the imaging device and an image of the part stored in advance. The work management system according to claim 2, wherein a determination process is executed.

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