JP6138566B2 - 部品取付作業支援システムおよび部品取付方法 - Google Patents
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Description
2 システム本体
3 ヘッド・マウント・ディスプレイ(HMD)
4 マーカー部材
5、5R、5L HMDの撮像部
6、6R、6L HMDの表示部
7 ワーク
8 マーカー部材
9 マーカー部材の枠部材
10 マーカー部材の支持部
11 マーカー
12 現実画像取得部
13 記憶部
14 マーカー検出部
15 撮像部位置姿勢推定部
16 仮想画像生成部
17 画像合成部
18 保持部材
20 誤差判定部
22 位置方向計測装置
30 部品
30R 部品の現実画像
30V 部品の仮想画像
Claims (7)
- 部品の取付作業を支援するための部品取付作業支援システムであって、
作業者の視点位置でその視線方向における作業空間を前記部品を取り付けるべきワークと共に撮像するための撮像手段と、
前記作業者の視点と、前記作業空間中の前記ワークとの相対的な位置姿勢関係を示す位置姿勢情報を取得するための位置姿勢情報取得手段と、
前記位置姿勢情報に基づいて、前記作業者の前記視点位置およびその視線方向における取付後の前記部品を示す三次元の仮想画像を生成するための仮想画像生成手段と、
前記撮像手段により撮像された前記作業空間の現実画像に前記仮想画像を重畳させて合成画像を生成するための画像合成手段と、
前記合成画像を表示するための表示手段と、を備え、
前記仮想画像は、前記取付作業における許容取付誤差を含んで生成される、部品取付作業支援システム。 - 前記位置姿勢情報取得手段は、前記ワーク上の基準点に対する所定の相対位置に暫定的に設置される複合現実感用マーカーを有する、請求項1記載の部品取付作業支援システム。
- 前記位置姿勢情報取得手段は、前記作業者の視点位置およびその視線方向、並びに前記ワークの位置を計測するための位置方向計測装置を有する、請求項1または2に記載の部品取付作業支援システム。
- 取付後の前記部品の前記現実画像と、前記仮想画像との不一致箇所を前記表示手段において表示するための誤差判定部をさらに備えた、請求項1乃至3のいずれか一項に記載の部品取付作業支援システム。
- 部品の取付作業を支援するための部品取付作業支援システムを用いた部品取付方法であって、
作業者の視点位置でその視線方向における作業空間を前記部品を取り付けるべきワークと共に撮像する撮像工程と、
前記作業者の視点と、前記作業空間中の前記ワークとの相対的な位置姿勢関係を示す位置姿勢情報を取得する位置姿勢情報取得工程と、
前記位置姿勢情報に基づいて、前記作業者の前記視点位置およびその視線方向における取付後の前記部品を示す三次元の仮想画像を生成する仮想画像生成工程と、
前記撮像工程により撮像された前記作業空間の現実画像に前記仮想画像を重畳させて合成画像を生成する画像合成工程と、
前記合成画像を表示するための表示工程と、を備え、
前記仮想画像は、前記取付作業における許容取付誤差を含んで生成される、部品取付方法。 - 前記位置姿勢情報取得工程は、前記ワーク上の基準点に対する所定の相対位置に複合現実感用マーカーを暫定的に設置するマーカー設置工程を含む、請求項5記載の部品取付方法。
- 前記合成画像に表示された前記仮想画像としての前記部品と、前記合成画像に表示された前記現実画像としての前記部品との位置関係を確認しながら、前記現実画像の前記部品を前記仮想画像の前記部品に位置合わせする、請求項5または6に記載の部品取付方法。
Priority Applications (6)
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JP2013091419A JP6138566B2 (ja) | 2013-04-24 | 2013-04-24 | 部品取付作業支援システムおよび部品取付方法 |
PCT/JP2014/061403 WO2014175323A1 (ja) | 2013-04-24 | 2014-04-23 | 部品取付作業支援システムおよび部品取付方法 |
KR1020177022210A KR20170095400A (ko) | 2013-04-24 | 2014-04-23 | 부품 부착 작업 지원 시스템 및 부품 부착 방법 |
US14/787,198 US20160078682A1 (en) | 2013-04-24 | 2014-04-23 | Component mounting work support system and component mounting method |
KR1020157031986A KR20150139609A (ko) | 2013-04-24 | 2014-04-23 | 부품 부착 작업 지원 시스템 및 부품 부착 방법 |
CN201480023260.9A CN105144249B (zh) | 2013-04-24 | 2014-04-23 | 零件安装作业支持***及零件安装方法 |
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JP2013091419A JP6138566B2 (ja) | 2013-04-24 | 2013-04-24 | 部品取付作業支援システムおよび部品取付方法 |
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JP6138566B2 true JP6138566B2 (ja) | 2017-05-31 |
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US (1) | US20160078682A1 (ja) |
JP (1) | JP6138566B2 (ja) |
KR (2) | KR20170095400A (ja) |
CN (1) | CN105144249B (ja) |
WO (1) | WO2014175323A1 (ja) |
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US20160078682A1 (en) | 2016-03-17 |
KR20150139609A (ko) | 2015-12-11 |
WO2014175323A1 (ja) | 2014-10-30 |
CN105144249A (zh) | 2015-12-09 |
CN105144249B (zh) | 2019-07-12 |
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