WO2004001677A1 - 作業誘導システム - Google Patents
作業誘導システム Download PDFInfo
- Publication number
- WO2004001677A1 WO2004001677A1 PCT/JP2003/007852 JP0307852W WO2004001677A1 WO 2004001677 A1 WO2004001677 A1 WO 2004001677A1 JP 0307852 W JP0307852 W JP 0307852W WO 2004001677 A1 WO2004001677 A1 WO 2004001677A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- virtual image
- work
- worker
- guidance system
- voice
- Prior art date
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Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
-
- 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
- G09B19/003—Repetitive work cycles; Sequence of movements
Definitions
- the present invention relates to a work guidance system that guides a worker so that a work including a plurality of steps can be performed accurately.
- a work guidance system includes a virtual image storage unit, a display device, a virtual image reproduction unit, and a virtual image adjustment unit.
- the virtual image storage means stores a virtual image for explaining to a worker the work content in each step with respect to the work including a plurality of steps.
- the display device is arranged in front of the worker and displays the virtual image to the worker together with the actual work object in front of the worker.
- the virtual image reproducing means displays the virtual image on the display device based on the order of the steps.
- the virtual image adjustment means adjusts the virtual image such that the corresponding work object drawn in the virtual image overlaps the real work object and is displayed on the display device.
- the worker can work on the actual work object displayed overlapping the virtual image as per the virtual image while watching the virtual image displayed on the display device. Without multiple steps, a task consisting of multiple steps can be performed accurately.
- the work may be performed after grasping the entire work by looking at the virtual image.
- the work object drawn in the virtual image can be displayed over the actual work object regardless of the standing position of the worker and the difference in the eye level. Work can proceed efficiently.
- the virtual image includes a line drawing that outlines the actual work target and visual information that visually explains the work content.
- both the real work object and the virtual work object are easy to see and further include visual information.
- Information that can be conveyed to the worker when performing the work can be visually conveyed in an easy-to-understand manner. Can be accurately guided.
- a visual information input means for calling the virtual image from the virtual image storage means, correcting the visual information, and Z or adding the visual information.
- the virtual image includes a layer composed of a line drawing depicting the outline of the actual work target and another layer depicting the visual information. By doing so, the visual information can be corrected and / or added without worrying that the line drawing is not accidentally erased.
- the virtual image reproducing means has a function of storing the virtual image in association with each of the steps and calling up the virtual image corresponding to the step designated by the operator.
- the virtual image reproducing means stores the virtual image in association with each of the steps, and continuously reproduces the virtual images corresponding to the steps in the range designated by the operator, It is also preferable to have a function to return to the first step in the above specified range after the end of reproduction. In this case, the operator can grasp the whole work by seeing the virtual image in a necessary range, and return to the first step in the specified range after the reproduction is completed. Work with the virtual image immediately Can also.
- the apparatus further includes a voice input unit for inputting the voice of the worker, and a voice recognition unit for recognizing the voice input to the voice input unit.
- the virtual image reproducing means controls reproduction of the virtual image based on a voice input of an operator. In this case, the worker can control the reproduction of the virtual image while holding the tool or the like in his hand, and the working efficiency is further improved.
- the virtual image reproducing means outputs the audio data to the audio output means in accordance with the reproduction of the virtual image.
- the worker can obtain an explanation of the work content from the audio data in addition to the virtual image, and can grasp the work content more accurately. Information that cannot be represented by virtual images can be explained using audio data.
- the virtual image adjusting means includes: an imaging means for imaging the actual work target; and a feature point extracting means for extracting a feature point predetermined for the work target from image data output by the imaging means.
- the configuration used can be used. That is, the virtual image adjusting means operates so that the position of the feature point extracted by the feature point extraction means overlaps with the position of the point corresponding to the feature point in the work object drawn in the virtual image. The position and / or size of the virtual image displayed on the display device is automatically changed. According to this configuration, during playback of the virtual image, The virtual image is automatically adjusted even if the standing position of the virtual image changes, and it is possible to maintain the state where the actual work object and the virtual image work object overlap.
- the virtual image adjusting means can be configured to include a manual controller that allows an operator to manually change the position and / or size of the virtual image displayed on the display device. In this case, it is possible to see the work target of the virtual image on the actual work target, superimposed on the manual operation of the worker. Further, in the case of this configuration, it is preferable to provide a head tracking means for detecting the movement of the worker's head. The virtual image adjusting means automatically corrects the position of the virtual image displayed on the display device based on the output of the head tracking means.
- FIG. 1 is a block diagram of a work guidance system according to a first embodiment of the present invention.
- 2 (a) to 2 (c) are diagrams showing an example of a virtual image used in the above.
- Fig. 3 is a photograph replacing the drawing obtained by printing out the image showing the characteristic points of the engine as the work target in the same manner as above.
- Figures 4 (a) and 4 (b) are photographs replacing the drawings obtained by printing out the image displayed on the display device in the same manner as above.
- FIG. 5 is a photograph replacing a drawing obtained by printing out the image displayed on the display device by the printer in the above.
- FIG. 6 is a photograph replacing the drawing obtained by printing out the image displayed on the display device by the printer in the above.
- FIG. 7 is a diagram showing another configuration of the glasses unit.
- FIG. 8 is a block diagram of the work guiding system according to the second embodiment of the present invention.
- FIG. 9 is a photograph replacing a drawing obtained by printing out the image displayed on the display device by the printer in the above.
- Country 10 is a photograph replacing the drawing obtained by printing out the image displayed on the display device by the printer in the above.
- FIG. 11 is a photograph replacing the drawing obtained by printing out the image displayed on the display device by the printer in the above.
- FIG. 1 shows a work guidance system 1 according to a second embodiment of the present invention.
- the work guidance system 1 is applied to an engine manufacturing site, and guides the worker so that the worker can perform the engine assembly work accurately.
- the work guidance system 1 includes a head-mounted AV device 10 and a work guidance control device 15 that is electrically connected to the AV device 10 via a cable C1.
- the AV device ⁇ 0 includes a pair of translucent liquid crystal panels 111 as a display device, a glasses section 11 like a so-called see-through type head mounted display, and a pair of headphone speakers 1 2 1 as sound output means.
- a virtual image which will be described later, is displayed on the liquid crystal panel 111, and a real image can be seen through the translucent liquid crystal panel 111. In other words, the virtual image can be displayed to the worker together with the real image.
- the work guidance control device 15 includes an interface section 16, a storage section 17, a power supply section 18, and a control section 19.
- the interface unit 16 amplifies the analog audio signal from the microphone 13 1, converts it into digital audio data, and outputs it to the control unit 19.
- the audio input interface 16 1 and the analog image from the CCD camera 100 An image input interface 162 that converts signals to digital image data and outputs it to the control unit 19, and a DVI (Digital Visual Interface) standard virtual image output that connects between the control unit 19 and the LCD panel 1.1 Interface 163 and voice data from control unit 19
- a sound output interface 164 that converts the sound signal into an audio signal, amplifies the signal at an amplification factor according to the position of a volume knob (not shown), and outputs the amplified signal to the headphone speaker 121.
- the storage unit 17 is a storage device such as an eight-disk drive, and includes a virtual image storage unit 17A and a voice storage unit 17B.
- the virtual image storage unit 17A stores a virtual image for explaining to the operator the work content in each step regarding the engine assembling work including a plurality of steps.
- the virtual image is created based on a line drawing that outlines the work target, and adds visual information that explains the work content as needed.
- the visual information includes, for example, a number indicating a work order, an arrow indicating a work direction, character information, and a work completion image indicated by a broken line.
- Figure 2 shows an example of a virtual image. Fig.
- Figure 2 is a virtual image to explain the work of assembling the engine into the cylinder block of the engine and then installing the engine cover.
- Figure 2 (a) is a virtual image depicting the outline of the cylinder block before work
- Figure 2 (b) is a virtual image of the step of assembling the bolt
- Figure 2 (c) is a virtual image of the step of attaching the engine cover. It is.
- the virtual image in Fig. 2 (b) is created by adding visual information M ⁇ ⁇ 3 consisting of number and character information based on a line drawing that outlines the engine to be worked on.
- the visual information 11 to 1 12 indicates the order of tightening the bolts
- I 13 indicates the tightening torque of the port.
- the voice storage unit 17B stores the work contents at each step (for example, work procedures, information related to the PL method, Such. ) Is stored.
- the audio data played back together with Fig. 2 (b) is: "In this step, tighten the bolts in order from 1 to 6. At this time, the tightening torque is 19.5 Sat. 2.0 N m
- the explanation that can be heard once, such as the outline of the work is audio data
- the explanation to be confirmed is visual information, and by using voice data and visual information properly, workers can understand the work content more easily and can work correctly.
- the control unit 19 is composed of a CPU (Central Processing Unit) that executes a predetermined program, a main storage device, and the like, and controls the entire work guidance system 1.
- the control section 19 has a voice recognition function 191, a feature point extraction function 192, a virtual image control function 1993, and a voice output function 1994.
- the voice recognition function 19 1 recognizes voice data input by the microphone 13 1 and captured through the voice input interface 6 1, and according to the recognized words, a virtual image playback function 1 9 described later. Control 3 A. For example, when the word “playback start j” is recognized, the virtual image playback function ⁇ 93A starts playback of the virtual image.
- the feature point extraction function 1992 extracts feature points determined in advance by an engine as a work target from image data captured by the CCD camera 100 and captured via the image input interface 162. For example, If the feature points of the engine are determined as P 1 and P 2 as shown in Fig. 3, the feature point extraction function 192 performs the feature points P 1 and P 2 by image processing from the captured image data. Then, the positions of the pixels of the feature points P 1 and P 2 in the image data are identified.
- the virtual image control function 193 includes a virtual image playback function ⁇ 93 A and a virtual image adjustment function 193 B.
- the virtual image playback function 1993A calls the virtual image from the virtual image storage unit 17A and displays it on the liquid crystal panel 111 in the same order as the engine assembly work steps.
- the virtual image playback function 1993 A stores each step and the virtual image in association with each other, and calls the virtual image corresponding to the step called by the worker using the voice recognition function 191, It has a so-called “Jumping J function.” Furthermore, the virtual images corresponding to the steps in the range specified by the operator are continuously played back, and after the playback is completed, the first step in the specified range is performed. Return to “Specified range playback” function.
- the virtual image adjustment function 19 3 B is displayed in the glasses section ⁇ 1 with the engine line drawing drawn in each virtual image overlapping the engine that is the actual work target viewed through the glasses section 11 Adjust each virtual image played by the virtual image playback function 1993A as described above.
- the adjustment method will be described below.
- a table is created in advance that associates the position of each pixel in the image data captured by the CCD camera 100 with the position of each pixel on the liquid crystal panel 111, For example, it is stored in a ROM (not shown) in the control unit 19.
- the virtual image adjustment function 1993 B calculates the positions of the pixels in the image data of the feature points P 1 and P 2 extracted by the feature point extraction function 1 92 from the captured image data. Then, referring to the above table, it is converted into the authenticity of the pixel in the liquid crystal panel 111. Then, at the positions of the characteristic points PI and P2 on the liquid crystal panel 111, the characteristic points A1 and P2 corresponding to the characteristic points P1 and P2 in each virtual image displayed on the liquid crystal panel 111 are displayed. , Automatically change the position and / or dimensions of the virtual image so that the positions of the pixels of B overlap. FIG.
- FIG. 4 (a) shows a display state of a real engine and a virtual image displayed on the liquid crystal panel 1 1 1 before the virtual image adjustment function 1 93 is adjusted.
- the actual engine seen through the LCD panel 111 and the line drawing of the engine drawn in the virtual image are displayed out of alignment with the worker's standing position.
- FIG. 4 (b) shows the display state after the virtual image adjustment function 1993 has adjusted.
- the virtual image adjustment function 193 With the virtual image adjustment function 19 3, the engine line drawing drawn in the virtual image is displayed overlapping the real engine.
- the adjustment of the virtual image by the virtual image adjustment function 193 is repeatedly executed in real time.
- the audio output function 1994 stores each virtual image and each audio data stored in the audio storage unit ⁇ 7B in association with each other, and the virtual image reproduction function 1993 reproduces them.
- the audio data corresponding to the virtual image is output to the audio output interface 164 along with the reproduction of the virtual image.
- Step 2 J engine assembly work is assumed to be broadly classified as “Step 1 J, Step 2”, and the operator will now refer to the work named “Step 2 j".
- Step 2 J consists of” Assembling Porto to the engine cylinder block "" Step 2 aj "and” Installing the engine cover after step 2a "" Step 2 b " It is further subdivided.
- the worker attaches the AV device 10 and looks at the engine being assembled through the liquid crystal panel 111 as shown in FIG. Toward the microphone 131, "Speaking of step 2J, the voice recognition function 1991" recognizes the voice of step 2J, and the virtual image playback function 1993A responds "by the cue j function.”
- the virtual image (Fig. 2 (a)) corresponding to the image before the work in step J is called on the LCD panel 1 1 1.
- the virtual image is adjusted by the virtual image adjustment function 1993 B, As shown in b), the line drawing of the virtual image engine is superimposed on the real engine and displayed on the LCD panel 1 1 1.
- the virtual image playback function 1 9 According to 3A, a virtual image (FIG.
- step 2 (b)) corresponding to step 2a is reproduced based on the order of the assembly work (“step 2 aj ⁇ ” step 2 b J) (LCD panel 1
- the display of 1 1 is as shown in Fig. 5.
- the audio output function 1994 causes the audio explanation to flow from the headphone speaker 122.
- the worker listens to the audio explanation while watching the LCD panel display shown in Fig. 5, and the virtual According to the image 7852
- the virtual image playback function 1993A executes the virtual image corresponding to the next step ⁇ step 2b J (Fig. 2 (c )) (The display on the LCD panel 11 1 is as shown in Fig. 6.) The worker listens to the audio description while watching the display on the LCD panel again, and then performs the work of attaching the engine cover.
- the operator may rewind, pause, or fast-forward the virtual image as needed.
- the reproduction of the liquid crystal panel ⁇ 1 is the first step of the step 2
- the voice recognition function 19 1 Even if the operator moves the head during the work, the virtual image adjustment function 1 93 B allows the virtual Image engine line drawing is heavy
- the work guidance system 1 allows the worker to perform the work accurately even without an instructor.
- the storage unit 17 is built in the work guidance control device 15.
- a configuration in which a wireless or wired LAN interface is provided in the work guidance control device 15 and the storage unit 17 is stored in a server connected by LAN may be employed.
- the storage unit 17 is not limited to a hard disk device, but may be an optical disk device, a magneto-optical disk device, a semiconductor storage device, or the like.
- the eyeglass section 1I uses the transmissive liquid crystal panel 111, but may have a configuration using a prism 112 as shown in FIG. That is, the image of the liquid crystal panel 111 enters the prism 2 from the side and is totally reflected forward by the reflecting surface 112a provided on the rear surface of the prism 112.
- the light is reflected backward by the half mirror 1 12b provided on the front side of the light source 2 and transmitted through the reflection surface 112a, so that the worker can see it.
- the work itself can be seen through the optical path that passes through the prisms 111 from the front to the back.
- set the background color to black near “0 0 0 0 0 0” or dark gray near “7 7 7 7 7” and set the line drawing part of the animation image to light blue near “0 0 FFFF”.
- the eyeglass part 11 may be a one-eye type instead of a two-eye type. That is, the display device of the present invention only needs to display the virtual image to the worker together with the actual work object in front of the worker.
- Virtual image adjustment with the virtual image adjustment function 19 It may be performed at a predetermined time instead of the time.
- the “specified range playback” function can, of course, also be played back by specifying multiple steps.
- a visual information input means (not shown) for calling a virtual image from the virtual image storage unit 17A and correcting and / or adding the visual information to the called virtual image. Equipped with visual information input means, it is possible to flexibly respond to small changes in work contents at the site level, such as changing the tightening order of bolts, so that more layered work can be performed efficiently. become. In this case, if the virtual image is created separately with a layer consisting of the line drawing depicting the outline of the actual work target and a layer depicting the above visual information, the complicated line drawing can be erased by mistake. You can modify and add or add visual information without worry.
- the engine is exemplified as the work target.
- the work is not limited to the engine and the like, but may be a person or an animal.
- the work guidance system of the present invention can be used to teach a person to wear a kimono or to confirm a procedure of a human or animal operation.
- FIG. 9 shows a work guidance system 2 according to a second embodiment of the present invention.
- the work guidance system 2 is for manually adjusting the virtual image by the virtual image adjustment function 1993B, as compared with the work guidance system 1 of the first embodiment.
- Work guidance system 2 has a new manual control —The hand-held mouse 20 is connected to the work guidance controller 15.
- a head tracker 200 as head tracking means for detecting the movement of the worker's head is built in the spectacle unit 1 in place of the head camera 100.
- the work guidance control device 15 includes a manual controller interface 16 5 connected to the hand-held mouse 20 and a head tracker interface 1 connected to the head tracker 200 in the interface section 6. 6 and 6 are newly provided, and the image input interface 16 2 is removed.
- the control unit 19 has the feature point extraction function 192 removed.
- the control unit 19 can switch between a virtual image playback mode and a virtual image adjustment mode by using the voice recognition function 191 or the handheld mouse 20.
- the liquid crystal panel 111 displays, in addition to the actual work target and the virtual image, the positions of the feature points predetermined for the work target of the virtual image. For example, in the virtual image of the engine shown in Fig. 9, in addition to the real engine and the virtual image engine, the positions of the feature points A and B of the virtual image engine are displayed. It should be noted that in FIG. 9, the real engine and the virtual image engine are displayed differently.
- the worker drags the position of the feature point A using the hand-held mouse 20, and the position of the feature point P 1 corresponding to the feature point A of the real engine seen through the LCD panel 111 is determined. Match position.
- the virtual image adjustment function The entire image moves according to the drag operation.
- the position of feature point A is determined (the state in Fig. 10).
- drag the position of the feature point B is determined (the state in Fig. 10).
- the overall size of the virtual image is changed by the virtual image adjusting function 1993 B based on the position of the feature point A.
- the head tracker 200 In the virtual image playback mode, the head tracker 200 automatically adjusts the position even if the operator moves his / her head, so that the work target of the virtual image overlaps the real work target. You. Specifically, the virtual image adjustment function ⁇ 93B, for example, when the head tracker 200 detects that the head of the worker has moved to the left, moves the virtual image to the right. To the same amount.
- the head tracker 200 for example, an inertial measurement device using a gyro or an accelerometer provided for a head mounted display can be used.
- the operation method for adjusting the virtual image is not limited to the above-described operation method.
- the mode is automatically shifted to the dimension change mode of the entire virtual image.
- hand-held mouse 2 The dimensions of the entire virtual image may be changed based on the position of the feature point A according to the moving direction and the moving amount of 0.
- the operator may be able to adjust the virtual image without switching between the virtual image playback mode and the virtual image adjustment mode, for example, except during the playback of the virtual image. .
- a lever-type manual controller or various pointing devices can be applied.
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Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2003244317A AU2003244317A1 (en) | 2002-06-20 | 2003-06-20 | Job guiding system |
US10/517,487 US20060090135A1 (en) | 2002-06-20 | 2003-06-20 | Job guiding system |
KR1020047020732A KR100597942B1 (ko) | 2002-06-20 | 2003-06-20 | 작업 유도 시스템 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002180260A JP3735086B2 (ja) | 2002-06-20 | 2002-06-20 | 作業誘導システム |
JP2002-180260 | 2002-06-20 |
Publications (1)
Publication Number | Publication Date |
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WO2004001677A1 true WO2004001677A1 (ja) | 2003-12-31 |
Family
ID=29996600
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/007852 WO2004001677A1 (ja) | 2002-06-20 | 2003-06-20 | 作業誘導システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20060090135A1 (ja) |
JP (1) | JP3735086B2 (ja) |
KR (1) | KR100597942B1 (ja) |
CN (1) | CN1313980C (ja) |
AU (1) | AU2003244317A1 (ja) |
WO (1) | WO2004001677A1 (ja) |
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US20060090135A1 (en) | 2006-04-27 |
KR100597942B1 (ko) | 2006-07-06 |
CN1313980C (zh) | 2007-05-02 |
AU2003244317A1 (en) | 2004-01-06 |
CN1662934A (zh) | 2005-08-31 |
JP3735086B2 (ja) | 2006-01-11 |
JP2004021931A (ja) | 2004-01-22 |
KR20050021996A (ko) | 2005-03-07 |
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