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WO2021090649A1 - Système d'outil, procédé de gestion d'outil et programme - Google Patents

Système d'outil, procédé de gestion d'outil et programme Download PDF

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Publication number
WO2021090649A1
WO2021090649A1 PCT/JP2020/038737 JP2020038737W WO2021090649A1 WO 2021090649 A1 WO2021090649 A1 WO 2021090649A1 JP 2020038737 W JP2020038737 W JP 2020038737W WO 2021090649 A1 WO2021090649 A1 WO 2021090649A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
work
unit
notification
target
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/038737
Other languages
English (en)
Japanese (ja)
Inventor
山中　睦裕
池田　光治
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
Original Assignee
Panasonic Intellectual Property Management Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Publication of WO2021090649A1 publication Critical patent/WO2021090649A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present disclosure generally relates to a tool system, a tool management method and a program, and more particularly to a tool system including a portable tool and a tool management method and a program using an image captured by the tool system.
  • Patent Document 1 describes a tool system including a portable tool having a drive unit operated by power from a battery pack and an imaging unit provided on the tool.
  • the imaging unit is arranged so that, for example, a socket attached to the output shaft of the tool fits within the imaging range, and is a work target (object or place where work is performed using the tool, etc.) when working with the tool. ) Is imaged.
  • the captured image generated by the imaging unit is used to identify the work target on which the tool is set (that is, the tool is prepared so that the work can be performed on the work target). That is, the tool system described in Patent Document 1 includes a specific portion.
  • the specific unit compares the captured image generated by the imaging unit with a plurality of reference images stored in the image storage unit, and specifies the actual shooting work target to be captured in the captured image as the work target.
  • the present disclosure has been made in view of the above reasons, and an object of the present disclosure is to provide a tool system, a tool management method, and a program capable of improving the work efficiency of work using a tool.
  • the tool system includes a portable tool, an imaging unit, and a notification unit.
  • the tool has a drive unit that operates by power from a power source.
  • the imaging unit is mounted on the tool to generate an captured image.
  • the notification unit notifies the processing status related to the recognition process of recognizing the work target of the tool by using the captured image.
  • the tool management method includes a first step and a second step.
  • an captured image is acquired from an imaging unit mounted on a portable tool having a driving unit that operates by power from a power source.
  • the notification unit notifies the processing status related to the recognition process of recognizing the work target of the tool using the captured image.
  • the program according to one aspect of the present disclosure is a program for causing one or more processors to execute the above tool management method.
  • FIG. 1 is a block diagram of a tool system according to an embodiment.
  • FIG. 2A is an external perspective view of the tool of the same tool system as viewed from one direction.
  • FIG. 2B is an external perspective view of the tool of the same tool system as viewed from another direction.
  • FIG. 3 is a flowchart showing the operation of the same tool system.
  • FIG. 4 is a graph showing the time change of the judgment score of the judgment unit and the light amount output by the notification unit provided in the same tool system.
  • FIG. 5 is a graph showing the time change of the judgment score of the judgment unit and the light amount output by the notification unit included in the tool system of the above.
  • the tool system 1 includes a portable tool 2.
  • the tool 2 has, for example, a drive unit 24 including a motor and the like.
  • the drive unit 24 operates by power (electric power, etc.) from a power source such as the battery pack 201, for example.
  • Examples of this type of tool 2 include various types of tools such as an impact wrench, a nut runner, an oil pulse wrench, a driver (including an impact driver), a drill or a drill driver.
  • the user can, for example, attach fastener parts (for example, bolts or nuts) to the work (work object) to be worked on, or perform machining such as drilling holes in the work. Can be done.
  • the tool system 1 further includes an imaging unit 5.
  • the image pickup unit 5 is mounted on the tool 2.
  • the imaging unit 5 generates an captured image.
  • the imaging unit 5 includes, for example, a socket 242 (see FIG. 2A) attached to the output shaft 241 (see FIG. 2A) of the tool 2 in the imaging range (field of view).
  • the tool system 1 for example, whether or not the work performed by the user using the tool 2 is in line with the work procedure by specifying the work target based on the captured image obtained by the image pickup unit 5. It is possible to judge whether or not.
  • the quality of the work performed on the work target is judged, the notification of the work instruction to the user according to the work target, or the log. It is possible to leave an image as (work record). In this way, by using the image (image taken) obtained by the image pickup unit 5 mounted on the tool 2, for example, it is possible to support or manage the work of the user using the tool 2.
  • the tool system 1 includes a notification unit 211 in addition to the tool 2 and the imaging unit 5. That is, the tool system 1 includes a portable tool 2, an imaging unit 5, and a notification unit 211.
  • the tool 2 has a drive unit 24 that is operated by power from a power source (battery pack 201).
  • the imaging unit 5 is mounted on the tool 2 and generates an captured image.
  • the notification unit 211 notifies the processing status related to the recognition process of recognizing the work target of the tool 2 by using the captured image.
  • the "processing status related to the recognition process” means that the imaging unit 5 of the tool 2 captures an captured image, then recognizes the work target of the tool 2 based on the captured image, and the work order of the work target. It is the processing status related to a series of processing until the correctness of is determined.
  • the "processing status” includes a shooting status in which the imaging unit 5 photographs the work target of the tool 2.
  • the "processing status” corresponds to the recognition result of the recognition process in which the processing unit 33 of the tool 2 recognizes the work object of the tool 2 using the captured image, and the work object whose work object is instructed by the work instruction.
  • the determination result of the determination process for determining whether or not it may be included. In the above determination process, the process of determining whether or not the work object recognized by the recognition process matches the work object specified in the work procedure and whether the work order specified in the work procedure matches. Includes at least one of the processes of determining whether or not.
  • the user who performs the work using the tool 2 can grasp the processing status related to the recognition processing based on the notification content of the notification unit 211. Therefore, the user can easily notice that the work content is inadequate even during the work using the tool 2, and can easily take measures such as redoing the work using the tool 2. Therefore, the work efficiency of the work using the tool 2 can be easily taken. There is an advantage that can be improved.
  • the tool system 1 is used, for example, in an assembly line for assembling products in a factory.
  • the tool 2 included in the tool system 1 is a tightening tool used for tightening tightening parts (for example, bolts or nuts) such as an impact wrench. ..
  • tightening tool used for tightening tightening parts (for example, bolts or nuts) such as an impact wrench.
  • there are a plurality of tightening target points for one product and the user uses the tool 2 to tighten each of the plurality of tightening target points in one work space. Imagine a case where parts are mounted.
  • the "tightening target part" referred to in this disclosure is a part of the work (working object) and is a part to which the tightening part is attached.
  • the tightening part is a bolt
  • the screw hole in which the tightening part is tightened and the portion around the screw hole are the tightening target locations. That is, in the present embodiment, there are a plurality of parts to be tightened in one work.
  • the "work target” referred to in the present disclosure means an object or a part (location) or the like on which work is performed using the tool 2.
  • the work target in which the tool 2 is set may be referred to as a “set work target”.
  • the "state in which the tool 2 is set” here means a state in which the tool 2 is prepared so that the work can be performed on the work target, and not only the state in which the tool 2 is in contact with the work target but also the tool 2 is pressed. It also includes the state of trying to hit the work target. That is, in the state where the tool 2 is set on the work target, the tool 2 may hit the work target or may be separated from the work target.
  • each of a plurality of tightening target points in one work is a work target.
  • the "captured image” referred to in the present disclosure is an image captured by the imaging unit 5, and includes a still image (still image) and a moving image (moving image).
  • the "moving image” includes an image composed of a plurality of still images obtained by time-lapse photography or the like.
  • the captured image does not have to be the data itself output from the imaging unit 5.
  • the captured image may be appropriately compressed as necessary, converted to another data format, processed to cut out a part from the image captured by the imaging unit 5, focus adjustment, brightness adjustment, contrast adjustment, or the like. It may be processed.
  • the captured image is a full-color moving image.
  • the term "mounted” as used in the present disclosure refers to both built-in (including a mode in which they are integrated so as not to be separated) and external (including a mode in which they are detachably fixed using a coupler or the like). including. That is, the image pickup unit 5 mounted on the tool 2 may be built in the tool 2 or may be externally attached to the tool 2.
  • the "work procedure” referred to in the present disclosure means a work procedure using the tool 2.
  • the work procedure is the work order of one or more work targets in the work process (work assigned to each of one or more work targets). The order) is shown.
  • the work instruction for one work target is a "work instruction”
  • the work procedure is information indicating one or a plurality of work instructions in one work process together with the order.
  • the work procedure indicates which of the one or a plurality of work processes the work target corresponds to, and which work in the corresponding work process.
  • the work procedure defines in what order the work is performed for a plurality of work targets in one work.
  • the tool 2 is an electric tool that operates the drive unit 24 by using electric energy.
  • the tool 2 is an impact wrench. With such a tool 2, the tightening work of attaching the tightening parts to the work target is possible.
  • the tool 2 further has an impact mechanism 25 in addition to the drive unit 24.
  • the tool 2 uses the battery pack 201 as a power source to operate the drive unit 24 with the electric power (electrical energy) supplied from the battery pack 201.
  • the battery pack 201 is included in the component of the tool 2, but it is not essential that the battery pack 201 is included in the component of the tool 2, and the battery pack 201 is included in the component of the tool 2. It does not have to be included.
  • the tool 2 further has a body 20.
  • the drive unit 24 and the impact mechanism 25 are housed in the body 20.
  • the imaging unit 5, the control unit 3, the storage unit 4, and the notification unit 211, which are included in the tool system 1 described later, are also housed in the body 20. That is, in the present embodiment, the imaging unit 5, the control unit 3, the storage unit 4, and the notification unit 211, which are the components of the tool system 1, are integrated with the tool 2 by being housed in the body 20 of the tool 2. ing.
  • the body 20 of the tool 2 has a body portion 21, a grip portion 22, and a mounting portion 23.
  • the body portion 21 is formed in a tubular shape (here, a cylindrical shape).
  • the grip portion 22 projects from a part of the peripheral surface of the body portion 21 along the normal direction (diameter direction of the body portion 21).
  • the battery pack 201 is removably mounted on the mounting portion 23.
  • the mounting portion 23 is provided at the tip end portion of the grip portion 22.
  • the body portion 21 and the mounting portion 23 are connected by a grip portion 22.
  • the drive unit 24 is housed in the body unit 21.
  • the drive unit 24 has a motor.
  • the drive unit 24 is configured to operate using the electric power supplied to the motor from the battery pack 201, which is a power source, as a power source.
  • the output shaft 241 projects from one end surface of the body portion 21 in the axial direction.
  • the output shaft 241 rotates about the rotation shaft Ax1 along the protruding direction of the output shaft 241 in accordance with the operation of the drive unit 24. That is, the drive unit 24 drives the output shaft 241 to rotate the output shaft 241 around the rotation shaft Ax1. In other words, by operating the drive unit 24, torque acts on the output shaft 241 to rotate the output shaft 241.
  • the rotation axis Ax1 in the drawing is shown only for the sake of explanation, and is not accompanied by an entity.
  • a cylindrical socket 242 for rotating a tightening component (for example, a bolt or a nut) is detachably attached to the output shaft 241.
  • the socket 242 rotates around the output shaft 241 together with the output shaft 241.
  • the size of the socket 242 attached to the output shaft 241 is appropriately selected by the user according to the size of the tightening component.
  • a socket anvil can be attached to the output shaft 241 instead of the socket 242.
  • the socket anvil is also detachably attached to the output shaft 241.
  • a bit for example, a driver bit or a drill bit
  • a bit can be attached via the socket anvil.
  • Tool 2 has an impact mechanism 25 as described above.
  • the impact mechanism 25 applies a striking force in the rotational direction to the output shaft 241.
  • the tool 2 can apply a larger tightening torque to the tightening part.
  • the grip portion 22 is a portion that the user grips when performing work.
  • the grip portion 22 is provided with a trigger switch 221 and a forward / reverse changeover switch 222.
  • the trigger switch 221 is a switch for controlling the on / off of the operation of the drive unit 24, and the rotation speed of the output shaft 241 can be adjusted according to the pull-in amount.
  • the forward / reverse changeover switch 222 is a switch that switches the rotation direction of the output shaft 241 between forward rotation and reverse rotation.
  • the mounting portion 23 is formed in a flat rectangular parallelepiped shape.
  • the battery pack 201 is removably mounted on one surface of the mounting portion 23 opposite to the grip portion 22.
  • the battery pack 201 has a resin case 202 formed in a rectangular parallelepiped shape.
  • the case 202 houses a storage battery (for example, a lithium ion battery).
  • the battery pack 201 supplies electric power to the drive unit 24, the control unit 3, the image pickup unit 5, the notification unit 211, and the like.
  • the mounting portion 23 is provided with an operation panel 231.
  • the operation panel 231 has, for example, a plurality of pushbutton switches 232 and a plurality of LEDs (Light Emitting Diodes) 233.
  • LEDs Light Emitting Diodes
  • various settings and status confirmations related to the tool 2 can be performed. That is, for example, the user can change the operation mode of the tool 2 and check the remaining capacity of the battery pack 201 by operating the push button switch 232 of the operation panel 231.
  • the mounting unit 23 is provided with a light emitting unit 234.
  • the light emitting unit 234 includes, for example, an LED.
  • the light emitting unit 234 irradiates the work target with light during the work using the tool 2.
  • the light emitting unit 234 can be turned on / off by operating the operation panel 231. Further, the light emitting unit 234 may be automatically turned on when the trigger switch 221 is turned on.
  • the tool system 1 includes a portable tool 2, an imaging unit 5, and a notification unit 211. Further, in the present embodiment, the tool system 1 further includes a control unit 3 and a storage unit 4 in addition to the tool 2 (including the battery pack 201), the image pickup unit 5, and the notification unit 211.
  • the storage unit 4 is not an essential configuration for the tool system 1, and the storage unit 4 can be omitted as appropriate.
  • the imaging unit 5, the control unit 3, the storage unit 4, and the notification unit 211 are housed in the body 20 of the tool 2.
  • the imaging unit 5 and the notification unit 211 are housed in the body unit 21.
  • the control unit 3 and the storage unit 4 are housed in the grip unit 22 or the mounting unit 23.
  • the imaging unit 5 is mounted on the tool 2 and generates data as an captured image.
  • the image pickup unit 5 is, for example, a camera having an image pickup device and a lens.
  • the imaging unit 5 is mounted on the tool 2 so as to be integrated with the tool 2 by being housed in the body 20 (body unit 21) of the tool 2. ..
  • the image pickup unit 5 is mounted toward the tip end side of the output shaft 241 so as to take an image of a work target during work using the tool 2.
  • the imaging unit 5 is arranged at the tip of the body 21 toward the tip side (socket 242) of the output shaft 241 so that the socket 242 attached to the output shaft 241 fits within the imaging range. (See FIGS. 2A and 2B).
  • the optical axis of the imaging unit 5 is arranged along the rotation axis Ax1 of the output shaft 241.
  • the imaging unit 5 is arranged so that the optical axis is located within a predetermined distance from the rotation axis Ax1 of the output shaft 241 and the optical axis is substantially parallel to the rotation axis Ax1.
  • the imaging unit 5 is configured to continuously perform imaging while the control unit 3 is activated, and generates a time-series continuous captured image, that is, a moving image, and outputs the image to the processing unit 33 of the control unit 3. To do.
  • the notification unit 211 is provided on the tool 2.
  • the notification unit 211 notifies the processing status related to the recognition process of recognizing the work target of the tool 2 based on the image captured by the imaging unit 5 based on the notification instruction input from the notification control unit 34 of the control unit 3. ..
  • the notification unit 211 is composed of, for example, an LED.
  • the notification unit 211 is provided at an end portion of the body portion 21 of the body 20 opposite to the output shaft 241 so that the user can easily see the notification unit 211 during the work using the tool 2 (see FIG. 2B). ). Since the notification unit 211 is provided on the tool 2, there is an advantage that a user who works using the tool 2 can easily notice the notification content of the notification unit 211.
  • the notification unit 211 since the notification unit 211 notifies by light, the user who uses the tool 2 can visually grasp the processing status notified by the notification unit 211.
  • the notification unit 211 may be composed of a light source such as an LED that illuminates the work including the work target when the work target is tightened by using the tool 2.
  • the control unit 3 includes, for example, a microcontroller having one or more processors and one or more memories as a main configuration.
  • the microcontroller realizes the function as the control unit 3 by executing the program recorded in one or more memories by one or more processors.
  • the above program is a program for causing one or more processors to function as the control unit 3.
  • the program may be pre-recorded in memory, provided by being recorded on a non-temporary recording medium such as a memory card, or provided through a telecommunication line.
  • the control unit 3 has functions such as a drive control unit 31, an imaging control unit 32, a processing unit 33, a notification control unit 34, a determination unit 35, and a registration unit 36.
  • a drive control unit 31 an imaging control unit 32
  • a processing unit 33 a processing unit 33
  • a notification control unit 34 a determination unit 35
  • a registration unit 36 a registration unit 36.
  • the drive control unit 31 controls the drive unit 24. Specifically, the drive control unit 31 operates the drive unit 24 so as to rotate the output shaft 241 at a rotation speed based on the pull-in amount of the trigger switch 221 and in the rotation direction set by the forward / reverse changeover switch 222. Let me.
  • the drive control unit 31 controls the drive unit 24 so that the tightening torque becomes a torque set value (work set value).
  • the drive control unit 31 has a torque estimation function for estimating the magnitude of the tightening torque.
  • the drive control unit 31 estimates the magnitude of the tightening torque based on the rotation speed of the drive unit 24 (motor) or the like until the estimated value of the tightening torque reaches the seating determination level. ..
  • the drive control unit 31 estimates the magnitude of the tightening torque based on the number of hits of the impact mechanism 25.
  • the drive control unit 31 determines that the tightening torque has reached the torque set value and stops the drive unit 24 (motor). As a result, the tool 2 can tighten the tightening parts with the tightening torque according to the torque set value.
  • torque set value will be described in detail later.
  • the image pickup control unit 32 controls the image pickup unit 5.
  • the image pickup control unit 32 controls the image pickup unit 5 so as to take an image of a work target at least during work using the tool 2.
  • the image pickup control unit 32 causes the image pickup unit 5 to generate an image of the work target at least during the work using the tool 2.
  • the processing unit 33 performs image processing for comparing the captured image captured by the imaging unit 5 with a plurality of reference images corresponding to the plurality of work targets, and is a work target to be captured in the captured image among the plurality of work targets. Identify a live-action work target.
  • the plurality of reference images are stored in the storage unit 4 (image storage unit 41).
  • the actual shooting work target refers to a work target that is actually captured in the captured image captured by the imaging unit 5 when the tool 2 is set as the work target. That is, the processing unit 33 performs a process of specifying the work target (actual shooting work target) actually captured in the captured image as the set work target in the state where the tool 2 is set among the plurality of work targets.
  • the processing unit 33 performs pattern matching processing on the captured image using a plurality of reference images corresponding to a plurality of work targets as template data, and identifies the live-action work target. That is, the processing unit 33 identifies the work target reflected in the captured image by comparing the captured image with the plurality of reference images corresponding to the plurality of work targets. The processing unit 33 recognizes the work target identified in this way as a set work target.
  • the processing unit 33 performs image processing (pattern matching processing) on a moving image format data (captured image) output from the imaging unit 5 on a frame-by-frame basis to specify a work target. Therefore, when the work target is within the imaging range of the imaging unit 5, the processing unit 33 indicates that the work target (actual shooting work target) being imaged by the imaging unit 5 is any of the plurality of work targets. Can be specified.
  • the processing unit 33 executes at least one of the operation restriction and the notification of the drive unit 24. In short, the processing unit 33 determines whether or not the work target (live-action work target) specified by the processing unit 33 corresponds to the work instruction defined by the preset work procedure. That is, the processing unit 33 determines whether or not the work target (live-action work target) specified by the processing unit 33 matches the work target of the work indicated by the work instruction included in the work procedure.
  • the processing unit 33 extracts the data of the work procedure corresponding to the live-action work target from the procedure storage unit 44 of the storage unit 4. Then, the processing unit 33 determines whether or not the work target specified by the work procedure extracted from the procedure storage unit 44 and the work target specified as the live-action work target match. judge. If both match, the processing unit 33 determines that the specified work target corresponds to the work instruction specified in the work procedure, that is, matches the work instruction specified in the work procedure. If they do not match, the processing unit 33 determines that the specified work target does not correspond to the work instruction specified in the work procedure, that is, does not match the work instruction specified in the work procedure.
  • the processing unit 33 executes the restriction and notification of the operation of the drive unit 24.
  • the "notification" referred to in the present disclosure includes not only a notification to a user but also a notification to an external terminal (for example, a mobile terminal or the like).
  • an external terminal for example, a mobile terminal or the like.
  • the processing unit 33 determines that the work target does not correspond to the work instruction specified in the work procedure, the processing unit 33 does not operate the drive unit 24 even if the trigger switch 221 is pulled. That is, the operation of the drive unit 24 is permitted only when the processing unit 33 determines that the work target corresponds to the work instruction specified in the work procedure. Therefore, even if the tool 2 is set on the work target that deviates from the work procedure, the drive unit 24 remains stopped, so that the tightening work becomes impossible. As a result, it is possible to prevent the work from being performed in the wrong work order.
  • the trigger switch 221 may be locked so that it cannot be pulled.
  • the notification control unit 34 operates the notification unit 211.
  • the notification unit 211 can notify the user who uses the tool 2 that the tool 2 is set as a work target that is out of the work procedure.
  • the processing unit 33 executes at least a target identification process for specifying a work target as a predetermined process based on the captured image. That is, the processing unit 33 executes at least the identification of the work target as a (predetermined) process. Further, as a predetermined process based on the captured image, the processing unit 33 compares the specified work target with the work instruction defined in the work procedure, and executes a procedure determination process for determining the correspondence between the two. That is, the processing unit 33 executes the determination of the correspondence between the specified work target and the work instruction defined in the work procedure as a (predetermined) process. Further, as a result of the procedure determination process, when the work target does not correspond to the work instruction, the processing unit 33 executes the restriction of the operation of the drive unit 24.
  • the notification control unit 34 controls the notification unit 211 provided on the tool 2.
  • the notification control unit 34 causes the notification unit 211 to notify, for example, the determination result of the target identification process and the procedure determination process by the processing unit 33. Further, the notification control unit 34 causes the notification unit 211 to notify the processing status of the shooting status in which the imaging control unit 32 causes the imaging unit 5 to image the work target.
  • the notification control unit 34 determines that the determination result of the processing unit 33 does not match (for example, it is determined that the work target does not correspond to the work instruction specified in the work procedure) and the determination result of the processing unit 33. It is preferable that the notification unit 211 is lit in a different manner depending on the case of matching. For example, when the processing unit 33 determines that the work target does not correspond to the work instruction specified in the work procedure, the notification control unit 34 lights the notification unit 211 in red. When the processing unit 33 determines that the work target corresponds to the work instruction specified in the work procedure, the notification control unit 34 lights the notification unit 211 in green.
  • the notification control unit 34 turns on the notification unit 211 in red.
  • the notification control unit 34 turns on the notification unit 211 in green.
  • the notification unit 211 since the notification unit 211 notifies the processing status related to the recognition process, the user can use the LED status (lighting, blinking, extinguishing, and color, brightness, etc. at the time of lighting) of the notification unit 211. By visually observing, it is possible to recognize whether or not the work procedure is deviated.
  • the determination unit 35 is configured to determine whether or not the tightening torque when the tightening component is attached to the tightening target portion is normal.
  • the determination unit 35 determines whether or not the tightening torque is normal based on the work instruction specified in the work procedure.
  • the work instruction specified in the work procedure includes the target torque value corresponding to the work target.
  • the determination unit 35 can determine whether or not the work is being performed with the tightening torque according to the work instruction by comparing the target torque value included in the work instruction with the tightening torque.
  • the determination unit 35 determines that the tightening torque is normal when, for example, the drive control unit 31 stops the drive unit 24 when the number of hits of the impact mechanism 25 reaches the threshold number. Further, when the drive control unit 31 stops the drive unit 24, for example, by turning off the trigger switch 221 before the number of hits of the impact mechanism 25 reaches the threshold value, the determination unit 35 has no tightening torque. Judge as sufficient (not normal). Further, the determination unit 35 performs a result storage process of storing the determination result in the result storage unit 43 in association with the tightening target portion.
  • the tool 2 of the present embodiment has at least an operation mode and a registration mode as operation modes.
  • the operation mode is an operation mode when the user performs work using the tool 2.
  • the registration mode is an operation mode in which the image storage unit 41 stores a plurality of reference images and the torque storage unit 42 stores a plurality of target torque values.
  • the operation mode can be switched, for example, by operating the operation panel 231.
  • the operation mode may be switched by a DIP switch or the like, which is different from the operation panel 231.
  • the registration unit 36 performs image registration processing and torque registration processing when the operation mode of the tool 2 is the registration mode.
  • the image registration process is a process of storing a plurality of reference images corresponding to a plurality of work targets in the image storage unit 41 of the storage unit 4.
  • the torque registration process is a process of storing a plurality of target torque values in the torque storage unit 42 of the storage unit 4.
  • the registration unit 36 uses, for example, an image captured by the imaging unit 5 in the work target registration mode as a reference image of the work target, and associates the reference image with the work target to store the image. It is stored in the part 41.
  • the registration unit 36 may store one reference image in the image storage unit 41 corresponding to one work object, or may store two or more reference images corresponding to one work object in the image storage unit 41. It may be stored in 41.
  • the registration unit 36 sets a torque value of each work target input using the operation panel 231 as a target torque value, and stores the torque value in the torque storage unit 42 in association with the work target.
  • the storage unit 4 is composed of, for example, a semiconductor memory, and has the functions of an image storage unit 41, a torque storage unit 42 (target value storage unit), a result storage unit 43, and a procedure storage unit 44.
  • the image storage unit 41, the torque storage unit 42, the result storage unit 43, and the procedure storage unit 44 are composed of one memory in the present embodiment, but may be composed of a plurality of memories. Further, the storage unit 4 may be a recording medium such as a memory card that is detachably attached to the tool 2.
  • the image storage unit 41 stores a plurality of reference images in association with a plurality of work targets.
  • the reference image is a still image showing the corresponding work object.
  • one reference image may be stored in association with one work object, or a plurality of reference images obtained by copying one work object at various angles or sizes correspond to each other. It may be attached and stored.
  • the torque storage unit 42 stores a plurality of target torque values (target values) in a one-to-one correspondence with a plurality of work targets.
  • the target torque value is a target value of the tightening torque when the tightening component is attached to the corresponding work object.
  • the result storage unit 43 stores a plurality of work targets and determination results at a plurality of tightening target locations by the determination unit 35 in association with each other. Further, it is preferable that the result storage unit 43 adds a time stamp indicating the working time to the determination result of the determination unit 35 and stores it. This makes it possible to distinguish the determination result of the work target for each product on the assembly line.
  • the procedure storage unit 44 stores data of one or a plurality of work procedures.
  • the work procedure means a work procedure using the tool 2, and as an example, is data that defines in what order the work is performed on a plurality of work targets in one work.
  • the image registration process and the torque registration process are performed in advance by the registration unit 36, and the image storage unit 41 and the torque storage unit 42 each have a plurality of reference images and a plurality of reference images corresponding to a plurality of work targets. It is assumed that the target torque value of is stored.
  • the user operates, for example, the operation panel 231 to set the operation mode of the tool 2 to the operation mode. Then, the user performs the product assembly work in a state where the operation mode of the tool 2 is set to the operation mode.
  • the user points the image pickup unit 5 at the work target in the predetermined work order in the work procedure, and for example, by turning on the trigger switch 221 once, the image pickup unit 5 captures the captured image of the work target. Let me.
  • the control unit 3 acquires the captured image of the work object from the image pickup unit 5 (S1).
  • the processing unit 33 of the control unit 3 is reflected in the captured image by performing image processing for comparing the captured image of the imaging unit 5 with a plurality of reference images stored in the image storage unit 41.
  • a process (recognition process) for specifying the work target as a live-action work target is performed (S2). Further, the processing unit 33 determines (S3) whether or not the specified work target (live-action work target) matches the work target corresponding to the work instruction specified in the work procedure (S3). .. Specifically, the processing unit 33 matches the positive determination score ST1 indicating the probability that the live-action work target matches the work target corresponding to the work procedure, and the live-action work target matches the work target corresponding to the work procedure.
  • a false-judgment score SF1 representing no probability is calculated, respectively. Then, when either the positive determination score ST1 or the false determination score SF1 exceeds the predetermined threshold value Th1, the processing unit 33 determines the determination result of the suitability determination based on the determination score exceeding the threshold value Th1.
  • step S3 when the positive determination score ST1 exceeds the threshold Th1 as shown in FIG. 4, the processing unit 33 determines that the work target corresponds to the work procedure (“suitable”) (it is “appropriate”). S4: Yes). At this time, the notification control unit 34 causes the notification unit 211 to notify that the work target corresponds to the work procedure (notification of "appropriate”) (S5).
  • the notification control unit 34 turns on the LED included in the notification unit 211 with a predetermined amount of light L1 during the period until the work target is determined to correspond to the work procedure at the time point t1 (the period up to the time point t1). ..
  • the notification control unit 34 turns off the LED of the notification unit 211 for a predetermined short time from the time point t1, and the notification unit 34 in the period after the time point t2.
  • the LED of 211 is turned on with a light amount L2 brighter than the light amount L1.
  • the user who uses the tool 2 can grasp that the work target corresponds to the work procedure based on the notification content of the notification unit 211.
  • the user who has confirmed the notification content of the notification unit 211 operates the trigger switch 221 and the drive control unit 31 controls the drive unit 24 in response to the operation of the trigger switch 221 to execute the tightening operation of the work target. Can be done.
  • step S3 when the erroneous determination score SF1 exceeds the threshold Th1 as shown in FIG. 5, the processing unit 33 determines that the work target does not correspond to the work procedure (“No”). (S4: No). At this time, the notification control unit 34 causes the notification unit 211 to notify that the work target does not correspond to the work procedure (notification of "no") (S6).
  • the notification control unit 34 constantly lights the LED of the notification unit 211 at a predetermined light amount L1 during the period until it is determined that the work target does not correspond to the work procedure at the time point t11 (the period until the time point t11). ..
  • the notification control unit 34 blinks the LED of the notification unit 211 at a predetermined cycle in the period after the time point t11.
  • the user who has confirmed the notification content of the notification unit 211 can cancel the work on the work target in which the tool 2 is set, and can stop the erroneous work at an earlier stage and redo the work. For example, by confirming the work procedure and performing the work of setting the tool 2 on the correct work target, the user can reduce the possibility of performing the work on the wrong work target, and the work efficiency of the work using the tool 2 can be reduced. Can be suppressed.
  • step S5 or S6 when the notification control unit 34 notifies the determination result of the suitability determination by the notification unit 211, the control unit 3 uses the tool 2 based on, for example, the work procedure stored in the procedure storage unit 44. It is determined whether or not the work (operation) has been completed (S7).
  • the control unit 3 ends the operation.
  • the notification control unit 34 may notify the user of the end of the work by the notification unit 211 of a voice message (for example, "end") notifying the end of the work.
  • the control unit 3 returns to step S1 and continues the process.
  • the notification control unit 34 gives a voice message (for example, "upper left” or "10") instructing the next work target based on the work procedure stored in the procedure storage unit 44.
  • the time direction ”etc. may be notified by the notification unit 211, and the user can be notified of the next work target.
  • the notification control unit 34 controls the light irradiation direction by the light emitting unit 234, and the light of the light emitting unit 234 is used for the next operation. By illuminating the target, the user may be informed of the next work target.
  • the notification control unit 34 notifies the recognition result of the recognition process by the notification unit 211 as a processing status related to the recognition process, but the notification control unit 34 takes a picture of the work target of the tool 2 by the imaging unit 5. You may be notified of the shooting status. While the image pickup unit 5 is photographing the work target while the user points the image pickup unit 5 of the tool 2 toward the work target, the notification control unit 34 is, for example, in the lighting state (light amount or emission color) of the LED of the notification unit 211. ) Is different from that at the time of non-shooting, so that the notification unit 211 notifies the shooting status.
  • the user can check the shooting status of the imaging unit 5 based on the notification content of the notification unit 211, for example, by holding the tool 2 so as not to move as much as possible during shooting of the imaging unit 5, an image with less camera shake is captured.
  • the image can be imaged by the unit 5.
  • the above embodiment is only one of various embodiments of the present disclosure.
  • the above-described embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved.
  • Each figure described in the present disclosure is a schematic view, and the ratio of the size and the thickness of each component in each figure does not necessarily reflect the actual dimensional ratio.
  • the function equivalent to that of the tool system 1 according to the above embodiment may be realized by a tool management method, a (computer) program, a non-temporary recording medium on which the program is recorded, or the like.
  • the tool management method according to one aspect includes a first step and a second step. In the first step, an captured image is acquired from the imaging unit 5 mounted on the portable tool 2.
  • the tool 2 has a drive unit 24 that operates by power from a power source.
  • the notification unit 211 notifies the processing status related to the recognition process of recognizing the work target of the tool 2 using the captured image.
  • the program according to one aspect is a program for causing one or more processors to execute the above-mentioned tool management method.
  • the tool system 1 in the present disclosure includes a computer system in the control unit 3 and the like.
  • a computer system mainly consists of a processor and a memory as hardware.
  • the program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. readable by the computer system. May be provided.
  • a processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI).
  • IC semiconductor integrated circuit
  • LSI large scale integrated circuit
  • the integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration).
  • an FPGA Field-Programmable Gate Array
  • a plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips.
  • the plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.
  • the computer system referred to here includes a microprocessor having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.
  • the tool system 1 it is not essential for the tool system 1 that at least a part of the functions of the tool system 1 are integrated in one housing (body 20), and the components of the tool system 1 are a plurality of housings. It may be distributed throughout the body. For example, some functions of the control unit 3 may be provided in a housing different from the body 20 of the tool 2. Further, at least a part of the functions of the control unit 3 and the like may be realized by, for example, a server or a cloud (cloud computing). Further, it is not essential that the tool 2 includes an image storage unit 41 for storing a reference image, and the image storage unit 41 may be provided in a server or the like on the network.
  • the processing unit 33 of the tool 2 compares the captured image of the imaging unit 5 with the reference image stored in the image storage unit 41 on the network to identify the actual shooting work target from the plurality of work targets. You may go. Further, it is not essential that the notification unit 211 is provided on the body 20 of the tool 2, the notification unit 211 may be provided in a housing different from the tool 2, and the notification unit 211 may be carried by the user. It may be composed of a mobile terminal or the like. That is, the notification control unit 34 of the tool 2 uses the wireless communication function such as WiFi (registered trademark) of the tool 2 to transmit the notification content to the mobile terminal which is the notification unit, and causes the mobile terminal to notify the notification content. You may.
  • WiFi registered trademark
  • the usage of the tool system 1 is not limited to the assembly line for assembling the product in the factory, and may be used for other purposes.
  • the tool 2 is an impact wrench
  • the tool 2 may be, for example, a nut runner or an oil pulse wrench.
  • the tool 2 may be, for example, a driver (including an impact driver) used for tightening a screw (tightening part).
  • a bit (for example, a driver bit) is attached to the tool 2.
  • the tool 2 is not limited to the configuration in which the battery pack 201 is used as the power source, and may be configured to be powered by the AC power source (commercial power source).
  • the tool 2 is not limited to an electric tool, and may be an air tool having an air motor (drive unit) that operates with compressed air (power) supplied from an air compressor as a power source.
  • each of the plurality of tightening target points in one work is a work target
  • the work target may be a module, a part, a product, or the like having a plurality of tightening target locations.
  • the target torque values corresponding to a plurality of tightening points in one work target may be the same value or different values from each other.
  • the processing unit 33 specifies the image pickup target of the tool 2 by processing the image captured by the image pickup unit 5 of the tool 2, but the processing unit 33 captures the image of the tool 2.
  • the work target may be specified based on an image of an imaging unit different from the unit 5.
  • the processing unit 33 has a work target of the tool 2 or the tool 2 based on an image captured by a surveillance camera provided in the area where the tool 2 is used or a recording camera mounted on the user's body. You may acquire the position information to be performed.
  • the processing unit 33 performs image processing on the captured image of the imaging unit 5 and determines whether or not the work target reflected in the captured image matches the work target defined in the work procedure. However, it may be determined by another method whether or not the work target matches the work target specified in the work procedure. For example, the processing unit 33 acquires the position information in which the tool 2 exists by using a positioning system such as LPS (Local Positioning System) provided in the area where the tool 2 is used. Then, the processing unit 33 determines whether or not the current position information of the tool 2 and the position information of the work target defined in the work procedure match, so that the work target is defined in the work procedure. It may be determined whether or not it matches the work target.
  • LPS Local Positioning System
  • the processing performed by the processing unit 33 is not limited to the processing for specifying the work target.
  • the processing unit 33 may execute, for example, a process of outputting an image as a log (including writing to a memory). Further, the processing unit 33 may execute, for example, a process of instructing the user to perform the work based on the captured image captured by the imaging unit 5, or may execute a process of determining the quality of the work. ..
  • the tool 2 may be provided with a torque sensor that measures the tightening torque.
  • the drive control unit 31 controls the drive unit 24 so that the tightening torque measured by the torque sensor becomes the torque set value.
  • the determination unit 35 may determine whether or not the tightening torque is normal by comparing the measurement result of the torque sensor with the target torque value. When the measurement result of the torque sensor is within a predetermined range based on the target torque value, the determination unit 35 determines that the tightening torque is normal. When the measurement result of the torque sensor is out of the predetermined range based on the target torque value, the determination unit 35 determines that the tightening torque is insufficient (not normal).
  • the image registration process is not limited to the process of storing the still image generated by the imaging unit 5 in the image storage unit 41 as a reference image.
  • the image registration process may be a process of registering a still image downloaded from a server as a reference image in the image storage unit 41, or a still image acquired from an external memory such as a memory card as a reference image in the image storage unit. It may be a process of registering in 41.
  • the notification unit 211 is not limited to a light emitting unit such as an LED, and may be realized by, for example, an image display device such as a liquid crystal display or an organic EL (ElectroLuminescence) display. Further, the notification unit 211 may perform notification (presentation) by means other than display, and may be configured by, for example, a speaker or a buzzer that generates sound (including voice). That is, the notification unit 211 may notify by sound. In this case, it is preferable that the notification control unit 34 generates a different sound or voice from the notification unit 211 depending on whether the determination results of the processing unit 33 do not match or the determination results match.
  • the notification unit 211 may be a vibrator or the like that generates vibration. That is, the notification unit 211 may notify by vibration.
  • the notification unit 211 has a vibration motor or the like housed in the body 20 of the tool 2.
  • the notification unit 211 generates vibration using the vibration motor, so that the process related to the recognition process is normally completed for the user who uses the tool 2. Can be notified.
  • the user who uses the tool 2 can grasp the processing status notified by the notification unit 211 based on the vibration transmitted to the body such as the hand holding the tool 2.
  • the notification unit 211 may be realized by a transmitter or the like that transmits a notification signal to an external terminal (mobile terminal or the like) of the tool 2. Further, the notification unit 211 may have two or more functions such as light (display), sound, vibration and communication.
  • the storage unit 4 may store work procedure data indicating a predetermined work order for a plurality of work targets.
  • the processing unit 33 selects a reference image to be used for image processing (pattern matching) from a plurality of reference images based on the work procedure. Specifically, the processing unit 33 preferentially selects the reference image corresponding to the work target having the latest work order from the plurality of reference images. The latest work target is the work target to be worked next to the work target identified last.
  • the processing unit 33 performs image processing in which the selected reference image is used as template data and compared with the captured image. That is, the processing unit 33 predicts the work target to be captured in the captured image and selects the reference image based on the work procedure. This makes it possible to shorten the time required for the processing unit 33 to identify the work target to be captured in the captured image.
  • the processing unit 33 may be configured to perform image processing on the captured image of the imaging unit 5 and determine the type of the socket 242 attached to the tool 2.
  • the "type” here is information for distinguishing parts, and includes at least one information of size (size or length), shape, and material.
  • the processing unit 33 is configured to determine the length of the socket 242 attached to the tool 2.
  • the processing unit 33 corrects the target torque value based on the length of the socket 242, and sets the corrected target torque value to the torque set value. For example, the processing unit 33 corrects the target torque value by multiplying the target torque value corresponding to the live-action work target by a coefficient based on the length of the socket 242, and sets the corrected target torque value as the torque set value. To do. That is, the processing unit 33 controls the drive unit 24 so that the tightening torque becomes the corrected target torque value. This makes it possible to reduce variations in tightening torque depending on the length of the socket 242.
  • the processing unit 33 may be configured to set the torque set value based on the determined length (type) of the socket 242.
  • the storage unit 4 stores torque values corresponding to various lengths of the socket 242 and one-to-one correspondence.
  • the processing unit 33 acquires a torque value corresponding to the length of the determined socket 242 from the storage unit 4, and sets a value based on the acquired value as the torque set value. For example, the processing unit 33 sets the torque value acquired from the storage unit 4 as the torque set value. As a result, the tightening operation can be performed with a torque value corresponding to the type of the socket 242.
  • the captured image generated by the imaging unit 5 is not limited to a moving image, and may be, for example, a still image when the tightening work is completed. If the captured image is a still image, the determination unit 35 stores the still image generated by the imaging unit 5 and the determination result in the result storage unit 43 in association with each other. Thereby, for example, it is possible to confirm a still image of the work target for which the tightening torque is determined to be insufficient.
  • the imaging unit 5 is not limited to the body portion 21 of the body 20, and may be provided, for example, in the mounting portion 23 of the body 20, the battery pack 201, or the like. Similarly, the arrangement of the control unit 3 and the storage unit 4 and the like can be changed as appropriate.
  • the tool system (1) includes a portable tool (2), an imaging unit (5), and a notification unit (211).
  • the tool (2) has a drive unit (24) that is operated by power from a power source.
  • the imaging unit (5) is mounted on the tool (2) to generate an captured image.
  • the notification unit (211) notifies the processing status related to the recognition process of recognizing the work target of the tool (2) using the captured image.
  • the user who performs the work using the tool (2) can grasp the processing status related to the recognition processing based on the notification content of the notification unit (211). Therefore, when there is a defect in the work content, the user can take measures such as re-doing the work based on the notification content, and the work efficiency of the work using the tool (2) can be improved. There is an advantage with.
  • the processing status includes a shooting status in which the imaging unit (5) photographs the work object of the tool (2).
  • the user can grasp the shooting status of the imaging unit (5) based on the notification content of the notification unit (211).
  • the processing status includes the recognition result of the recognition process.
  • the user can grasp the recognition result of the recognition process based on the notification content of the notification unit (211).
  • the notification unit (211) is provided in the tool (2) in any one of the first to third aspects.
  • the notification unit (211) notifies by sound in any one of the first to fourth aspects.
  • the notification unit (211) notifies by vibration in any one of the first to fifth aspects.
  • the notification unit (211) notifies by light in any one of the first to sixth aspects.
  • the tool management method includes a first step and a second step.
  • the first step an captured image is acquired from the imaging unit (5) mounted on the portable tool (2).
  • the tool (2) has a drive unit (24) that is operated by power from a power source.
  • the notification unit (211) notifies the processing status related to the recognition process for recognizing the work target of the tool (2) using the captured image.
  • the user who performs the work using the tool (2) can grasp the processing status related to the recognition processing based on the notification content of the notification unit (211). Therefore, when there is a defect in the work content, the user can take measures such as re-doing the work based on the notification content, and the work efficiency of the work using the tool (2) can be improved. There is an advantage with.
  • the program according to the ninth aspect is a program for causing one or more processors to execute the tool management method according to the eighth aspect.
  • the user who performs the work using the tool (2) can grasp the processing status related to the recognition processing based on the notification content of the notification unit (211). Therefore, when there is a defect in the work content, the user can take measures such as re-doing the work based on the notification content, and the work efficiency of the work using the tool (2) can be improved. There is an advantage with.
  • various configurations (including modification) of the tool system (1) according to the above embodiment can be embodied by a tool management method or a program.
  • the configurations according to the second to seventh aspects are not essential configurations for the tool system (1) and can be omitted as appropriate.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
  • Portable Power Tools In General (AREA)
  • General Factory Administration (AREA)

Abstract

Le but de la présente invention est de permettre une amélioration de l'efficacité de travail d'un travail à l'aide d'un outil. La présente invention concerne un système d'outil (1) pourvu d'un outil (2) de type portatif, d'une unité d'imagerie (5) et d'une unité de notification (211). L'outil (2) comporte une unité d'entraînement (24) qui est actionnée par une force motrice provenant d'une source d'énergie motrice. L'unité d'imagerie (5) est montée sur l'outil (2) et génère une image capturée. L'unité de notification (211) fournit une notification d'un état de traitement relatif à un processus de reconnaissance pour reconnaître une cible de travail de l'outil (2) à l'aide de l'image capturée.
PCT/JP2020/038737 2019-11-06 2020-10-14 Système d'outil, procédé de gestion d'outil et programme Ceased WO2021090649A1 (fr)

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JP2019201818A JP2021074809A (ja) 2019-11-06 2019-11-06 工具システム、工具管理方法及びプログラム

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017074632A (ja) * 2015-10-13 2017-04-20 日産自動車株式会社 締付支援システムおよび締付支援方法
WO2018123433A1 (fr) * 2016-12-28 2018-07-05 パナソニックＩｐマネジメント株式会社 Système d'outil

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017074632A (ja) * 2015-10-13 2017-04-20 日産自動車株式会社 締付支援システムおよび締付支援方法
WO2018123433A1 (fr) * 2016-12-28 2018-07-05 パナソニックＩｐマネジメント株式会社 Système d'outil

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