JP2019042860A - Tool system, image processing method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tool system, an image processing method, and a program capable of individually specifying a plurality of work target locations. A tool system 1 includes a tool 2, an image pickup unit 5, an image storage unit 41, an image processing unit 33, and an acquisition unit 36. The image storage unit 41 stores a plurality of reference images corresponding to a plurality of work target locations and to which tag information indicating each attribute of the plurality of work target locations is added. The image processing unit 33 performs image processing for comparing the captured image generated by the imaging unit 5 with at least one reference image among the plurality of reference images, and the work target reflected in the captured image among the plurality of work target locations. Identify the live-action work location, which is the location. The acquisition unit 36 acquires the narrowing down information corresponding to the tag information. In the image processing, the image processing unit 33 preferentially compares the reference image to which the tag information corresponding to the narrowing down information acquired by the acquisition unit 36 is added to the captured image among the plurality of reference images. [Selection diagram] Fig. 1

Description

  The present disclosure relates generally to a tool system, an image processing method, and a program, and more particularly to a tool system including a portable tool, an image processing method, and a program.

  Conventionally, there is a work management system that manages work using a tool (see, for example, Patent Document 1). The work management system described in Patent Document 1 includes a tool and a work management device. A tool is used to perform work on a work target. The work management apparatus includes a work information acquisition unit, a position information acquisition unit, a work target information acquisition unit, and an information management unit. The work information acquisition unit acquires work information on the content of the work performed on the work object from the tool used to perform the work on the work object. The position information acquisition unit acquires position information of the place where the work on the work target has been performed using the tool. The work target information acquisition unit acquires work target information specifying the work target based on the information read from the work target. The information management unit associates the work information, the position information, and the work target information, and stores them in the storage unit.

  The position information acquisition unit acquires position information of the work place based on positioning data input from a GPS receiver that measures the current position based on radio waves received from, for example, a GPS (Global Positioning System) satellite.

  In addition, Patent Document 1 describes a positioning system that receives beacon radio waves emitted from a plurality of points on the ground and measures the current position.

JP, 2016-91316, A

  In a system that measures the position by receiving radio waves, when the positions of a plurality of work targets are close to one another, it is difficult to identify these work targets.

  The present disclosure is made in view of the above, and an object thereof is to provide a tool system, an image processing method, and a program capable of individually identifying a plurality of work target locations.

  A tool system according to an aspect of the present disclosure includes a tool, an imaging unit, an image storage unit, an image processing unit, and an acquisition unit. The tool is a portable tool that has a drive that operates with power from a power source. The imaging unit is provided on the tool. The image storage unit stores a plurality of reference images corresponding to a plurality of work target locations and to which tag information indicating an attribute of each of the plurality of work target locations is added. The image processing unit performs image processing for comparing the captured image generated by the imaging unit with at least one reference image of the plurality of reference images, and the image processing unit copies the image to the captured image among the plurality of work target portions. Identifies a live-action work location that is a work target location. The acquisition unit acquires narrowing-down information corresponding to the tag information. The image processing unit preferentially compares, in the image processing, the reference image to which the tag information is added corresponding to the narrowing-down information acquired by the acquisition unit among the plurality of reference images, with the captured image.

  An image processing method according to an aspect of the present disclosure compares a captured image generated by an imaging unit with at least one reference image among a plurality of reference images, and reflects the captured image among a plurality of work target locations. This is an image processing method of identifying a real shooting work location which is a work target location. The imaging unit is provided to a portable tool having a drive unit operated by power from a power source. The plurality of reference images correspond to the plurality of work target locations, and tag information indicating an attribute of each of the plurality of work target locations is added. The image processing method preferentially compares the reference image to which the tag information corresponding to the narrowing information is added among the plurality of reference images with the captured image.

  A program according to an aspect of the present disclosure causes a computer system to execute the image processing method.

  The tool system, the image processing method, and the program of the present disclosure have the effect of being able to individually identify a plurality of work target locations.

FIG. 1 is a block diagram of a tool system according to an embodiment of the present disclosure. FIG. 2A is an external perspective view from the first direction of a tool provided in the tool system of the same. FIG. 2B is an external perspective view from the second direction of the tool provided in the tool system of the same. FIG. 3 is a flow chart showing the operation of the above-mentioned tool system. FIG. 4 is a block diagram of a tool system according to a first modification of an embodiment of the present disclosure. FIG. 5 is a block diagram of a tool system according to a second modified example of the embodiment of the present disclosure. FIG. 6 is a block diagram of a tool system according to a third modification of the embodiment of the present disclosure.

  Hereinafter, embodiments of the present disclosure will be described based on the drawings. However, the embodiment described below is only one of various embodiments of the present disclosure. The following embodiments can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved.

(Embodiment)
The block diagram of the tool system 1 of this embodiment is shown in FIG. The tool system 1 of the present embodiment is used, for example, in an assembly line that carries out an assembly operation of products in a factory. In the present embodiment, in the assembly line, there are a plurality of work target locations for one product, and the operator uses the tool 2 to fasten parts (for example, bolts) to each of the plurality of work target locations at the same work place. , Etc.) is supposed to be done. The "work target site" is a site at which work is performed using the tool 2 in the product, and in the present embodiment, a site around the screw hole including the screw hole to which the fastening component is attached is shown. The product may be a product of a size that can be carried by a worker, or may be a relatively large product such as a vehicle body or an engine. In addition, the use application of the tool system 1 may be not only the said assembly line but another use application.

  Below, the detailed structure of the tool system 1 of this embodiment is demonstrated with reference to FIG.

  The tool 2 is, for example, an electric impact wrench (see FIGS. 2A and 2B), and can perform a tightening operation for attaching a tightening component to a work target. The tool 2 includes a drive unit 24, a control unit 3, a storage unit 4, an imaging unit 5, and a battery pack 201.

  As shown in FIGS. 2A and 2B, the body 20 of the tool 2 has a cylindrical body 21, a grip 22 radially projecting from the circumferential surface of the body 21, and a battery pack 201 detachably mounted. And a mounting portion 23.

  The drive unit 24 is housed in the body unit 21. The driving unit 24 includes a motor, and is configured to rotate using power supplied from the battery pack 201 as a power source as a power. An output shaft 241 protrudes from one end side in the axial direction of the body portion 21 (see FIGS. 2A and 2B). The output shaft 241 is configured to rotate by the rotation operation of the drive unit 24. A cylindrical socket 242 for fastening or loosening a fastening part (bolt, nut or the like) is detachably attached to the output shaft 241. The size of the socket 242 attached to the output shaft 241 is appropriately selected by the operator according to the size of the tightening component. As the output shaft 241 is rotated by the rotational operation of the drive unit 24, the tool 2 can perform an operation such as tightening or loosening the tightening component.

  Also, a socket anvil can be detachably attached to the output shaft 241 instead of the socket 242, and mounting of a bit (for example, a driver bit, a drill bit, etc.) becomes possible via the socket anvil.

  The tool 2 of the present embodiment is provided with an impact mechanism 25. The impact mechanism 25 is configured to apply an impact force in the rotational direction of the output shaft 241 when the tightening torque exceeds a predetermined level. This makes it possible to apply a larger tightening torque to the tightening component.

  The grip 22 is a portion held by the operator when performing work, and is provided with a trigger switch 221 and a forward / reverse switching switch 222. The trigger switch 221 is a switch for controlling on / off of the rotational operation of the drive unit 24, and can adjust the number of rotations of the drive unit 24 according to the amount of retraction. The forward / reverse switching switch 222 is a switch that switches the rotation direction of the output shaft 241 between forward rotation and reverse rotation. A mounting portion 23 is provided at the end of the grip 22 opposite to the body portion 21.

  The mounting portion 23 is formed in a flat rectangular shape, and the battery pack 201 is detachably mounted on one surface opposite to the grip 22. The battery pack 201 has a case 202 (see FIGS. 2A and 2B) made of resin and formed in a rectangular shape, and houses a rechargeable battery (for example, a lithium ion battery) inside the case 202. The battery pack 201 supplies power to the drive unit 24, the control unit 3, the imaging unit 5, and the like.

  In addition, the mounting portion 23 is provided with an operation panel 231. The operation panel 231 includes, for example, a plurality of push button switches 232 and a plurality of LEDs 233 (Light Emitting Diodes), and can perform various settings, status confirmation, and the like of the tool 2. For example, the operator can change the operation mode of the tool 2, check the remaining capacity of the battery pack 201, and the like by operating the operation panel 231 (push button switch 232). In addition, the light emitting unit 234 is provided in the mounting unit 23. The light emitting unit 234 is configured of, for example, an LED. The light emitting unit 234 is disposed to emit light toward the work target at the time of work. The light emitting unit 234 can be turned on / off by operating the operation panel 231. In addition, the light emitting unit 234 may be configured to be lit when the trigger switch 221 is turned on. In addition, the light emitting unit 234 may be configured to light up when the tool 2 is set at the work target location, and is configured to light up when the output value of the brightness sensor falls below the threshold (dimming). It may be done.

  Further, the control unit 3 is housed in the mounting unit 23. The control unit 3 includes, for example, a microcomputer (microcomputer) having a processor and a memory. The control unit 3 causes the drive control unit 31, the imaging control unit 32, the image processing unit 33, the notification control unit 34, the determination unit 35, the acquisition unit 36, and the selection unit to execute the program stored in the memory by the processor. A function such as 37 is realized. The program executed by the processor is stored in advance in the memory of the microcomputer, but may be provided by being recorded on a recording medium such as a memory card, or may be provided via a telecommunication line. In addition, the control part 3 will be in a sleep state, when operation input to the trigger switch 221 or the operating panel 231 is not performed for a fixed time. The control unit 3 is activated when an operation input to the trigger switch 221 or the operation panel 231 is performed during the sleep state.

  The drive control unit 31 is configured to control the drive unit 24. Specifically, the drive control unit 31 rotates the drive unit 24 in the rotation direction set by the forward / reverse switching switch 222 at a rotation speed based on the pull-in amount of the trigger switch 221.

  Further, the drive control unit 31 is configured to control the drive unit 24 so that the tightening torque becomes a torque setting value. The drive control unit 31 has a torque estimation function of estimating the magnitude of the tightening torque. The drive control unit 31 determines the magnitude of the tightening torque based on the rotational speed of the drive unit 24 (motor), the change in the amount of rotation, etc., between impacts of the impact mechanism 25 until the estimated value of the tightening torque reaches the seating determination level Estimate the The tightening torque is not limited to the configuration to be estimated, and may be measured by a torque sensor. The drive control unit 31 estimates the magnitude of the tightening torque based on the number of impacts of the impact mechanism 25 when the estimated value of the tightening torque reaches the seating determination level. When the number of impacts of the impact mechanism 25 reaches the threshold number of times based on the torque setting value, the drive control unit 31 determines that the tightening torque has reached the torque setting value and stops the motor. Thereby, the tightening torque at the time of attaching a tightening part turns into a torque setting value. The torque set value will be described later.

  The imaging control unit 32 is configured to control the imaging unit 5. The imaging unit 5 is configured of, for example, a camera having an imaging element and a lens, and is housed in the body portion 21 of the body 20. The imaging unit 5 is disposed to image a work target at the time of work. In the present embodiment, the imaging unit 5 is disposed along the output shaft 241 so as to image the tip end side of the output shaft 241. In addition, the imaging unit is provided so that the socket 242 attached to the output shaft 241 falls within the imaging range. The imaging unit 5 is configured to continuously perform imaging while the control unit 3 is activated, generates a captured image continuous in time series as a moving image format, and outputs the generated image to the image processing unit 33.

  The image processing unit 33 performs image processing on the captured image generated by the imaging unit 5 to identify a work target location (hereinafter, also referred to as a real shooting work location) reflected in the captured image among a plurality of work target locations. Is configured as. The image processing unit 33 identifies a real shooting work location by comparing the captured image generated by the imaging unit 5 with a plurality of reference images (template data) corresponding to a plurality of work target locations. Specifically, the image processing unit 33 extracts a plurality of feature points from the captured image generated by the imaging unit 5 and compares the feature points with each of the plurality of reference images to identify a real shooting work location. The image processing unit 33 performs, for example, image processing on the data of the moving image format output from the imaging unit 5 in frame units, and identifies a real shooting work location. Therefore, when the work target location is included in the imaging range of the imaging unit 5, the image processing unit 33 determines that the work target location being imaged by the imaging unit 5 is any work target location among the plurality of work target locations. Can be identified. The plurality of reference images are stored in the storage unit 4 (image storage unit 41).

  The storage unit 4 is formed of, for example, a semiconductor memory such as a flash memory, and has functions of an image storage unit 41, a torque storage unit 42, and a result storage unit 43. In the present embodiment, the image storage unit 41, the torque storage unit 42, and the result storage unit 43 are configured by one memory, but may be configured by a plurality of memories. Further, the storage unit 4 may be a memory card which can be attached to and detached from the tool 2.

  The image storage unit 41 is a database that stores a plurality of reference images in association with a plurality of work target locations. The reference image is a still image in which the corresponding work target portion is photographed. Further, in the image storage unit 41, a plurality of reference images corresponding to one or a plurality of work target portions of each of a plurality of products are stored. That is, in the image storage unit 41, a plurality of still images (reference images) in which work target portions of a plurality of products are copied are collectively stored. A plurality of reference images may be associated with one work target location. For example, a plurality of reference images in which one work target site is photographed at various angles and sizes may be associated with one work target site.

  Tag information is added to each of the plurality of reference images stored in the image storage unit 41. Tag information is metadata indicating an attribute of a work target part. That is, tag information is data for classifying a work target location for each attribute. The tag information includes, for example, group information, work area information, and worker information.

  Group information is information in which a plurality of work target parts are classified under a predetermined condition. The predetermined condition is, for example, a condition such as the type of product, color, and the presence or absence of an option. Group information is information for specifying a product shown in a reference image. In the present embodiment, information in which a plurality of work target parts are classified for each type of product is used as group information. Therefore, common group information is added to a reference image in which the same product is shown among a plurality of reference images. The term "product" as used herein includes not only finished products (goods) after completion of assembly but also the concept of parts.

  The work area information is information for classifying each work area where work is performed on each of a plurality of work targets. In other words, the work area information is information for specifying the work area in which the work is performed on the work target portion shown in the reference image. The work area is an area obtained by dividing an area in a factory based on work contents, work processes, and the like. For example, the work area is set in an area around a belt conveyor of an assembly line provided in a factory, and the work area is different for each belt conveyor. Therefore, the same work area information is added to the reference image in which the work target location where the work is performed by the same belt conveyor among the plurality of reference images. The work area may be an area obtained by further dividing an area around one belt conveyor. In addition, when work on the same work target location is performed in parallel in a plurality of assembly lines (belt conveyors), multiple work area information (tag information) is added to the reference image corresponding to one work target location. Be done.

  The worker information is information for classifying each worker who performs work on each of a plurality of work target parts. That is, the worker information is information for specifying the worker assigned the work for the work target portion shown in the reference image. Further, when work for the same work target location is assigned to a plurality of workers, a plurality of worker information (tag information) is added to the reference image corresponding to one work target location. Here, "worker" includes not only individuals but also the concept of a team.

  Table 1 shows an example of tag information associated with the reference image. In the example shown in Table 1, 90 reference images P1 to P90 are stored in the image storage unit 41, and group information, work area information and worker information are added as tag information to each of the reference images P1 to P90. It is done.

  The reference images P <b> 1 to P <b> 30 have mutually identical products, and group information G <b> 1 is added as tag information. In addition, in the reference images P1 to P20, the work areas of the work target portions being photographed are the same as each other, and the work area information A1 is added as tag information. In the reference images P21 to P30, the work area of the work target part being photographed differs from the work area of the work target part photographed in the reference images P1 to P20, and the work area information A2 is added as tag information. Further, the workers at the work target locations shown in the reference images P1 to P10, P11 to P20, and P21 to P30 are different from each other. Worker information W1 is added as tag information to the reference images P1 to P10, worker information W2 is added as tag information to the reference images P11 to P20, and worker information W3 as tag information to the reference images P21 to P30. Is added.

  The reference images P31 to P60 are different from the products shown in the reference images P1 to P30, and group information G2 is added as tag information. Further, the work areas of the work target portions shown in the reference images P31 to P40 and P41 to P50 are different from each other. The reference images P31 to P40 have work area information A3 added as tag information, and the reference images P41 to P50 have work area information A4 added as information. Further, the work on the work target portion shown in the reference images P51 to P60 is performed in two work areas. Therefore, in the reference images P51 to P60, work area information A3 and A4 are added as tag information. Further, in the reference images P31 to P50, the workers of the work target portion being photographed are the same as each other, and the worker information W4 is added as tag information. The reference images P51 to P60 have worker information W5 added as tag information, unlike the worker of the work target portion in the work target portion shown in the reference images P31 to P50.

  The reference images P61 to P90 have mutually identical products, and group information G3 is added as tag information. Further, in the reference images P61 to P80, the work areas of the photographed work target parts are the same as each other, and the work area information A5 is added as tag information. The reference images P81 to P90 differ from the reference images P61 to P80 in the work area of the work target portion being photographed, and work area information A1 is added as tag information. Further, the workers at the work target locations shown in the reference images P61 to P70 and P71 to P80 are different from each other. The worker information W5 is added as tag information to the reference images P61 to P70, and the worker information W1 is added as tag information to the reference images P71 to P80. In the reference images P81 to P90, at least one of the two workers (two teams) performs the work target portion shown. Therefore, worker information W1 and W5 are added to the reference images P81 to P90 as tag information.

  In the present embodiment, the three tag information (group information, work area information, worker information) described above are added to each of the plurality of reference images stored in the image storage unit 41. Not exclusively. Preferably, at least one tag information is added to the reference image. Further, the tag information may not be added to all of the plurality of reference images stored in the image storage unit 41, and a reference image to which the tag information is not added may be included.

  The timing of adding tag information to the reference image is not particularly limited. When storing the reference image in the image storage unit 41, tag information may be added to the reference image, or the reference image to which the tag information is added in advance may be stored in the image storage unit 41. The tag information may be added later to the reference image stored in 41. Further, tag information added to the reference image can be changed as appropriate.

  The acquisition unit 36 is configured to acquire narrowing-down information corresponding to tag information. The narrowing-down information is information used for a process (a narrowing-down process) of selecting a reference image that the image processing unit 33 preferentially compares with the captured image from all of the plurality of reference images stored in the image storage unit 41. . Refinement information corresponds to tag information. Specifically, the narrowing-down information includes history information, tool position information, and ID information (ID: identification). The acquiring unit 36 has functions as a history information acquiring unit 361 acquiring history information, a position information acquiring unit 362 acquiring tool position information, and an ID information acquiring unit 363 acquiring ID information.

  The history information is information indicating the history of the actual shooting work location identified by the image processing unit 33. That is, the history information is the history of the identification result of the photographed work part by the image processing unit 33. The history information acquisition unit 361 acquires history information from the image processing unit 33. The history information corresponds to the group information of the tag information. Specifically, the group information corresponding to the history information is information corresponding to the group information (product) added to the reference image corresponding to the real shooting work location which is the latest (most recent) identification result of the image processing unit 33 It is. In other words, the history information acquisition unit 361 sets, as the narrowing-down information, the group information to which the live-photographing work location, which is the latest (latest) identification result of the image processing unit 33, belongs. For example, in the case where the photographed work site identified most recently by the image processing unit 33 corresponds to the reference image P10, the tag information (group information) corresponding to the history information is the group information G1 (see Table 1).

  The tool position information is information indicating the position of the tool 2. The position information acquisition unit 362 acquires tool position information from the position measurement unit 61 provided in the tool 2. The position measurement unit 61 is, for example, a GPS receiving device (GPS: Global Positioning System), measures the position of the tool 2, and outputs tool position information as a measurement result to the position information acquisition unit 362. The tool position information corresponds to work area information of the tag information. Specifically, the work area information corresponding to the tool position information is information indicating the work area including the tool position information. For example, when the tool position information is within the work area indicated by the work area information A1, the tag information (work area information) corresponding to the tool position information is the work area information A1 (see Table 1). The position measurement unit 61 is not limited to the GPS receiving device, and may be a beacon receiving device that receives beacon signals transmitted from a plurality of transmitting devices provided in a factory.

  The ID information is information for identifying the user of the tool 2. The ID information acquisition unit 363 acquires ID information from the input device 62 provided in the tool. The input device 62 is, for example, a reader device of RFID (Radio Frequency Identification). The input device 62 receives the ID information held by the IC tag by holding the IC tag (IC: Integrated Circuit) used also as the identification card carried by the user of the tool 2 and outputs the ID information Output to the unit. The ID information corresponds to the worker information of the tag information. Specifically, the worker information corresponding to the ID information is information indicating the personal name of the user included in the ID information or the team name to which the user belongs. For example, when the personal information of the worker indicated by the worker information W1 is included in the ID information, the tag information (worker information) corresponding to the ID information is the worker information W1 (see Table 1). .

  The selection unit 37 gives priority to the captured image from all of the plurality of reference images stored in the image storage unit 41 based on the narrowing information (history information, tool position information, ID information) acquired by the acquisition unit 36. A process of selecting a reference image to be compared (narrowing process) is performed. Specifically, in the narrowing-down process, the selecting unit 37 raises the priority of the reference image to which the tag information corresponding to the narrowing-down information acquired by the acquiring unit 36 is added. Here, the selection unit 37 raises the priority of the reference image to which the corresponding tag information is added for each of the history information of the narrowing-down information, the tool position information, and the ID information. Therefore, the priority of the reference image to which all of the group information corresponding to the history information, the work area information corresponding to the tool position information, and the worker information corresponding to the ID information are added is the highest. For example, when the tag information corresponding to the narrowing-down information acquired by the acquisition unit 36 is the group information G1, the work area information A1, and the worker information W1, the priority of the reference images P1 to P10 among the reference images P1 to P90 Is the highest (see Table 1). The selection unit 37 selects a reference image with the highest priority as a reference image to which the image processing unit 33 preferentially compares the captured image.

  Note that for each of history information, tool position information, and ID information, the degree of priority to be raised may be the same as or different from each other when corresponding tag information is added to the reference image. For example, when tag information (group information) corresponding to history information is added, the degree of priority to be raised is added with tag position information (working area information, worker information) corresponding to tool position information and ID information. It may be lower than the degree of priority to be raised. Thereby, in the narrowing-down process by the selection unit 37, the group information, the work area information, and the worker information can be prioritized.

  The image processing unit 33 performs image processing to preferentially compare one or more reference images selected by the selection unit 37 with the captured image among all the reference images stored in the image storage unit 41, and performs an actual shooting operation Identify the location. Further, the image processing unit 33 stops the image processing when the real shooting work part is identified. Therefore, the image processing unit 33 stops the image processing when the photographed work site is identified, even before all the plurality of reference images selected by the selection unit 37 are compared with the captured image. That is, the image processing unit 33 does not necessarily compare all of the plurality of reference images selected by the selection unit 37 with the captured image.

  The notification control unit 34 is configured to control the notification unit 211 provided in the tool 2. The notification unit 211 is configured of, for example, an LED. The notification unit 211 is provided at an end of the body portion 21 of the body 20 opposite to the output shaft 241 so that the worker can easily view the notification unit 211 during work (see FIG. 2B). The notification control unit 34 turns on the notification unit 211 when the image processing unit 33 identifies a real shooting work location. The operator can recognize that the image processing unit 33 has identified the real shooting work location by visually observing that the notification unit 211 is on. Note that the notification unit 211 may be configured to notify that the image processing unit 33 has identified a real shooting work location by generating a sound (including a sound).

  The torque storage unit 42 stores a plurality of target torque values in one-to-one correspondence with a plurality of work target locations. The target torque value is a target value of tightening torque when the tightening component is attached to the corresponding work target point.

  The drive control unit 31 acquires, from the torque storage unit 42, a target torque value corresponding to the real shooting work position when the image processing unit 33 identifies the real shooting work position. Then, the drive control unit 31 sets the acquired target torque value as a torque setting value.

  In addition, once the drive control unit 31 has identified the real shooting work location, the target torque value corresponding to the real shooting work location until another work target location appears in the captured image, or until a predetermined time has elapsed. Is held as the torque set value. Therefore, for example, even when the image processing unit 33 can not identify the real shooting work location immediately before the tightening operation, the tightening component can be tightened with the target torque value corresponding to the real shooting operation location. As a result, it is possible to suppress that the tightening operation is performed with a torque value different from the target torque value corresponding to the actual shooting work location.

  In addition, the drive control unit 31 holds the torque setting value until the trigger switch 221 is turned off once the trigger switch 221 is turned on so that the torque setting value does not change during the tightening operation.

  In addition, the drive control unit 31 may be configured to operate the drive unit 24 when the trigger switch 221 is turned on only when the image processing unit 33 identifies a real shooting work location. Therefore, when the image processing unit 33 can not identify the real shooting work place, it is possible to suppress that the tightening work is performed with a torque value different from the target torque value corresponding to the real shooting work place.

  The determination unit 35 is configured to determine whether or not the tightening torque when the tightening component is attached to the tightening target point is normal. The determination unit 35 determines that the tightening torque is normal when the drive control unit 31 stops the drive unit 24 when the number of impacts of the impact mechanism 25 reaches the threshold number of times. In addition, when the drive control unit 31 stops the drive unit 24 by, for example, turning off the trigger switch 221 before the number of impacts of the impact mechanism 25 reaches the threshold number of times, the determination unit 35 does not have tightening torque. Determined as sufficient (not normal). Further, the determination unit 35 performs a result storage process of storing the determination result (work result) in the result storage unit 43 in association with the tightening target portion.

  The result storage unit 43 stores the plurality of work target portions and the determination results of the plurality of tightening target portions by the determination unit 35 in association with each other. Moreover, it is preferable that the result storage unit 43 adds a time stamp indicating the work time to the determination result of the determination unit 35 and stores the result. This makes it possible to distinguish the determination result of the work target location for each product in the assembly line.

(Operation example)
Next, an operation example of the tool system 1 of the present embodiment will be described.

(First operation example)
In the first operation example, a case where an operator performs an operation on a plurality of identical products flowing to a belt conveyor at a predetermined operation position in an assembly line will be described as an example. Here, the worker corresponds to the worker information W1, the work position corresponds to the work area information A1, and the product corresponds to the group information G1 (see Table 1). Further, there are a plurality of work target locations in the product, and the operator performs tightening work on the plurality of work handling locations.

  First, before the operator performs a tightening operation using the tool 2, the acquisition unit 36 acquires narrowing information (S1). Specifically, the user (worker) of the tool 2 holds the identification card (IC tag) over the input device 62 of the tool 2 before performing the tightening operation. Thereby, the ID information acquisition unit 363 acquires the ID information (narrowed down information) received by the input device 62. Further, the position measurement unit 61 measures the position of the tool 2. Thereby, the position information acquisition unit 362 acquires the tool position information (narrowing information) measured by the position measurement unit 61. In the present embodiment, when the tool 2 is not operated for a predetermined time, the control unit 3 is in the sleep state. When the control unit 3 is in the sleep state, the history information acquired by the history information acquisition unit 361 is reset. That is, there is no history information until the control unit 3 returns from the sleep state and the tightening operation is performed.

  Next, on the basis of the narrowing-down information acquired by the acquisition unit 36, the selection unit 37 is a criterion based on which the image processing unit 33 preferentially compares the captured image with all of the plurality of reference images stored in the image storage unit 41. A narrowing process is performed to select an image (S2). Specifically, the selection unit 37 adds worker information W1 corresponding to the ID information acquired by the ID information acquisition unit 363 and work area information A1 corresponding to the tool position information acquired by the position information acquisition unit 362 The selected reference images P1 to P10 and P81 to P90 are selected (see Table 1).

  In addition, the selection unit 37 confirms whether the narrowing-down information acquired by the acquisition unit 36 has changed (S3). When the narrowing-down information acquired by the acquisition unit 36 changes (S3: Yes), the selection unit 37 performs narrowing-down processing based on the narrowing-down information after change (S2).

  When the user (worker) of the tool 2 directs the imaging unit 5 to the work target location of the product that has flowed to the belt conveyor, the image processing unit 33 performs image processing to identify a real copy work location (S4). In the image processing, the image processing unit 33 preferentially compares the reference image selected by the selection unit 37 in the narrowing-down process with the captured image.

  When the image processing unit 33 identifies a real shooting work location, the drive control unit 31 acquires a target torque value corresponding to the real shooting work location (work target location) from the torque storage unit 42, and sets the acquired target torque value to the torque setting. Set (S5).

  When the worker confirms that the work target portion is identified by the notification unit 211, the worker performs a tightening operation of attaching a tightening component to the first work target portion (S6). The determination unit 35 causes the result storage unit 43 to store the determination result (operation result) as to whether or not the tightening torque is normal when the tightening component is attached to the operation target (the actual copying operation). S7). In this way, the tightening operation to the first work target point is completed. If the operator continues the tightening operation of another work target point, the process returns to step S3 (S8).

  In step S4 described above, the image processing unit 33 identifies the first actual shooting work location. Since the history information acquisition unit 361 acquires history information (reduction information) from the image processing unit 33, the reduction information acquired by the acquisition unit 36 is changing (S3: Yes). The selection unit 37 is a criterion based on which the image processing unit 33 preferentially compares the captured image with all of the plurality of reference images stored in the image storage unit 41 based on the narrowed down information acquired by the acquisition unit 36. A narrowing process is performed to select an image (S2). Specifically, the selection unit 37 adds the worker information W1 which has already been acquired and the information has not changed, the work area information A1, and the group information G1 corresponding to the history information acquired by the history information acquisition unit 361. The selected reference images P1 to P10 are selected (see Table 1). As a result, the reference image selected by the narrowing-down process of the selection unit 37 is further narrowed down, and the time required for the image processing unit 33 to identify the actual copying work location can be shortened.

(Second operation example)
In the second operation example, in the assembly line, a case where an operator works on two different products (first product and second product) flowing to the belt conveyor at a predetermined work position will be described as an example. Here, the worker corresponds to the worker information W1, the work position corresponds to the work area information A1, the first product corresponds to the group information G1, and the second product corresponds to the group information G3. (See Table 1). In addition, there are a plurality of work target locations for each of the first product and the second product. Here, it is assumed that the worker works alternately on the plurality of first product groups and the plurality of second product groups. In the following description, detailed description of the same operation as the first operation example is omitted.

  While the worker is working on the first product group, the selection unit 37 performs narrowing-down processing to reference images P1 to P10 to which the worker information W1, the work area information A1, and the group information G1 are added. Is selected.

  Here, the reference images P1 to P10 are reference images to which the group information G1 corresponding to the first product is added, and do not correspond to the work target part of the second product. Therefore, when the work of the first product group is completed and the operation shifts to the work of the second product group, the image processing unit 33 can not identify the real shooting work location by comparing the captured image with the reference images P1 to P10. . In this case, the selection unit 37 selects a reference image having the next highest priority to the reference images P1 to P10. Specifically, the selection unit 37 excludes the reference images P1 to P10 from all of the plurality of reference images stored in the image storage unit 41, and adds the work area information A1 and the worker information W1 to the reference image. Select P81 to P90. While the work is being performed on the subsequent second product group, the reference image P81 to P90 to which the worker information W1, the work area information A1, and the group information G3 are added by the selection unit 37 by narrowing-down processing is performed. It is selected.

  In this operation example, the case where work of two products is performed in one work area is described as an example, but the same is true when work of three or more products is performed.

  Further, in this operation example, the narrowing-down information (group information) changes by switching the product to be operated, and the reference image selected by the selection process of the selection unit 37 is changed. The same applies to the case where the area information and the worker information change. For example, when the worker changes the work position by the cell process, when the worker exceeds the work area, the work area information changes, and the narrowing process of the selection unit 37 causes the changed work area information to be changed. The added reference image is selected. Further, when the tool 2 is shared by a plurality of workers, when the user of the tool 2 switches, the worker information changes, and the operator information after the change is added by the narrowing process of the selection unit 37. A reference image is selected.

(Modification)
The embodiments described above are only one of various embodiments of the present disclosure. The above-mentioned embodiment can be variously changed according to design etc. if the object of the present disclosure can be achieved. Further, the same function as that of the tool system 1 may be embodied by an image processing method, a computer program, or a recording medium recording the computer program.

  Next, modifications described below, which are modifications of the tool system 1 according to the present embodiment, can be appropriately combined and applied. In the following description, the same reference numerals are given to the same components as those in the above embodiment, and the description will be omitted.

(First modification)
A block diagram of a tool system 1A of this modification is shown in FIG.

  The tool system 1A of this modification differs from the tool system 1 of the embodiment described above in that the tool system 1A of the present modification includes an external device 9 capable of communicating with the tool 2. In the tool system 1A of the present modified example, the external device 9 is configured to perform a process of identifying a work target location (real shooting work location) captured by the imaging unit 5.

  The tool 2 of this modification includes a control unit 3 (hereinafter, also referred to as a tool-side control unit 3), an imaging unit 5, a position measurement unit 61, an input device 62, and a tool-side communication unit 63. There is. The tool side control unit 3 realizes functions such as the drive control unit 31, the imaging control unit 32, the notification control unit 34, the determination unit 35, and the acquisition unit 36 by the processor executing a program stored in the memory. Be done. That is, the tool side control unit 3 of this modification is different from the tool system 1 (see FIG. 1) in that the functions as the image processing unit 33 and the selection unit 37 are omitted. Moreover, the tool 2 of this modification differs in the point which is not equipped with the memory | storage part 4 with the tool system 1 (refer FIG. 1).

  The tool side communication unit 63 is, for example, a communication module capable of wireless communication such as Wi-Fi (registered trademark), and is accommodated in the body 20.

  The external device 9 is, for example, a server provided in a factory, and includes a device communication unit 91, a device control unit 92, and a device storage unit 93. In addition, the installation place of the external device 9 may be provided not only in the factory but outside the factory. Also, the external device 9 may be distributed to a plurality of devices, or may be configured by cloud computing.

  The device-side communication unit 91 is a communication module that performs wireless communication with the tool-side communication unit 63 of the tool 2. In addition, when the apparatus side communication part 91 does not have a wireless communication function, it is comprised so that communication with the tool side communication part 63 may be performed via the communication apparatus which performs mutual conversion of radio | wireless communication and wired communication. It is also good.

  The apparatus-side control unit 92 includes, for example, a microcomputer, and functions such as an image processing unit 921, a selection unit 922, and a torque selection unit 923 are realized by the processor executing a program stored in the memory. The image processing unit 921 and the selection unit 922 have functions similar to those of the image processing unit 33 and the selection unit 37 described above, respectively, and the detailed description will be omitted. The apparatus-side storage unit 93 is formed of, for example, a semiconductor memory such as a flash memory, and has functions of an image storage unit 931, a torque storage unit 932, and a result storage unit 933. The image storage unit 931, the torque storage unit 932, and the result storage unit 933 are the same as the image storage unit 41, the torque storage unit 42, and the result storage unit 43 described above, and thus the description thereof is omitted.

  In the present modification, the captured image generated by the imaging unit 5 is output (sent) to the external device 9 through the tool communication unit 63. Further, the narrowing-down information (history information, tool position information, and ID information) acquired by the acquisition unit 36 is output (sent) to the external device 9 through the tool communication unit 63.

  The selection unit 922 is one or more items that the image processing unit 921 preferentially compares with the captured image from all of the plurality of reference images stored in the image storage unit 931 based on the narrowing-down information acquired by the acquisition unit 36. A narrowing process is performed to select a reference image. The image processing unit 921 performs image processing to preferentially compare one or more reference images selected by the selection unit 922 with the captured image among all the reference images stored in the image storage unit 931, and an imaging unit The work target location (photographing work location) 5 is identified.

  The torque selection unit 923 refers to the torque storage unit 932 to select a target torque value corresponding to the actual shooting work location identified by the image processing unit 921. The target torque value selected by the torque selection unit 923 is transmitted to the tool 2 via the device communication unit 91. The drive control unit 31 of the tool 2 sets the target torque value received by the tool communication unit 63 from the external device 9 as a torque setting value.

  In addition, the determination unit 35 transmits the determination result of the tightening operation to the external device 9 through the tool communication unit 63. The result storage unit 933 of the external device 9 stores the determination result of the determination unit 35 transmitted from the tool 2.

  Further, the external device 9 may be configured to be able to communicate with the plurality of tools 2. The selection unit 922 performs a narrowing process of selecting a reference image based on the narrowing-down information acquired by the acquisition unit 36 of each tool 2 for each tool 2. Further, the image processing unit 921 performs image processing for preferentially comparing one or more reference images selected by the selection unit 922 with the captured image for each tool 2 and identifies a real shooting work location. That is, it becomes possible to set the torque setting value according to the work object location which each imaging part 5 of several tools 2 is imaging by one external apparatus 9. FIG.

(2nd modification)
A block diagram of a tool system 1B of this modification is shown in FIG.

  In the tool system 1B of the present modified example, in parallel with the tool 2 and the external device 9, processing is performed to identify the work target location (the actual copying operation location) captured by the imaging unit 5.

  The image processing unit 330 in the tool system 1B according to the present modification includes an image processing unit 33 (also referred to as a tool-side image processing unit 33) provided in the tool 2 and an image processing unit 921 (apparatus side) provided in the external device 9. And an image processing unit 921). In other words, the image processing unit 330 is dispersed into the tool-side image processing unit 33 and the device-side image processing unit 921.

  Further, the image storage unit 410 in the tool system 1B of this modification includes an image storage unit 41 (also referred to as a tool-side image storage unit 41) provided in the tool 2 and an image storage unit 931 (provided in the external device 9). Device-side image storage unit 931). In other words, the image storage unit 410 is dispersed into the tool-side image storage unit 41 and the device-side image storage unit 931. In the tool system 1B, the determination result of the determination unit 35 is transmitted to the external device 9 through the tool communication unit 63, and stored in the result storage unit 933 of the external device 9. Therefore, storage part 4 of tool 2 of this modification does not have a function of result storage part 43 (refer to Drawing 1).

  In the tool system 1B of the present modified example, a plurality of reference images are stored in the device-side image storage unit 931 provided in the external device 9. Specifically, the apparatus-side image storage unit 931 stores a plurality of reference images corresponding to one or more work target portions of each of a plurality of products. That is, in the device-side image storage unit 931, a plurality of still images (reference images) in which work target portions of a plurality of products are photographed are collectively stored.

  On the other hand, the tool-side image storage unit 41 provided in the tool 2 stores at least a part of reference images of the plurality of reference images stored in the device-side image storage unit 931. Specifically, the tool-side image storage unit 41 includes one or more criteria selected by the narrowing-down process by the selection unit 922 of the external device 9 among all the reference images stored in the device-side image storage unit 931. An image is stored. The one or more reference images selected by the selection unit 922 are transmitted to the tool 2 via the device communication unit 91. The tool-side control unit 3 of the tool 2 updates the one or more reference images stored in the tool-side image storage unit 41 with the one or more reference images received from the external device 9 by the tool-side communication unit 63. . That is, the tool-side image storage unit 41 is one or more criteria to which the tag information corresponding to the narrowing-down information acquired by the acquisition unit 36 is added among all the reference images stored in the device-side image storage unit 931. Store the image.

  The tool-side image processing unit 33 performs image processing to compare one or a plurality of reference images stored in the tool-side image storage unit 41 with the captured image, and the work target location imaged by the imaging unit 5 Identify).

  In the tool system 1B of the present modified example, the torque setting value of the tool 2 is the identification result of the image processing unit in which the actual copying work place is identified first among the tool side image processing unit 33 and the apparatus side image processing unit 921. Setting based on the work location).

(Third modification)
A block diagram of a tool system 1C of this modification is shown in FIG.

  In the tool system 1C of this modification, the acquisition unit 36 further has a function as the order information acquisition unit 364. In tool system 1C, about the composition similar to tool system 1 mentioned above, the same numerals are attached and explanation is omitted.

  In the present modification, the tag information includes process information in addition to the group information, the work area information, and the worker information described above. The process information is information indicating the work order in the work process corresponding to each of the plurality of work target parts. In other words, the process information is information for specifying in which work order the work target portion shown in the reference image is a work process corresponding to the product shown in the reference image.

  For example, in each of the reference images P1 to P10, P11 to P20, P21 to P30, P31 to P40, P41 to P50, P51 to P60, P61 to P70, P71 to P80, P81 to P90 shown in Table 1 The working process of the existing product is the same, and the working order in the working process is different. In other words, for example, the reference images P1 to P10 correspond to the first operation process, and the reference images P11 to P20 correspond to the second operation process. The work target locations shown in the reference images P1 to P10 correspond to one first work process, and the work order is continuous. In the first work process, the work order corresponding to the reference image P1 is the first, the work order corresponding to the reference image P2 is the second, the work order corresponding to the reference image P3 is the third, and so on. The corresponding work order is tenth. Further, in the first work process, after the tenth (reference image P10) whose work order is the last, the work order returns to the first (reference image P1) which is the first.

  The order information acquisition unit 364 acquires order information corresponding to the process information. The order information is information (refinement information) indicating the next work order. The order information acquisition unit 364 acquires the order information by acquiring the history information of the actual shooting work part identified by the image processing unit 33. Specifically, the order information acquisition unit 364 sets the next work order in the work order of the work process corresponding to the real shooting work location that is the latest (closest) identification result of the image processing unit 33 as the narrowing down information. For example, when the reference image corresponding to the actual copying work location which is the latest identification result of the image processing unit 33 is the reference image P2 which is the second of the first operation process, the order information acquisition unit 364 The work order “third of the first work process” is acquired as narrowing-down information. In addition, for example, when the reference image corresponding to the real shooting work location, which is the latest identification result of the image processing unit 33, is the reference image P10 whose work order is the tenth, the order information acquisition unit 364 The order “first of the first work process” is acquired as narrowing-down information.

  The selection unit 37 generates a captured image from all of the plurality of reference images stored in the image storage unit 41 based on the narrowing information (history information, tool position information, ID information, order information) acquired by the acquisition unit 36. A process of selecting a reference image to be compared preferentially is performed (narrowing process).

  As described above, in the tool system 1C according to the present modification, the narrowing-down process is performed using the process information as the tag information, so that all of the plurality of reference images stored in the image storage unit 41 are preferentially compared with the captured image. The number of reference images to be

(Other modifications)
In the example described above, the acquisition unit 36 (history information acquisition unit 361) acquires history information as narrowing-down information corresponding to group information of tag information, but the present invention is not limited to this configuration. The acquisition unit 36 may acquire imaging information as narrowing-down information corresponding to group information. In this case, the acquiring unit 36 identifies the type of product, color, etc., based on the captured image of the whole (or a part) of the product generated by the imaging unit 5, and identifies the identified information information (imaging information). It is considered as refinement information.

  In the example mentioned above, although position information acquisition part 362 is constituted so that tool position information may be acquired from a position measurement part provided in tool 2, it is not restricted to this.

  For example, the position information acquisition unit 362 may be configured to acquire tool position information from the input device 62. In this case, a tag device is provided in each work area, and the operator holds the tool 2 over the tag device before work. Thus, the input device 62 can acquire tool position information from the tag device, and outputs the acquired tool position information to the position information acquisition unit 362.

  The position information acquisition unit 362 may be configured to acquire tool position information via the tool communication unit 63. For example, in a cell process in which a worker works while moving between work areas, a camera is provided in each work area. Each camera is connected to the processing device, and the processing device determines the work area in which the worker is present from the imaging data of each camera. The processing device transmits position information (tool position information) corresponding to the determined work area to the tool side communication unit 63 of the tool 2. The position information acquisition unit 362 acquires tool position information received by the tool communication unit 63 from the processing device.

  In addition, the acquisition unit 36 may be configured to acquire narrowing-down information via the tool side communication unit 63. For example, the acquisition unit 36 acquires narrowing-down information from the external device 9 via the tool communication unit 63. Thereby, narrowing information can be output to the tool 2 using the external device 9.

  Further, the acquiring unit 36 may be configured to acquire narrowing-down information from the operation panel 231 provided in the mounting unit 23 of the tool 2. The operator operates the push button switch 232 of the operation panel 231 before work to input narrowing information (for example, tool position information). The acquisition unit 36 acquires narrowing-down information according to the operation content of the operation panel 231.

  In the above-mentioned example, although group information, work area information, and worker information were raised as an example of tag information, tag information may be not only such information but other information.

  Although the case where the tool 2 is an impact wrench has been described in the above-described example, the tool 2 is not limited to the impact wrench, and may be a nut runner, an oil pulse wrench, or the like. Further, the tool 2 may be, for example, a driver (impact driver) used for a tightening operation of a screw (clamping part). In this case, a bit (for example, a driver bit or the like) is attached to the tool 2 instead of the socket 242. The tool 2 is not limited to the electric power tool, and may be an air tool having an air motor (drive unit) that operates with compressed air (power) supplied from an air compressor (power source).

  The execution subject of the tool system 1 (1A, 1B) in the present disclosure includes a computer system. A computer system has a processor and memory as hardware. A function as an execution subject of an image processing method for identifying a tool system 1 (1A, 1B) or a captured image generated by the imaging unit 5 in the present disclosure by a processor executing a program recorded in a memory of a computer system Is realized. The program may be pre-recorded in the memory of the computer system, but may be provided through a telecommunication line. Also, the program may be provided by being recorded in a non-transitory recording medium such as a memory card readable by a computer system, an optical disk, a hard disk drive and the like. A processor of a computer system is configured of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The plurality of electronic circuits may be integrated into one chip or may be distributed to a plurality of chips. The plurality of chips may be integrated into one device or may be distributed to a plurality of devices.

(Summary)
The tool system (1, 1A, 1B, 1C) according to the first aspect includes a tool (2), an imaging unit (5), an image storage unit (41, 410, 931), and an image processing unit (33, 330). , 921) and an acquisition unit (36). The tool (2) is a portable tool having a drive unit (24) operated by power (electric power) from a power source (battery pack 201). The imaging unit (5) is provided on the tool (2). The image storage unit (41, 410, 931) stores a plurality of reference images corresponding to a plurality of work target locations and to which tag information indicating an attribute of each of the plurality of work target locations is added. The image processing unit (33, 330, 921) performs image processing for comparing the captured image generated by the imaging unit (5) with at least one reference image of the plurality of reference images, and It identifies the actual shooting work location that is the work target location reflected in the captured image. The acquisition unit (36) acquires narrowing-down information corresponding to the tag information. In the image processing, the image processing unit (33, 330, 921) preferentially captures the reference image to which the tag information corresponding to the narrowing-down information acquired by the acquisition unit (36) is added among the plurality of reference images Compare with.

  According to this aspect, the tool system (1, 1A, 1B, 1C) can individually identify a plurality of work target portions by the image processing of the image processing unit (33, 330, 921). In addition, in the tool system (1, 1A, 1B, 1C), even when the operator performs work on a plurality of work targets at the same work place, or even when a plurality of work targets are close to each other, a plurality of It is possible to individually identify the work target location.

  The image processing unit (33, 330, 921) preferentially compares the reference image to which the tag information corresponding to the narrowing-down information is added among the plurality of reference images with the captured image. That is, the reference image used by the image processing unit (33, 330, 921) for image processing is narrowed down from the plurality of reference images, and comparison of unnecessary reference images with the captured image in image processing is suppressed. Thus, the time required for the image processing unit (33, 330, 921) to identify a real shooting work location can be shortened, and the identification accuracy of the real shooting operation location by the image processing unit (33, 330, 921) can be improved. Is possible.

  In the tool system (1, 1A, 1B, 1C) according to the second aspect, in the first aspect, the tag information includes group information in which a plurality of work target locations are classified under a predetermined condition. An acquisition unit (36) acquires history information of a real shooting work location identified by the image processing unit (33, 330, 921), and acquires a group information to which the real shooting operation location belongs as narrowing-down information. Have.

  According to this aspect, the image processing unit (33, 330, 921) uses, from the plurality of reference images, the reference image excluding the reference image belonging to the group information different from the work target portion shown in the captured image. Image processing can be performed. As a result, it is possible to shorten the time required for the image processing unit (33, 330, 921) to identify the actual copying work location, and to improve the identification accuracy of the actual copying work location.

  In the tool system (1, 1A, 1B, 1C) according to the third aspect, in the first or second aspect, the tag information indicates a work area in which work is performed for each of a plurality of work target locations. Includes area information. An acquisition part (36) has a position information acquisition part (362) which acquires tool position information which shows a position of a tool (2) as narrowing-down information.

  According to this aspect, the image processing unit (33, 330, 921) determines from the plurality of reference images the reference image corresponding to the work area different from the work area where the work is performed on the work target portion shown in the captured image. Image processing can be performed using a reference image excluding. As a result, it is possible to shorten the time required for the image processing unit (33, 330, 921) to identify the actual copying work location, and to improve the identification accuracy of the actual copying work location.

  In the tool system (1, 1A, 1B, 1C) according to the fourth aspect, in any of the first to third aspects, the tag information indicates an operator who performs an operation on each of a plurality of work target locations. Contains information. An acquisition part (36) has an ID information acquisition part (363) which acquires ID information for identifying a user of a tool as narrowing-down information.

  According to this aspect, the image processing unit (33, 330, 921) selects, from the plurality of reference images, a reference image corresponding to a worker different from the worker who performs the work on the work target portion shown in the captured image. Image processing can be performed using the excluded reference image. As a result, it is possible to shorten the time required for the image processing unit (33, 330, 921) to identify the actual copying work location, and to improve the identification accuracy of the actual copying work location.

  In the tool system (1C) according to the fifth aspect, in any of the first to fourth aspects, the tag information includes process information indicating an operation order of the operation process corresponding to each of the plurality of operation target locations. The acquisition unit (36) includes an order information acquisition unit (364). The order information acquisition unit (364) acquires history information of the actual shooting work location identified by the image processing unit (33, 330, 921). The order information acquisition unit (364) acquires, as the narrowing down information, work information indicating the next work order in the work order of the work process corresponding to the actual copying work place.

  According to this aspect, the image processing unit (33, 330, 921) can perform image processing using a reference image corresponding to the next work order among the plurality of reference images. As a result, it is possible to shorten the time required for the image processing unit (33, 330, 921) to identify the actual copying work location, and to improve the identification accuracy of the actual copying work location.

  In the tool system (1, 1A, 1B, 1C) according to the sixth aspect, it is assumed that the refinement information acquired by the acquiring unit (36) has changed in any of the first to fifth aspects. In this case, the image processing unit (33, 330, 921) preferentially compares the reference image to which the tag information corresponding to the post-change narrowing information is added with the captured image.

  According to this aspect, when the narrowing-down information changes, the image processing unit (33, 330, 921) can switch the reference image to be used preferentially for the image processing according to the narrowing-down information after the change. As a result, even if the narrowing-down information changes in the middle of the work process, the time required for the image processing unit (33, 330, 921) to identify the actual copying work location is shortened, and the identification accuracy of the actual copying work location Can be improved.

  In the tool system (1, 1C) according to the seventh aspect, in any of the first to sixth aspects, the image storage unit (41), the image processing unit (33), and the acquisition unit (36) Provided in).

  According to this aspect, there is no need for the tool (2) to communicate with the outside in order for the image processing unit (33) to perform image processing and identify the actual copying work location, and the image processing unit (33) does not It is possible to shorten the time required for identification and to improve the identification accuracy of a photographed work site.

  The tool system (1A) according to the eighth aspect further includes the external device (9) including the device communication unit (91) in any of the first to sixth aspects. The tool (2) has a tool side communication unit (63) that can communicate with the device communication unit (91). The tool side communication unit (63) is configured to transmit the captured image to the device side communication unit (91). The image storage unit (931) and the image processing unit (921) are provided in the external device (9).

  According to this aspect, the image processing by the image processing unit (921) having a relatively large processing load can be performed by the external device (9), and the processing load on the tool (2) can be reduced.

  The tool system (1B) according to the ninth aspect further includes the external device (9) including the device communication unit (91) in any of the first to sixth aspects. The tool (2) has a tool side communication unit (63) that can communicate with the device communication unit (91). The tool side communication unit (63) is configured to transmit the captured image to the device side communication unit (91). The image storage unit (410) has a tool-side image storage unit (41) and an apparatus-side image storage unit (931). The tool-side image storage unit (41) is provided in the tool (2) and stores at least one reference image among a plurality of reference images. The device-side image storage unit (931) is provided in the external device (9) and stores a plurality of reference images. The image processor (330) has a tool-side image processor (33) and an apparatus-side image processor (921). The tool-side image processing unit (33) is provided in the tool (2) and identifies a real copy work location. The device-side image processing unit (921) is provided in the external device (9) and identifies a real shooting work location.

  According to this aspect, the tool (2) and the external device (9) can perform processing for identifying the work target location (real shooting work location) captured by the imaging unit (5). It is possible to shorten the time required for identification and to improve the identification accuracy of a photographed work site.

  In the tool system (1B) according to the tenth aspect, in the ninth aspect, the tool-side image storage unit (41) has tag information corresponding to the narrowing-down information acquired by the acquisition unit (36) among the plurality of reference images. The added reference image is stored.

  According to this aspect, the storage capacity of the tool-side image storage unit (41) can be smaller than the storage capacity of the device-side image storage unit (931), and the cost of the tool (2) can be reduced. .

  In the tool system (1, 1A, 1B, 1C) according to the eleventh aspect, in any of the first to tenth aspects, a plurality of tag information is added to each of the plurality of reference images. The acquisition unit (36) is configured to acquire a plurality of narrowing-down information. The plurality of pieces of tag information correspond to the plurality of narrowing-down information.

  According to this aspect, it is possible to further narrow down the reference images used by the image processing unit (33, 330, 921) for image processing from the plurality of reference images. As a result, it is possible to shorten the time required for the image processing unit (33, 330, 921) to identify the actual copying work location, and to improve the identification accuracy of the actual copying work location.

  The image processing method according to the twelfth aspect compares the captured image generated by the imaging unit (5) with at least one reference image of the plurality of reference images, and captures the captured image among the plurality of work target portions. This is an image processing method of identifying a real shooting work location which is a work target location. The imaging unit (5) is provided in a portable tool (2) having a drive unit (24) operated by power (electric power) from a power source (battery pack 201). The plurality of reference images correspond to a plurality of work target locations, and tag information indicating attributes of each of the plurality of work target locations is added. The image processing method preferentially compares the reference image to which the tag information corresponding to the narrowing-down information is added among the plurality of reference images with the captured image.

  According to this aspect, it is possible to individually identify a plurality of work target locations. In addition, in this image processing method, even when the worker performs work on a plurality of work targets at the same work place, or even when a plurality of work targets are close to one another, the plurality of work targets are individually identified can do.

  Further, in this image processing method, among the plurality of reference images, the reference image to which the tag information corresponding to the narrowing-down information is added is preferentially compared with the captured image. That is, the reference image used for image processing is narrowed down from the plurality of reference images, and the unnecessary reference image in the image processing is prevented from being compared with the captured image. As a result, it is possible to shorten the time required to identify a real shooting work location in image processing and to improve the identification accuracy of the real shooting work location.

  A program according to a thirteenth aspect causes a computer system to execute the image processing method according to the twelfth aspect.

  According to this aspect, it is possible to individually identify a plurality of work target locations. In addition, in this program, when a worker works on a plurality of work targets at the same work place, or even when a plurality of work targets are close to one another, the plurality of work targets should be individually identified. Can.

  Further, in this program, among the plurality of reference images, the reference image to which the tag information corresponding to the narrowing-down information is added is preferentially compared with the captured image. That is, the reference image used for image processing is narrowed down from the plurality of reference images, and the unnecessary reference image in the image processing is prevented from being compared with the captured image. As a result, it is possible to shorten the time required to identify a real shooting work location in image processing and to improve the identification accuracy of the real shooting work location.

  The configurations according to the second to eleventh aspects are not essential to the tool system (1, 1A, 1B, 1C).

1, 1A, 1B, 1C Tool system 2 Tool 201 battery pack (power source)
24 drive unit 33 image processing unit (tool side image processing unit)
330 image processing unit 36 acquisition unit 361 history information acquisition unit 362 position information acquisition unit 363 ID information acquisition unit 364 order information acquisition unit 41 image storage unit (tool side image storage unit)
410 image storage unit 5 imaging unit 63 tool side communication unit 9 external device 91 device side communication unit 921 image processing unit (device side image processing unit)
931 Image storage unit (device-side image storage unit)

Claims (13)

A portable tool having a drive operated by power from a power source;
An imaging unit provided in the tool;
An image storage unit that stores a plurality of reference images corresponding to a plurality of work target locations and to which tag information indicating attributes of each of the plurality of work target locations is added;
Image processing is performed to compare the captured image generated by the imaging unit with at least one reference image of the plurality of reference images, and the work target portion reflected in the captured image among the plurality of work target portions An image processing unit for identifying a photographed work site;
An acquisition unit that acquires narrowing-down information corresponding to the tag information;
The image processing unit preferentially compares, in the image processing, the reference image to which the tag information is added corresponding to the narrowing-down information acquired by the acquisition unit among the plurality of reference images with the captured image. Tool system characterized by The tag information includes group information in which the plurality of work target parts are classified under a predetermined condition,
The acquisition unit is provided with a history information acquisition unit that acquires history information of the actual shooting work location identified by the image processing unit, and acquires the group information to which the actual shooting operation location belongs as the narrowing-down information. A tool system according to claim 1. The tag information includes work area information indicating a work area in which a work is performed for each of the plurality of work target locations,
The tool system according to claim 1, wherein the acquisition unit includes a position information acquisition unit that acquires, as the narrowing-down information, tool position information indicating a position of the tool. The tag information includes worker information indicating a worker who performs work on each of the plurality of work target parts,
The tool according to any one of claims 1 to 3, wherein the acquisition unit includes an ID information acquisition unit that acquires ID information for identifying a user of the tool as the narrowing-down information. system. The tag information includes process information indicating a work order of a work process corresponding to each of the plurality of work handling parts,
The acquisition unit acquires history information of the real shooting work location identified by the image processing unit, and narrowing down information on order information indicating a next work order in the working sequence of the working process corresponding to the real shooting work location The tool system according to any one of claims 1 to 4, characterized in that it has an order information acquisition unit to acquire as. The image processing unit preferentially compares a reference image to which the tag information is added corresponding to the post-change narrowing information with the captured image when the narrow-down information acquired by the acquisition unit changes. The tool system according to any one of claims 1 to 5. The tool system according to any one of claims 1 to 6, wherein the image storage unit, the image processing unit, and the acquisition unit are provided in the tool. It further comprises an external device having a device communication unit,
The tool has a tool side communication unit capable of communicating with the device side communication unit,
The tool side communication unit is configured to transmit the captured image to the device side communication unit.
The tool system according to any one of claims 1 to 6, wherein the image storage unit and the image processing unit are provided in the external device. It further comprises an external device having a device communication unit,
The tool has a tool side communication unit capable of communicating with the device side communication unit,
The tool side communication unit is configured to transmit the captured image to the device side communication unit.
The image storage unit includes a tool-side image storage unit provided in the tool for storing at least one reference image of the plurality of reference images, and an apparatus-side image provided in the external device for storing the plurality of reference images And a storage unit,
The image processing unit includes a tool-side image processing unit provided in the tool to identify the actual copying work location, and an apparatus-side image processing unit provided in the external device to identify the actual copying work location. The tool system according to any one of claims 1 to 6, wherein The said tool side image storage part memorize | stores the reference image to which the said tag information corresponding to the said narrowing-down information which the said acquisition part acquired among the several reference images added was added. Tool system. A plurality of tag information is added to each of the plurality of reference images,
The acquisition unit is configured to acquire a plurality of the narrowing-down information,
The tool system according to any one of claims 1 to 10, wherein the plurality of pieces of tag information correspond to the plurality of pieces of narrowing-down information. A captured image generated by an imaging unit provided on a portable tool having a drive unit operated by power from a power source, and a plurality of work target locations corresponding to each of the plurality of work target locations are shown. An image that identifies a real shooting work location that is a work target location reflected in the captured image among the plurality of work target locations by comparing with at least one reference image of the plurality of reference images to which tag information is added The processing method,
An image processing method characterized by comparing a reference image to which tag information corresponding to narrowing information is added among the plurality of reference images with the captured image preferentially.   A program that causes a computer system to execute the image processing method according to claim 12.

Images