Determination system, determination method and program

Abstract

To improve working efficiency.SOLUTION: A determination system 1 includes a specification part 353 and an order determination part 354. The specification part 353 specifies a fastening portion where a tool 2 is set, of a plurality of fastening portions of a work-target object on the bases of a picked-up image where the set fastening portion is imaged by an imaging part 26. The order determination part 354 determines whether a fastening order of the specified fastening portion as the fastening portion specified by the specification part 353 is correct or not. The order determination part 354 performs the determination on condition that at least one fastening portion included in the plurality of fastening portions and different from the specified fastening portion is already fastened by the tool 2.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure generally relates to a determination system, a determination method, and a program, and more particularly to a determination system, a determination method, and a program for determining a fastening sequence. [Background technology]

[0002] Patent Document 1 discloses a tool system. This tool system includes a portable tool and an identification unit. The tool system identifies, in a non-contact manner, a set work object, which is a work object on which the tool is set, among a plurality of work objects. If the set work object (specific fastening point) identified by the identification unit does not match the work order in the standard work procedure, the tool system stops the operation of the drive unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-108633 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, depending on the work environment in which the worker performs the work and the work order in the standard work procedure, performing the work according to the work order may result in a decrease in work efficiency.

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a determination system, a determination method, and a program that can improve work efficiency. [Means for solving the problem]

[0006] A determination system according to an aspect of the present disclosure includes an identification unit and an order determination unit. The identification unit identifies a fastening point at which a tool is set among a plurality of fastening points of a work object based on an image captured by an imaging unit of the set fastening point. The order determination unit determines whether or not the fastening order of a specific fastening point, which is the fastening point identified by the identification unit, is correct based on the fastening history of the plurality of fastening points. The order determination unit performs the above determination on the condition that one or more fastening points included in the plurality of fastening points and different from the specific fastening point have already been fastened by the tool.

[0007] A determination method according to one aspect of the present disclosure is executed by one or more processors. The determination method includes a specifying step and an order determining step. In the specifying step, a fastening point where a tool is set among a plurality of fastening points is specified based on an image captured by an imaging unit of the set fastening point. In the order determining step, a determination is made as to whether or not the fastening order of a specific fastening point, which is the fastening point specified in the specifying step, is correct based on the fastening history of the plurality of fastening points. In the order determining step, a determination is made on the condition that one or more fastening points included in the plurality of fastening points have already been fastened by the tool.

[0008] A program according to one embodiment of the present disclosure is a program for causing one or more processors to execute the determination method. Effect of the Invention

[0009] According to the determination system, determination method, and program according to the above aspects of the present disclosure, it is possible to improve work efficiency. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a determination system according to an embodiment. [Diagram 2] FIG. 2 is an external perspective view of a tool included in the determination system as viewed from a first direction. [Diagram 3] FIG. 3 is an external perspective view of the tool as viewed from a second direction. [Figure 4] FIG. 4 is a plan view showing an example of a work target. [Diagram 5] FIG. 5 is a sequence diagram showing the operation of the determination system. [Figure 6] FIG. 6 is a plan view showing another example of the work target. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Elements common to the embodiments described below are given the same reference numerals, and duplicated descriptions of the common elements may be omitted. The following embodiment is merely one of various embodiments of the present disclosure. Various modifications of the embodiment may be made depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, the embodiments (including modified examples) may be realized in appropriate combinations.

[0012] Each drawing described in this disclosure is a schematic drawing, and the ratio of the size and thickness of each component in each drawing does not necessarily reflect the actual dimensional ratio.

[0013] (1) Overview First, an overview of a determination system 1 (tool system) according to this embodiment will be described with reference to FIG.

[0014] As shown in FIG. 1, the determination system 1 of this embodiment includes a specification unit 353 and an order determination unit 354.

[0015] The identification unit 353 identifies the fastening point X0 at which the tool 2 is set among multiple fastening points X0 (see Figure 4) of the work object A1 (see Figure 4) based on an image captured by the imaging unit 26 of the set fastening point X0.

[0016] The order determination unit 354 determines whether the tightening order of the specific tightening point, which is the tightening point X0 identified by the identification unit 353, is correct or not, based on the tightening histories of the multiple tightening points X0.

[0017] The order determination unit 354 determines whether the tightening order of the specific tightening points is correct, on the condition that one or more tightening points X0 that are included in the multiple tightening points X0 and are different from the specific tightening points have already been tightened by the tool 2.

[0018] The determination system 1 of this embodiment does not determine whether the tightening order is correct for the tightening point X0 of the work object A1 that is tightened by the tool 2 first. In other words, the worker can start work from the tightening point X0 that is easiest to work on depending on the work environment. Therefore, the determination system 1 of this embodiment can improve work efficiency by ensuring freedom of work. The determination system 1 of this embodiment can improve work efficiency, especially in non-routine work outdoors.

[0019] Furthermore, according to the determination system 1 of this embodiment, it is determined whether or not the fastening sequence is correct for the second and subsequent fastening points X0, so that the worker can be made to comply with the minimum fastening sequence.

[0020] (2)Details Hereinafter, a detailed configuration of the determination system 1 according to this embodiment will be described with reference to Figs. 1 to 4. The determination system 1 according to this embodiment is used for tightening a plurality of tightening points X0 of a work object A1, for example, outdoors. The tightening points X0 are bolts, nuts, or the like. In this embodiment, it is assumed that the work object A1 is, for example, a flange of a steel frame. In addition, it is assumed that the plurality of tightening points X0 are bolts. That is, in this embodiment, it is assumed that a worker uses a tool 2 to tighten a plurality of bolts in order to attach a flange to a mating member.

[0021] (2.1) Configuration of the Judgment System As shown in FIG. 1, a determination system 1 of the present embodiment includes a tool 2 and a determination device 3.

[0022] (2.2) Tool configuration The tool 2 of this embodiment is, for example, a portable impact wrench. The tool 2 includes a tightening unit 24, a communication unit 25, an imaging unit 26, a processing unit 27, a sensor unit 28, a display unit 211, and an operation unit 231. In this embodiment, the imaging unit 26 and the battery pack 201 (see FIG. 2) are included in the components of the tool 2, but it is not essential that the imaging unit 26 and the battery pack 201 are included in the components of the tool 2, and the imaging unit 26 and the battery pack 201 may not be included in the components of the tool 2. For example, the imaging unit 26 may be provided in a headset that the worker wears on his head, or may be detachable from the tool 2. The battery pack 201 is separate from the tool 2 (the tool body) and may be configured to be detachable from the tool 2 (the tool body).

[0023] 2 and 3, the tool 2 further includes a body 20. The body 20 of the tool 2 includes a trunk portion 21, a grip portion 22, and a mounting portion 23.

[0024] Body section 21 is formed in a tubular shape (cylindrical shape here). Grip section 22 protrudes in one direction (downward in FIG. 2 ) from a part of the circumferential surface of body section 21. Mounting section 23 is provided so that battery pack 201 can be removably mounted thereon. In other words, body section 21 and mounting section 23 are connected by grip section 22.

[0025] The body portion 21 accommodates a part of the fastening portion 24 (see FIG. 1) and the imaging portion 26. An output shaft 241 of the fastening portion 24 protrudes from one end face of the body portion 21 in the axial direction.

[0026] The grip portion 22 is a portion that an operator grips when performing work. The grip portion 22 is provided with a trigger switch 221. The trigger switch 221 is a switch for controlling the on / off operation of the tightening portion 24. The trigger switch 221 has an initial position and an on position, and the tightening portion 24 operates when the operator pushes or pulls the trigger switch 221 to the on position. In addition, the trigger switch 221 can adjust the number of rotations of the tightening portion 24 according to the amount of pulling (amount of operation).

[0027] The mounting section 23 is formed in a flat rectangular parallelepiped shape. A battery pack 201 is removably mounted on one surface of the mounting section 23 opposite to the grip section 22.

[0028] The battery pack 201 is configured with, for example, a lithium ion battery, etc. The battery pack 201 supplies power to the fastening unit 24, the communication unit 25, the imaging unit 26, the processing unit 27, etc.

[0029] The mounting unit 23 is also provided with an operation unit 231. The operation unit 231 can be used to perform various settings and status confirmation related to the tool 2. That is, the worker can, for example, check the remaining capacity of the battery pack 201 by operating the operation unit 231.

[0030] The display unit 211 is configured with, for example, an LED (Light Emitting Diode). The display unit 211 is provided at an end (i.e., a rear end) of the trunk portion 21 of the body 20 opposite to the output shaft 241 so that the worker can easily view the display unit 211 during work (see FIG. 3). The display unit 211 is an example of a notification unit included in the tool 2.

[0031] The fastening unit 24 of this embodiment includes a motor, a reduction mechanism, a drive shaft, an impact mechanism, an output shaft 241, and a socket 242. The fastening unit 24 is configured to operate with power supplied to the motor from the battery pack 201. The fastening unit 24 rotates and drives the tip tool (socket 242) with the power from the motor to fasten the fastening point X0.

[0032] The reduction mechanism transmits the rotational force of the motor's rotating shaft to the drive shaft. The reduction mechanism is, for example, a planetary gear mechanism, and converts the rotational speed and torque of the motor's rotating shaft into the rotational speed and torque required for the fastening operation. The output shaft 241 outputs the rotation of the drive shaft and transmits it to the socket 242. The output shaft 241 rotates around a rotation axis Ax1 along the protruding direction. In other words, the fastening part 24 drives the output shaft 241 to rotate the output shaft 241 around the rotation axis Ax1. In other words, the operation of the fastening part 24 applies torque to the output shaft 241, causing the output shaft 241 to rotate.

[0033] A cylindrical socket 242 for rotating the fastening point X0 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 operator according to the size of the fastening part. With this configuration, when the fastening unit 24 operates, the output shaft 241 rotates and the socket 242 rotates together with the output shaft 241. At this time, if the socket 242 is fitted into the fastening point X0, the fastening point X0 rotates together with the socket 242, and the operation of fastening the fastening point X0 (fastening operation) is realized. Therefore, the tool 2 can realize the operation of fastening the fastening point X0 by the operation of the fastening unit 24.

[0034] Moreover, 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. In this case, a bit (for example, a driver bit or a drill bit) can be attached via the socket anvil.

[0035] The impact mechanism is driven by the power of the motor. The impact mechanism includes, for example, a hammer rotatably supported by a drive shaft, and an anvil (striking part) provided at the rear end of the output shaft 241. The hammer strikes the anvil in response to the rotation of the drive shaft.

[0036] When the tightening torque (work value) exceeds a predetermined level, the impact mechanism applies an impact to the output shaft 241 in the rotational direction. This enables the tool 2 to apply a larger tightening torque to the tightening location X0. Note that it is not essential that the socket 242 and the impact mechanism are included as components of the tightening unit 24, and the components of the tightening unit 24 do not necessarily need to include the socket 242 and the impact mechanism.

[0037] The imaging unit 26 generates data as a captured image. Here, the "captured image" is an image obtained by the imaging unit 26, and includes a still image (still image) and a video (moving image). Furthermore, the "video" includes an image composed of a plurality of still images (frames) obtained by frame-by-frame shooting or the like. The captured image does not have to be the data itself output from the imaging unit 26. For example, the captured image may be appropriately compressed as necessary, converted into another data format, or processed by cutting out a part of the image captured by the imaging unit 5, adjusting the focus, adjusting the brightness, adjusting the contrast, or the like. In this embodiment, the captured image is, for example, a full-color video.

[0038] The imaging unit 26 is, for example, a camera having an imaging element and a lens. In this embodiment, as described above, the imaging unit 26 is housed in the body 20 (trunk portion 21) of the tool 2. The imaging unit 26 is mounted toward the tip side of the output shaft 241 so as to capture an image of the fastening location X0 during work using the tool 2.

[0039] Specifically, the imaging unit 26 is disposed 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 falls within the imaging range (see Figs. 2 and 3). The optical axis of the imaging unit 26 is disposed along the rotation axis Ax1 of the output shaft 241. Here, the imaging unit 26 is disposed so that the optical axis is located within a predetermined distance from the rotation axis Ax1 of the output shaft 241 and is substantially parallel to the rotation axis Ax1. Note that it is not essential that the imaging unit 26 generates an image so that the socket 242 attached to the output shaft 241 falls within the imaging range. It is sufficient that the imaging unit 26 is capable of generating an image for identifying the set fastening location.

[0040] In the present disclosure, a "set fastening point" refers to a fastening point X0 in which the tool 2 is set among a plurality of fastening points X0. "A state in which the tool 2 is set at the fastening point X0" refers to a state in which the tool 2 is prepared to perform work on the fastening point X0. In addition, "a state in which the tool 2 is set at the fastening point X0" includes not only a state in which the tool 2 is in contact with the fastening point X0, but also a state in which the tool 2 is about to be in contact with the fastening point X0, that is, a state in which the tool 2 is approaching the fastening point X0. In other words, when the tool 2 is set at the fastening point X0, the tool 2 may be in contact with the fastening point X0 or may be away from it.

[0041] Further, the "captured image for identifying the set fastening point" is an image generated by imaging the work object A1 (see FIG. 4) with the tool 2 set at the fastening point X0 by the imaging unit 26. The imaging range of the imaging unit 26 in this disclosure is assumed to include the fastening point X0 where the tool 2 is set. Note that the captured image may be an image that allows the set fastening point to be identified, and the imaging range of the captured image does not necessarily include the fastening point X0 where the tool 2 is set.

[0042] Since the imaging unit 26 in this embodiment is provided on the tool 2, the fastening point X0 can be imaged at a relatively close distance, reducing the problem of the fastening point X0 being hidden by the tool or the worker and not being able to be properly imaged.

[0043] The sensor unit 28 detects the attitude and the like of the tool 2. The sensor unit 28 includes motion sensors such as an acceleration sensor and a gyro sensor. In the present embodiment, the sensor unit 28 is housed in the body 20 (the grip portion 22 or the mounting portion 23) of the tool 2. In the present embodiment, as an example, the sensor unit 28 has a three-axis acceleration sensor and a three-axis gyro sensor as motion sensors. The three-axis acceleration sensor detects acceleration about each of three mutually orthogonal axes, and outputs an electrical signal according to the acceleration. The three-axis gyro sensor detects angular velocity about each of three mutually orthogonal axes, and outputs an electrical signal according to the angular velocity.

[0044] The sensor unit 28 can detect the direction of gravity based on the output of an acceleration sensor, for example, and detect the orientation of the tool 2 based on the direction of gravity. Also, the sensor unit 28 can detect the moving distance and moving direction of the tool 2 from one fastening point X0 to another fastening point X0 based on the output of the acceleration sensor.

[0045] Furthermore, the sensor unit 28 can detect the angular velocity of the tool 2 during movement accompanied by rotation based on the output of the gyro sensor, or the rotation angle of the tool 2 from the integral result of the angular velocity. As an example, the sensor unit 28 can distinguish between an attitude of the tool 2 in which the protruding direction of the grip portion 22 from the body portion 21 is downward (direction of gravity) and an attitude of the tool 2 in which the protruding direction of the grip portion 22 from the body portion 21 is upward. Here, the "attitude of the tool 2" in the present disclosure refers to the orientation of the tool 2 determined by the rotation angles (e.g., roll angle, pitch angle, and yaw angle) around each of three axes based on the direction of gravity, for example.

[0046] That is, the sensor unit 28 detects the movement and attitude of the tool 2 based on the output of the motion sensor (acceleration sensor and gyro sensor). The sensor unit 28 outputs detection information including movement information related to the movement distance and movement direction of the tool 2 and attitude information related to the attitude of the tool 2 to the processing unit 27.

[0047] The communication unit 25 includes a communication interface for wireless communication with the determination device 3. The communication unit 25 communicates with the determination device 3 by a wireless communication method conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a license.

[0048] The processing unit 27 mainly comprises, for example, a computer system having one or more processors and one or more memories. In the tool 2, the one or more processors execute a program recorded in the memory, thereby realizing the function of the processing unit 27. The program may be pre-recorded in the memory, may be provided via a telecommunication line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card.

[0049] The processing unit 27 outputs control signals to each of the tightening unit 24, the communication unit 25, the imaging unit 26, and the display unit 211, thereby controlling the tightening unit 24, the communication unit 25, the imaging unit 26, and the display unit 211 individually.

[0050] The processing unit 27 transmits the captured image generated by the imaging unit 26, the detection information of the sensor unit 28, a notification of completion of the tightening operation, and the like to the determination device 3 via the communication unit 25. In addition, the processing unit 27 transmits tightening completion information to the determination device 3 via the communication unit 25 every time the tightening unit 24 performs a tightening operation. For example, the tightening completion information includes information indicating that tightening of the tightening point X0 has been completed, information on the tightening torque, and the like.

[0051] Furthermore, the processing unit 27 receives a permission instruction or a restriction instruction for the tightening operation from the determination device 3 via the communication unit 25. When the processing unit 27 receives a permission instruction from the determination device 3, the processing unit 27 permits the tightening operation by the tightening unit 24. That is, when the processing unit 27 receives a permission instruction from the determination device 3, the processing unit 27 operates the tightening unit 24 in response to the operator's operation of the trigger switch 221. On the other hand, when the processing unit 27 receives a restriction instruction from the determination device 3, the processing unit 27 restricts the tightening operation by the tightening unit 24. That is, when the processing unit 27 receives a restriction instruction from the determination device 3, the processing unit 27 does not operate the tightening unit 24 even if the operator pulls the trigger switch 221.

[0052] Moreover, the processing unit 27 controls the display unit 211 in response to an instruction received from the determination device 3. For example, when the processing unit 27 receives a permission instruction from the determination device 3, it lights up the display unit 211 in green. Furthermore, when the processing unit 27 receives a restriction instruction from the determination device 3, it lights up the display unit 211 in red. The worker can recognize whether the fastening order of the fastening point X0 is correct or not by visually checking the lighting state of the display unit 211. Note that the processing unit 27 may light up the display unit 211 when the trigger switch 221 is pulled in a state in which a restriction instruction is received from the determination device 3. That is, the display unit 211 of this embodiment functions as a notification unit that notifies information regarding the result of the determination by the order determination unit 354 of the determination device 3. According to the determination system 1 of this embodiment, it is possible to notify the worker as to whether the fastening order is correct or not.

[0053] The processing unit 27 controls the fastening unit 24 so that the fastening torque due to the fastening operation becomes a preset target torque value. Here, the processing unit 27 has a torque estimation function for estimating the magnitude of the fastening torque. In the present embodiment, as an example, the processing unit 27 estimates the magnitude of the fastening torque based on the number of revolutions of the fastening unit 24 (motor) and the like until the estimated value of the fastening torque reaches the seating determination level. When the estimated value of the fastening torque reaches the seating determination level, the processing unit 27 estimates the magnitude of the fastening torque based on the number of strikes of the impact mechanism. When the number of strikes of the impact mechanism reaches a threshold number based on the target torque value, the processing unit 27 determines that the fastening torque has reached the target torque value and stops the fastening unit 24 (motor). As a result, the tool 2 can fasten the fastening point X0 with a fastening torque according to the target torque value.

[0054] (2.3) Judgment device The determination device 3 is embodied as a dedicated device, a personal computer, a server, a tablet terminal, a smartphone, or the like. In this embodiment, it is assumed that the determination device 3 is a tablet terminal. That is, the determination device 3 of this embodiment is configured to be portable by the worker.

[0055] As shown in FIG. 1, the determination device 3 includes a communication unit 31, a display unit 32, an operation unit 33, a storage unit , and a processing unit .

[0056] The communication unit 31 includes a communication interface for wireless communication with the tool 2. The communication unit 31 communicates with the tool 2 by a wireless communication method conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a license.

[0057] The display unit 32 includes, for example, an LCD (Liquid Crystal Display). The display unit 32 of this embodiment displays an input screen that prompts the worker to input information related to a judgment criterion for judging the fastening order of the multiple fastening points X0. The input screen includes displays that allow the worker to select identification information of the work object A1, the type of the work object A1, the type of the multiple fastening points X0, the number of the multiple fastening points X0, the arrangement of the multiple fastening points X0 (i.e., the positions of the multiple fastening points X0), or a fastening rule, etc.

[0058] Here, the "identification information of the work object A1" is information that can identify one work object A1 from among various work objects A1 that are fastened members (or clamped members). The "identification information of the work object A1" is, for example, a model number. The "type of the work object A1" is information that indicates whether the work object A1 is a round flange, a square flange, a wheel, etc. The "type of fastening point X0" is information that indicates whether the fastening point X0 is a bolt, a nut, a screw, etc. In addition, the "type of fastening point X0" also includes information on the size (or standard size) of the fastening point X0. The "arrangement of the multiple fastening points X0" includes an arrangement along a circular arc, an arrangement along a straight line, etc. The "tightening rule" includes diagonal tightening, clockwise tightening, counterclockwise tightening, etc.

[0059] In this embodiment, it is assumed that a worker selects the identification number of the work object A1 on which fastening work is to be performed by operating the operation unit 33. In this embodiment, it is assumed that once the identification information of the work object A1 is uniquely determined, the type of the work object A1, the shape of the work object A1, the type of the multiple fastening points X0, the number of the multiple fastening points X0, the arrangement of the multiple fastening points X0, and the fastening rule are also uniquely determined.

[0060] The operation unit 33 accepts an operation by the worker and outputs a signal according to the operation by the worker. In this embodiment, it is assumed that the determination device 3 includes a touch panel display in which the display unit 32 and the operation unit 33 are integrated. In the case of a touch panel display, the determination device 3 determines that an object such as a button has been operated when the operation unit 33 detects an operation (tap, swipe, drag, etc.) of an object such as a button on each screen displayed on the display unit 32.

[0061] The storage unit 34 includes, for example, a semiconductor memory such as a Read Only Memory (ROM), a Random Access Memory (RAM), or an Electrically Erasable Programmable Read Only Memory (EEPROM). Note that the storage unit 34 is not limited to a semiconductor memory and may include a hard disk drive or the like.

[0062] The storage unit 34 stores a plurality of reference images. In the present disclosure, "a plurality of reference images" refers to images corresponding to a plurality of fastening points X0, and are images in which the fastening point X0 is the subject. One reference image may correspond to one fastening point X0, or a plurality of reference images may correspond to one fastening point X0. In this embodiment, a plurality of reference images correspond to one fastening point X0. In this embodiment, the reference image is, for example, a full-color still image. The storage unit 34 in this embodiment stores a plurality of reference images corresponding to a plurality of fastening points X0 of the work object A1 for each model number of the work object A1.

[0063] The memory unit 34 also stores the fastening completion information received from the tool 2 as the fastening history of the multiple fastening points X0 of the work object A1. The fastening history includes information on whether each of the multiple fastening points X0 of the work object A1 has already been fastened. The fastening history also includes information on the order in which the fastening points X0 that have already been fastened were fastened.

[0064] The processing unit 35 mainly comprises, for example, a computer system having one or more processors and one or more memories. In the determination device 3, the one or more processors execute a program recorded in the memory, thereby realizing the function of the processing unit 35. The program may be pre-recorded in the memory, may be provided via a telecommunication line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card.

[0065] As shown in FIG. 1, the processing unit 35 includes an acquisition unit 351, an operation reception unit 352, an identification unit 353, and an order determination unit 354.

[0066] The acquisition unit 351 receives detection information from the tool 2 via the communication unit 31. As described above, the detection information in this embodiment includes movement information related to the moving distance and moving direction of the tool 2, and posture information related to the posture of the tool 2. That is, the acquisition unit 351 in this embodiment functions as a movement information acquisition unit that acquires movement information related to the moving distance and moving direction of the tool 2. In addition, the acquisition unit 351 in this embodiment functions as a posture information acquisition unit that acquires posture information related to the posture of the tool 2.

[0067] The operation acceptance unit 352 accepts an operation by the operator. The operation acceptance unit 352 in this embodiment accepts an operation by the operator on the operation unit 33. Note that the operation acceptance unit 352 may accept an operation by the operator on the operation unit 231 of the tool 2.

[0068] As described above, the identification unit 353 identifies the set tightening location based on the captured image captured by the imaging unit 26. The identification unit 353 performs image processing to compare the captured image of the imaging unit 26 with a plurality of reference images, and identifies the set tightening location shown in the captured image from among the plurality of tightening locations X0.

[0069] The identification unit 353 of the present embodiment identifies the set tightening location by performing a pattern matching process. Note that the "pattern matching process" in this disclosure is a process of using template data (multiple reference images) to compare the template data with a comparison target (captured image).

[0070] As described above, the order determination unit 354 determines whether the tightening order of the specific tightening points is correct or not based on the tightening history of the multiple tightening points X0, on the condition that one or more tightening points X0 different from the specific tightening points have already been tightened by the tool 2.

[0071] The order determination unit 354 of this embodiment determines that the tightening order of the specific tightening points is correct when the tightening order of the multiple tightening points X0 when the specific tightening point is tightened by the tool 2 complies with a predetermined tightening rule. Note that the "predetermined tightening rule" of this embodiment is one of the multiple tightening rules, and is one tightening rule determined in response to an operation received by the operation receiving unit 352. In other words, the order determination unit 354 of this embodiment determines the tightening rule to be used for the determination from among the multiple tightening rules in response to an operation received by the operation receiving unit 352.

[0072] FIG. 4 is a plan view showing an example of the work object A1. FIG. 4 shows an example in which the work object A1 is a round flange. FIG. 4 also shows an example in which the multiple fastening points X0 are eight hexagonal bolts. The eight fastening points X0 are arranged at equal intervals in an arc along the outer periphery of the work object A1, which is a round flange. As shown in FIG. 4, the eight fastening points X0 include fastening point X1, fastening point X2, fastening point X3, fastening point X4, fastening point X5, fastening point X6, fastening point X7, and fastening point X8. In the following description, when the multiple fastening points X0 are not distinguished from one another, they may simply be referred to as "fastening points X0."

[0073] First, a case where the tightening rule determined by the order determination unit 354 is "diagonal tightening" will be described. As described above, the order determination unit 354 does not determine whether the tightening order is correct for the first tightening point X0. In other words, the worker can freely select which of the eight tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0.

[0074] The order determination unit 354 determines that the tightening order of the next specific tightening point is correct when the next specific tightening point (i.e., the second specific tightening point) is located diagonally from the first tightening point X0. In other words, the order determination unit 354 determines that the tightening order of the specific tightening points is correct if the tightening point X0 next identified by the identification unit 353 is the tightening point X5. In other words, the order determination unit 354 determines that the tightening order of the even-numbered specific tightening points is correct when the even-numbered specific tightening points are located diagonally from the previous specific tightening point. If the second specific tightening point is other than the tightening point X5, the order determination unit 354 determines that the tightening order of the second specific tightening point is incorrect.

[0075] When the order determination unit 354 determines that the fastening order of the specific fastening point is correct, it transmits an instruction to permit the fastening operation to the tool 2 via the communication unit 31. On the other hand, when the order determination unit 354 determines that the fastening order of the specific fastening point is incorrect, that is, the fastening order is incorrect, it transmits an instruction to restrict the fastening operation to the tool 2 via the communication unit 31. In the following description, when the order determination unit 354 determines that the fastening order of the specific fastening point is correct, the specific fastening point is fastened by the tool 2. The tool 2 transmits fastening completion information to the determination device 3 every time the specific fastening point is fastened. When the determination device 3 receives the fastening completion information, the fastening history stored in the memory unit 34 is updated every time the tool 2 tightens the specific fastening point.

[0076] The order determination unit 354 of this embodiment determines that the tightening order of the third specific tightening point is correct when the third specific tightening point is the tightening point X3 or the tightening point X7. However, the order determination unit 354 may determine that the tightening order of the third specific tightening point is correct even if the third specific tightening point is any of the remaining six tightening points X0. In other words, the order determination unit 354 may determine that the tightening order of the odd-numbered specific tightening points is correct even if the odd-numbered specific tightening points are any of the remaining tightening points X0. In the following description, it is assumed that the worker selects the tightening point X3 as the third tightening point X0.

[0077] When the fourth specific tightening point is tightening point X7, the order determination unit 354 determines that the tightening order of the fourth specific tightening point is correct. When the fourth specific tightening point is other than tightening point X7, the order determination unit 354 determines that the tightening order of the fourth specific tightening point is incorrect.

[0078] The order determination unit 354 determines that the tightening order of the fifth specific tightening point is correct regardless of which of the remaining four tightening points X0 the fifth specific tightening point is. In the following description, it is assumed that the worker selects the tightening point X8 as the fifth tightening point X0.

[0079] When the sixth specific tightening point is tightening point X4, the order determination unit 354 determines that the tightening order of the fourth specific tightening point is correct. When the sixth specific tightening point is other than tightening point X4, the order determination unit 354 determines that the tightening order of the sixth specific tightening point is incorrect.

[0080] The order determination unit 354 determines that the tightening order of the seventh specific tightening point is correct regardless of which of the remaining two tightening points X0 the seventh specific tightening point is. In the following description, it is assumed that the worker selects the tightening point X2 as the seventh tightening point X0.

[0081] When the eighth specific tightening point is the tightening point X6, the order determination unit 354 determines that the tightening order of the eighth specific tightening point is correct. When the eighth specific tightening point is other than the tightening point X6, the order determination unit 354 determines that the tightening order of the eighth specific tightening point is incorrect.

[0082] Next, a case will be described where the tightening rule determined by the order determination unit 354 is "clockwise tightening". As described above, the order determination unit 354 does not determine whether the tightening order for the first tightening point X0 is correct. In other words, the worker can freely select which of the eight tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0.

[0083] The order determination unit 354 determines that the tightening order of the next specific tightening point is correct when the next specific tightening point (i.e., the second specific tightening point) is a tightening point X0 that is one tightening point X0 further clockwise than the first tightening point X0. In other words, the order determination unit 354 determines that the tightening order of the specific tightening points is correct if the tightening point X0 next identified by the identification unit 353 is the tightening point X2. If the second specific tightening point is other than the tightening point X2, the order determination unit 354 determines that the tightening order of the second specific tightening point is incorrect.

[0084] Thereafter, when the tightening point X3, tightening point X4, tightening point X5, tightening point X6, tightening point X7, and tightening point X8 are identified as specific tightening points in this order, the order determination unit 354 determines that the tightening order of the specific tightening points is correct.

[0085] Next, a case will be described where the tightening rule determined by the order determination unit 354 is "counterclockwise tightening". As described above, the order determination unit 354 does not determine whether the tightening order is correct for the first tightening point X0. In other words, the worker can freely select which of the eight tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0.

[0086] The order determination unit 354 determines that the tightening order of the next specific tightening point is correct when the next specific tightening point (i.e., the second specific tightening point) is a tightening point X0 that is one tightening point X0 counterclockwise from the first tightening point X0. In other words, the order determination unit 354 determines that the tightening order of the specific tightening points is correct if the tightening point X0 next identified by the identification unit 353 is tightening point X8. If the second specific tightening point is other than tightening point X8, the order determination unit 354 determines that the tightening order of the second specific tightening point is incorrect.

[0087] Thereafter, the order determination unit 354 determines that the tightening order of the specific tightening points is correct when the tightening points are identified as the second or subsequent specific tightening points in the following order: tightening point X7, tightening point X6, tightening point X5, tightening point X4, tightening point X3, and tightening point X2.

[0088] The multiple tightening rules may include other tightening rules such as "additional tightening" or "additional tightening" other than "diagonal tightening", "clockwise tightening", and "counterclockwise tightening". Next, an example of a case where the tightening rule determined by the sequence determination unit 354 is "additional tightening" will be described. As described above, the sequence determination unit 354 does not determine whether the tightening sequence is correct for the first tightening point X0. In other words, the worker can freely select which of the eight tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0.

[0089] In the "additional tightening" of this embodiment, the order determination unit 354 determines that the tightening order of the specific tightening points is correct when the specific tightening points are identified as the second or subsequent tightening points in the following order: tightening point X2, tightening point X8, tightening point X1, tightening point X3, tightening point X2, tightening point X4, tightening point X3, tightening point X5, tightening point X4, tightening point X6, tightening point X5, tightening point X7, tightening point X6, tightening point X8, tightening point X7.

[0090] As described above, according to the determination device 3 of this embodiment, the fastening sequence is determined based on the fastening history and the predetermined fastening rule, so that the worker can be made to observe the minimum fastening sequence. In particular, according to the determination device 3 of this embodiment, there is an advantage that it is not necessary to store information on multiple predetermined patterns of fastening sequences.

[0091] Furthermore, according to the determination device 3 of this embodiment, the fastening sequence is determined based on one of a plurality of fastening rules, so that the worker can be made to comply with the minimum fastening sequence in various situations.

[0092] (3) Operation of the judgment system Next, the operation of the determination system 1 will be described with reference to Fig. 5. Fig. 5 is a sequence diagram showing the operation of the determination system 1.

[0093] The judgment system 1 first accepts input of judgment criteria (step S1). Specifically, the judgment system 1 accepts an operation of the worker on an input screen that prompts the worker to input information related to the judgment criteria. Judgment criteria such as identification information of the work object A1, the type of the work object A1, the type of the multiple fastening points X0, the number of the multiple fastening points X0, the arrangement of the multiple fastening points X0, or the fastening rule are determined according to the operation of the worker on the input screen.

[0094] Next, the judgment system 1 acquires an image of the fastening point X0 captured by the imaging unit 26 with the tool 2 set at the fastening point X0 (step S2). The judgment system 1 of this embodiment also acquires posture information related to the posture of the tool 2 (step S3). Next, the judgment system 1 identifies the set fastening point (step S4). Next, the judgment system 1 tightens the first fastening point X0 (first fastening point) without judging whether the tightening order of the identified fastening point is correct or not (step S5). Then, the judgment system 1 updates the fastening history (step S6).

[0095] Next, the judgment system 1 acquires an image of the next set fastening point captured by the imaging unit 26 (step S7). In addition, the judgment system 1 of this embodiment acquires posture information related to the posture of the tool 2 (step S8), and acquires movement information related to the movement distance and movement direction of the tool 2 (step S9). Next, the judgment system 1 identifies the set fastening point (step S10). Next, the judgment system 1 judges whether the fastening order of the second specific fastening point is correct or not (step S11). If the judgment system 1 judges that the fastening order of the second specific fastening point is correct, it tightens the second fastening point X0 (second fastening point) (step S12). Then, the judgment system 1 updates the fastening history (step S13). Then, the judgment system 1 repeats the processes of steps S7 to S13 according to the number of fastening points X0 of the work object A1.

[0096] It should be noted that the sequence diagram shown in FIG. 5 is merely an example, and the order of the processes may be changed as appropriate, and processes may be added or deleted as appropriate.

[0097] (4) Variations Modifications of the above embodiment are listed below.

[0098] (4.1) Variation 1 The sequence determination unit 354 of the first modified example determines that the tightening sequence of the specific tightening points is correct when the tightening sequence of the multiple tightening points X0 when the specific tightening point is tightened by the tool 2 matches the tightening sequence of any one of multiple predetermined tightening sequence patterns.

[0099] The memory unit 34 of the first modification stores information on a plurality of predetermined patterns of fastening sequences. In the first modification, the memory unit 34 stores information on a plurality of patterns of fastening sequences for each of the identification information (e.g., model numbers) of a plurality of work objects A1. The information on the plurality of predetermined patterns of fastening sequences is information including all patterns of fastening sequences allowed for a certain work object A1.

[0100] Fig. 6 is a plan view showing an example of a work object A1. Fig. 6 shows an example in which the work object A1 is a round flange. Fig. 6 also shows an example in which the multiple fastening points X0 are four hexagonal bolts. The four fastening points X0 are arranged at equal intervals in an arc along the outer periphery of the work object A1, which is a round flange. As shown in Fig. 6, the four fastening points X0 include fastening point X1, fastening point X2, fastening point X3, and fastening point X4.

[0101] Table 1 shows examples of a plurality of predetermined patterns of fastening sequences corresponding to the work object A1 shown in FIG.

[0102] [Table 1]

[0103] "X1" to "X4" in Table 1 correspond to fastening points X1 to X4 in Fig. 6. Table 1 shows all patterns of the fastening sequence allowed for the work object A1 shown in Fig. 6. In other words, all patterns of the fastening sequence allowed for the work object A1 shown in Fig. 6 are the eight patterns included in Table 1.

[0104] That is, the order determination unit 354 of the first modified example determines that the tightening order of the specific tightening points is correct when the tightening order of the multiple tightening points X0 when the specific tightening points are tightened by the tool 2 matches the tightening order of any one of the eight tightening order patterns shown in Table 1. On the other hand, the order determination unit 354 determines that the tightening order of the specific tightening points is incorrect when the tightening order of the multiple tightening points X0 when the specific tightening points are tightened by the tool 2 does not match any one of the eight tightening order patterns shown in Table 1.

[0105] Note that for the first fastening point X0, regardless of which of the fastening points X1 to X4 is selected, the fastening point falls into one of the eight patterns shown in Table 1. In other words, for the first fastening point X0, the order determination unit 354 does not determine whether the fastening order is correct or not.

[0106] The predetermined tightening sequence patterns shown in Table 1 are examples corresponding to "diagonal tightening". The predetermined tightening sequence patterns may correspond to tightening patterns such as "clockwise tightening", "counterclockwise tightening", "additional tightening", or "additional tightening".

[0107] According to the determination system 1 of the first modified example, the fastening sequence is determined based on information on multiple predetermined fastening sequence patterns, so that the worker can be made to adhere to the minimum fastening sequence in various situations.

[0108] (4.2) Variation 2 The order determination unit 354 of the modified example 2 determines whether or not the fastening order is correct based on the group information for dividing the multiple fastening points X0 into multiple groups and the fastening history. The order determination unit 354 determines that the fastening order of a specific fastening point is correct when the specific fastening point is included in one group until all of the fastening points X0 divided into one group included in the multiple groups are fastened by the tool 2.

[0109] The storage unit 34 of the second modification stores group information for each piece of identification information (eg, model number) of a plurality of work targets A1.

[0110] In the example of FIG. 6, the fastening point X1 and the fastening point X3 are classified into a first group G1, and the fastening point X2 and the fastening point X4 are classified into a second group G2.

[0111] The order determination unit 354 of the second modified example does not determine whether the tightening order is correct for the first tightening point X0. In other words, the worker can freely select which of the four tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0. The tightening point X1 is classified into the first group G1 in the group information.

[0112] At the timing when the order determination unit 354 determines whether the fastening order of the second specific fastening point is correct or not, the fastening point X3 has not been fastened by the tool 2. That is, the one or more fastening points X0 divided into the first group G1 include an untightened fastening point X0. The order determination unit 354 determines that the fastening order of the specific fastening points is correct when the second specific fastening point is included in the first group G1. That is, the order determination unit 354 determines that the fastening order of the specific fastening points is correct if the fastening point X0 next identified by the identification unit 353 is the fastening point X3.

[0113] At the time when the order determination unit 354 determines whether the fastening order of the third specific fastening point is correct or not, the fastening point X1 and the fastening point X3 have already been fastened by the tool 2. That is, all the fastening points X0 classified into the first group G1 have been fastened by the tool 2. The order determination unit 354 determines that the fastening order of the third specific fastening point is correct even if the third specific fastening point is any of the remaining two fastening points X0. In the following description, it is assumed that the worker has selected the fastening point X2 as the third fastening point X0. The fastening point X2 is classified into the second group G2 in the group information.

[0114] At the timing when the order determination unit 354 determines whether or not the fastening order of the fourth specific fastening point is correct, the fastening point X4 has not been fastened by the tool 2. That is, the one or more fastening points X0 divided into the second group G2 include an untightened fastening point X0. That is, if the fastening point X0 next identified by the identification unit 353 is the fastening point X4, the order determination unit 354 determines that the fastening order of the specific fastening points is correct.

[0115] According to the determination system 1 of the second modified example, the fastening sequence is determined based on the group information, so that the worker can be made to adhere to the minimum fastening sequence in various situations.

[0116] (4.3) Other Modifications The function equivalent to the determination device 3 according to the above embodiment may be embodied in a determination method, a (computer) program, or a non-transitory recording medium on which a program is recorded. The determination method according to one embodiment is executed by one or more processors. The determination method includes a specifying step and an order determining step. In the specifying step, the fastening point X0 at which the tool 2 is set among the multiple fastening points X0 is specified based on an image captured by the imaging unit 26 of the set fastening point X0. In the order determining step, a determination is made as to whether or not the fastening order of the specific fastening point, which is the fastening point X0 specified in the specifying step, is correct based on the fastening history of the multiple fastening points X0. In the order determining step, a determination is made on the condition that one or more fastening points X0 included in the multiple fastening points X0 have already been fastened by the tool 2. The program according to one embodiment is a program for causing one or more processors to execute the above recording method.

[0117] The execution subject of the determination system 1 or the determination method in the present disclosure includes a computer system. The computer system is mainly composed of a processor and a memory as hardware. The processor executes a program recorded in the memory of the computer system to realize the function of the execution subject of the determination system 1 or the determination method in the present disclosure. The program may be pre-recorded in the memory of the computer system, provided through an electric communication line, or provided by recording it in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called by different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or reconfigure the circuit partition inside the LSI, can also be adopted as a processor. The electronic circuits may be integrated in one chip or distributed among multiple chips. The chips may be integrated in one device or distributed among multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Thus, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0118] Furthermore, it is not essential for the determination system 1 that multiple functions are integrated into one housing, and the components of the determination system 1 may be distributed across multiple housings. For example, the components of the determination device 3 of the determination system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the determination system 1, for example, some of the functions of the determination device 3, may be realized by the cloud (cloud computing) or the like.

[0119] In the above embodiment, an example has been given of a case in which an operator inputs information regarding the judgment criteria for judging the fastening sequence of the multiple fastening points X0. However, the judgment system 1 may acquire information regarding the judgment criteria by imaging the work object A1 with the imaging unit 26. In other words, the judgment system 1 may identify the identification information of the work object A1, the type of the work object A1, the type of the multiple fastening points X0, the number of the multiple fastening points X0, the arrangement of the multiple fastening points X0 (i.e., the positions of the multiple fastening points X0), or the fastening rule, etc., by imaging the work object A1 with the imaging unit 26.

[0120] The identification unit 353 may identify the set fastening point based on the shape of the edge (edge) of the work object A1 included in the imaging range of the imaging unit 26 when the tool 2 is set at the fastening point X0, the positional relationship with the fastening point X0, or the orientation (angle). In the example of FIG. 4, when the tool 2 is set at the fastening point X1, the edge A11 is included in the imaging range of the imaging unit 26. Also, when the tool 2 is set at the fastening point X5, the edge A12 is included in the imaging range of the imaging unit 26. The edges A11 and A12 have arc directions different by 180°. When the fastening point X1 is the set fastening point, the identification unit 353 identifies the fastening point X2 based on the position and orientation of the arc of the edge A11. Similarly, when the fastening point X5 is the set fastening point, the identification unit 353 identifies the fastening point X5 based on the position and orientation of the arc of the edge A12. By using information on the shape of the edge of the work object A1, its positional relationship with the fastening point X0, or its orientation (angle), for example, the identification unit 353 can identify the set fastening point even if multiple reference images are not stored in the memory unit 34.

[0121] The identification unit 353 may identify the set fastening position based on the posture information acquired by the acquisition unit 351 (posture information acquisition unit) and the captured image captured by the imaging unit 26. The identification unit 353 identifies the set fastening position using information on the posture of the tool 2 in a state where it is set at the fastening position X0, thereby improving the accuracy of identifying the set fastening position.

[0122] Furthermore, the identification unit 353 may identify the set tightening point based on the movement information acquired by the acquisition unit 351 (movement information acquisition unit) and the captured image captured by the imaging unit 26. The movement information indicates the movement distance and movement direction of the tool 2 from the immediately preceding tightening point X0 to the next set tightening point. The identification unit 353 identifies the set tightening point using the movement information, thereby improving the accuracy of identifying the set tightening point.

[0123] In the above embodiment, the tool 2 is an impact wrench, but the tool 2 is not limited to an impact wrench and may be, for example, a nut runner or an oil pulse wrench. Furthermore, the tool 2 may be, for example, a driver (including an impact driver) used for tightening screws. In this case, a bit (for example, a driver bit, etc.) is attached to the tool 2 instead of the socket 242. Furthermore, the tool 2 is not limited to a configuration in which the battery pack 201 is used as a power source, but may be a configuration in which an AC power source (commercial power source) is used as a power source. Furthermore, the tool 2 is not limited to an electric tool, but 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.

[0124] The tool 2 may include a speaker as a notification unit that notifies information related to the result of the determination by the order determination unit 354.

[0125] (summary) As is clear from the above-described embodiment, the determination system (1) according to the first aspect includes a specification unit (353) and an order determination unit (354). The specification unit (353) specifies the fastening point (X0) at which the tool (2) is set among the multiple fastening points (X0) of the work object (A1) based on an image captured by the imaging unit (26) of the set fastening point (X0). The order determination unit (354) determines whether or not the fastening order of the specific fastening point, which is the fastening point (X0) specified by the specification unit (353), is correct based on the fastening history of the multiple fastening points (X0). The order determination unit (354) performs the above determination on the condition that one or more fastening points (X0) included in the multiple fastening points (X0) and different from the specific fastening point have already been fastened by the tool (2).

[0126] In the determination system (1) according to the second aspect, in the first aspect, the order determination unit (354) determines that the tightening order of the specific tightening point is correct when, in the above determination, the tightening order of the multiple tightening points (X0) when the specific tightening point is tightened by the tool (2) matches any one of a plurality of predetermined tightening orders.

[0127] According to this aspect, it is possible to make the worker comply with the minimum tightening sequence in various situations.

[0128] In the determination system (1) according to the third aspect, in the first aspect, the order determination unit (354) determines that the tightening order of the specific tightening point is correct when, in the above determination, the tightening order of the multiple tightening points (X0) when the specific tightening point is tightened by the tool (2) complies with a predetermined tightening rule.

[0129] According to this aspect, the sequence determination unit (354) determines the fastening sequence based on the fastening history and the predetermined fastening rule, so that the worker can be made to observe the minimum fastening sequence.

[0130] In the determination system (1) according to the fourth aspect, in the first aspect, the order determination unit (354) performs the above determination based on group information for dividing the multiple fastening points (X0) into multiple groups and the fastening history. The order determination unit (354) determines that the fastening order of a specific fastening point is correct when the specific fastening point is included in one group until all the fastening points (X0) divided into one group included in the multiple groups are fastened by the tool (2).

[0131] According to this aspect, it is possible to make the worker comply with the minimum tightening sequence in various situations.

[0132] In the determination system (1) according to the fifth aspect, in any one of the first to fourth aspects, the imaging unit (26) is provided in the tool (2).

[0133] According to this embodiment, it is possible to reduce the problem that the tightening point (X0) cannot be properly imaged because it is hidden by a tool or an operator.

[0134] The determination system (1) according to the sixth aspect is the third aspect, and further includes an operation reception unit (352). The operation reception unit (352) receives an operation of an operator. The tightening rule is one of a plurality of tightening rules. The order determination unit (354) determines a tightening rule to be used for the determination from among the plurality of tightening rules in accordance with the operation received by the operation reception unit (352).

[0135] According to this aspect, it is possible to make the worker comply with the minimum tightening sequence in various situations.

[0136] The determination system (1) according to the seventh aspect is any one of the first to sixth aspects, and further includes a posture information acquisition unit (acquisition unit 351). The posture information acquisition unit acquires posture information related to the posture of the tool (2). The identification unit (353) identifies the set fastening point (X0) based on the posture information acquired by the posture information acquisition unit and the captured image.

[0137] According to this aspect, it is possible to improve the accuracy of identifying the set fastening point (X0).

[0138] The determination system (1) according to the eighth aspect is any one of the first to seventh aspects, and further includes a movement information acquisition unit (acquisition unit 351). The movement information acquisition unit acquires movement information related to a movement distance and a movement direction of the tool (2). The identification unit (353) identifies the set fastening point (X0) based on the movement information acquired by the movement information acquisition unit and the captured image.

[0139] According to this aspect, it is possible to improve the accuracy of identifying the set fastening point (X0).

[0140] In the determination system (1) according to a ninth aspect, in any one of the first to eighth aspects, the tool (2) further includes a notification unit (display unit 211). The notification unit outputs information regarding a result of the determination by the order determination unit (354).

[0141] According to this aspect, it is possible to notify the worker as to whether or not the fastening sequence is correct.

[0142] A determination system (1) according to a tenth aspect is any one of the first to ninth aspects, and includes a tool (2) having an imaging unit (26).

[0143] According to this aspect, it is possible to improve the work efficiency.

[0144] The configurations other than that of the first aspect are not essential to the determination system (1) and may be omitted as appropriate.

[0145] The determination method according to the eleventh aspect is executed by one or more processors. The determination method includes a specifying step and an order determining step. In the specifying step, a fastening point (X0) where a tool (2) is set among a plurality of fastening points (X0) is specified based on an image captured by an imaging unit (26) of the set fastening point (X0). In the order determining step, a determination is made as to whether or not the fastening order of the specific fastening point, which is the fastening point (X0) specified in the specifying step, is correct based on the fastening history of the plurality of fastening points (X0). In the order determining step, a determination is made on the condition that one or more fastening points (X0) included in the plurality of fastening points (X0) have already been fastened by the tool (2).

[0146] According to this aspect, it is possible to improve the work efficiency.

[0147] A program according to a twelfth aspect is a program for causing one or more processors to execute the determination method according to the eleventh aspect.

[0148] According to this aspect, it is possible to improve the work efficiency. [Explanation of symbols]

[0149] 1 Judgment system 2 tools 211 Display section (notification section) 26 Imaging unit 351 Acquisition unit (posture information acquisition unit, movement information acquisition unit) 352 Operation reception section 353 Specific part 354 Order judgment part A1 Work object X0 Fastening point

Claims

1. An identification unit that identifies a fastening location where a tool is set among a plurality of fastening locations of a work object based on an image of the set fastening location captured by an imaging unit; an order determination unit that determines whether or not the tightening order of the specific tightening points, which are the tightening points identified by the identification unit, is correct based on the tightening histories of the plurality of tightening points; Equipped with The order determination unit performs the determination on the condition that one or more fastening points that are included in the plurality of fastening points and are different from the specific fastening point have already been fastened by the tool. Judging system.

2. The sequence determination unit determines that the fastening sequence of the specific fastening point is correct when, in the determination, the fastening sequence of the multiple fastening points when the specific fastening point is fastened by the tool matches a fastening sequence of any one of a plurality of predetermined fastening sequence patterns. The determination system according to claim 1 .

3. The sequence determination unit determines that the fastening sequence of the specific fastening points is correct when the fastening sequence of the multiple fastening points when the specific fastening points are fastened by the tool complies with a predetermined fastening rule in the determination. The determination system according to claim 1 .

4. The order determination unit is The determination is made based on group information for dividing the plurality of fastening points into a plurality of groups and the fastening history; until all of the fastening points classified into one group included in the plurality of groups are fastened by the tool, if the specific fastening point is included in the one group, the fastening sequence of the specific fastening point is determined to be correct. The determination system according to claim 1 .

5. The imaging unit is provided on the tool. The determination system according to any one of claims 1 to 4.

6. Further comprising an operation receiving unit that receives an operation by an operator, The tightening rule is one tightening rule among a plurality of tightening rules, The order determination unit determines a tightening rule to be used for the determination from among the plurality of tightening rules in response to an operation accepted by the operation acceptance unit. The determination system according to claim 3 .

7. Further, a posture information acquisition unit that acquires posture information related to the posture of the tool is provided, The identification unit identifies the set tightening location based on the posture information acquired by the posture information acquisition unit and the captured image. The determination system according to any one of claims 1 to 4.

8. A movement information acquisition unit that acquires movement information related to a movement distance and a movement direction of the tool, The identification unit identifies the set tightening location based on the movement information acquired by the movement information acquisition unit and the captured image. The determination system according to any one of claims 1 to 4.

9. The tool further includes a notification unit that notifies information regarding a result of the determination by the order determination unit. The determination system according to any one of claims 1 to 4.

10. The tool includes the imaging unit. The determination system according to any one of claims 1 to 4.

11. Executed by one or more processors, a specifying step of specifying a fastening location where a tool is set among a plurality of fastening locations based on an image of the set fastening location captured by an imaging unit; an order determination step of determining whether or not the tightening order of the specific tightening points, which are the tightening points identified in the identification step, is correct based on the tightening histories of the plurality of tightening points; having In the order determination step, the determination is performed under the condition that one or more fastening points included in the plurality of fastening points have already been fastened by the tool. Judgment method.

12. 12. The method of claim 11, further comprising causing the one or more processors to execute the method. program.

Images