Tool system

Abstract

To provide a tool system facilitating discrimination on a workpiece which a photographed image corresponds to.SOLUTION: A tool system 100 includes a portable tool 1, a photographing part 12 mounted on the tool 1, a position detection system 10, and a history storage part 152. The tool 1 is includes a drive part 11, and work to a workpiece is performed by the drive part 11. The photographing part 12 repeatedly performs a photographing operation of photographing a photographing range including at least part of the workpiece to acquire a photographed image. The position detection system 10 executes detection processing every time when the photographing operation is performed. The detection processing is such one as to detect a relative position of the tool 1 to the workpiece and acquire relative position information. The history storage part 152 stores history information. The history information is such one that the relative position information acquired by the detection processing according to the photographing operation is associated with the photographed image acquired by the photographing operation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a tool system, and more particularly, to a tool system including a tool and an imaging unit mounted on the tool. [Background technology]

[0002] Patent Document 1 describes a power tool system including a power tool device for performing fastening work, and a torque measuring unit and an imaging unit mounted on the power tool device. In this power tool system, a work history in which torque measurement values ​​by the torque measuring unit and images captured by the imaging unit are linked is stored in a history storage unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-127500 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above electric power tool system, the imaging range of the imaging unit may include only some of the multiple work targets included in the mounting member. For example, when performing a fastening operation to fasten a fastening member such as a nut to each of the two work targets, the "left rear wheel" and the "left front wheel", included in the mounting member, the "left side surface of the vehicle", in the electric power tool system of Patent Document 1, it may be difficult to distinguish between the captured image related to the fastening operation on the left rear wheel and the captured image related to the fastening operation on the left front wheel.

[0005] An object of the present disclosure is to provide a tool system that can facilitate determination of which work object a captured image corresponds to. [Means for solving the problem]

[0006] A tool system according to an aspect of the present disclosure includes a portable tool, an imaging unit mounted on the tool, a position detection system, and a history storage unit. The tool includes a drive unit that is operated by power from a power source, and the drive unit performs work on a work object. The imaging unit repeatedly performs an imaging operation. The imaging operation is an operation of imaging an imaging range including at least a part of the work object to obtain an image. The position detection system executes a detection process each time the imaging operation is performed. The detection process is a process of detecting a relative position of the tool with respect to the work object and obtaining relative position information. The history storage unit stores history information. The history information is information in which the image obtained by the imaging operation is linked to the relative position information obtained by the detection process corresponding to the imaging operation. Effect of the Invention

[0007] The tool system of the present disclosure has the advantage of making it easier to determine which work object a captured image corresponds to. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram of a tool system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a flowchart illustrating the operation of the tool system. [Diagram 3] FIG. 3 is a data structure diagram of the work object information stored in a reference image storage unit constituting the above tool system. [Figure 4] FIG. 4A is a data structure diagram showing an example of history-related information stored in a history storage unit constituting the above-mentioned tool system, and FIG. 4B is a data structure diagram showing another example of the above-mentioned history-related information. [Diagram 5]FIG. 5A is a schematic diagram showing an example of an image constituting the above-mentioned historical information (an image of the left side of the vehicle before tightening work), FIG. 5B is a schematic diagram showing another example of an image (an image of the left rear wheel after tightening work), and FIG. 5C is a schematic diagram showing another example of an image (an image of the left front wheel after tightening work). [Figure 6] FIG. 6A is a schematic diagram showing an example of the captured image (a captured image of the left rear wheel before tightening work) of the above, and FIG. 6B is a schematic diagram showing another example of the captured image (a captured image of the left front wheel before tightening work) of the above. [Figure 7] FIG. 7 is a block diagram of a first modified example of the tool system. [Figure 8] FIG. 8 is a block diagram of a second modified example of the tool system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] (1) Overview In this disclosure, a tool system 100 is described that stores historical information in which the relative position information of the tool 1 with respect to the work object is linked to an image captured by an imaging unit 12 mounted on the tool 1, thereby making it easier to determine which work object an image corresponds to.

[0010] As shown in FIG. 1, the tool system 100 of the present disclosure includes a portable tool 1, an imaging unit 12 mounted on the tool 1, a position detection system 10, and a history storage unit 152.

[0011] The tool 1 includes a drive unit 11, and performs a task on a work target using the drive unit 11. The drive unit 11 operates using power from a power source. The drive unit 11 is, for example, a motor that operates using power from a battery mounted on the tool 1.

[0012] In the present disclosure, the work object is a fastening object, and the work is a fastening work on the fastening object. The fastening work is, for example, a work of fastening a fastening object such as a nut to a member to be attached such as the wheels (left rear wheel 201 and left front wheel 202: see Figs. 5B and 5C) of the vehicle 200. However, the work object may be a hole-drilling object such as a plate member, and the work may be a hole-drilling work on a hole-drilling object.

[0013] The imaging unit 12 repeatedly performs an imaging operation. The imaging operation is an operation of capturing an image of an imaging range including at least a part of a work target to obtain a captured image.

[0014] The position detection system 10 executes a detection process every time an imaging operation is performed. The detection process is a process of detecting the relative position of the tool 1 with respect to a work target and acquiring relative position information.

[0015] The relative position is at least one of the distance and the direction from the work object to the tool 1. In the present disclosure, the relative position is both the distance and the direction. The relative position information is information indicating the relative position. In the present disclosure, the relative position information is information indicating both the distance and the direction, and is specifically expressed in polar coordinates (r, θ, φ) with the position of the work object (known) as the origin. However, the relative position information may also be expressed, for example, in Euclidean coordinates (x, y, z) with the position of the work object as the origin.

[0016] The position detection system 10 may be mounted on the tool 1 or provided outside the tool 1. The position detection system 10 is mounted on the tool 1 in the embodiment, and is provided outside the tool 1 in the first and second modified examples.

[0017] The history storage unit 152 stores history information. The stored history information is information in which a captured image acquired by an imaging operation is associated with relative position information acquired by a detection process corresponding to the imaging operation.

[0018] The history storage unit 152 may be provided in the tool 1 or in a device (e.g., an information processing device) external to the tool 1. The history storage unit 152 is provided in the tool 1 in any of the embodiment, the first modified example, and the second modified example.

[0019] According to the present disclosure, by storing history information (e.g., see FIG. 4A) in which relative position information is linked to a captured image, it is possible to easily determine which work object the captured image corresponds to (e.g., whether it is an image of the left rear wheel 201 or the left front wheel 202 on the left side of the vehicle 200: see FIG. 5A to FIG. 5C).

[0020] Moreover, as shown in FIG. 1, the tool system 100 further includes a temporary storage unit 151. The temporary storage unit 151 temporarily stores the captured images acquired by the imaging unit 12 and the relative position information acquired by the position detection system 10. The temporary storage is a temporary storage. For example, the temporary storage may be a storage for a period of time longer than the average time required for one tightening operation. Specifically, when the average time required for one tightening operation is 3 seconds, the temporary storage may be a storage for a period of time of, for example, about 4 to 6 seconds. The temporary storage unit 151 has a storage capacity corresponding to the amount of information of captured images over a period of, for example, 5 seconds, and after storing the captured images over a period of 5 seconds, the captured images are overwritten with new captured images in order starting from the oldest captured images.

[0021] In detail, the temporary storage unit 151 temporarily stores the captured image acquired by the imaging operation in association with the image capturing time information each time the tightening work is performed. The image capturing time information is information indicating the time when the tightening work is performed. In addition, the temporary storage unit 151 temporarily stores the relative position information acquired by the detection process in association with the position detection time information each time the detection process is performed. The position detection time information is information indicating the time when the detection process is performed.

[0022] The history storage unit 152 stores history information in which the captured image is associated with the relative position information, based on the captured image and the relative position information that satisfy the association condition.

[0023] The linking condition is a condition for linking a captured image with relative position information. In this embodiment, the linking condition is a condition that, among a plurality of captured images and a plurality of pieces of relative position information temporarily stored in the temporary storage unit 151, the difference between the image capture time information corresponding to the captured image and the position detection time information corresponding to the relative position information is equal to or less than a threshold. Note that the linking condition may be, for example, that the image capture time information and the position detection time information match, in other words, that the difference between the image capture time information and the position detection time information is 0 (threshold value=0).

[0024] This allows the history storage unit 152 to store history information in which the relative position information is linked to the captured image.

[0025] (2) Implementation form Next, an embodiment of the present disclosure will be described. Note that, in the following, the description of the previously mentioned items will be omitted or simplified.

[0026] (2-1) Overview of the embodiment As described above, the tool system 100 according to the embodiment of the present disclosure is realized by a single tool 1. The tool 1 includes a drive unit 11, an imaging unit 12, a torque measurement unit 13, a processing unit 14, a storage unit 15, and a motion detection unit 16, as shown in FIG.

[0027] The torque measuring unit 13 measures the tightening torque of the tool 1. More specifically, the torque measuring unit 13 executes a measurement process while the tightening operation is being performed by the driving unit 11. The measurement process is a process of measuring the tightening torque of the tightening operation and acquiring a torque measurement value.

[0028] The processing unit 14 executes various types of processing. The various types of processing are, for example, processing by an image processing unit 141, which will be described later. The processing unit 14 also performs various types of judgments, which will be described using the flowchart of FIG.

[0029] 1, the processing unit 14 includes an image processing unit 141. The image processing unit 141 performs various types of image processing on the captured image acquired by the imaging unit 12. The various types of image processing include, for example, extraction of high-frequency components from the captured image and comparison of the extraction result with a threshold value (a fifth threshold value, described later).

[0030] Moreover, the image processing unit 141 in this embodiment cooperates with the reference image storage unit 150 to execute detection processing and obtain relative position information.

[0031] The image processing unit 141 identifies a similar image from among a plurality of reference images (described later) stored in the reference image storage unit 150, and acquires, as relative position information, position information associated with the similar image from among the plurality of position information. A similar image is a reference image that satisfies a similarity condition with respect to the captured image. The similarity condition is, for example, a condition that, from among the plurality of reference images, the reference image has the highest similarity to the captured image.

[0032] The storage unit 15 stores various types of information, such as a reference image, a captured image, relative position information, and torque measurement values.

[0033] As shown in FIG. 1, the storage unit 15 includes a reference image storage unit 150, a temporary storage unit 151, and a history storage unit 152.

[0034] The reference image storage unit 150 stores a plurality of reference images captured from a plurality of different positions within a predetermined area A1 in which the tool 1 can be present, in association with a plurality of pieces of position information corresponding to the plurality of positions.

[0035] The reference image is captured in advance, for example, by the imaging unit 12 mounted on the tool 1. However, the reference image may be an image captured by an imaging unit (separate camera) equivalent to the imaging unit 12 mounted on the tool 1, which is mounted on a device other than the tool 1.

[0036] In this manner, the position detection system 10 in this embodiment is realized mainly by the reference image storage unit 150 and the image processing unit 141. That is, it may be said that the position detection system 10 includes the reference image storage unit 150 and the image processing unit 141, as shown in FIG.

[0037] According to this embodiment, the reference image storage unit 150 stores multiple reference images in advance, and the image processing unit 141 acquires position information linked to a similar image that is similar to the captured image as relative position information, making it easy for the tool 1 alone to determine which work object the captured image corresponds to.

[0038] (2-2) Details of the embodiment (2-2-1) Details of the reference image storage unit The reference image storage unit 150 in this embodiment stores a plurality of pieces of work object information. The work object information is information related to a work object. For example, as shown in FIG. 3, the work object information includes object identification information, a plurality of reference images corresponding to the object identification information, and a plurality of pieces of relative position information corresponding to the plurality of reference images, respectively.

[0039] The target identification information is information that identifies the target of work. Examples of the target of work are the "left side of the vehicle", the "left rear wheel", and the "left front wheel". The target identification information is, for example, an ID (e.g., a unique character string combining numbers and letters) that corresponds to the "left side of the vehicle", the "left rear wheel", and the "left front wheel", respectively. However, for the sake of convenience in the following explanation, the character strings "left side of the vehicle", "left rear wheel", and "left front wheel" are used as the target identification information.

[0040] (2-2-2) Specific examples of work target information Specifically, the reference image storage unit 150 stores three pieces of work object information, for example, as shown in Fig. 3. The first piece of work object information includes object identification information "left side of vehicle", a plurality of reference images such as "std01.jpg" and "std02.jpg", and a plurality of pieces of relative position information such as "(r01, θ01, φ01)" and "(r02, θ02, φ02)".

[0041] Each of the multiple reference images "std01.jpg", "std02.jpg", etc. is an image file of an image captured from each of multiple different positions of the left side of the vehicle 200. Each of the multiple relative position information "(r01, θ01, φ01)", "(r02, θ02, φ02)", etc. is information indicating the polar coordinates of the positions where each of the reference images "std01.jpg" and "std02.jpg" was captured, with the center point of the left side of the vehicle 200 as the origin.

[0042] The second work object information includes object identification information “left rear wheel”, a plurality of reference images “std11.jpg” and “std12.jpg” etc. corresponding to the object identification information “left rear wheel”, and a plurality of relative position information “(r11, θ11, φ11)” and “(r12, θ12, φ12)” etc. corresponding to the plurality of reference images “std11.jpg” and “std12.jpg”, respectively.

[0043] Each of the multiple reference images "std11.jpg", "std12.jpg", etc. is an image file of an image captured from each of multiple different positions of the left rear wheel 201. Each of the multiple pieces of relative position information "(r11, θ11, φ11)", "(r12, θ12, φ12)", etc. is information indicating the polar coordinates of the positions where each of the reference images "std11.jpg" and "std12.jpg" was captured, with the center point of the left rear wheel 201 as the origin.

[0044] The third work object information includes object identification information “left front wheel”, a plurality of reference images “std21.jpg” and “std22.jpg” etc. corresponding to the object identification information “left front wheel”, and a plurality of relative position information “(r21, θ21, φ21)” and “(r22, θ22, φ22)” etc. corresponding to the plurality of reference images “std21.jpg” and “std22.jpg”, respectively.

[0045] Each of the multiple reference images "std21.jpg", "std22.jpg", etc. is an image file of an image captured from each of multiple different positions of the left front wheel 202. Each of the multiple pieces of relative position information "(r21, θ21, φ21)", "(r22, θ22, φ22)", etc. is information indicating the polar coordinates of the positions where each of the reference images "std21.jpg" and "std22.jpg" was captured, with the center point of the left front wheel 202 as the origin.

[0046] (2-2-3) Details of the history memory section The history storage unit 152 stores history-related information. The history-related information is information related to various histories in the tool system 100. The various histories include, for example, a history of an imaging operation and a history of a detection process.

[0047] (2-2-4) Example of data structure for history-related information The history-related information includes, for example, history information, torque measurement values ​​associated with the history information, and object identification information associated with the history information, as shown in Fig. 4A. The history information includes a captured image and relative position information associated with the captured image.

[0048] (2-2-5) Examples of history-related information Specifically, the history storage unit 152 stores a plurality of (here, three) pieces of history-related information, for example, as shown in Fig. 4A. The first piece of history-related information includes history information "cpt01.jpg, (r01, θ01, φ01)", a torque measurement value "-", and object identification information "left side of vehicle". Note that "-" is information indicating the absence of a corresponding value.

[0049] The captured image "cpt01.jpg" constituting the history information "cpt01.jpg, (r01, θ01, φ01)" is, for example, an image file of an image captured by the imaging unit 12 of the left side surface of the vehicle 200 before the tightening work on the left rear wheel 201 and the left front wheel 202 as shown in FIG. 5A. The relative position information "(r01, θ01, φ01)" is information indicating the polar coordinates of the position where the captured image "cpt01.jpg" was captured, with the center point of the left side surface of the vehicle 200 as the origin. Note that this relative position information "(r01, θ01, φ01)" matches one of the multiple pieces of relative information included in the first work target information (information on the left side surface of the vehicle 200) shown in FIG. 3 (i.e., the relative position information "(r01, θ01, φ01)") corresponding to the reference image "std01.jpt".

[0050] The second history-related information includes the history information “cpt02.jpg, (r12, θ12, φ12)”, the torque measurement value “trq1”, and the target identification information “left rear wheel”. The captured image “cpt02.jpg” constituting the history information “cpt02.jpg, (r12, θ12, φ12)” is, for example, an image file of an image of the left rear wheel 201 captured by the imaging unit 12 immediately after the tightening operation on the left rear wheel 201, as shown in FIG. 5B.

[0051] The relative position information "(r12, θ12, φ12)" is information indicating the polar coordinates of the position where the captured image "cpt02.jpg" was captured, with the origin being the center point of the left rear wheel 201. Note that this relative position information "(r12, θ12, φ12)" matches one of the multiple pieces of relative information included in the second work object information (information on the left rear wheel 201) shown in Fig. 3 (i.e., the relative position information "(r12, θ12, φ12)") corresponding to the reference image "std12.jpt".

[0052] The third history-related information includes history information “cpt03.jpg, (r21, θ21, φ21)”, the torque measurement value “trq2”, and the object identification information “left front wheel”. The captured image “cpt03.jpg” constituting the history information “cpt03.jpg, (r21, θ21, φ21)” is an image file of an image of the left front wheel 202 captured by the imaging unit 12 immediately after the tightening operation, as shown in FIG. 5C.

[0053] The relative position information "(r21, θ21, φ21)" is information indicating the polar coordinates of the position where the captured image "cpt03.jpg" was captured, with the origin being the center point of the left front wheel 202. Note that this relative position information "(r21, θ21, φ21)" matches one of the multiple pieces of relative information included in the third work object information (information on the left front wheel 202) shown in Fig. 3 (i.e., the relative position information "(r21, θ21, φ21)") corresponding to the reference image "std21.jpt".

[0054] (2-2-6) Example of captured image output Each captured image in Figures 5A to 5C may be transmitted from the tool 1 to an information processing device, for example, and displayed on a display of the information processing device. The captured images may be output to a printer or other device (such as a storage device or a server) rather than to a display. Comparing the images in Figures 5B and 5C with the image in Figure 5A, it can be seen that the tightening members have been tightened to each of the left rear wheel 201 and the left front wheel 202.

[0055] (2-2-7) Other examples of data structures for history-related information However, the torque measurement value (and the object identification information corresponding to the torque measurement value) may be linked to two pieces of history information corresponding to the times immediately before and after the fastening operation. That is, the history-related information may include, for example, two pieces of history information, the torque measurement value corresponding to the two pieces of history information, and the object identification information corresponding to the two pieces of history information, as shown in FIG. 4B.

[0056] (2-2-8) Other specific examples of history-related information In this case, the history storage unit 152 may specifically store a plurality of pieces of history-related information (three pieces in this case) as shown in FIG. 4B. The first piece of history-related information includes history information "cpt01.jpg, (r01, θ01, φ01)", a torque measurement value "-", and object identification information "left side of vehicle" as in the first piece of history-related information shown in FIG. 4A. The captured image "cpt01.jpg" is an image file of an image of the left side of the vehicle 200 captured by the imaging unit 12 before the tightening work on the left rear wheel 201 and the left front wheel 202 as in FIG. 5A. The relative position information "(r01, θ01, φ01)" is the same information as that included in the first piece of history-related information shown in FIG. 4A.

[0057] The second history-related information includes two pieces of history information “cpt02.jpg, (r12, θ12, φ12)” and “cpt03.jpg, (r12, θ12, φ12)” corresponding to immediately before and immediately after the tightening work on the left rear wheel 201, a torque measurement value “trq1”, and target identification information “left rear wheel”. The captured image “cpt02.jpg” is an image file of an image of the left rear wheel 201 captured by the imaging unit 12 immediately before the tightening work on the left rear wheel 201, as shown in FIG. 6A. The captured image “cpt03.jpg” is an image file of an image of the left rear wheel 201 captured by the imaging unit 12 immediately after the tightening work on the left rear wheel 201, as shown in FIG. 5B. The relative position information “(r12, θ12, φ12)” is the same information as that included in the second history information shown in FIG. 4A.

[0058] The third history-related information includes two pieces of history information “cpt04.jpg, (r21, θ21, φ21)” and “cpt05.jpg, (r21, θ21, φ21)” corresponding to immediately before and immediately after the tightening work on the left front wheel 202, a torque measurement value “trq2”, and object identification information “left front wheel”. The captured image “cpt04.jpg” is an image file of an image of the left front wheel 202 captured by the imaging unit 12 immediately before the tightening work on the left front wheel 202, as shown in FIG. 6B. The captured image “cpt05.jpg” is an image file of an image of the left front wheel 202 captured by the imaging unit 12 immediately after the tightening work on the left front wheel 202, as shown in FIG. 5C. The relative position information “(r21, θ21, φ21)” is the same information as that included in the third history information shown in FIG. 4A.

[0059] (2-2-9) Other output examples of captured images 5A to 5C and 6A and 6B may be transmitted from the tool 1 to an information processing device and displayed on a display of the information processing device. Comparing the images of Fig. 5B and Fig. 5C with the images of Fig. 6A and Fig. 6B, respectively, it can be seen that the tightening members have been tightened on each of the left rear wheel 201 and the left front wheel 202.

[0060] (2-2-10) Linking torque measurement values The history storage unit 152 stores history information in which relative position information and torque measurement values ​​are linked to a captured image acquired by the imaging operation of the imaging unit 12 when a tightening operation is performed by the driving unit 11. The history information in which relative position information and torque measurement values ​​are linked to a captured image may be, for example, information in which relative position information is linked to a captured image and a torque measurement value is further linked to the history information, as shown in Figs. 4A and 4B.

[0061] The torque measurement value associated with the history information and stored by the history storage unit 152 may be transmitted from the tool 1 to an information processing device, for example, and displayed on a display of the information processing device.

[0062] In this way, the history memory unit 152 stores history information in which the torque measurement values ​​are further linked to the captured image, making it easier to subsequently check the torque measurement values ​​during fastening work on the work object corresponding to the captured image.

[0063] (2-2-11) Storage of images captured during fastening work The history storage unit 152 stores history information in which relative position information and torque measurement values ​​are linked to captured images acquired with a time difference of a predetermined time or less from the tightening operation each time the tightening operation is performed.

[0064] The captured image acquired with a time difference of less than a predetermined time from the tightening operation may be rephrased as, for example, a captured image acquired simultaneously with the tightening operation. In other words, "simultaneous" in this embodiment does not necessarily mean completely simultaneous, but may be an image acquired with a time difference that can be considered simultaneous. The predetermined time may be, for example, 0.1 seconds or 0.5 seconds, or may be a value such as half the period of the image capturing operation.

[0065] The captured image acquired simultaneously with the tightening operation is, for example, at least one of an image captured immediately before the tightening operation (an image captured a predetermined time before the start time of the tightening operation) and an image captured immediately after the tightening operation (an image captured a predetermined time after the end time of the tightening operation).

[0066] (2-2-12) Video capture The imaging unit 12 may perform a video capturing operation for capturing a video. The temporary storage unit 151 temporarily stores a video captured by the imaging unit 12 for a certain period (for example, the most recent 5 seconds). Each of a plurality of still images constituting the video temporarily stored by the temporary storage unit 151 is associated with time information (time stamp).

[0067] (2-2-13) How to select one or two still images to be memorized The history storage unit 152 can refer to the time information corresponding to each of the multiple still images and select one or two still images from the multiple still images to be stored as captured images that constitute the history information.

[0068] The one or two still images to be stored as the captured images may be, for example, a still image immediately after the tightening operation is completed. The still image immediately after the tightening operation is, for example, a still image among the multiple still images, whose time information associated with the still image is later than the work end time and closest to the work end time.

[0069] Alternatively, the one or two still images to be stored as the captured images may be two still images, a still image immediately after the tightening operation is completed as described above, and a still image immediately before the tightening operation is started. The still image immediately before the tightening operation is started is, for example, a still image among the multiple still images, the time information associated with the still image being earlier than the work start time and closest to the work start time.

[0070] Alternatively, the one or two still images to be stored as the captured images may be two still images: a still image immediately after the end of the tightening action as described above, and a still image a predetermined time before the still image immediately after the end of the tightening action. The still image a predetermined time before the still image immediately after the end of the tightening action is, for example, a still image among the multiple still images, the time information associated with the still image being a predetermined time before the time information associated with the still image immediately after the end of the tightening action.

[0071] Thereby, every time a tightening operation is performed, history information in which the relative position information and the torque measurement value are linked to the captured image acquired simultaneously with the tightening operation is stored in the history storage unit 152. Therefore, in the tool system 100, it is possible to further facilitate the determination of which work object the captured image corresponds to.

[0072] (2-2-14) Linking torque measurements to one or two pieces of history information The temporary storage unit 151 performs a process of temporarily storing an image acquired by an imaging operation in association with imaging time information each time a tightening operation is performed (captured image temporary storage process), and a process of temporarily storing relative position information acquired by a detection process in association with position detection time information each time a detection process is performed (relative position information temporary storage process), and further performs a torque measurement value temporary storage process.

[0073] The torque measurement value temporary storage process is a process in which the torque measurement value acquired by the torque measurement unit 13 is temporarily stored in association with work start time information and work end time information each time a fastening operation is performed. The work start time information is information indicating the time when the fastening operation started. The work end time information is information indicating the time when the fastening operation ended. The start of the fastening operation is detected, for example, by the start of operation of the drive unit 11. The end of the fastening operation is detected, for example, by the stop of operation of the drive unit 11.

[0074] The history storage unit 152 stores history information in which the captured image is associated with the relative position information based on the captured image and the relative position information that satisfy the first association condition. The first association condition is a condition that, among the captured images and the relative position information temporarily stored in the temporary storage unit 151, the difference between the captured image time information associated with the captured image and the position detection time information associated with the relative position information is equal to or less than a first threshold. The first association condition may be that the captured image time information and the position detection time information match (i.e., the first threshold=0).

[0075] Furthermore, when the torque measurement value is temporarily stored in the temporary storage unit 151, the history storage unit 152 further links the torque measurement value to at least one of two pieces of history information that satisfy a second linking condition among the multiple pieces of history information in which the captured images are linked to relative position information and that are stored in the history storage unit 152. The second linking condition is that the imaging time information is earlier than the work start time information by a time equal to or less than a second threshold, or the imaging time information is later than the work end time information by a time equal to or less than a third threshold.

[0076] In this way, the history memory unit 152 stores history information in which relative position information and torque measurement values ​​are linked to at least one of the captured image acquired immediately before the tightening operation and the captured image acquired immediately after the tightening operation, thereby making it easier to check after the fact whether the tightening operation was performed appropriately.

[0077] In particular, by storing both the captured image taken immediately before the tightening operation and the captured image taken immediately after the tightening operation in the history storage unit 152, it becomes possible to compare the two captured images corresponding to before and after the tightening operation.

[0078] (2-2-15) Using the motion detection results in detection processing The motion detection unit 16 detects the motion of the tool 1. The motion includes at least one of acceleration and angular velocity (preferably both). The motion detection unit 16 includes, for example, at least one of an acceleration sensor and a gyroscope (preferably both), and obtains at least one of an acceleration value that is a detection result of the acceleration sensor, and an angular velocity value that is a detection result of the gyroscope (preferably both).

[0079] The position detection system 10 may calculate at least one (preferably both) of the travel distance and rotation angle of the tool 1 based on the detection results of the movement detection unit 16, such as at least one (preferably both) of the acceleration value and the angular velocity value, and obtain relative position information taking into account the calculation results.

[0080] For example, the position detection system 10 calculates the speed and therefore the moving distance (position change) based on the acceleration value, calculates the rotation angle (posture change) based on the angular velocity value, and estimates the relative position based on the two calculation results (moving distance and rotation angle).The position detection system 10 may then compare relative position information based on the estimation result with relative position information acquired by image processing of the image captured by the imaging unit 12, and perform verification based on the comparison result, and further perform correction according to the verification result.

[0081] In this way, by also using the detection result of the movement detection unit 16 mounted on the tool 1, the accuracy of the relative position information can be improved.

[0082] (2-3) Example of operation The tool system 100 configured as above operates, for example, according to the flowchart of Fig. 2. The process of Fig. 2 is started, for example, when the motion detection unit 16 mounted on the tool 1 detects a predetermined motion (for example, an acceleration value of an acceleration sensor exceeding a predetermined value), and is ended when a stationary state (for example, a state in which the acceleration value is 0) continues for a predetermined period of time or more.

[0083] When the process is started, the imaging unit 12 and the position detection system 10 respectively start an imaging operation and a detection process (step S1).

[0084] Next, the temporary storage unit 151 starts a temporary storage process for temporarily storing the captured image by the imaging operation and the relative position information by the detection process (step S2).

[0085] Next, the processing unit 14 determines whether or not a first linking condition is satisfied between the plurality of captured images and the plurality of pieces of relative position information temporarily stored in the temporary storage unit 151 (step S3). If it is determined that the first linking condition is not satisfied (No in step S3), the process proceeds to step S6.

[0086] If it is determined in step S3 that the first association condition is satisfied (Yes), the history storage unit 152 associates the captured image and the relative position information that satisfy the first association condition (step S4).

[0087] Next, the history storage unit 152 stores the history information in which the captured image is associated with the relative position information (step S5), after which the process returns to step S3.

[0088] In step S6, the processing unit 14 determines whether or not a tightening operation is being performed by the tool 1, based on the operating state of the driving unit 11. If it is determined that a tightening operation is not being performed (No in step S6), the processing returns to step S3.

[0089] If it is determined in step S6 that the tightening operation is being performed (Yes), the torque measuring unit 13 measures the tightening torque and obtains a torque measurement value (step S7).

[0090] Next, the temporary storage unit 151 temporarily stores the torque measurement value acquired in step S7 (step S8).

[0091] Next, the processing unit 14 determines (step S9) whether or not a second linking condition is satisfied between the torque measurement value temporarily stored in step S8 and the multiple pieces of history information stored in the history storage unit 152. If it is determined that the second linking condition is not satisfied (No in step S9), the process returns to step S3.

[0092] If it is determined in step S9 that the second linking condition is satisfied (Yes), the history storage unit 152 links the torque measurement value to at least one piece of history information that satisfies the second linking condition (step S10). After that, the process returns to step S3.

[0093] (2-4) Specific examples In the tool system 100 of this specific example (see FIG. 1), the reference image storage unit 150 pre-stores a plurality of pieces of work target information as shown in FIG. 3. A worker uses the tool 1 to tighten nuts on a left rear wheel 201 and a left front wheel 202 of a vehicle 200 (see FIGS. 5A to 5C).

[0094] When the worker picks up the tool 1, the motion detection unit 16 detects the motion (acceleration, etc.) of the tool 1, and starts the imaging operation of the imaging unit 12 and the detection process of the position detection system 10. The temporary storage unit 151 starts the process of temporarily storing the captured image by the imaging operation and the relative position information by the detection process in association with the imaging time information and the position detection time information, respectively.

[0095] When the worker points the tool 1 toward the left side of the vehicle 200, the history memory unit 152 uses the multiple work object information stored in the reference image memory unit 150 to store history information “cap01.jpg, (r01, θ01, φ01)” in which the captured image “cap01.jpg” is linked to the relative position information “(r01, θ01, φ01)” based on the captured image “cap01.jpg” and relative position information “(r01, θ01, φ01)” that satisfy the first linking condition, from among the multiple captured images and multiple relative position information temporarily stored in the temporary memory unit 151.

[0096] This history information is based on the first reference image "std01.jpg" included in the first work object information (information relating to the left side of the vehicle 200) among the multiple work object information stored in the reference image storage unit 150, and the corresponding relative position information "(r01, θ01, φ01)". This history information is linked to the object identification information "left side of the vehicle". Thus, the first history related information of the three history related information shown in FIG. 4A is stored by the history storage unit 152.

[0097] Next, when the worker points the tool 1 toward the left rear wheel 201, the history memory unit 152 uses the multiple work object information stored in the reference image memory unit 150 to store history information “cap02.jpg, (r12, θ12, φ12)” in which the captured image “cap02.jpg” is linked to the relative position information “(r12, θ12, φ12)” based on the captured image “cap02.jpg” and relative position information “(r12, θ12, φ12)” that satisfy the first linking condition, among the multiple captured images and multiple relative position information temporarily stored in the temporary memory unit 151.

[0098] This history information is information based on the second reference image “std12.jpg” and the corresponding relative position information “(r12, θ12, φ12)” included in the second work object information (information related to the left rear wheel 201) among the multiple work object information stored in the reference image storage unit 150. This history information is linked to the object identification information “left rear wheel”.

[0099] Next, when the worker performs a tightening operation on the left rear wheel 201 with the tool 1, the torque measurement unit 13 measures the tightening torque of the tightening operation, and the temporary storage unit 151 temporarily stores the torque measurement value "trq1". The history storage unit 152 further links the torque measurement value "trq1" to the history information "cap02.jpg, (r12, θ12, φ12)" that satisfies the second linking condition out of the two stored history information "cap01.jpg, (r01, θ01, φ01)" and "cap02.jpg, (r12, θ12, φ12)". In this way, the second history related information out of the three history related information shown in FIG. 4A is stored by the history storage unit 152.

[0100] Next, when the worker points the tool 1 toward the left front wheel 202, the history memory unit 152 uses the multiple work object information stored in the reference image memory unit 150 to store history information “cap03.jpg, (r22, θ21, φ21)” in which the captured image “cap03.jpg” is linked to the relative position information “(r22, θ21, φ21)” based on the captured image “cap03.jpg” and relative position information “(r22, θ21, φ21)” that satisfy the first linking condition, among the multiple captured images and multiple relative position information temporarily stored in the temporary memory unit 151.

[0101] This history information is based on the first reference image “std21.jpg” and the corresponding relative position information “(r21, θ22, φ21)” included in the third work object information (information relating to the left front wheel 202) among the multiple work object information stored in the reference image storage unit 150. This history information is linked to the object identification information “left front wheel”.

[0102] Next, when the worker performs the tightening operation on the left rear wheel 201 with the tool 1, the torque measurement unit 13 measures the tightening torque of the tightening operation, and the temporary storage unit 151 temporarily stores the torque measurement value "trq2". The history storage unit 152 further links the torque measurement value "trq2" to the history information "cap03.jpg, (r22, θ21, φ21)" that satisfies the second linking condition among the three stored history information "cap01.jpg, (r01, θ01, φ01)", "cap02.jpg, (r12, θ12, φ12)" and "cap03.jpg, (r22, θ21, φ21)". In this way, the third history related information of the three history related information shown in FIG. 4A is stored by the history storage unit 152.

[0103] (3) First Modification In the following, the description of the same matters as in the embodiment will be omitted or simplified, and the differences will be described in detail.

[0104] A tool system 100 of this modified example is realized by a tool 1 and a position detection system 10 that is separate from the tool 1, as shown in FIG.

[0105] The tool 1 includes a drive unit 11, an imaging unit 12, a torque measurement unit 13, a processing unit 14, a storage unit 15, and a motion detection unit 16. The processing unit 14 includes an image processing unit 141. The storage unit 15 includes a temporary storage unit 151 and a history storage unit 152. The position detection system 10 includes an imaging device 2 and an image processing device 3.

[0106] That is, the tool system 100 of this modification further includes an imaging device 2 and an image processing device 3 in the tool system 100 of the embodiment (see FIG. 1 ), while removing the reference image storage unit 150 from the tool 1. The position detection system 10 of this modification is realized by the imaging device 2 and the image processing device 3.

[0107] The captured image described in the embodiment is the first captured image in this modification. Similarly, the imaging operation is the first imaging operation, and the imaging range is the first imaging range.

[0108] The imaging device 2 is provided at a reference position within a predetermined area A1 in which the tool 1 can be present. For example, the predetermined area A1 may be a workroom, and the imaging device 2 may be a surveillance camera provided at a reference position within the workroom (for example, a predetermined position on the ceiling or near the ceiling). The position (absolute position) of the imaging device 2 is known. In other words, information indicating the absolute position of the imaging device 2 (such as latitude and longitude information) is stored, for example, in a memory of the image processing device 3.

[0109] The imaging device 2 repeatedly performs a second imaging operation. The second imaging operation is an operation of imaging a second imaging range to obtain a second captured image. The second imaging range is a range including the work target and at least one of the tool 1 and the worker performing the work with the tool 1.

[0110] Every time the second imaging operation is performed, the image processing device 3 executes a detection process based on the second captured image acquired by the imaging device 2. The second captured image is an image acquired by the second imaging operation that satisfies a simultaneity condition with the first imaging operation.

[0111] The simultaneous condition is a condition that the first imaging operation and the second imaging operation are performed simultaneously. The simultaneous condition may be, for example, that the difference between the execution time of the first imaging operation (first imaging time information) and the execution time of the second imaging operation (second imaging time information) is equal to or less than a fourth threshold.

[0112] The history storage section 152 stores history information in which the first captured image acquired by the first imaging operation is linked to the relative position information acquired based on the second captured image.

[0113] According to this modified example, by using a tool 1 equipped with an imaging unit 12 in combination with an imaging device 2 and an image processing device 3 separate from the tool 1, it is possible to simplify the configuration of the tool 1 while making it easier to determine which work object an image (first captured image) captured by the imaging unit 12 mounted on the tool 1 corresponds to (for example, whether it is an image of the left rear wheel 201 or the left front wheel 202 on the left side of the vehicle 200: see Figures 5A to 5C).

[0114] (4) Second Modification A tool system 100 of this modified example is realized by a tool 1 and a position detection system 10 that is separate from the tool 1, as shown in FIG.

[0115] The tool 1 includes a drive unit 11, an imaging unit 12, a torque measurement unit 13, a processing unit 14, a memory unit 15, and a motion detection unit 16. The processing unit 14 includes an image processing unit 141. The memory unit 15 includes a temporary memory unit 151 and a history memory unit 152. The position detection system 10 includes a radio wave sensor 4 and a wireless positioning device 5.

[0116] That is, the tool system 100 of this modification further includes a radio wave sensor 4 and a wireless positioning device 5 in the tool system 100 of the embodiment (see FIG. 1 ), while removing the reference image storage unit 150 from the tool 1. The position detection system 10 of this modification is realized by the radio wave sensor 4 and the wireless positioning device 5.

[0117] In other words, the tool system 100 of this modified example is a tool system 100 of the first modified example in which the position detection system 10 equipped with an imaging device 2 and an image processing device 3 is replaced with a position detection system 10 equipped with a radio wave sensor 4 and a wireless positioning device 5.

[0118] The relative position described in the embodiment is the first relative position in this modification. Similarly, the relative position information is the first relative position information.

[0119] The radio wave sensor 4 is provided at a reference position within the predetermined area A1. The radio wave sensor 4 detects radio waves from the tool 1. The radio waves may be, for example, radio waves emitted from the radio wave sensor 4 toward the predetermined area A1, which are partly reflected by the tool 1. Examples of this type of radio wave sensor 4 include radio wave sensors that use an FMCW (Frequency Modulated Continuous Wave) system, a pulse system, a Doppler system, and an UWB (Ultra-Wide Band) system.

[0120] Alternatively, the radio wave may be a beacon signal transmitted by a beacon transmitter mounted on the tool 1, and in that case, the radio wave sensor 4 may be a scanner (beacon receiver) that receives the beacon signal.

[0121] The wireless positioning device 5 executes wireless positioning processing based on the detection result of the radio wave sensor 4. The detection result of the radio wave sensor 4 is, for example, at least one of the strength of the radio wave (received signal strength), the phase, the frequency, and the propagation time. Note that the propagation time is the time required for the radio wave to propagate between the tool 1 and the radio wave sensor 4.

[0122] The wireless positioning process is a process for measuring the position of the tool 1 using the detection result of the radio wave sensor 4. The wireless positioning process in this modified example includes a second detection process and a first detection process. The second detection process is a process for detecting a second relative position, which is a relative position of the tool 1 with respect to a reference position, and acquiring second relative position information. The second relative position here is the relative position of the tool 1 with respect to the radio wave sensor 4 provided at the reference position. The first detection process is a process for detecting a first relative position based on reference position information indicating the reference position and second relative position information by the second detection process, and acquiring first relative position information.

[0123] The history storage unit 152 stores history information in which a captured image acquired by an imaging operation is linked to first relative position information acquired based on second relative position information acquired by a radio positioning process performed simultaneously with the imaging operation.

[0124] According to this modified example, by using a tool 1 equipped with an imaging unit 12 in combination with a radio wave sensor 4 and a wireless positioning device 5 that are separate from the tool 1, it is possible to simplify the configuration of the tool 1 while making it easier to determine which work object the captured image corresponds to.

[0125] (5) Other modifications (5-1) Modification of the method of selecting one or two captured images to be stored from a plurality of still images In this modification, the image processing unit 141 extracts high-frequency components from each of the multiple still images constituting the moving image temporarily stored in the temporary storage unit 151, and compares the extraction result with a fifth threshold. Then, the history storage unit 152 may store, among the multiple still images, a still image immediately after the completion of the fastening work (a still image immediately after the high-frequency components fall below the fifth threshold: a still image immediately after the contour line becomes clear) and a still image immediately before the start of the fastening work (a still image immediately before the high-frequency components become equal to or greater than the fifth threshold: a still image immediately before the contour line becomes unclear) as captured images that are components of the history information.

[0126] Alternatively, the image processing unit 141 may repeat a process of making a judgment on high frequency components for a still image immediately before the tightening operation, and if the judgment is equal to or greater than the fifth threshold, making a judgment on a still image immediately before the tightening operation, until the judgment is less than the fifth threshold. Similarly, the image processing unit 141 may repeat a process of making a judgment on high frequency components for a still image immediately after the tightening operation, and if the judgment is equal to or greater than the fifth threshold, making a judgment on a still image thereafter, until the judgment is less than the fifth threshold.

[0127] This makes it possible to avoid storing a captured image that is blurred due to the operation of the drive unit 11 or camera shake.

[0128] (5-2) Modification of the location of the memory unit In the embodiment, the first modified example, and the second modified example, the storage unit 15 (the reference image storage unit 150, the temporary storage unit 151, and the history storage unit 152) may be located outside the tool 1 (for example, an information processing device, a storage device, a server, etc.). The storage unit 15 may be located anywhere as long as it is accessible by the processing unit 14 (processor) of the tool 1.

[0129] (5-3) Modifications of the implementation of the position detection system 10 according to the embodiment The position detection system 10 of the embodiment may be realized by a device (e.g., an information processing device, a storage device, a server, etc.) external to the tool 1. That is, the image processing unit 141 and the reference image storage unit 150 shown in Fig. 1 may be provided in an external device. Furthermore, the image processing unit 141 and the reference image storage unit 150 may be provided in separate devices.

[0130] (5-4) Partial modification of the first modified example In the first modified example, the imaging device 2 may transmit the acquired second captured image to the tool 1, and the image processing unit 141 of the tool 1 may execute the detection process based on the second captured image.

[0131] (5-5) Partial modification of the second modified example In the second modified example, the position detection system 10 may be integrated with the tool 1. In other words, the tool 1 may be equipped with the radio wave sensor 4 and the wireless positioning device 5 that constitute the position detection system 10.

[0132] In this case, an antenna that emits radio waves is provided at a reference position within the predetermined area A1, and the radio wave sensor 4 mounted on the tool 1 receives radio waves from the antenna. Then, the wireless positioning device 5 mounted on the tool 1 executes wireless positioning processing based on the detection result of the radio wave sensor 4. The second relative position here is the relative position of the radio wave sensor 4 mounted on the tool 1 with respect to the antenna provided at the reference position.

[0133] Alternatively, only the radio wave sensor 4 may be mounted on the tool 1, and the wireless positioning device 5 may be provided outside the tool 1.

[0134] (6) Summary A tool system (100) according to a first embodiment includes a portable tool (1), an imaging unit (12) mounted on the tool (1), a position detection system (10), and a history storage unit (152). The tool (1) includes a drive unit (11) that operates by power from a power source, and the drive unit (11) performs work on a work object. The imaging unit (12) repeatedly performs an imaging operation. The imaging operation is an operation of capturing an image of an imaging range including at least a part of the work object to obtain a captured image. The position detection system (10) executes a detection process every time the imaging operation is performed. The detection process is a process of detecting the relative position of the tool (1) with respect to the work object and obtaining relative position information. The history storage unit (152) stores history information. The history information is information in which the captured image obtained by the imaging operation is linked to relative position information obtained by the detection process according to the imaging operation.

[0135] According to this aspect, by storing history information in which relative position information is linked to a captured image, it is possible to easily determine which work object the captured image corresponds to.

[0136] In the tool system (100) according to the second aspect, in the first aspect, the work is a tightening work on a workpiece to be tightened. The tool system (100) further includes a temporary storage unit (151). The temporary storage unit (151) temporarily stores a captured image acquired by an imaging operation in association with imaging time information each time a tightening work is performed, and temporarily stores relative position information acquired by the detection process in association with position detection time information each time a detection process is performed. The imaging time information is information indicating the time when the tightening work was performed. The position detection time information is information indicating the time when the detection process was performed. The history storage unit (152) stores history information in which the captured image is associated with the relative position information based on the captured image and the relative position information that satisfy the association condition. The linking condition is that, among the multiple captured images and multiple pieces of relative position information temporarily stored in the temporary storage unit (151), the difference between the captured image time information corresponding to the captured image and the position detection time information corresponding to the relative position information is equal to or less than a threshold value.

[0137] According to this aspect, it is possible to store history information in which relative position information is linked to a captured image.

[0138] In the tool system (100) according to the third aspect, in the first aspect, the work is a tightening operation on a workpiece to be tightened. The tool (1) further includes a torque measuring unit (13). The torque measuring unit (13) executes a measurement process while the tightening operation is being performed. The measurement process is a process of measuring the tightening torque of the tightening operation and acquiring a torque measurement value. The history storage unit (152) stores history information in which relative position information and a torque measurement value are linked to an image acquired by an imaging operation when the tightening operation is performed.

[0139] According to this aspect, by storing historical information in which torque measurement values ​​are further linked to the captured image, it is possible to facilitate subsequent confirmation of the torque measurement values ​​during fastening work on the work object corresponding to the captured image.

[0140] In the tool system (100) according to the fourth aspect, in the third aspect, the history memory unit (152) stores history information in which relative position information and torque measurement values ​​are linked to an image acquired with a time difference of less than a predetermined time from the tightening operation each time the tightening operation is performed.

[0141] According to this aspect, each time a tightening operation is performed, historical information linked to relative position information and torque measurement values ​​is stored in the image captured simultaneously with the tightening operation, making it possible to further facilitate determination of which work object the image corresponds to.

[0142] The tool system (100) according to the fifth aspect is the fourth aspect, and further includes a temporary storage unit (151). The temporary storage unit (151) temporarily stores an image acquired by an imaging operation in association with imaging time information each time a tightening operation is performed. The imaging time information is information indicating the time when the tightening operation is performed. Moreover, the temporary storage unit (151) temporarily stores relative position information acquired by the detection process in association with position detection time information each time a detection process is performed. The position detection time information is information indicating the time when the detection process is performed. Furthermore, the temporary storage unit (151) temporarily stores a torque measurement value acquired by the torque measurement unit (13) in association with work start time information and work end time information each time a tightening operation is performed. The work start time information is information indicating the time when the tightening operation is started. The work end time information is information indicating the time when the tightening operation is ended. The history storage unit (152) stores history information in which the captured image is associated with the relative position information, based on the captured image and the relative position information that satisfy a first association condition. The first association condition is a condition that, among the captured images and the relative position information temporarily stored in the temporary storage unit (151), a difference between imaging time information associated with the captured image and position detection time information associated with the relative position information is equal to or smaller than a first threshold value.

[0143] Furthermore, when the torque measurement value is temporarily stored in the temporary storage unit (151), the history storage unit (152) further links the torque measurement value to at least one of two pieces of history information that satisfy a second linking condition among the multiple pieces of history information stored in the history storage unit (152) and in which relative position information is linked to the captured image. The second linking condition is that the imaging time information is earlier than the work start time information by a time equal to or less than a second threshold, or the imaging time information is later than the work end time information by a time equal to or less than a third threshold.

[0144] According to this aspect, by storing history information in which the relative position information and the torque measurement value are linked to at least one of the captured image acquired immediately before the fastening operation and the captured image acquired immediately after the fastening operation, it is possible to facilitate a post-facto confirmation of whether the fastening operation was performed appropriately. In particular, by storing both the captured image acquired immediately before the fastening operation and the captured image acquired immediately after the fastening operation, it is possible to compare two captured images corresponding to before and after the fastening operation.

[0145] In a tool system (100) according to a sixth aspect, in any one of the first to fifth aspects, the position detection system (10) includes a reference image storage unit (150) and an image processing unit (141). The reference image storage unit (150) stores a plurality of reference images captured from a plurality of different positions within a predetermined area (A1) where the tool (1) can be present, by linking the plurality of reference images to a plurality of pieces of position information corresponding to the plurality of positions. The image processing unit (141) identifies a similar image from among the plurality of reference images, and acquires, as relative position information, position information linked to the similar image from among the plurality of pieces of position information. The similar image is a reference image that satisfies a similarity condition with respect to the captured image.

[0146] According to this aspect, a plurality of reference images are stored in advance, and position information associated with a similar image that is similar to the captured image is obtained as relative position information. This makes it easy to determine, using the tool (1) alone, which work object the captured image corresponds to.

[0147] In the tool system (100) according to the seventh aspect, in any one of the first to fifth aspects, the captured image is a first captured image, the imaging operation is a first imaging operation, and the imaging range is a first imaging range. The position detection system (10) includes an imaging device (2) provided at a reference position in a predetermined area (A1) where the tool (1) can be present, and an image processing device (3). The imaging device (2) repeatedly performs a second imaging operation. The second imaging operation is an operation of capturing an image of the second imaging range to obtain a second captured image. The second imaging range is a range including a work target and at least one of the tool (1) and a worker performing work with the tool (1). The image processing device (3) executes a detection process based on the second captured image every time the second imaging operation is performed. The second captured image is an image acquired by the second imaging operation that satisfies a simultaneity condition with the first imaging operation. The history storage section (152) stores history information in which the first captured image acquired by the first imaging operation is linked to the relative position information acquired based on the second captured image.

[0148] According to this aspect, by using an imaging device (2) and an image processing device (3) separate from the tool (1), it is possible to simplify the configuration of the tool (1) while making it easier to determine which work object an image captured by the imaging unit (12) mounted on the tool (1) corresponds to.

[0149] In the tool system (100) according to the eighth aspect, in any one of the first to fifth aspects, the relative position is a first relative position, and the relative position information is first relative position information. The position detection system (10) includes a radio wave sensor (4) and a wireless positioning device (5). The radio wave sensor (4) detects radio waves propagating between the tool (1) and a reference position in a predetermined area (A1) in which the tool (1) can exist. The wireless positioning device (5) executes wireless positioning processing based on the detection result of the radio wave sensor (4). The wireless positioning processing includes a second detection processing and a first detection processing. The second detection processing is processing for detecting a second relative position, which is a relative position of the tool (1) with respect to the reference position, and acquiring second relative position information. The first detection processing is processing for detecting the first relative position based on reference position information indicating the reference position and the second relative position information, and acquiring the first relative position information. The history storage unit (152) stores history information in which a captured image acquired by an imaging operation is linked to first relative position information acquired based on second relative position information acquired by a wireless positioning process performed simultaneously with the imaging operation.

[0150] In the eighth embodiment, the radio wave sensor 4 may be provided at a reference position and detect radio waves from the tool 1. Alternatively, the radio wave sensor 4 may be mounted on the tool 1 and detect radio waves from an antenna provided at a reference position.

[0151] According to this aspect, by using the radio wave sensor (4) and the wireless positioning device (5) in combination to determine the relative position (second relative position) of the tool (1) with respect to a reference position, and then determining the relative position (first relative position) of the tool (1) with respect to a work object based on the second relative position, it is possible to reduce the processing for obtaining the first relative position information linked to the captured image while making it easier to determine which work object the captured image corresponds to.

[0152] A tool system (100) according to a ninth aspect is in any one of the first to eighth aspects, and further includes a motion detection unit (16) mounted on the tool (1). The motion detection unit (16) detects the motion of the tool (1). The position detection system (10) calculates at least one of a moving distance and a rotation angle of the tool (1) based on a detection result of the motion detection unit (16), and acquires relative position information in consideration of the calculation result.

[0153] According to this embodiment, by also using the detection result of the motion detection unit (16) mounted on the tool (1), it is possible to improve the accuracy of the relative position information. [Explanation of symbols]

[0154] 100 Tool System 1 tool 10 Position Detection System 11 Drive unit 12 Imaging unit 13 Torque measurement section 141 Image processing section 150 Reference image storage unit 151 Temporary storage 152 History memory unit 16 Motion detection section 2. Imaging device 3. Image Processing Device 4. Radio wave sensor 5. Radio positioning device A1 Specified area

Claims

1. A portable tool including a drive unit operated by power from a power source, the drive unit performing a task on a task object; an imaging unit mounted on the tool and configured to repeatedly perform an imaging operation of imaging an imaging range including at least a portion of the work target to obtain an image; a position detection system that executes a detection process to detect a relative position of the tool with respect to the work target and acquire relative position information each time the imaging operation is performed; a history storage unit that stores history information in which the captured image acquired by the imaging operation is associated with the relative position information acquired by the detection process corresponding to the imaging operation, Tool system.

2. The operation is a fastening operation to a workpiece to be fastened, a temporary storage unit that temporarily stores the captured image acquired by the imaging operation in association with imaging time information indicating the time when the tightening operation is performed each time the tightening operation is performed, and temporarily stores the relative position information acquired by the detection process in association with position detection time information indicating the time when the detection process is performed each time the detection process is performed, the history storage unit stores the history information in which the captured image is linked to the relative position information, based on the captured image and the relative position information that satisfy a linking condition that a difference between the imaging time information corresponding to the captured image and the position detection time information corresponding to the relative position information is equal to or less than a threshold value, among the multiple captured images and the multiple pieces of relative position information temporarily stored in the temporary storage unit. The tool system of claim 1 .

3. The operation is a fastening operation to a workpiece to be fastened, The tool further includes a torque measuring unit that performs a measurement process to measure a fastening torque of the fastening operation and obtain a torque measurement value while the fastening operation is being performed, the history storage unit stores, when the fastening operation is performed, the history information in which the relative position information and the torque measurement value are linked to the captured image acquired by the imaging operation. The tool system of claim 1 .

4. the history storage unit stores the history information in which the relative position information and the torque measurement value are linked to the captured image acquired with a time difference of a predetermined time or less from the fastening operation each time the fastening operation is performed. The tool system of claim 3.

5. a temporary storage unit which, each time the fastening work is performed, temporarily stores the captured image acquired by the imaging operation in association with imaging time information indicating the time when the fastening work was performed, and, each time the detection process is performed, temporarily stores the relative position information acquired by the detection process in association with position detection time information indicating the time when the detection process was performed, and, each time the fastening work is performed, temporarily stores the torque measurement value acquired by the torque measurement unit in association with work start time information indicating the time when the fastening work was started and work end time information indicating the time when the fastening work was ended, The history storage unit storing the history information in which the relative position information is linked to the captured image based on the captured image and the relative position information that satisfy a first linking condition in which a difference between the imaging time information corresponding to the captured image and the position detection time information corresponding to the relative position information is equal to or less than a first threshold value, among the multiple captured images and the multiple pieces of relative position information temporarily stored in the temporary storage unit; When the torque measurement value is temporarily stored in the temporary storage unit, the torque measurement value is further linked to at least one of two pieces of history information, among the plurality of pieces of history information stored in the history storage unit and in which the relative position information is linked to the captured image, that satisfy a second linking condition that the image capture time information is earlier than the work start time information by a second threshold value or less, or the image capture time information is later than the work end time information by a third threshold value or less. The tool system of claim 4.

6. The position detection system includes: a reference image storage unit that stores a plurality of reference images obtained by capturing images of the work target from a plurality of different positions within a predetermined area in which the tool can be present, the reference images being associated with a plurality of pieces of position information corresponding to the plurality of positions; an image processing unit that identifies a similar image, which is a reference image that satisfies a similarity condition between the captured image and the plurality of reference images, from among the plurality of reference images, and acquires, as the relative position information, position information associated with the similar image from among the plurality of position information; A tool system according to any one of claims 1 to 5.

7. the captured image is a first captured image, the imaging operation is a first imaging operation, the imaging range is a first imaging range, The position detection system includes: an imaging device that is provided at a reference position within a predetermined area in which the tool can be present, and that repeatedly performs a second imaging operation of imaging a second imaging range including the work target and at least one of the tool and a worker performing the work with the tool to obtain a second captured image; an image processing device that executes the detection process based on the second captured image every time the second imaging operation is performed, the history storage unit stores the history information in which the first captured image acquired by the first imaging operation is associated with the relative position information acquired based on the second captured image acquired by the second imaging operation that satisfies a simultaneous condition between the first captured image and the second captured image acquired by the second imaging operation. A tool system according to any one of claims 1 to 5.

8. the relative position is a first relative position, the relative position information is first relative position information, The position detection system includes: a radio wave sensor that detects radio waves propagating between the tool and a reference position within a predetermined area in which the tool can be present; a wireless positioning device that executes wireless positioning processing including: a second detection processing for detecting a second relative position, which is a relative position of the tool with respect to the reference position, based on a detection result of the radio wave sensor, and acquiring second relative position information; and a first detection processing for detecting the first relative position based on reference position information indicating the reference position and the second relative position information, and acquiring the first relative position information, the history storage unit stores the history information in which the captured image acquired by the imaging operation is associated with the first relative position information acquired based on the second relative position information acquired by the wireless positioning process performed simultaneously with the imaging operation. A tool system according to any one of claims 1 to 5.

9. A motion detection unit is mounted on the tool and detects a motion of the tool. the position detection system calculates at least one of a moving distance and a rotation angle of the tool based on a detection result of the movement detection unit, and acquires the relative position information in consideration of the calculation result. The tool system of claim 1 .

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