Tool system, tool, processing method, and program

Abstract

To improve convenience.SOLUTION: A tool system 100 is equipped with a portable tool 1 that has a driving portion 11 and an imaging portion 14 operated by power from a power source, an imaging control portion 154, a determining portion 155, and an image processing portion 156. The imaging control portion 154 controls the imaging portion 14 to produce a distance image including distance information relating to a distance between a reference position and a subject of the imaging portion 14. The determining portion 155 determines an area in which the distance between the reference position and the subject of the distance image satisfies a predetermined condition as a specified area. The image processing portion 156 produces a processing image removing an area different from the specified area from the distance image.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates generally to a tool system, a tool, a processing method, and a program, and more particularly to a tool system, a tool, a processing method, and a program including a portable tool. [Background technology]

[0002] Conventionally, there has been known a shape acquisition method for acquiring the shape of an object by removing the background other than the object from an image (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-60032 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the shape acquisition method described in Patent Document 1, the background is removed from the image containing the object by taking the difference between an image not containing the object and an image containing the object, so it is necessary to prepare separate images not containing the object and images containing the object, which reduces convenience.

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

[0006] A tool system according to an aspect of the present disclosure includes a portable tool having a drive unit and an imaging unit that are operated by power from a power source, an imaging control unit, a determination unit, and an image processing unit. The imaging control unit controls the imaging unit to generate an image including distance information regarding a distance between a reference position and a subject of the imaging unit. The determination unit determines, based on the distance information, a region of the image where the distance between the reference position and the subject satisfies a predetermined condition as a specific region. The image processing unit generates a processed image by excluding a region different from the specific region from the image.

[0007] A tool system according to an aspect of the present disclosure includes a portable tool having a driving unit and an imaging unit that are operated by power from a power source, an imaging control unit, a first determination unit, a second determination unit, and an image processing unit. The imaging control unit controls the imaging unit to generate an image including distance information regarding a distance between a reference position and a subject of the imaging unit. The first determination unit determines, based on the distance information, a region in the image where the distance between the reference position and the subject satisfies a predetermined condition as a reference specific region. The second determination unit compares the image with a comparison image that is further captured by the imaging unit and is different from the image, and determines a region in the comparison image that corresponds to the reference specific region as a corresponding specific region. The image processing unit generates a processed image by excluding a region different from the corresponding specific region from the comparison image.

[0008] A tool according to one aspect of the present disclosure is a tool included in the tool system.

[0009] A processing method according to one aspect of the present disclosure includes an imaging control step, a determination step, and an image processing step. In the imaging control step, an imaging unit mounted on a portable tool having a drive unit operated by power from a power source is controlled to generate an image including distance information related to a distance between a reference position and a subject of the imaging unit. In the determination step, a region of the image where the distance between the reference position and the subject satisfies a predetermined condition is determined to be a specific region based on the distance information. In the image processing step, a processed image is generated by excluding a region different from the specific region from the image.

[0010] A processing method according to one aspect of the present disclosure includes an imaging control step, a first determination step, a second determination step, and an image processing step. In the imaging control step, an imaging unit mounted on a portable tool having a drive unit operated by power from a power source is controlled to generate an image including distance information regarding a distance between a reference position and a subject of the imaging unit. In the first determination step, a region in the image in which the distance between the reference position and the subject satisfies a predetermined condition is determined as a reference specific region based on the distance information. In the second determination step, the imaging unit further captures an image, compares the image with a comparison image different from the image, and determines a region in the comparison image corresponding to the reference specific region as a corresponding specific region. In the image processing step, a processed image is generated by excluding a region different from the corresponding specific region from the comparison image.

[0011] A program according to one embodiment of the present disclosure is a program for causing one or more processors to execute the processing method. Effect of the Invention

[0012] According to the present disclosure, it is possible to provide a tool system, a tool, a processing method, and a program that can improve convenience. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram of a tool system according to a first embodiment of the present disclosure. [Diagram 2] FIG. 2 is an external perspective view of a tool provided in the tool system. [Diagram 3] FIG. 3 is a plan view of a work target of a tool provided in the tool system. [Figure 4] FIG. 4 is a cross-sectional view of a work target of a tool provided in the tool system. [Diagram 5] FIG. 5 is a sequence diagram for explaining the operation of the tool system. [Figure 6]FIG. 6 is an explanatory diagram for explaining image processing by the tool system. [Figure 7] FIG. 7 is an explanatory diagram for explaining image processing by the tool system. [Figure 8] FIG. 8 is an explanatory diagram for explaining image processing by the tool system. [Figure 9] FIG. 9 is a flowchart for explaining the operation of the tool system. [Figure 10] FIG. 10 is an explanatory diagram for explaining image processing by the tool system. [Figure 11] FIG. 11 is an explanatory diagram for explaining image processing by the tool system. [Figure 12] FIG. 12 is a block diagram of a tool system according to the second embodiment of the present disclosure. [Figure 13] FIG. 13 is a flowchart for explaining the operation of the tool system. [Figure 14] FIG. 14 is an explanatory diagram for explaining image processing by the tool system. [Figure 15] FIG. 15 is a flowchart for explaining the operation of the tool system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] The tool system 100 according to the embodiment of the present disclosure and the tool 1 included in the tool system 100 will be described in detail with reference to the drawings. Note that the embodiment and modified examples described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiment and modified examples. Even if the embodiment and modified examples are not included, various modifications are possible according to the design and the like, as long as they do not deviate from the technical idea of ​​the present disclosure. In addition, each figure described in the following embodiment is a schematic diagram, and the ratio of the size and thickness of each component in the figure does not necessarily reflect the actual dimensional ratio. The arrows indicating each direction in the drawings are only examples, and are not intended to specify the direction of the tool 1 when it is used. In addition, the arrows indicating each direction in the drawings are merely indicated for the purpose of explanation, and do not have any substance.

[0015] (Embodiment 1) (1) Overview An overview of a tool system 100 according to a first embodiment (hereinafter, referred to as the present embodiment) will be described with reference to FIGS. 1, 2, and 4. FIG.

[0016] As shown in Figures 1 and 2, the tool system 100 includes a portable tool 1 having a drive unit 11 and an imaging unit 14 that operate using power from a power source, an imaging control unit 154, a judgment unit 155, and an image processing unit 156.

[0017] The imaging control unit 154 controls the imaging unit 14 to generate an image (distance image) including distance information relating to the distance between the reference position P1 (see FIG. 4) and the subject of the imaging unit 14.

[0018] Based on the distance information included in the distance image, the determination unit 155 determines, as a specific area, a region in the distance image where the distance between the reference position P1 and the subject satisfies a predetermined condition.

[0019] The image processing unit 156 generates a processed image by excluding areas that are different from the specific area from the distance image.

[0020] Here, the "distance image" in the present disclosure is an image captured by the imaging unit 14, for example a still image (still image). The "distance image" may include a moving image (dynamic image). The "distance image" does not have to be the data itself output from the imaging unit 14. For example, the "distance image" may be appropriately compressed as necessary, converted into another data format, or processed by cutting out a portion of the image captured by the imaging unit 14, adjusting the focus, adjusting the brightness, adjusting the contrast, or the like.

[0021] According to the tool system 100 of this embodiment, by performing image processing on the distance image, a processed image in which areas different from the specific area are excluded can be automatically generated, thereby improving convenience.

[0022] (2) Tool system configuration The configuration of the tool system 100 according to this embodiment will be described below with reference to the drawings.

[0023] As shown in FIG. 1, the tool system 100 includes a portable tool 1 and a terminal device 2.

[0024] As shown in Fig. 3, the tool 1 is used for tightening work, for example, outdoors, to tighten a plurality of (e.g., four) fastening members 4 into a plurality of (e.g., four) screw holes 31 provided at equal intervals in a fastened member 3. In this embodiment, it is assumed that the fastened member 3 is, for example, a circular flange. It is also assumed that the multiple fastening members 4 are bolts. That is, in this embodiment, it is assumed that a worker uses the tool 1 to tighten a plurality of bolts for attaching the fastened member 3, which is a circular flange, to a mating member 5, which is another circular flange.

[0025] (2.1) Tool configuration The tool 1 is, for example, a portable impact wrench.

[0026] As shown in FIG. 1, the tool 1 has a drive unit 11, an impact mechanism 12, a sensor unit 13, an imaging unit 14, a control unit 15, a notification unit 16, a communication unit 17, and a memory unit 18.

[0027] The driving unit 11 has a motor. The driving unit 11 is configured to operate using power supplied to the motor from a battery pack 6, which is a power source. In this embodiment, the battery pack 6 is not included in the components of the tool 1, but the battery pack 6 may be included in the components of the tool 1.

[0028] When the tightening torque applied to the output shaft 19 exceeds a predetermined level, the impact mechanism 12 applies an impact force in the rotational direction to the output shaft 19. This enables the tool 1 to apply a larger tightening torque to the fastening member 4.

[0029] 2, the tool 1 further includes a body 10. The body 10 houses a drive unit 11 and an impact mechanism 12. The body 10 also houses an imaging unit 14, a control unit 15, a notification unit 16, a communication unit 17, and a storage unit 18.

[0030] The body 10 has a body section 101, a grip section 102, and an attachment section 103. The body section 101 is formed in a tubular shape (here, cylindrical). The grip section 102 protrudes from a part of the circumferential surface of the body section 101 along a normal direction (radial direction of the body section 101). The attachment section 103 is configured so that the battery pack 6 is removably attached thereto. In this embodiment, the attachment section 103 is provided at the tip section of the grip section 102. In other words, the body section 101 and the attachment section 103 are connected by the grip section 102.

[0031] An output shaft 19 (see FIG. 4) protrudes from one end surface in the axial direction of the body 101. In response to the operation of the drive unit 11, the output shaft 19 rotates about a rotation axis along the protruding direction of the output shaft 19. That is, the drive unit 11 drives the output shaft 19 to rotate the output shaft 19 about the rotation axis. In other words, as the drive unit 11 operates, a torque acts on the output shaft 19, causing the output shaft 19 to rotate.

[0032] In the following description, the direction along the axial direction of the output shaft 19 is defined as the front-rear direction, and the direction in which the output shaft 19 protrudes from the body portion 101 is defined as the front.

[0033] A tool tip 7 for rotating the fastening member 4 is removably attached to the output shaft 19. As shown in FIG. 4, the tool tip 7 has a rod-shaped main body 71 attached to the output shaft 19 and a working part 72 that is mechanically connected to the tip of the main body 71 and comes into contact with the fastening member 4 during the fastening operation of the fastening member 4. The tip of the working part 72 is formed to engage with the fastening member 4. When the drive part 11 rotates the output shaft 19 with the fastening member 4 engaged with the tip of the working part 72, an operation such as tightening or loosening the fastening member 4 is realized.

[0034] The grip portion 102 is a portion that a user holds when performing work. As shown in Fig. 2, the grip portion 102 is provided with a trigger switch 104 and a forward / reverse changeover switch 105. The trigger switch 104 is a switch for controlling the on / off operation of the drive unit 11, and is capable of adjusting the rotation speed of the output shaft 19 according to the retraction amount. The forward / reverse changeover switch 105 is a switch for changing the rotation direction of the output shaft 19 between forward and reverse.

[0035] The mounting portion 103 is formed in a flat rectangular parallelepiped shape. The battery pack 6 is removably mounted on one surface of the mounting portion 103 opposite to the grip portion 102.

[0036] The battery pack 6 has a resin case 61 formed in a rectangular parallelepiped shape. The case 61 houses a storage battery (e.g., a lithium ion battery). The battery pack 6 supplies power to the drive unit 11, the imaging unit 14, the control unit 15, the notification unit 16, the communication unit 17, etc.

[0037] 2, the mounting unit 103 is provided with an operation panel 106. The operation panel 106 has, for example, a plurality of push button switches 107. The operation panel 106 can be used to perform various settings and check the status of the tool 1. Specifically, a user can change the operation mode of the tool 1 and check the remaining capacity of the battery pack 6 by operating the push button switches 107 of the operation panel 106. The operation modes of the tool 1 will be described in detail in "(3) Operation example of the tool system".

[0038] The sensor unit 13 detects the attitude and the like of the tool 1. The sensor unit 13 includes motion sensors such as an acceleration sensor and a gyro sensor. In the present embodiment, the sensor unit 13 is housed in the body 10 (the grip portion 102 or the mounting portion 103) of the tool 1. In the present embodiment, as an example, the sensor unit 13 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 electric signal according to the acceleration. The three-axis gyro sensor detects angular velocity about each of the three mutually orthogonal axes and outputs an electric signal according to the angular velocity. The sensor unit 13 can detect, for example, the direction of gravity (vertical direction) based on the output of the acceleration sensor and detect the orientation of the tool 1 based on the direction of gravity.

[0039] The imaging unit 14 is, for example, a stereo camera. That is, as shown in FIG. 1, the imaging unit 14 has two cameras (first camera 141 and second camera 142). The imaging unit 14 also has an image generating unit 143 that combines a first image captured by the first camera 141 and a second image captured by the second camera 142 to generate an image including distance information related to the distance (subject distance) between the reference position P1 and the subjects of the first camera 141 and the second camera 142. The reference position P1 is the rear end position of the main body 71 of the tool tip 7 as shown in FIG. 4. The image generating unit 143 also corrects the image generated based on the detection result of the sensor unit 13 so that the gravity direction is downward.

[0040] Here, the subjects of the first camera 141 and the second camera 142 include the workpiece 3 and the tool tip 7 attached to the tool 1, as shown in FIG.

[0041] 2, the imaging unit 14 is provided in the body 101. The imaging unit 14 is provided so as to capture an image of at least a part of the work target and the tool tip 7 during the fastening operation of the fastening member 4 using the tool 1.

[0042] 2, the notification unit 16 is configured with a two-color LED capable of emitting light in red and green, for example. The notification unit 16 is provided at the end (rear end) of the body 101 opposite the output shaft 19 so that the user can easily see the notification unit 16 during the fastening operation.

[0043] The communication unit 17 is a communication interface that performs wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio that does not require a license (specific low-power radio). The communication unit 17 performs wireless communication with the terminal device 2, which will be described later. Note that the communication unit 17 may be a communication interface that performs wired communication with the terminal device 2.

[0044] The storage unit 18 is configured with, for example, a semiconductor memory. The storage unit 18 stores information necessary for the operation of the control unit 15, which will be described later. The storage unit 18 also stores information generated by the control unit 15.

[0045] The control unit 15 includes a computer system having one or more processors and a memory. At least a part of the functions of the control unit 15 is realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or 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.

[0046] 1, the control unit 15 has a drive control unit 151, a communication control unit 152, a notification control unit 153, an imaging control unit 154, a determination unit 155, an image processing unit 156, a setting unit 157, and a comparison processing unit 158. Note that the drive control unit 151, the communication control unit 152, the notification control unit 153, the imaging control unit 154, the determination unit 155, the image processing unit 156, the setting unit 157, and the comparison processing unit 158 ​​are not actual configurations, but merely indicate functions realized by the control unit 15.

[0047] The drive control unit 151 controls the drive unit 11. Specifically, the drive control unit 151 operates the drive unit 11 to rotate the output shaft 19 at a rotation speed based on the retracted amount of the trigger switch 104 and in a rotation direction set by the forward / reverse changeover switch 105.

[0048] The communication control unit 152 is configured to control the communication unit 17 .

[0049] The notification control unit 153 is configured to control the notification unit 16 .

[0050] The imaging control unit 154 controls the imaging unit 14 which is a stereo camera. The first camera 141 and the second camera 142 included in the imaging unit 14 capture a first image and a second image, respectively, under the control of the imaging control unit 154. Also, the image generating unit 143 included in the imaging unit 14 synthesizes the first image and the second image under the control of the imaging control unit 154 to generate an image (distance image) including distance information regarding subject distances between the reference position P1 and the subjects of the first camera 141 and the second camera 142.

[0051] Based on distance information contained in the distance image generated by the imaging unit 14, the determination unit 155 determines that a region in the distance image where the distance along the front-to-back direction between the reference position P1 and the subject of the first camera 141 and the second camera 142 satisfies a specified condition is a specific region.

[0052] The image processing unit 156 generates a processed image by excluding an area (exclusion area) different from the specific area from the distance image generated by the imaging unit 14.

[0053] The functions of the setting unit 157 and the comparison processing unit 158 ​​will be described in "(3) Example of operation of the tool system".

[0054] (2.2) Terminal Device Configuration The terminal device 2 is a mobile terminal such as a smartphone or a tablet terminal carried by a user of the tool 1.

[0055] As shown in FIG. 1, the terminal device 2 includes a communication unit 21, a display unit 22, an operation unit 23, a control unit 24, and a storage unit 25.

[0056] The communication unit 21 is a communication interface that performs wireless communication 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. The communication unit 21 performs wireless communication with the tool 1. Note that the communication unit 21 may be a communication interface that performs wired communication with the tool 1.

[0057] The communication unit 21 receives data of the processed image generated by the image processing unit 156 from the tool 1.

[0058] The display unit 22 and the operation unit 23 are an integrally configured touch panel display. The display unit 22 displays a processed image generated by the image processing unit 156 of the tool 1. The operation unit 23 also accepts a user's operation to select an area that needs to be excluded (additional exclusion area) from the processed image displayed by the display unit 22.

[0059] The storage unit 25 is configured with, for example, a semiconductor memory, and stores the data of the processed image received by the communication unit 21.

[0060] The control unit 24 includes a computer system having one or more processors and a memory. At least a part of the functions of the control unit 24 is realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or 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.

[0061] 1, the control unit 24 has a communication control unit 241, a display control unit 242, and an image processing instruction unit 243. Note that the communication control unit 241, the display control unit 242, and the image processing instruction unit 243 are not tangible components, but merely indicate functions realized by the control unit 24.

[0062] The communication control unit 241 is configured to control the communication unit 21 .

[0063] The display control unit 242 is configured to control the display unit 22 .

[0064] The image processing instruction unit 243 causes the communication unit 21 to transmit to the tool 1 an instruction to exclude from the processed image the additional exclusion area selected by the user from the processed image.

[0065] (3) Example of tool system operation An operation example of the tool system 100 according to this embodiment will be described below with reference to the drawings.

[0066] In the following description, it is assumed that the four fastening members 4 are provisionally fastened to the four screw holes 31 provided in the fastened workpieces 3 as an initial state. Note that the "provisional fastening" referred to here refers to the operation of the tool 1 tightening the fastening members 4 until they are seated on the fastened workpieces 3 without applying an impact force by the impact mechanism 12.

[0067] As a premise, it is assumed that in a state in which the fastened member 3 is fixed to the mating member 5 by provisionally fastening the four fastening members 4, the four fastening members 4 are arranged in the up, down, left and right directions, respectively, as shown in FIG. 3. Here, the downward direction is the vertical direction. Hereinafter, the fastening members 4 arranged in the up, down, left and right directions among the four fastening members 4 are referred to as fastening members 41 to 44, respectively. Furthermore, it is assumed that the order in which the tool 1 fastens the four fastening members 4 by the impact force of the impact mechanism 12 is specified to be the order of the fastening members 41 to 44. The order in which the four fastening members 4 are fastened is stored in advance, for example, in the memory unit 18 of the tool 1.

[0068] The tool 1 has at least a registration mode and an operation mode as operation modes. The registration mode is an operation mode for generating reference images corresponding to each of the four fastening members 4. The operation mode is an operation mode when a user uses the tool 1 to perform fastening work.

[0069] (3.1) Registration Mode An operation example of the tool system 100 when the operation mode of the tool 1 is the registration mode will be described below with reference to a sequence diagram of Fig. 5. Note that the sequence diagram shown in Fig. 5 is merely an example of the operation of the tool system 100, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0070] In this operation example, it is assumed that the user causes the tool 1 in the registration mode to generate a reference image using four fastening members 4, fastened members 3, and mating members 5 for registration in a material warehouse, for example.

[0071] First, the user operates the push button switch 107 to set the operation mode of the tool 1 to a registration mode (step S1).

[0072] Next, the user engages the working portion 72 of the tool tip 7 with, for example, the fastening member 41 out of the multiple fastening members 4 .

[0073] When the user turns on the trigger switch 104 once while the working unit 72 is engaged with the fastening member 41, the imaging control unit 154 controls the imaging unit 14 to generate a first distance image GD1 (see FIG. 6) (step S2). When the operation mode of the tool 1 is the registration mode, the drive control unit 151 does not operate the drive unit 11 even if the trigger switch 104 is turned on.

[0074] The first distance image GD1 includes distance information regarding the subject distance between a reference position P1, which is the rear end position of the main body 71 of the tool tip 7, and a subject of the imaging unit 14. The subjects of the imaging unit 14 include the workpiece 3, the tool tip 7, and the tool 1.

[0075] In the first distance image GD1, the interior of the material warehouse is shown as background BG1 in the area corresponding to the area forward of the fastened parts 3. Note that the first distance image GD1 is corrected by the image generating unit 143 based on the detection result of the sensor unit 13 so that the direction of gravity is downward.

[0076] Based on the distance information included in the first distance image GD1, the determination unit 155 determines an area in the first distance image GD1 where the distance between the reference position P1 and the subject of the imaging unit 14 in the front-rear direction satisfies a predetermined condition as a specific area AR1 (step S3). Here, the predetermined condition is a condition that the distance is less than the first reference distance D1 between the reference position P1 and the fastened member 3 and is greater than the second reference distance D2 between the reference position P1 and the tip P3 of the main body 71. More specifically, the first reference distance D1 is the distance in the front-rear direction from the reference position P1 to the front end P2 of the fastened member 3 as shown in FIG. 4. Note that the predetermined condition may be a condition that the distance is less than the first reference distance D1 between the reference position P1 and the fastened member 3. In this case, the determination process of the specific area AR1 is simplified, so that the processing load of the control unit 15 can be reduced.

[0077] The first reference distance D1 is set by the setting unit 157 based on the dimensional information of the tool tip 7 and the information on the thickness T1 of the workpiece 3, and is stored in the storage unit 18. The dimensional information of the tool tip 7 and the information on the thickness T1 of the workpiece 3 are input in advance by the user operating the operation unit 23 of the terminal device 2, for example.

[0078] In addition, the dimensional information of the tip tool 7 includes information on the length of the main body portion 71 and the length of the working portion 72, and the setting unit 157 sets the sum of the length L1 of the main body portion 71, the length L2 of the working portion 72, and the thickness T1 of the fastened member 3 as the first reference distance D1.

[0079] The second reference distance D2 is set by the setting unit 157 based on the length L1 of the main body portion 71 input in advance by the user, and is stored in the storage unit 18. Specifically, the setting unit 157 sets the length L1 of the main body portion 71 as the second reference distance D2.

[0080] That is, the determination unit 155 determines, as the specific area AR1, an area in the first distance image GD1 that includes a subject located behind the front end P2 of the workpiece 3 and in front of the tip P3 of the main body 71. Specifically, as shown in Fig. 6, the determination unit 155 determines, as the specific area AR1, an area in the first distance image GD1 that includes the working part 72 of the tool tip 7 and the workpiece 3.

[0081] In this operation example, it is assumed that a foreign object M1, such as an insect, is present behind the front end P2 of the workpiece 3 and in front of the tip P3 of the main body 71, and that the foreign object M1 is captured in the first distance image GD1. In this case, the determination unit 155 determines that the area in the first distance image GD1 where the foreign object M1 is captured is also a specific area AR1.

[0082] The image processor 156 generates a first processed image GP1 by excluding an exclusion area different from the specific area AR1 from the first distance image GD1. Specifically, the image processor 156 generates a first processed image GP1 (see FIG. 7) by excluding an exclusion area other than the specific area AR1 from the first distance image GD1 (step S4). Here, the background BG1 is also excluded from the first processed image GP1.

[0083] The communication control unit 152 controls the communication unit 17 to transmit the data of the first processed image GP1 to the terminal device 2 (step S5).

[0084] When the communication unit 21 receives the data of the first processed image GP1, the display control unit 242 of the terminal device 2 causes the display unit 22 to display the first processed image GP1 (step S6).

[0085] The user checks the first processed image GP1 displayed on the display unit 22, and selects an additional exclusion area AR2 that needs to be excluded by operating the touch panel display of the operation unit 23. In this operation example, the user selects an area of ​​the specific area AR1 in which the foreign object M1 appears as the additional exclusion area AR2. The operation unit 23 accepts the user's operation to select the additional exclusion area AR2 (step S7).

[0086] The image processing instruction unit 243 generates an instruction (addition exclusion instruction) to exclude the added exclusion area AR2 selected by the user from the first processed image GP1 (step S8). The image processing instruction unit 243 causes the communication unit 21 to transmit the generated added exclusion instruction to the tool 1 (step S9).

[0087] When the communication unit 17 receives the additional exclusion instruction, the image processing unit 156 excludes the additional exclusion area AR2 from the first processed image GP1 (step S10). That is, the image processing unit 156 excludes the externally instructed additional exclusion area AR2 from the first processed image GP1.

[0088] The image processing unit 156 registers the first processed image GP1 excluding the additional exclusion area AR2 in the storage unit 18 as a reference image GS1 (see FIG. 8) corresponding to the fastening member 41 (step S11).

[0089] In a similar procedure, the tool system 100 registers in the storage unit 18 reference images GS1 corresponding to the respective fastening members 42 to 44.

[0090] (3.2) Operational Mode An operation example of the tool system 100 when the operation mode of the tool 1 is the operation mode will be described below with reference to the flowchart of Fig. 9. Note that the flowchart shown in Fig. 9 is merely an example of the operation of the tool system 100, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0091] In this operation example, it is assumed that the user performs fastening work using the tool 1 in the operation mode, using four fastening members 4, fastened members 3, and mating members 5 for actual work, for example, at an outdoor work site.

[0092] First, the user operates the push button switch 107 to set the operation mode of the tool 1 to the operation mode (step S21). When the operation mode of the tool 1 is set to the operation mode, the drive control unit 151 restricts the operation of the drive unit 11 (step S22). In the state in which the operation of the drive unit 11 is restricted, the drive unit 11 does not operate even if the user turns on the trigger switch 104.

[0093] Next, after the tool 1 sets the operation mode to the operation mode, the user engages the working part 72 of the tool tip 7 with the fastening member 41. As described above, the fastening member 41 is the fastening member 4 that is determined to perform the fastening work first among the four fastening members 4.

[0094] When the user turns on the trigger switch 104 once while the working unit 72 is engaged with the fastening member 41, the imaging control unit 154 controls the imaging unit 14 to generate a second distance image GD2 (see FIG. 10) (step S23).

[0095] The second distance image GD2 includes distance information regarding the subject distance between the reference position P1 and the subject of the imaging unit 14. The subjects of the imaging unit 14 include the fastened workpiece 3, the tool tip 7 in contact with the fastening member 41, and the tool 1. In the area of ​​the second distance image GD2 corresponding to the area ahead of the fastened workpiece 3, an outdoor landscape is captured as the background BG2.

[0096] Based on the distance information included in the second distance image GD2, the determination unit 155 determines, as a specific area AR3, an area in the second distance image GD2 where the distance along the front-rear direction between the reference position P1 and the subject of the imaging unit 14 satisfies a predetermined condition (step S24). Here, the predetermined condition is, for example, a condition that the distance is shorter than the first reference distance D1 and longer than the second reference distance D2.

[0097] The image processing unit 156 generates a second processed image GP2 by excluding an exclusion area different from the specific area AR3 from the second distance image GD2. Specifically, the image processing unit 156 generates a second processed image GP2 (see FIG. 11) by excluding an exclusion area other than the specific area AR3 from the second distance image GD2 (step S25). Here, the background BG2 is also excluded from the second processed image GP2.

[0098] Next, the comparison processing unit 158 ​​performs a pattern matching process between the first reference image GS1 and the second processed image GP2 registered in the storage unit 18, and calculates the degree of coincidence between the first reference image GS1 and the second processed image GP2 (step S26). Note that a well-known method may be used for the pattern matching process between the first reference image GS1 and the second processed image GP2.

[0099] Here, since the background BG1 is excluded from the first reference image GS1 and the background BG2 is excluded from the second processing image GP2, the pattern matching process can be performed even if the first reference image GS1 and the second processing image GP2 are images captured in different locations. Also, even if the background BG2 changes when fastening work is performed with the tool 1 in another location outdoors, the pattern matching process with the first reference image GS1 can be performed.

[0100] If the degree of similarity between the first reference image GS1 and the second processed image GP2 is greater than or equal to a predetermined value (step S26: Yes), the drive control unit 151 releases the restriction on the operation of the drive unit 11, assuming that the fastening work is about to be performed in the specified order (step S27).

[0101] If the degree of similarity between the first reference image GS1 and the second processed image GP2 is greater than or equal to a predetermined value, the notification control unit 153 turns on the notification unit 16, for example, in green, to notify the user that the fastening work is about to be performed in the specified order.

[0102] After the restriction on the operation of the drive unit 11 is released, when the user turns on the trigger switch 104, the fastening operation of the fastening member 41 is started.

[0103] Furthermore, if the user engages the working unit 72 with a fastening member 4 other than the fastening member 41 after the tool 1 sets the operating mode to the operational mode, the degree of correspondence between the first reference image GS1 and the second processed image GP2 becomes less than a predetermined value (step S26: No), and the drive control unit 151 continues to restrict the operation of the drive unit 11.

[0104] If the degree of similarity between the first reference image GS1 and the second processed image GP2 is less than a predetermined value, the notification control unit 153 lights up the notification unit 16, for example, in red, to notify the user that the fastening work is about to be performed in an order different from the specified order.

[0105] Thereafter, the same process is carried out for the fastening members 42 to 44.

[0106] (4) Variations The above embodiment (embodiment 1) is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. In addition, the same function as the tool system 100 according to the above embodiment may be embodied in a processing method, a (computer) program, or a non-transitory recording medium having a computer program recorded thereon.

[0107] The processing method according to one embodiment includes an imaging control step, a determination step, and an image processing step. In the imaging control step, an imaging unit 14 mounted on a portable tool 1 having a drive unit 11 operated by power from a power source is controlled to generate a distance image including distance information on the distance between a reference position P1 and a subject of the imaging unit 14. In the determination step, a region of the distance image where the distance between the reference position P1 and the subject satisfies a predetermined condition is determined to be a specific region based on the distance information included in the distance image. In the image processing step, a processed image is generated by excluding a region different from the specific region from the distance image.

[0108] A program according to one aspect is a program for causing one or more processors to execute the above-described control method.

[0109] Modifications of the embodiment are listed below. Hereinafter, the above embodiment may be referred to as a "basic example." The basic example and the modifications described below may be combined as appropriate and applied.

[0110] (4.1) Variation 1 In the basic example, the setting unit 157 sets the sum of the length L1 of the main body portion 71, the length L2 of the working portion 72, and the thickness T1 of the workpiece 3, all input by the user, as the first reference distance D1. The setting unit 157 also sets the length L1 of the main body portion 71, all input by the user, as the second reference distance D2.

[0111] In the first modification, the setting unit 157 receives distance images (first distance image GD1, second distance image GD2) as input, and sets the first reference distance D1 and the second reference distance D2 based on the length L1 of the main body 71, the length L2 of the working unit 72, and the thickness T1 of the fastened member 3 output by a trained model that has been machine-learned to output information including the length L1 of the main body 71, the length L2 of the working unit 72, and the thickness T1 of the fastened member 3. Specifically, the setting unit 157 sets the sum of the length L1 of the main body 71, the length L2 of the working unit 72, and the thickness T1 of the fastened member 3 output by the trained model as the first reference distance D1. The setting unit 157 also sets the length L1 of the main body 71 output by the trained model as the second reference distance D2.

[0112] The trained model is generated in advance, for example, by a manufacturer of the tool 1, and stored in the memory unit 18.

[0113] The trained model is generated by supervised learning. The training data used in the supervised learning is data that associates distance images (first distance image GD1, second distance image GD2) with the length L1 of the main body 71, the length L2 of the working part 72, and the thickness T1 of the workpiece 3.

[0114] Here, the machine learning algorithm is, for example, a neural network. However, the machine learning algorithm is not limited to a neural network, and may be, for example, an eXtreme Gradient Boosting (XGB) regression, a Random Forest, a decision tree, a Logistic Regression, a Support Vector Machine (SVM), a Naive Bayes classifier, or a k-nearest neighbors. Furthermore, the machine learning algorithm may be, for example, a Gaussian Mixture Model (GMM), or a k-means clustering.

[0115] (4.2) Variation 2 In the basic example, the image processing unit 156 excludes an externally instructed additional exclusion area AR2 from a processed image (for example, the first processed image GP1).

[0116] In the second modification, the image processing unit 156 automatically excludes an additional exclusion area AR2 from the first processed image GP1. The image processing unit 156 excludes an area from the first processed image GP1 where the subject distance between the reference position P1 and the subject of the imaging unit 14 is an abnormal value as the additional exclusion area AR2. As an example, an area where the subject distance is an abnormal value is an area where the subject distance locally satisfies a predetermined condition. Specifically, when the subject distance satisfies a predetermined condition in an extremely small area whose size is equal to or smaller than a predetermined ratio with respect to the overall size of the first processed image GP1, the image processing unit 156 excludes the extremely small area from the first processed image GP1 as the additional exclusion area AR2.

[0117] (4.3) Other Modifications The tool system 100 in the present disclosure includes a computer system in the control unit 15 of the tool 1. The computer system is mainly composed of a processor and a memory as hardware. The function of the control unit 15 in the present disclosure is realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be provided by being recorded 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 here are called differently depending on the degree of integration. The integrated circuits such as IC or LSI 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 the 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] The imaging unit 14 is not limited to a stereo camera, but may be a camera that employs a ToF (Time of Flight) method.

[0119] In the above embodiment, the tool 1 may include a functional unit corresponding to the display unit 22 and the operation unit 23 included in the terminal device 2. In this case, the user can operate the tool 1 to select an additional exclusion area AR2 that needs to be excluded.

[0120] (Embodiment 2) A tool system 100 (100A) according to a second embodiment (hereinafter referred to as the present embodiment) will be described with reference to the drawings. Note that components common to the first embodiment are given the same reference numerals and their description will be omitted. In addition, the present embodiment may be realized in combination with the first embodiment.

[0121] (1) Overview As shown in FIG. 12, the tool system 100A includes a portable tool 1 (1A) having a drive unit 11 and an imaging unit 14 that are operated by power from a power source, an imaging control unit 154, a first judgment unit 1551, a second judgment unit 1552, and an image processing unit 156.

[0122] The imaging control unit 154 controls the imaging unit 14 to generate a distance image including distance information relating to the distance between the reference position P1 and the subject of the imaging unit 14.

[0123] A first determination unit 1551 determines, based on distance information included in the distance image, an area in the distance image where the distance between the reference position P1 and the subject satisfies a predetermined condition, as a reference specific area.

[0124] The second determination section 1552 compares the distance image with a comparison image that is further captured by the imaging section 14 and is different from the distance image, and determines an area in the comparison image that corresponds to the reference specific area as a corresponding specific area.

[0125] The image processing unit 156 generates a processed image by excluding an area different from the corresponding specific area from the comparison image.

[0126] According to the tool system 100A of the present embodiment, by performing image processing on the comparison image, a processed image in which areas different from the corresponding specific area are excluded can be automatically generated, thereby improving convenience.

[0127] (2) Tool system configuration The detailed configuration of the tool system 100A according to this embodiment will be described below with reference to the drawings.

[0128] As shown in FIG. 12, the tool system 100A includes a portable tool 1A and a terminal device 2.

[0129] The tool 1A is, for example, a portable impact wrench.

[0130] The tool 1A includes a drive unit 11, an impact mechanism 12, a sensor unit 13, an imaging unit 14, a control unit 15A, a notification unit 16, a communication unit 17, and a memory unit 18.

[0131] The control unit 15A includes a computer system having one or more processors and a memory. At least a part of the functions of the control unit 15A is realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or 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.

[0132] The control unit 15A has a drive control unit 151, a communication control unit 152, a notification control unit 153, an imaging control unit 154, a first determination unit 1551, a second determination unit 1552, an image processing unit 156, a setting unit 157, and a comparison processing unit 158. Note that the drive control unit 151, the imaging control unit 154, the first determination unit 1551, the second determination unit 1552, the image processing unit 156, and the comparison processing unit 158 ​​are not actual configurations, but merely indicate functions realized by the control unit 15.

[0133] (3) Example of tool system operation An operation example of the tool system 100A according to the present embodiment will be described below. Note that the prerequisites for the operation example of the tool system 100A are the same as those in the first embodiment.

[0134] (3.1) Registration Mode An operation example of the tool system 100A when the operation mode of the tool 1A is the registration mode will be described below with reference to the flowchart of Fig. 13. Note that the flowchart shown in Fig. 13 is merely an example of the operation of the tool system 100A, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0135] In this operation example, it is assumed that the user causes the tool 1A in the registration mode to generate a reference image using four fastening members 4, fastened members 3, and mating members 5 for registration in a material warehouse, for example.

[0136] First, the user operates the push button switch 107 to set the operation mode of the tool 1A to the registration mode (step S31).

[0137] Next, the user engages the working portion 72 of the tool bit 7 with the fastening member 41 .

[0138] When the user turns on the trigger switch 104 once while the working unit 72 is engaged with the fastening member 41, the imaging control unit 154 controls the imaging unit 14 to generate a first distance image GD11 (see FIG. 14) (step S32). When the operation mode of the tool 1A is the registration mode, the drive control unit 151 does not operate the drive unit 11 even if the trigger switch 104 is turned on.

[0139] Based on the distance information included in the first distance image GD11, the first determination unit 1551 determines an area in the first distance image GD11 where the distance in the front-rear direction between the reference position P1 (see FIG. 4), which is the rear end position of the main body 71 of the tool tip 7, and the subject of the imaging unit 14 satisfies a predetermined condition, as a reference specific area AR11 (see FIG. 14) (step S33). The reference specific area AR11 is stored in the storage unit 18.

[0140] The image processing unit 156 generates a first processed image by excluding the excluded region other than the reference specific region AR11 from the first distance image GD11 (step S34).

[0141] The image processing unit 156 registers the first processed image in the storage unit 18 as a first reference image GS11 corresponding to the fastening member 41 (step S35). Note that the first reference image GS11 is the same as the first reference image GS1 in the first embodiment (see FIG. 8).

[0142] In a similar procedure, the tool system 100A registers in the storage unit 18 reference images corresponding to the respective fastening members 42-44.

[0143] (3.2) Operational Mode An operation example of the tool system 100A when the operation mode of the tool 1A is the operation mode will be described below with reference to the flowchart of Fig. 15. Note that the flowchart shown in Fig. 15 is merely an example of the operation of the tool system 100, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0144] In this operation example, it is assumed that the user performs fastening work using the tool 1 in the operation mode, using four fastening members 4, fastened members 3, and mating members 5 for actual work, for example, at an outdoor work site.

[0145] First, the user operates the push button switch 107 to set the operation mode of the tool 1A to the operation mode (step S41). When the operation mode of the tool 1A is set to the operation mode, the drive control unit 151 restricts the operation of the drive unit 11 (step S42). In the state in which the operation of the drive unit 11 is restricted, the drive unit 11 does not operate even if the trigger switch 104 is turned on.

[0146] Next, the user engages the working portion 72 of the tool tip 7 with the fastening member 41, for example.

[0147] When the user turns on the trigger switch 104 once while the working unit 72 is engaged with the fastening member 41, the imaging control unit 154 controls the imaging unit 14 to generate a second distance image (comparison image) GD2 (see FIG. 10) (step S43).

[0148] The second distance image GD2 includes distance information regarding the subject distance between the reference position P1 and the subject of the imaging unit 14. The subjects of the imaging unit 14 include the fastened workpiece 3, the tool tip 7 in contact with the fastening member 41, and the tool 1. In the second distance image GD2, an outdoor landscape is captured as the background BG2 in the area ahead of the fastened workpiece 3.

[0149] The second determination unit 1552 compares the second distance image GD2 with the first distance image GD11 (see FIG. 14), and determines that the area in the second distance image GD2 that corresponds to the reference specific area AR11 is the corresponding specific area AR31 (see FIG. 10) (step S44). Note that "correspondence" here refers to positional correspondence.

[0150] The image processing unit 156 generates a second processed image GP2 (see FIG. 11) by excluding the excluded area other than the corresponding specific area AR31 from the second distance image GD2 (step S45).

[0151] Next, the comparison processing unit 158 ​​performs pattern matching processing between the first reference image GS11 registered in the storage unit 18 and the second processed image GP2, and calculates the degree of match between the first reference image GS11 and the second processed image GP2 (step S46).

[0152] If the degree of similarity between the first reference image GS11 and the second processed image GP2 is greater than or equal to a predetermined value (step S46: Yes), the drive control unit 151 releases the restriction on the operation of the drive unit 11, assuming that the fastening work is about to be performed in the specified order (step S47).

[0153] If the degree of similarity between the first reference image GS11 and the second processed image GP2 is greater than or equal to a predetermined value, the notification control unit 153 turns on the notification unit 16, for example, in green, to notify the user that the fastening work is about to be performed in the specified order.

[0154] After the restriction on the operation of the drive unit 11 is released, when the user turns on the trigger switch 104, the fastening operation of the fastening member 41 is started.

[0155] Furthermore, if the degree of coincidence between the first reference image GS11 and the second processed image GP2 is less than a predetermined value (step S46: No), the drive control unit 151 continues to restrict the operation of the drive unit 11, assuming that the fastening work is about to be performed in an order different from the specified order.

[0156] If the degree of similarity between the first reference image GS11 and the second processed image GP2 is less than a predetermined value, the notification control unit 153 turns on the notification unit 16, for example, in red, to notify the user that the fastening work is about to be performed in an order different from the specified order.

[0157] Thereafter, the same process is carried out for the fastening members 42 to 44.

[0158] (4) Variations The above embodiment (embodiment 2) is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. In addition, the same function as the tool system 100 according to the above embodiment may be embodied in a processing method, a (computer) program, or a non-transitory recording medium having a computer program recorded thereon.

[0159] The processing method according to one embodiment includes an imaging control step, a first determination step, a second determination step, and an image processing step. In the imaging control step, the imaging unit 14 mounted on the portable tool 1 having the driving unit 11 operated by power from a power source is controlled to generate a distance image including distance information regarding the distance between the reference position P1 and the subject of the imaging unit 14. In the first determination step, based on the distance information included in the distance image, a region in the distance image where the distance between the reference position P1 and the subject satisfies a predetermined condition is determined as a reference specific region. In the second determination step, the imaging unit 14 further captures an image, compares the distance image with a comparison image different from the distance image, and determines a region in the comparison image corresponding to the reference specific region as a corresponding specific region. In the image processing step, a processed image is generated by excluding a region different from the corresponding specific region from the comparison image.

[0160] A program according to one aspect is a program for causing one or more processors to execute the above-described control method.

[0161] (summary) As described above, the tool system (100) of the first embodiment includes a portable tool (1) having a driving unit (11) and an imaging unit (14) that are operated by power from a power source, an imaging control unit (154), a determination unit (155), and an image processing unit (156). The imaging control unit (154) controls the imaging unit (14) to generate a distance image (GD1) including distance information related to the distance between a reference position (P1) and a subject of the imaging unit (14). The determination unit (155) determines, based on the distance information included in the distance image (GD1), a region in the distance image (GD1) where the distance between the reference position (P1) and the subject satisfies a predetermined condition, as a specific region (AR1). The image processing unit (156) generates a processed image (GP1) by excluding a region different from the specific region (AR1) from the distance image (GD1).

[0162] According to this embodiment, by automatically applying image processing to the distance image (GD1), a processed image (GP1) can be generated that excludes areas different from the specific area (AR1), thereby improving convenience.

[0163] The tool system (100) of the second embodiment includes a portable tool (1) having a driving unit (11) and an imaging unit (14) that are operated by power from a power source, an imaging control unit (154), a first determination unit (1551), a second determination unit (1552), and an image processing unit (156). The imaging control unit (154) controls the imaging unit (14) to generate a distance image (GD11) including distance information related to the distance between a reference position (P1) and a subject captured by the imaging unit (14). The first determination unit (1551) determines, based on the distance information included in the distance image (GD11), an area in the distance image (GD11) where the distance between the reference position (P1) and the subject satisfies a predetermined condition, as a reference specific area (AR11). The second determination unit (1552) compares a comparison image (GD2) that is further captured by the imaging unit (14) and is different from the distance image (GD11) with the distance image (GD11), and determines a region in the comparison image (GD2) that corresponds to the reference specific region (AR11) as the corresponding specific region (AR31). The image processing unit (156) generates a processed image (GP2) by excluding regions different from the corresponding specific region (AR31) from the comparison image (GD2).

[0164] According to this embodiment, by automatically applying image processing to the comparison image (GD2), a processed image (GP2) can be generated that excludes areas different from the corresponding specific area (AR31), thereby improving convenience.

[0165] In the tool system (100) of the third aspect, in the first or second aspect, the tool (1) is used for an operation of fastening a fastening member (4) to a fastened member (3). The subject of the imaging unit (14) includes the fastened member (3). The predetermined condition is that the reference distance (D1) between the reference position (P1) and the fastened member (3) falls below the reference distance (D1).

[0166] According to this embodiment, the distance between the reference position (P1) and the subject of the imaging section (14) is compared with the reference distance (D1), thereby making it possible to automatically determine the range in which image processing is performed.

[0167] In the tool system (100) of the fourth aspect, in the third aspect, the subject of the imaging unit (14) includes a tool tip (7) attached to the tool (1). The tool tip (7) has a rod-shaped main body (71) and a working part (72) that is mechanically connected to the tip (P3) of the main body (71) and contacts the fastening member (4). The predetermined condition is that the distance (D1) is less than the first reference distance (D1), which is the reference distance (D1), and is greater than the second reference distance (D2) between the reference position (P1) and the tip (P3) of the main body (71).

[0168] According to this embodiment, the range to which image processing is to be applied can be automatically determined by comparing the distance between the reference position (P1) and the subject of the imaging section (14) with the first reference distance (D1) and the second reference distance (D2).

[0169] The tool system (100) of the fifth aspect is the fourth aspect, further including a setting unit (157) that sets a second reference distance (D2) based on the length of the main body portion (71) that is input in advance.

[0170] According to this embodiment, the second reference distance (D2) can be set automatically.

[0171] The tool system (100) of the sixth aspect further includes a setting unit (157) that sets a second reference distance (D2) based on the length of the main body portion (71) output by a trained model that has been machine-learned to input a distance image (GD1) and output the length of the main body portion (71) in the fourth aspect.

[0172] According to this embodiment, the second reference distance (D2) can be set automatically.

[0173] In the tool system (100) of the seventh aspect, in any one of the first to sixth aspects, the image processing unit (156) excludes an area designated from the outside from the processed image (GP1).

[0174] According to this aspect, the accuracy of image processing can be improved.

[0175] In the eighth aspect of the tool system (100), in any of the first to seventh aspects, the image processing unit (156) excludes from the processed image (GP1) an area where the distance between the reference position (P1) and the subject of the imaging unit (14) is an abnormal value.

[0176] According to this aspect, the accuracy of image processing can be improved.

[0177] In the tool system (100) of the ninth aspect, in any one of the first to eighth aspects, the imaging unit (14) includes a stereo camera.

[0178] According to this embodiment, it is possible to improve the accuracy of distance information regarding the distance between the reference position (P1) and the subject of the imaging section (14).

[0179] The tool (1) of the tenth aspect is a tool included in the tool system (100) of any of the first to ninth aspects.

[0180] According to this aspect, it is possible to improve convenience.

[0181] The processing method of the eleventh aspect includes an imaging control step, a determination step, and an image processing step. In the imaging control step, an imaging unit (14) mounted on a portable tool (1) having a drive unit (11) operated by power from a power source is controlled to generate a distance image (GD1) including distance information related to the distance between a reference position (P1) and a subject of the imaging unit (14). In the determination step, a region of the distance image (GD1) where the distance between the reference position (P1) and the subject of the imaging unit (14) satisfies a predetermined condition is determined as a specific region (AR1) based on the distance information included in the distance image (GD1). In the image processing step, a processed image (GP1) is generated by excluding a region different from the specific region (AR1) from the distance image (GD1).

[0182] According to this embodiment, by automatically applying image processing to the distance image (GD1), a processed image (GP1) can be generated that excludes areas different from the specific area (AR1), thereby improving convenience.

[0183] The processing method of the twelfth aspect includes an imaging control step, a first determination step, a second determination step, and an image processing step. In the imaging control step, an imaging unit (14) mounted on a portable tool (1) having a drive unit (11) operated by power from a power source is controlled to generate a distance image (GD11) including distance information related to the distance between a reference position (P1) and a subject of the imaging unit (14). In the first determination step, based on the distance information included in the distance image (GD11), a region in the distance image (GD11) where the distance between the reference position (P1) and the subject satisfies a predetermined condition is determined as a reference specific region (AR11). In the second determination step, the imaging unit (14) further captures an image, compares a comparison image (GD2) different from the distance image (GD11) with the distance image (GD11), and determines a region in the comparison image (GD2) corresponding to the reference specific region (AR11) as a corresponding specific region (AR31). In the image processing step, a processed image (GP2) is generated by excluding areas different from the corresponding specific area (AR31) from the comparison image (GD2).

[0184] According to this aspect, by automatically performing image processing on the comparison image (GD2), a processed image can be generated in which areas different from the corresponding specific area (AR31) are excluded, thereby improving convenience.

[0185] A program according to a thirteenth aspect is a tool for causing one or more processors to execute the processing method according to the eleventh or twelfth aspect.

[0186] According to this aspect, it is possible to improve convenience.

[0187] The second to ninth aspects are not essential components of the tool system (100) and may be omitted as appropriate. [Explanation of symbols]

[0188] 1 tool 3 Parts to be fastened 4 Fastening members 7 Tip tool 11 Drive unit 14 Imaging unit 71 Main body 72 Working Section 100 Tool System 154 Imaging control section 155 Judgment section 156 Image Processing Unit 157 Setting section 1551 1st Judgment Department 1552 Second Judgment Department AR1 specific area AR11 reference specific area AR31 Specific Areas D1 1st reference distance D2 2nd reference distance GD1 Range Image GD11 Range image GP1 processed image GP2 processed image P1 reference position P3 Tip

Claims

1. A portable tool having a drive unit and an imaging unit that are operated by power from a power source; an imaging control unit that controls the imaging unit to generate an image including distance information regarding a distance between a reference position and a subject of the imaging unit; a determination unit that determines, based on the distance information, a region in the image where the distance between the reference position and the subject satisfies a predetermined condition as a specific region; an image processing unit that generates a processed image by excluding an area different from the specific area from the image, Tool system.

2. A portable tool having a drive unit and an imaging unit that are operated by power from a power source; an imaging control unit that controls the imaging unit to generate an image including distance information regarding a distance between a reference position and a subject of the imaging unit; a first determination unit that determines, based on the distance information, a region in the image in which the distance between the reference position and the subject satisfies a predetermined condition, as a reference specific region; a second determination unit that compares the image with a comparison image that is different from the image captured by the imaging unit and determines a region of the comparison image that corresponds to the reference specific region as a corresponding specific region; an image processing unit that generates a processed image by excluding an area different from the corresponding specific area from the comparison image, Tool system.

3. The tool is used for fastening a fastening member to a fastened member, The subject includes the fastened member, The predetermined condition is a condition that the distance between the reference position and the fastened member is less than a reference distance. A tool system according to claim 1 or 2.

4. The subject includes a tool tip attached to the tool, The tip tool has a rod-shaped main body and a working part that is mechanically connected to a tip of the main body and comes into contact with the fastening member, The predetermined condition is a condition that the distance is less than a first reference distance, which is the reference distance, and is greater than a second reference distance between the reference position and the tip of the main body portion. The tool system of claim 3.

5. a setting unit that sets the second reference distance based on a length of the main body that is input in advance, The tool system of claim 4.

6. A setting unit that sets the second reference distance based on the length of the main body output by a trained model that has been machine-learned to input the image and output the length of the main body. The tool system of claim 4.

7. The image processing unit excludes an externally designated area from the processed image. A tool system according to claim 1 or 2.

8. the image processing unit excludes from the processed image an area in which the distance between the reference position and the subject is an abnormal value; A tool system according to claim 1 or 2.

9. The imaging unit includes a stereo camera. A tool system according to claim 1 or 2.

10. The tool system according to claim 1 or 2 comprises: tool.

11. an imaging control step of controlling an imaging unit mounted on a portable tool having a drive unit operated by power from a power source to generate an image including distance information regarding a distance between a reference position and a subject of the imaging unit; a determining step of determining, based on the distance information, a region in the image where the distance between the reference position and the subject satisfies a predetermined condition as a specific region; and generating a processed image by excluding an area different from the specific area from the image. Processing methods.

12. an imaging control step of controlling an imaging unit mounted on a portable tool having a drive unit operated by power from a power source to generate an image including distance information regarding a distance between a reference position and a subject of the imaging unit; a first determination step of determining, based on the distance information, a region in the image in which the distance between the reference position and the subject satisfies a predetermined condition, as a reference specific region; a second determination step of comparing the image with a comparison image different from the image captured by the imaging unit and determining a region of the comparison image corresponding to the reference specific region as a corresponding specific region; and generating a processed image by excluding an area different from the corresponding specific area from the comparison image. Processing methods.

13. A method for causing one or more processors to execute the processing method according to claim 11 or 12. program.

Images