Tool system, tool, mode switching method, and program

Abstract

To improve work efficiency in work required to fasten the same fastened place a plurality of times.SOLUTION: A tool system 1 includes a portable tool 2 having a driving part 24, an imaging part 26, and a control part 27. The driving part 24 is operated by power from a power source. The imaging part 26 generates a photographic image. The control part 27 controls the driving part 24. As a control mode of the tool 2, there are a plurality of control modes in which at least one of a fastening procedure and fastening torque is different for the same work object. The tool system 1 includes a control information storage part 341 for storing control information in each of the plurality of control modes. The control part 27 switches the control mode, when satisfying a specific condition. The control part 27 controls the driving part 24, on the basis of control information according to the control mode after switching.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure generally relates to a tool system, a tool, a mode switching method, and a program, and more particularly to a tool system, a tool, a mode switching method, and a program for controlling a drive unit. [Background technology]

[0002] Patent Document 1 describes an electric power tool having a motor. In the electric power tool of Patent Document 1, the rotation speed of the motor is changed by swinging the electric power tool by a user. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-130626 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the meantime, in a tool or a tool system, it is desired to improve the work efficiency in various operations.

[0005] The present disclosure has been made in consideration of the above-mentioned reasons, and aims to provide a tool system, a tool, a mode switching method, and a program that can improve work efficiency in work that requires tightening the same fastening point multiple times. [Means for solving the problem]

[0006] A tool system according to one aspect of the present disclosure includes a portable tool having a drive unit, an imaging unit, and a control unit. The drive unit operates using power from a power source. The imaging unit generates an image. The control unit controls the drive unit. The tool has a plurality of control modes in which at least one of a fastening procedure and a fastening torque is different for the same work object. The tool system includes a control information storage unit that stores control information for each of the plurality of control modes. The control unit switches the control mode when a specific condition is satisfied. The control unit controls the drive unit based on the control information corresponding to the control mode after the switch.

[0007] A tool according to an aspect of the present disclosure is used in the tool system. The tool includes a drive unit and a control unit.

[0008] A mode switching method according to one aspect of the present disclosure is executed by a tool system. The tool system includes a portable tool having a drive unit, an imaging unit, and a control unit. The drive unit operates by power from a power source. The imaging unit generates an image. The control unit controls the drive unit. There are a plurality of control modes of the tool, each of which has a different fastening procedure and / or a different fastening torque for the same work object. The tool system includes a control information storage unit that stores control information for each of the plurality of control modes. The mode switching method includes a switching step and a drive control step. In the switching step, the control mode is switched when a specific condition is satisfied. In the drive control step, the drive unit is controlled based on the control information corresponding to the control mode after switching.

[0009] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the mode switching method. Effect of the Invention

[0010] According to the tool system, tool, mode switching method, and program relating to the above aspects of the present disclosure, it is possible to improve work efficiency in work that requires tightening the same fastening point multiple times. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram showing a configuration of a tool system according to an embodiment. [Diagram 2] FIG. 2 is an external perspective view of a tool included in the tool system as viewed from a first direction. [Diagram 3] FIG. 3 is an external perspective view of the tool as viewed from a second direction. [Figure 4] FIG. 4 is a plan view showing an example of a work target. [Diagram 5] FIG. 5 is a flowchart showing the operation of the tool system. [Figure 6] FIG. 6 is a plan view showing another example of the work target. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Elements common to the embodiments described below are given the same reference numerals, and duplicated descriptions of the common elements may be omitted. The following embodiment is merely one of various embodiments of the present disclosure. Various modifications of the embodiment may be made depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, the embodiments (including modified examples) may be realized in appropriate combinations.

[0013] Each drawing described in this disclosure is a schematic drawing, and the ratio of the size and thickness of each component in each drawing does not necessarily reflect the actual dimensional ratio.

[0014] (1) Overview First, an overview of a tool system 1 according to the present embodiment will be described with reference to FIG.

[0015] As shown in FIG. 1, the tool system 1 of the present embodiment includes a tool 2 and a control information storage unit 341.

[0016] The tool 2 is a portable tool having a driving unit 24 that operates by power from a power source, an imaging unit 26 that generates a captured image, and a control unit 27 that controls the driving unit 24.

[0017] The control modes of the tool 2 include a plurality of control modes in which at least one of the fastening procedure and the fastening torque is different for the same work object A1 (see FIG. 4).

[0018] The control information storage unit 341 stores the control information for each of a plurality of control modes.

[0019] The control unit 27 switches the control mode when a specific condition is satisfied, and controls the drive unit 24 based on control information corresponding to the control mode after the switching.

[0020] According to the tool system 1 of the present embodiment, when a specific condition is satisfied, the control unit 27 switches the control mode without the need for the operator to change settings such as the tightening torque. This improves work efficiency, for example, when temporary tightening and final tightening need to be performed on the work object A1.

[0021] (2)Details Hereinafter, a detailed configuration of the tool system 1 according to the present embodiment will be described with reference to Figs. 1 to 4. The tool system 1 according to the present embodiment is used for tightening a plurality of tightening points X0 of a work object A1, for example, outdoors. The "tightening points" in this disclosure include the positions where the tightening work is performed on the work object A1, and the tightening members to be tightened at the positions where the tightening work is performed on the work object A1. The tightening points X0 (or tightening members) are bolts, nuts, or the like. In this embodiment, it is assumed that the work object A1 is, for example, a flange of a steel frame. In addition, in this embodiment, it is assumed that the plurality of tightening points X0 (or tightening members) are bolts. That is, in this embodiment, it is assumed that a worker uses the tool 2 to tighten a plurality of bolts in order to attach a flange to a mating member.

[0022] In addition, in this embodiment, a case where each of the multiple tightening points X0 of the work object A1 is tightened multiple times is exemplified. That is, in this embodiment, a case where each of the multiple tightening points X0 of the work object A1 is tightened temporarily and then tightened is exemplified. In this disclosure, "final tightening" refers to the final tightening of each tightening point X0. In addition, in this disclosure, "temporary tightening" refers to tightening other than the final tightening of each tightening point X0. In other words, when each tightening point X0 is tightened twice, the first tightening of each tightening point X0 is temporary tightening, and the second tightening of each tightening point X0 is final tightening.

[0023] (2.1) Tool system configuration As shown in FIG. 1, a tool system 1 of the present embodiment includes a tool 2 and a determination device 3.

[0024] (2.2) Tool configuration The tool 2 of this embodiment is, for example, a portable impact wrench. The tool 2 includes a driving unit 24, a communication unit 25, an imaging unit 26, a control unit 27, a sensor unit 28, a display unit 211, and an operation unit 231. In this embodiment, the imaging unit 26 and the battery pack 201 (see FIG. 2) are included in the components of the tool 2, but it is not essential that the imaging unit 26 and the battery pack 201 are included in the components of the tool 2, and the imaging unit 26 and the battery pack 201 may not be included in the components of the tool 2. For example, the imaging unit 26 may be provided in a headset that the worker wears on his head, or may be detachable from the tool 2. The battery pack 201 is separate from the tool 2 (the tool body) and may be configured to be detachable from the tool 2 (the tool body).

[0025] 2 and 3, the tool 2 further includes a body 20. The body 20 of the tool 2 includes a trunk portion 21, a grip portion 22, and a mounting portion 23.

[0026] Body section 21 is formed in a tubular shape (cylindrical shape here). Grip section 22 protrudes in one direction (downward in FIG. 2 ) from a part of the circumferential surface of body section 21. Mounting section 23 is provided so that battery pack 201 can be removably mounted thereon. In other words, body section 21 and mounting section 23 are connected by grip section 22.

[0027] The body portion 21 accommodates a part of the drive portion 24 (see FIG. 1) and the imaging portion 26. An output shaft 241 of the drive portion 24 protrudes from one end face of the body portion 21 in the axial direction.

[0028] The grip portion 22 is a portion that an operator grips when performing work. The grip portion 22 is provided with a trigger switch 221. The trigger switch 221 is a switch for controlling the on / off operation of the drive unit 24. The trigger switch 221 has an initial position and an on position, and the drive unit 24 operates when the operator pushes or pulls the trigger switch 221 to the on position. In addition, the trigger switch 221 can adjust the rotation speed of the drive unit 24 according to the pulling amount (operation amount).

[0029] The mounting section 23 is formed in a flat rectangular parallelepiped shape. A battery pack 201 is removably mounted on one surface of the mounting section 23 opposite to the grip section 22.

[0030] The battery pack 201 is composed of, for example, a lithium ion battery, etc. The battery pack 201 supplies power to the drive unit 24, the communication unit 25, the imaging unit 26, the control unit 27, etc. In other words, the battery pack 201 is a power source that supplies power to the drive unit 24.

[0031] The mounting unit 23 is also provided with an operation unit 231. The operation unit 231 can be used to perform various settings and status confirmation related to the tool 2. That is, the worker can, for example, check the remaining capacity of the battery pack 201 by operating the operation unit 231.

[0032] The display unit 211 is configured with, for example, an LED (Light Emitting Diode). The display unit 211 is provided at an end (i.e., a rear end) of the trunk portion 21 of the body 20 opposite to the output shaft 241 so that the worker can easily view the display unit 211 during work (see FIG. 3). The display unit 211 is an example of a notification unit included in the tool 2.

[0033] The driving unit 24 of this embodiment has a motor, a reduction mechanism, a driving shaft, an impact mechanism, an output shaft 241, and a socket 242. The driving unit 24 is configured to operate with power supplied to the motor from the battery pack 201. The driving unit 24 rotates and drives the tip tool (socket 242) with the power from the motor to tighten the tightening point X0.

[0034] The reduction mechanism transmits the rotational force of the motor's rotating shaft to the drive shaft. The reduction mechanism is, for example, a planetary gear mechanism, and converts the rotational speed and torque of the motor's rotating shaft into the rotational speed and torque required for the fastening operation. The output shaft 241 outputs the rotation of the drive shaft and transmits it to the socket 242. The output shaft 241 rotates around a rotation axis Ax1 along the protruding direction. In other words, the drive unit 24 drives the output shaft 241 to rotate the output shaft 241 around the rotation axis Ax1. In other words, the operation of the drive unit 24 applies torque to the output shaft 241, causing the output shaft 241 to rotate.

[0035] A cylindrical socket 242 for rotating the fastening point X0 is detachably attached to the output shaft 241. The socket 242 rotates around the output shaft 241 together with the output shaft 241. The size of the socket 242 attached to the output shaft 241 is appropriately selected by the operator according to the size of the fastening part. With this configuration, when the drive unit 24 operates, the output shaft 241 rotates and the socket 242 rotates together with the output shaft 241. At this time, if the socket 242 is fitted into the fastening point X0, the fastening point X0 rotates together with the socket 242, and the operation of fastening the fastening point X0 (fastening operation) is realized. Therefore, the tool 2 can realize the operation of fastening the fastening point X0 by the operation of the drive unit 24.

[0036] Moreover, a socket anvil can be attached to the output shaft 241 instead of the socket 242. The socket anvil is also detachably attached to the output shaft 241. In this case, a bit (for example, a driver bit or a drill bit) can be attached via the socket anvil.

[0037] The impact mechanism is driven by a motor. The impact mechanism includes, for example, a hammer rotatably supported by a drive shaft, and an anvil (striking part) provided at the rear end of the output shaft 241. The hammer strikes the anvil in response to the rotation of the drive shaft.

[0038] When the fastening torque (work value) exceeds a predetermined level, the impact mechanism applies an impact to the output shaft 241 in the rotational direction. This enables the tool 2 to apply a larger fastening torque to the fastening location X0. Note that it is not essential that the socket 242 and the impact mechanism are included as components of the drive unit 24, and the components of the drive unit 24 do not necessarily need to include the socket 242 and the impact mechanism.

[0039] The imaging unit 26 generates data as a captured image. Here, the "captured image" is an image obtained by the imaging unit 26, and includes a still image (still image) and a video (moving image). Furthermore, the "video" includes an image composed of a plurality of still images (frames) obtained by frame-by-frame shooting or the like. The captured image does not have to be the data itself output from the imaging unit 26. For example, the captured image may be appropriately compressed as necessary, converted into another data format, or processed by cutting out a part of the image captured by the imaging unit 5, adjusting the focus, adjusting the brightness, adjusting the contrast, or the like. In this embodiment, the captured image is, for example, a full-color video.

[0040] The imaging unit 26 is, for example, a camera having an imaging element and a lens. In this embodiment, the imaging unit 26 is housed in the body 20 (trunk portion 21) of the tool 2. The imaging unit 26 is mounted toward the tip side of the output shaft 241 so as to capture an image of the fastening location X0 during work using the tool 2.

[0041] Specifically, the imaging unit 26 is disposed at the tip of the body 21 toward the tip side (socket 242) of the output shaft 241 so that the socket 242 attached to the output shaft 241 falls within the imaging range (see Figs. 2 and 3). The optical axis of the imaging unit 26 is disposed along the rotation axis Ax1 of the output shaft 241. Here, the imaging unit 26 is disposed so that the optical axis is located within a predetermined distance from the rotation axis Ax1 of the output shaft 241 and is substantially parallel to the rotation axis Ax1. Note that it is not essential that the imaging unit 26 generates an image so that the socket 242 attached to the output shaft 241 falls within the imaging range. It is sufficient that the imaging unit 26 is capable of generating an image for identifying the set fastening location.

[0042] In the present disclosure, a "set fastening point" refers to a fastening point X0 in which the tool 2 is set among a plurality of fastening points X0. "A state in which the tool 2 is set at the fastening point X0" refers to a state in which the tool 2 is prepared to perform work on the fastening point X0. In addition, "a state in which the tool 2 is set at the fastening point X0" includes not only a state in which the tool 2 is in contact with the fastening point X0, but also a state in which the tool 2 is about to be in contact with the fastening point X0, that is, a state in which the tool 2 is approaching the fastening point X0. In other words, when the tool 2 is set at the fastening point X0, the tool 2 may be in contact with the fastening point X0 or may be away from it.

[0043] Further, the "captured image for identifying the set fastening point" is an image generated by imaging the work object A1 (see FIG. 4) with the tool 2 set at the fastening point X0 by the imaging unit 26. The imaging range of the imaging unit 26 in this disclosure is assumed to include the fastening point X0 where the tool 2 is set. Note that the captured image may be an image that allows the set fastening point to be identified, and the imaging range of the captured image does not necessarily include the fastening point X0 where the tool 2 is set.

[0044] Since the imaging unit 26 in this embodiment is provided on the tool 2, the fastening point X0 can be imaged at a relatively close distance, reducing the problem of the fastening point X0 being hidden by the tool or the worker and not being able to be properly imaged.

[0045] The sensor unit 28 detects the attitude and the like of the tool 2. The sensor unit 28 includes motion sensors such as an acceleration sensor and a gyro sensor. In the present embodiment, the sensor unit 28 is housed in the body 20 (the grip portion 22 or the mounting portion 23) of the tool 2. In the present embodiment, as an example, the sensor unit 28 has a three-axis acceleration sensor and a three-axis gyro sensor as motion sensors. The three-axis acceleration sensor detects acceleration about each of three mutually orthogonal axes, and outputs an electrical signal according to the acceleration. The three-axis gyro sensor detects angular velocity about each of three mutually orthogonal axes, and outputs an electrical signal according to the angular velocity.

[0046] The sensor unit 28 can detect the direction of gravity based on the output of an acceleration sensor, for example, and detect the orientation of the tool 2 based on the direction of gravity. Also, the sensor unit 28 can detect the moving distance and moving direction of the tool 2 from one fastening point X0 to another fastening point X0 based on the output of the acceleration sensor.

[0047] Furthermore, the sensor unit 28 can detect the angular velocity of the tool 2 during movement accompanied by rotation based on the output of the gyro sensor, or the rotation angle of the tool 2 from the integral result of the angular velocity. As an example, the sensor unit 28 can distinguish between an attitude of the tool 2 in which the protruding direction of the grip portion 22 from the body portion 21 is downward (direction of gravity) and an attitude of the tool 2 in which the protruding direction of the grip portion 22 from the body portion 21 is upward. Here, the "attitude of the tool 2" in the present disclosure refers to the orientation of the tool 2 determined by the rotation angles (e.g., roll angle, pitch angle, and yaw angle) around each of three axes based on the direction of gravity, for example.

[0048] That is, the sensor unit 28 detects the movement and attitude of the tool 2 based on the output of the motion sensor (acceleration sensor and gyro sensor). The sensor unit 28 outputs detection information including movement information related to the movement distance and movement direction of the tool 2 and attitude information related to the attitude of the tool 2 to the control unit 27.

[0049] The communication unit 25 includes a communication interface for wireless communication with the determination device 3. The communication unit 25 communicates with the determination device 3 by a wireless communication method conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a license.

[0050] The storage unit 29 includes, for example, a semiconductor memory such as a Read Only Memory (ROM), a Random Access Memory (RAM), or an Electrically Erasable Programmable Read Only Memory (EEPROM).

[0051] The control unit 27 mainly comprises, for example, a computer system having one or more processors and one or more memories. In the tool 2, the one or more processors execute a program recorded in the memory, thereby realizing the functions of the control unit 27. The program may be pre-recorded in the memory, may be provided via a telecommunication line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card.

[0052] The control unit 27 outputs control signals to each of the drive unit 24, the communication unit 25, the imaging unit 26, and the display unit 211, thereby controlling the drive unit 24, the communication unit 25, the imaging unit 26, and the display unit 211 individually.

[0053] The control unit 27 transmits the captured image generated by the imaging unit 26, the detection information of the sensor unit 28, a notification of completion of the tightening operation, and the like to the determination device 3 via the communication unit 25. In addition, the control unit 27 transmits tightening completion information to the determination device 3 via the communication unit 25 every time the drive unit 24 performs the tightening operation. For example, the tightening completion information includes information indicating that tightening of the tightening location X0 has been completed, information on the tightening torque, and the like.

[0054] Furthermore, the control unit 27 receives a permission instruction or a restriction instruction for the tightening operation from the determination device 3 via the communication unit 25. When the control unit 27 receives a permission instruction from the determination device 3, the control unit 27 permits the tightening operation by the drive unit 24. That is, when the control unit 27 receives a permission instruction from the determination device 3, the control unit 27 operates the drive unit 24 in response to the operator's operation of the trigger switch 221. On the other hand, when the control unit 27 receives a restriction instruction from the determination device 3, the control unit 27 restricts the tightening operation by the drive unit 24. That is, when the control unit 27 receives a restriction instruction from the determination device 3, the control unit 27 does not operate the drive unit 24 even if the operator pulls the trigger switch 221.

[0055] Moreover, the control unit 27 controls the display unit 211 in response to an instruction received from the determination device 3. For example, when the control unit 27 receives a permission instruction from the determination device 3, the control unit 27 lights up the display unit 211 in green. Furthermore, when the control unit 27 receives a restriction instruction from the determination device 3, the control unit 27 lights up the display unit 211 in red. The worker can recognize whether the fastening order of the fastening point X0 is correct or not by visually checking the lighting state of the display unit 211. Note that the control unit 27 may light up the display unit 211 when the trigger switch 221 is pulled in a state in which a restriction instruction has been received from the determination device 3. That is, the display unit 211 of this embodiment functions as a notification unit that notifies information regarding the result of the determination by the order determination unit 355 of the determination device 3. According to the tool system 1 of this embodiment, it is possible to notify the worker as to whether the fastening order is correct or not.

[0056] As described above, the tool 2 of this embodiment has a plurality of control modes as the control modes of the tool 2. The plurality of control modes differ in at least one of the fastening procedure and the fastening torque for the same work object A1.

[0057] The control unit 27 in this embodiment sets the control mode of the tool 2 based on the mode setting instruction received from the determination device 3.

[0058] The control unit 27 controls the drive unit 24 so that the fastening torque due to the fastening operation becomes a preset target torque value. The target torque value is set for each control mode. That is, the control unit 27 of this embodiment controls the fastening torque for each control mode.

[0059] Here, the control unit 27 has a torque estimation function for estimating the magnitude of the tightening torque. In the present embodiment, as an example, the control unit 27 estimates the magnitude of the tightening torque based on the number of revolutions of the motor of the drive unit 24, etc., until the estimated value of the tightening torque reaches the seating determination level. When the estimated value of the tightening torque reaches the seating determination level, the control unit 27 estimates the magnitude of the tightening torque based on the number of strikes of the impact mechanism. When the number of strikes of the impact mechanism reaches a threshold number based on the target torque value, the control unit 27 determines that the tightening torque has reached the target torque value and stops the motor of the drive unit 24. This allows the tool 2 to tighten the fastening point X0 with a tightening torque according to the target torque value.

[0060] Moreover, the control unit 27 of this embodiment transmits an estimated value of the fastening torque to the determination device 3 via the communication unit 25 every time the fastening of the fastening point X0 is completed.

[0061] (2.3) Judgment device The determination device 3 is embodied as a dedicated device, a personal computer, a server, a tablet terminal, a smartphone, or the like. In this embodiment, it is assumed that the determination device 3 is a tablet terminal. That is, the determination device 3 of this embodiment is configured to be portable by the worker.

[0062] As shown in FIG. 1, the determination device 3 includes a communication unit 31, a display unit 32, an operation unit 33, a storage unit , and a processing unit .

[0063] The communication unit 31 includes a communication interface for wireless communication with the tool 2. The communication unit 31 communicates with the tool 2 by a wireless communication method conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a license.

[0064] The display unit 32 includes, for example, an LCD (Liquid Crystal Display). The display unit 32 of this embodiment displays an input screen that prompts the operator to input information related to a judgment criterion for judging the fastening sequence of the multiple fastening points X0. The input screen includes displays that allow the operator to select identification information of the work object A1, the type of the work object A1, the type of the multiple fastening points X0 (or fastening members), the number of the multiple fastening points X0, the arrangement of the multiple fastening points X0 (i.e., the positions of the multiple fastening points X0), or the control mode of the tool 2, etc.

[0065] Here, the "identification information of the work object A1" is information that can identify one work object A1 from among various work objects A1. The "identification information of the work object A1" is, for example, a model number. The "type of the work object A1" is information that indicates whether the work object A1 is a round flange, a square flange, a wheel, etc. The "type of the fastening point X0 (or fastening member)" is information that indicates whether the fastening point X0 (or fastening member) is a bolt, a nut, a screw, etc. In addition, the "type of the fastening point X0" also includes information on the size (or standard size) of the fastening point X0 (or fastening member). The "arrangement of the multiple fastening points X0" includes an arrangement along an arc, an arrangement along a straight line, etc.

[0066] In this embodiment, it is assumed that the worker operates the operation unit 33 to select the identification number of the work object A1 on which the fastening work is to be performed. In this embodiment, it is assumed that once the identification information of the work object A1 is uniquely determined, the type of the work object A1, the shape of the work object A1, the type of the multiple fastening points X0 (or fastening members), the number of the multiple fastening points X0, the arrangement of the multiple fastening points X0, the fastening sequence or fastening rule, and the control mode of the tool 2 are also uniquely determined. The "tightening rule" includes diagonal fastening, clockwise fastening, counterclockwise fastening, etc.

[0067] The operation unit 33 accepts an operation by the worker and outputs a signal according to the operation by the worker. In this embodiment, it is assumed that the determination device 3 includes a touch panel display in which the display unit 32 and the operation unit 33 are integrated. In the case of a touch panel display, the determination device 3 determines that an object such as a button has been operated when the operation unit 33 detects an operation (tap, swipe, drag, etc.) of an object such as a button on each screen displayed on the display unit 32.

[0068] The storage unit 34 includes, for example, a semiconductor memory such as a ROM, a RAM, or an EEPROM. Note that the storage unit 34 is not limited to a semiconductor memory, and may include a hard disk drive or the like.

[0069] The storage unit 34 stores a plurality of reference images. In the present disclosure, "a plurality of reference images" refers to images corresponding to a plurality of fastening points X0, and are images in which the fastening point X0 is the subject. One reference image may correspond to one fastening point X0, or a plurality of reference images may correspond to one fastening point X0. In this embodiment, a plurality of reference images correspond to one fastening point X0. In this embodiment, the reference image is, for example, a full-color still image. The storage unit 34 in this embodiment stores a plurality of reference images corresponding to a plurality of fastening points X0 of the work object A1 for each model number of the work object A1.

[0070] The storage unit 34 in this embodiment includes a control information storage unit 341 , a mode storage unit 342 , and a result storage unit 343 .

[0071] The control information storage unit 341 stores control information for each of a plurality of control modes. The control information includes information on the fastening procedure and information on the target torque value for each control mode. The fastening procedure information includes information on the fastening sequence that specifies the order in which each of the plurality of fastening points X0 in the work object A1 is fastened, information on the fastening rule that is applied when fastening the plurality of fastening points X0 in the work object A1, or group information. Here, one piece of control information corresponding to one control mode may include information on two or more patterns of fastening sequences. Note that in the same control mode, the target torque values ​​of the plurality of fastening points X0 are constant.

[0072] The mode storage unit 342 stores transition information, which is information on the transition order of the control modes. The transition information includes information that specifies the control mode that is initially set when starting the fastening work on the work object A1, and information that specifies the post-transition control mode to which the work is to be transitioned after the work is completed in the current control mode. In other words, the transition information is information that associates a plurality of control modes with one work object A1 and further specifies the transition order of the plurality of control modes. The mode storage unit 342 of this embodiment stores the identification information of the work object A1 in association with the transition information. For example, the transition information associates a plurality of control modes with one work object A1, each having a different target torque value, with the work object A1, and specifies the transition order of the plurality of control modes so that the target torque value of the post-transition control mode is higher than the target torque value of the control mode before the transition.

[0073] The transition information may be associated with information on the type of the work object A1, information on the type of the multiple fastening points X0, information on the number of the multiple fastening points X0, and information on the arrangement of the multiple fastening points X0, instead of or in addition to the identification information of the work object A1. As described above, the control mode set for each work object A1 is specified by the transition information.

[0074] The result storage unit 343 stores the fastening completion information received from the tool 2 as the fastening history of the multiple fastening points X0 of the work object A1. The fastening history includes information on whether each of the multiple fastening points X0 of the work object A1 has already been fastened. The fastening history also includes information indicating the order in which the fastening points X0 that have already been fastened were fastened. The fastening history also includes information on the estimated value of the fastening torque of the fastening points X0 that have already been fastened. The result storage unit 343 of this embodiment stores the fastening history for each control mode. In other words, the result storage unit 343 stores the fastening results for each control mode.

[0075] The processing unit 35 mainly comprises, for example, a computer system having one or more processors and one or more memories. In the determination device 3, the one or more processors execute a program recorded in the memory, thereby realizing the function of the processing unit 35. The program may be pre-recorded in the memory, may be provided via a telecommunication line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card.

[0076] As shown in FIG. 1, the processing unit 35 includes an acquisition unit 351, an operation reception unit 352, a specification unit 353, a mode control unit 354, and an order determination unit 355.

[0077] The acquisition unit 351 receives detection information from the tool 2 via the communication unit 31. The detection information in this embodiment includes movement information related to the moving distance and moving direction of the tool 2, and posture information related to the posture of the tool 2. That is, the acquisition unit 351 in this embodiment functions as a movement information acquisition unit that acquires movement information related to the moving distance and moving direction of the tool 2. In addition, the acquisition unit 351 in this embodiment functions as a posture information acquisition unit that acquires posture information related to the posture of the tool 2.

[0078] The operation acceptance unit 352 accepts an operation by the operator. The operation acceptance unit 352 in this embodiment accepts an operation by the operator on the operation unit 33. Note that the operation acceptance unit 352 may accept an operation by the operator on the operation unit 231 of the tool 2.

[0079] The identification unit 353 identifies the set tightening location based on the captured image captured by the imaging unit 26. The identification unit 353 performs image processing to compare the captured image of the imaging unit 26 with a plurality of reference images, and identifies the set tightening location shown in the captured image from among the plurality of tightening locations X0.

[0080] The identification unit 353 of the present embodiment identifies the set tightening location by performing a pattern matching process. Note that the "pattern matching process" in this disclosure is a process of using template data (multiple reference images) to compare the template data with a comparison target (captured image).

[0081] The mode control unit 354 controls the control mode of the tool 2. First, the mode control unit 354 determines an initial control mode in the fastening work on the work object A1. When determining an initial control mode in the fastening work on the work object A1, the mode control unit 354 controls the control mode of the tool 2 based on information on the judgment criterion. The mode control unit 354 of this embodiment determines the initial control mode based on the identification information of the work object A1. Note that the mode control unit 354 may determine the initial control mode based on information on the type of the work object A1, information on the type of the multiple fastening points X0, information on the number of the multiple fastening points X0, and information on the arrangement of the multiple fastening points X0. When the mode control unit 354 determines the initial control mode in the fastening work on the work object A1, it transmits a mode setting instruction to the tool 2. The mode setting instruction includes information on the target torque value corresponding to the control mode determined by the mode control unit 354. When the control unit 27 of the tool 2 receives the mode setting instruction, it sets the control mode based on the mode setting instruction.

[0082] The mode control unit 354 determines a control mode to which the current control mode is to be transitioned when a specific condition is satisfied. The mode control unit 354 of this embodiment determines the control mode to which the current control mode is to be transitioned based on the transition information. When the mode control unit 354 determines the control mode to which the current control mode is to be transitioned, the mode control unit 354 transmits a mode setting instruction to the tool 2. The mode setting instruction includes information on a target torque value corresponding to the control mode to which the current control mode is to be transitioned. When the control unit 27 of the tool 2 receives the mode setting instruction, the control unit 27 of the tool 2 switches the control mode based on the mode setting instruction. In other words, the control unit 27 of the tool 2 switches the control mode based on the transition information.

[0083] Here, the specific condition is satisfied when all the fastening points X0 in the work object A1 are fastened with the fastening procedure and fastening torque specified in the control information corresponding to the current control mode. That is, the mode control unit 354 determines the control mode to which the current control mode is to be changed when all the fastening points X0 in the work object A1 are fastened with the fastening procedure and fastening torque specified in the control information corresponding to the current control mode. Also, the control unit 27 of the tool 2 switches the control mode when the specific condition is satisfied, that is, when all the fastening points X0 in the work object A1 are fastened with the fastening procedure and fastening torque specified in the control information corresponding to the current control mode. In this embodiment, the order determination unit 355 determines whether the specific condition is satisfied.

[0084] The order determination unit 355 determines whether the tightening order of the specific tightening point, which is the tightening point X0 identified by the identification unit 353, is correct based on the control information corresponding to the current control mode. The order determination unit 355 determines whether the tightening order of the specific tightening point is correct based on the control information corresponding to the current control mode and the tightening history.

[0085] When one pattern of tightening order is specified in the control information corresponding to the current control mode, the order determination unit 355 determines whether the tightening order of a specific tightening point is correct based on the one pattern of tightening order specified in the control information and the tightening history.

[0086] In addition, when the tightening rule is specified in the control information corresponding to the current control mode, the order determination unit 355 determines whether the tightening order of the specific tightening points is correct based on the tightening rule and the tightening history specified in the control information corresponding to the current control mode. Below, the processing of the order determination unit 355 when the tightening rule is specified in the control information corresponding to the current control mode will be described.

[0087] When the order determination unit 355 determines the fastening order based on the specified fastening rules, it determines whether or not the fastening order of the specific fastening points is correct based on the fastening histories of the multiple fastening points X0, on the condition that one or more fastening points X0 different from the specific fastening points have already been fastened by the tool 2.

[0088] The order determination unit 355 of this embodiment determines that the tightening order of the specific tightening points is correct when the tightening order of the multiple tightening points X0 when the specific tightening point is tightened by the tool 2 complies with a predetermined tightening rule. Note that the "predetermined tightening rule" of this embodiment is one of the multiple tightening rules, and is a tightening rule that is specified by the control information corresponding to the current control mode.

[0089] FIG. 4 is a plan view showing an example of the work object A1. FIG. 4 shows an example in which the work object A1 is a round flange. FIG. 4 also shows an example in which the multiple fastening points X0 are eight hexagonal bolts. The eight fastening points X0 are arranged at equal intervals in an arc along the outer periphery of the work object A1, which is a round flange. As shown in FIG. 4, the eight fastening points X0 include fastening point X1, fastening point X2, fastening point X3, fastening point X4, fastening point X5, fastening point X6, fastening point X7, and fastening point X8. In the following description, when the multiple fastening points X0 are not distinguished from one another, they may simply be referred to as "fastening points X0."

[0090] First, a case where the tightening rule defined by the control information is "diagonal tightening" will be described. The order determination unit 355 does not determine whether the tightening order is correct for the first tightening point X0. In other words, the worker can freely select which of the eight tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0.

[0091] The order determination unit 355 determines that the tightening order of the next specific tightening point is correct when the next specific tightening point (i.e., the second specific tightening point) is located diagonally from the first tightening point X0. In other words, the order determination unit 355 determines that the tightening order of the specific tightening points is correct if the tightening point X0 next identified by the identification unit 353 is the tightening point X5. In other words, the order determination unit 355 determines that the tightening order of the even-numbered specific tightening points is correct when the even-numbered specific tightening points are located diagonally from the previous specific tightening point. If the second specific tightening point is other than the tightening point X5, the order determination unit 355 determines that the tightening order of the second specific tightening point is incorrect.

[0092] When the order determination unit 355 determines that the fastening order of the specific fastening point is correct, it transmits an instruction to permit the fastening operation to the tool 2 via the communication unit 31. On the other hand, when the order determination unit 355 determines that the fastening order of the specific fastening point is incorrect, that is, the fastening order is incorrect, it transmits an instruction to restrict the fastening operation to the tool 2 via the communication unit 31. In the following description, when the order determination unit 355 determines that the fastening order of the specific fastening point is correct, the specific fastening point is fastened by the tool 2. The tool 2 transmits fastening completion information to the determination device 3 every time the specific fastening point is fastened. When the determination device 3 receives the fastening completion information, the fastening history stored in the memory unit 34 is updated every time the tool 2 tightens the specific fastening point.

[0093] The order determination unit 355 of this embodiment determines that the tightening order of the third specific tightening point is correct when the third specific tightening point is the tightening point X3 or the tightening point X7. However, the order determination unit 355 may determine that the tightening order of the third specific tightening point is correct even if the third specific tightening point is any of the remaining six tightening points X0. In other words, the order determination unit 355 may determine that the tightening order of the odd-numbered specific tightening points is correct even if the odd-numbered specific tightening points are any of the remaining tightening points X0. In the following description, it is assumed that the worker selects the tightening point X3 as the third tightening point X0.

[0094] When the fourth specific tightening point is tightening point X7, the order determination unit 355 determines that the tightening order of the fourth specific tightening point is correct. When the fourth specific tightening point is other than tightening point X7, the order determination unit 355 determines that the tightening order of the fourth specific tightening point is incorrect.

[0095] The order determination unit 355 determines that the tightening order of the fifth specific tightening point is correct regardless of which of the remaining four tightening points X0 the fifth specific tightening point is. In the following description, it is assumed that the worker selects the tightening point X8 as the fifth tightening point X0.

[0096] When the sixth specific tightening point is tightening point X4, the order determination unit 355 determines that the tightening order of the fourth specific tightening point is correct. When the sixth specific tightening point is other than tightening point X4, the order determination unit 355 determines that the tightening order of the sixth specific tightening point is incorrect.

[0097] The order determination unit 355 determines that the tightening order of the seventh specific tightening point is correct regardless of which of the remaining two tightening points X0 is the seventh specific tightening point. In the following description, it is assumed that the worker selects the tightening point X2 as the seventh tightening point X0.

[0098] When the eighth specific tightening point is the tightening point X6, the order determination unit 355 determines that the tightening order of the eighth specific tightening point is correct. When the eighth specific tightening point is other than the tightening point X6, the order determination unit 355 determines that the tightening order of the eighth specific tightening point is incorrect.

[0099] Next, a case where the tightening rule defined by the control information is "clockwise tightening" will be described. The order determination unit 355 does not determine whether the tightening order is correct for the first tightening point X0. In other words, the worker can freely select which of the eight tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0.

[0100] The order determination unit 355 determines that the tightening order of the next specific tightening point is correct when the next specific tightening point (i.e., the second specific tightening point) is a tightening point X0 that is one tightening point X0 further clockwise than the first tightening point X0. In other words, the order determination unit 355 determines that the tightening order of the specific tightening points is correct if the tightening point X0 next identified by the identification unit 353 is the tightening point X2. If the second specific tightening point is other than the tightening point X2, the order determination unit 355 determines that the tightening order of the second specific tightening point is incorrect.

[0101] Thereafter, when the tightening point X3, tightening point X4, tightening point X5, tightening point X6, tightening point X7, and tightening point X8 are identified as specific tightening points in this order, the order determination unit 355 determines that the tightening order of the specific tightening points is correct.

[0102] Next, a case where the tightening rule defined by the control information is "counterclockwise tightening" will be described. The order determination unit 355 does not determine whether the tightening order is correct for the first tightening point X0. In other words, the worker can freely select which of the eight tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0.

[0103] The order determination unit 355 determines that the tightening order of the next specific tightening point is correct when the next specific tightening point (i.e., the second specific tightening point) is a tightening point X0 that is one tightening point X0 counterclockwise from the first tightening point X0. In other words, the order determination unit 355 determines that the tightening order of the specific tightening points is correct if the tightening point X0 next identified by the identification unit 353 is tightening point X8. If the second specific tightening point is other than tightening point X8, the order determination unit 355 determines that the tightening order of the second specific tightening point is incorrect.

[0104] Thereafter, the order determination unit 355 determines that the tightening order of the specific tightening points is correct when the tightening points are identified as the second or subsequent specific tightening points in the following order: tightening point X7, tightening point X6, tightening point X5, tightening point X4, tightening point X3, and tightening point X2.

[0105] The multiple tightening rules may include tightening rules such as "additional tightening" other than "diagonal tightening", "clockwise tightening" and "counterclockwise tightening". Next, an example of a case where the tightening rule specified by the control information is "additional tightening" will be described. The order determination unit 355 does not determine whether the tightening order is correct for the first tightening point X0. In other words, the worker can freely select which of the eight tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0.

[0106] In the "additional tightening" of this embodiment, the order determination unit 355 determines that the tightening order of the specific tightening points is correct when the specific tightening points are identified as the second or subsequent tightening points in the following order: tightening point X2, tightening point X8, tightening point X1, tightening point X3, tightening point X2, tightening point X4, tightening point X3, tightening point X5, tightening point X4, tightening point X6, tightening point X5, tightening point X7, tightening point X6, tightening point X8, and tightening point X7.

[0107] As described above, according to the determination device 3 of this embodiment, when the fastening rule is specified by the control information, the worker can be made to comply with the minimum fastening sequence. In particular, according to the determination device 3 of this embodiment, there is an advantage that it is not necessary to store information on multiple predetermined patterns of fastening sequences.

[0108] Furthermore, according to the determination device 3 of this embodiment, the fastening sequence is determined based on one of a plurality of fastening rules, so that the worker can be made to comply with the minimum fastening sequence in various situations.

[0109] In this embodiment, when the sequence determination unit 355 receives the fastening completion information from the tool 2, it determines whether or not the fastening torque at the fastening location X0 is correct, and updates the fastening history if the fastening torque is correct. After updating the fastening history, the sequence determination unit 355 determines whether or not the fastening work in the current control mode has been completed based on the updated fastening history and the fastening procedure defined in the control information corresponding to the current control mode.

[0110] (3) Tool system operation Next, the operation of the tool system 1 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the operation of the tool system 1.

[0111] The tool system 1 determines a control mode (step S1). In the first processing of step S1, the tool system 1 accepts an input of a judgment criterion and determines a control mode (step S1). Specifically, the tool system 1 accepts an operation by the operator on an input screen that prompts the operator to input information related to the judgment criterion. The initial control mode for the work object A1 is determined according to the operation by the operator on the input screen.

[0112] Next, the tool system 1 acquires an image of the fastening point X0 captured by the imaging unit 26 with the tool 2 set at the fastening point X0, and identifies the set fastening point (step S2). Next, the tool system 1 determines whether the fastening order of the identified fastening point is correct or not (step S3). Note that, as described above, when the fastening rule is specified by the control information corresponding to the current control mode, the tool system 1 does not determine whether the fastening order of the first fastening point X0 is correct or not.

[0113] If the tool system 1 determines that the tightening order of the specific tightening points is incorrect (step S4: No), the process returns to step S2. On the other hand, if the tool system 1 determines that the tightening order of the specific tightening points is correct (step S4: Yes), the tool system 1 controls the drive unit 24 based on the control information corresponding to the current control mode to perform the tightening operation (step S5).

[0114] Next, the tool system 1 judges whether the fastening torque is correct or not based on the fastening completion information (step S6). If the tool system 1 judges that the fastening torque of the specific fastening point is incorrect (step S7: No), the process returns to the process of step S2. On the other hand, if the tool system 1 judges that the fastening torque of the specific fastening point is correct (step S7: Yes), the fastening history is updated (step S8).

[0115] Then, the tool system 1 determines whether the current control mode has been completed (step S9). In other words, the tool system 1 determines whether all fastening points X0 in the work object A1 have been fastened using the fastening procedure and fastening torque specified in the control information corresponding to the current control mode.

[0116] If the tool system 1 determines that the current control mode is not completed (step S9: No), the process returns to step S2. On the other hand, if the tool system 1 determines that the current control mode is completed (step S9: Yes), the tool system 1 determines whether the current control mode is the final fastening mode based on the transition information (step S10). Here, the final fastening mode is the last control mode among the multiple control modes defined by the transition information.

[0117] If the tool system 1 determines that the current control mode is not the final fastening mode (step S10: No), that is, if the tool system 1 determines that the current control mode is the pre-fastening mode, the process returns to the process of step S1. In the process of step S1 from the second time onwards, the tool system 1 determines the control mode to which the transition is to be made based on the transition information.

[0118] On the other hand, when the tool system 1 determines that the current control mode is the final fastening mode (step S10: Yes), the tool system 1 ends the series of processes shown in FIG.

[0119] It should be noted that the flowchart shown in FIG. 5 is merely an example, and the order of the processes may be changed as appropriate, and processes may be added or deleted as appropriate.

[0120] (4) Variations Modifications of the above embodiment are listed below.

[0121] (4.1) Variation 1 In the above embodiment, a case where one pattern of fastening order is specified by the control information corresponding to the control mode and a case where a fastening rule is specified by the control information corresponding to the control mode are described. In the modified example 1, a case where multiple patterns of fastening orders are specified by the control information corresponding to the current control mode are described. The order determination unit 355 of the modified example 1 determines that the fastening order of the specific fastening point is correct when the fastening order of the multiple fastening points X0 when the specific fastening point is fastened by the tool 2 matches the fastening order of any one of the multiple predetermined patterns of fastening orders.

[0122] The control information storage unit 341 of the first modification stores information on a plurality of predetermined patterns of fastening sequences. In the first modification, the control information storage unit 341 stores information on a plurality of patterns of fastening sequences for each of the identification information (e.g., model numbers) of a plurality of work objects A1. The information on the plurality of predetermined patterns of fastening sequences is information including all patterns of fastening sequences allowed for a certain work object A1.

[0123] Fig. 6 is a plan view showing an example of a work object A1. Fig. 6 shows an example in which the work object A1 is a round flange. Fig. 6 also shows an example in which the multiple fastening points X0 (or fastening members) are four hexagonal bolts. The four fastening points X0 are arranged at equal intervals in an arc along the outer periphery of the work object A1, which is a round flange. As shown in Fig. 6, the four fastening points X0 include fastening point X1, fastening point X2, fastening point X3, and fastening point X4.

[0124] Table 1 shows examples of a plurality of predetermined patterns of fastening sequences corresponding to the work object A1 shown in FIG.

[0125] [Table 1]

[0126] "X1" to "X4" in Table 1 correspond to fastening points X1 to X4 in Fig. 6. Table 1 shows all patterns of the fastening sequence allowed for the work object A1 shown in Fig. 6. In other words, all patterns of the fastening sequence allowed for the work object A1 shown in Fig. 6 are the eight patterns included in Table 1.

[0127] That is, the order determination unit 355 of the first modified example determines that the tightening order of the specific tightening points is correct when the tightening order of the multiple tightening points X0 when the specific tightening points are tightened by the tool 2 matches the tightening order of any one of the eight tightening order patterns shown in Table 1. On the other hand, the order determination unit 355 determines that the tightening order of the specific tightening points is incorrect when the tightening order of the multiple tightening points X0 when the specific tightening points are tightened by the tool 2 does not match any one of the eight tightening order patterns shown in Table 1.

[0128] Note that for the first fastening point X0, whichever of the fastening points X1 to X4 is selected, it falls into one of the eight patterns shown in Table 1. In other words, the order determination unit 355 does not determine whether the fastening order for the first fastening point X0 is correct or not.

[0129] The predetermined tightening sequence patterns shown in Table 1 are examples corresponding to "diagonal tightening". The predetermined tightening sequence patterns may correspond to tightening patterns such as "clockwise tightening", "counterclockwise tightening", "additional tightening", or "additional tightening".

[0130] According to the tool system 1 of the first modified example, the fastening sequence is determined based on information of multiple predetermined fastening sequence patterns, so that the worker can be made to adhere to the minimum fastening sequence in various situations.

[0131] (4.2) Variation 2 In the second modification, a case will be described in which the control information corresponding to the current control mode includes group information. The group information is information for dividing a plurality of fastening points X0 in the work object A1 into a plurality of groups. The order determination unit 355 in the second modification determines whether or not the fastening order is correct based on the group information and the fastening history. The order determination unit 355 determines that the fastening order of a specific fastening point is correct when the specific fastening point is included in one group until all the fastening points X0 divided into one group included in the plurality of groups are fastened by the tool 2.

[0132] The control information storage unit 341 of the second modification stores group information for each piece of identification information (eg, model number) of a plurality of work targets A1.

[0133] In the example of FIG. 6, the fastening point X1 and the fastening point X3 are classified into a first group G1, and the fastening point X2 and the fastening point X4 are classified into a second group G2.

[0134] The order determination unit 355 of the second modified example does not determine whether the tightening order is correct for the first tightening point X0. In other words, the worker can freely select which of the four tightening points X0 to tighten first. In the following description, it is assumed that the worker selects the tightening point X1 as the first tightening point X0. The tightening point X1 is classified into the first group G1 in the group information.

[0135] At the timing when the order determination unit 355 determines whether the fastening order of the second specific fastening point is correct or not, the fastening point X3 has not been fastened by the tool 2. That is, the one or more fastening points X0 divided into the first group G1 include an untightened fastening point X0. The order determination unit 355 determines that the fastening order of the specific fastening points is correct when the second specific fastening point is included in the first group G1. That is, the order determination unit 355 determines that the fastening order of the specific fastening points is correct if the fastening point X0 next identified by the identification unit 353 is the fastening point X3.

[0136] At the time when the order determination unit 355 determines whether the fastening order of the third specific fastening point is correct or not, the fastening point X1 and the fastening point X3 have already been fastened by the tool 2. That is, all the fastening points X0 classified into the first group G1 have been fastened by the tool 2. The order determination unit 355 determines that the fastening order of the third specific fastening point is correct even if the third specific fastening point is any of the remaining two fastening points X0. In the following description, it is assumed that the worker has selected the fastening point X2 as the third fastening point X0. The fastening point X2 is classified into the second group G2 in the group information.

[0137] At the timing when the order determination unit 355 determines whether or not the fastening order of the fourth specific fastening point is correct, the fastening point X4 has not been fastened by the tool 2. That is, the one or more fastening points X0 divided into the second group G2 include an untightened fastening point X0. That is, if the fastening point X0 next identified by the identification unit 353 is the fastening point X4, the order determination unit 355 determines that the fastening order of the specific fastening points is correct.

[0138] According to the tool system 1 of the second modified example, the fastening sequence is determined based on the group information, so that the worker can be made to observe the minimum fastening sequence in various situations.

[0139] (4.3) Other Modifications The function equivalent to the determination device 3 according to the above embodiment may be embodied in a mode switching method, a (computer) program, or a non-transitory recording medium on which a program is recorded. The mode switching method according to one embodiment is executed by a tool system 1. The tool system 1 includes a portable tool 2 having a driving unit 24, an imaging unit 26, and a control unit 27. The driving unit 24 is operated by power from a power source (battery pack 201). The imaging unit 26 generates an image. The control unit 27 controls the driving unit 24. As control modes of the tool 2, there are a plurality of control modes in which at least one of a fastening procedure and a fastening torque is different for the same work object A1. The tool system 1 includes a control information storage unit 341 that stores control information for each of the plurality of control modes. The mode switching method includes a switching step and a drive control step. In the switching step, the control mode is switched when a specific condition is satisfied. In the drive control step, the driving unit 24 is controlled based on the control information corresponding to the control mode after the switching. A program according to one aspect is a program for causing one or more processors to execute the above-described mode switching method.

[0140] The execution subject of the tool system 1 or the mode switching method in the present disclosure includes a computer system. The computer system is mainly composed of a processor and a memory as hardware. The processor executes a program recorded in the memory of the computer system to realize the function of the execution subject of the tool system 1 or the mode switching method in the present disclosure. 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 by different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or the circuit partition inside the LSI, can also be adopted as a processor. The electronic circuits may be integrated in one chip or distributed among multiple chips. The chips may be integrated in one device or distributed among multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Thus, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0141] Furthermore, it is not essential for the tool system 1 that a plurality of functions are integrated into one housing, and the components of the tool system 1 may be distributed across a plurality of housings. For example, the components of the determination device 3 of the tool system 1 may be distributed across a plurality of housings. Furthermore, at least some of the functions of the tool system 1, for example, some of the functions of the determination device 3, may be realized by cloud (cloud computing) or the like.

[0142] In the above embodiment, at least some of the functions of the tool system 1 distributed among a plurality of devices may be integrated in one housing. For example, some of the functions of the tool system 1 distributed among the tool 2 and the determination device 3 may be integrated in one housing. For example, the storage unit 34 and the processing unit 35 included in the determination device 3 in the above embodiment may be included in the tool 2.

[0143] In the above embodiment, the control information storage unit 341, the mode storage unit 342, and the result storage unit 343 are included in one storage unit 34. However, each of the control information storage unit 341, the mode storage unit 342, and the result storage unit 343 may be a separate storage unit. In addition, each of the control information storage unit 341, the mode storage unit 342, and the result storage unit 343 may be included in the storage unit 29 of the tool 2.

[0144] In the above embodiment, the case where the worker inputs information on the judgment criteria for determining the initial control mode has been exemplified. However, the tool system 1 may acquire information on the judgment criteria by capturing an image of the work object A1 with the imaging unit 26. For example, the tool system 1 may identify the identification information of the work object A1, the type of the work object A1, the type of the multiple fastening points X0 (or fastening members), the number of the multiple fastening points X0, and the arrangement of the multiple fastening points X0 (i.e., the positions of the multiple fastening points X0), etc., by capturing an image of the work object A1 with the imaging unit 26. In other words, the tool system 1 may determine the initial control mode based on the captured image of the work object A1.

[0145] The identification unit 353 may identify the set fastening point based on the shape of the edge (edge) of the work object A1 included in the imaging range of the imaging unit 26 when the tool 2 is set at the fastening point X0, the positional relationship with the fastening point X0, or the orientation (angle). In the example of FIG. 4, when the tool 2 is set at the fastening point X1, the edge A11 is included in the imaging range of the imaging unit 26. Also, when the tool 2 is set at the fastening point X5, the edge A12 is included in the imaging range of the imaging unit 26. The edges A11 and A12 have arc directions different by 180°. When the fastening point X1 is the set fastening point, the identification unit 353 identifies the fastening point X2 based on the position and orientation of the arc of the edge A11. Similarly, when the fastening point X5 is the set fastening point, the identification unit 353 identifies the fastening point X5 based on the position and orientation of the arc of the edge A12. By using information on the shape of the edge of the work object A1, its positional relationship with the fastening point X0, or its orientation (angle), for example, the identification unit 353 can identify the set fastening point even if multiple reference images are not stored in the memory unit 34.

[0146] The identification unit 353 may identify the set fastening position based on the posture information acquired by the acquisition unit 351 (posture information acquisition unit) and the captured image captured by the imaging unit 26. The identification unit 353 identifies the set fastening position using information on the posture of the tool 2 in a state where it is set at the fastening position X0, thereby improving the accuracy of identifying the set fastening position.

[0147] Furthermore, the identification unit 353 may identify the set tightening point based on the movement information acquired by the acquisition unit 351 (movement information acquisition unit) and the captured image captured by the imaging unit 26. The movement information indicates the movement distance and movement direction of the tool 2 from the immediately preceding tightening point X0 to the next set tightening point. The identification unit 353 identifies the set tightening point using the movement information, thereby improving the accuracy of identifying the set tightening point.

[0148] In the above embodiment, the tool 2 is an impact wrench, but the tool 2 is not limited to an impact wrench and may be, for example, a nut runner or an oil pulse wrench. Furthermore, the tool 2 may be, for example, a driver (including an impact driver) used for tightening screws. In this case, a bit (for example, a driver bit, etc.) is attached to the tool 2 instead of the socket 242. Furthermore, the tool 2 is not limited to a configuration in which the battery pack 201 is used as a power source, but may be a configuration in which an AC power source (commercial power source) is used as a power source. Furthermore, the tool 2 is not limited to a power tool, but may be an air tool having an air motor that operates with compressed air (power) supplied from an air compressor as a power source.

[0149] The tool 2 may include a speaker as a notification unit that notifies information related to the result of the determination by the order determination unit 355.

[0150] (summary) As is apparent from the above-described embodiment, the tool system (1) according to the first aspect includes a portable tool (2) having a driving unit (24), an imaging unit (26), and a control unit (27). The driving unit (24) is operated by power from a power source (battery pack 201). The imaging unit (26) generates a captured image. The control unit (27) controls the driving unit (24). There are a plurality of control modes for the tool (2) in which at least one of a fastening procedure and a fastening torque is different for the same work object (A1). The tool system (1) includes a control information storage unit (341) that stores control information for each of the plurality of control modes. The control unit (27) switches the control mode when a specific condition is satisfied. The control unit (27) controls the driving unit (24) based on the control information corresponding to the switched control mode.

[0151] According to this embodiment, it is possible to improve the work efficiency, for example, in a case where it is necessary to perform temporary fastening and final fastening on the work object (A1).

[0152] The tool system (1) according to the second aspect is the same as the first aspect, and further includes a mode storage unit (342). The mode storage unit (342) stores transition information, which is information on the transition order of the control modes. The control unit (27) switches the control mode based on the transition information.

[0153] According to this aspect, the control mode can be automatically switched.

[0154] In the tool system (1) according to the third aspect, in the first or second aspect, a specific condition is satisfied when all fastening points (X0) in the work object (A1) are fastened using the fastening procedure and fastening torque specified in the control information corresponding to the current control mode.

[0155] According to this aspect, the control mode can be switched to the next control mode at the timing when the fastening operation in the current control mode is completed.

[0156] The tool system (1) according to a fourth aspect is in any one of the first to third aspects, and further includes a result storage unit (343). The result storage unit (343) stores the fastening result for each control mode.

[0157] The tool system (1) according to the fifth aspect is in any one of the first to fourth aspects, and further includes an identification unit (353) and an order determination unit (355). The identification unit (353) identifies a fastening point at which the tool (2) is set among a plurality of fastening points (X0) in the work target object (A1) based on an image captured by the imaging unit (26). The order determination unit (355) determines whether or not the fastening order of the specific fastening point, which is the fastening point (X0) identified by the identification unit (353), is correct based on control information corresponding to the current control mode.

[0158] According to this aspect, it is possible to determine whether or not the tightening sequence is correct for each control mode.

[0159] In the tool system (1) according to the sixth aspect, in the fifth aspect, the order determination unit (355) makes a determination on the condition that one or more fastening points (X0) included in the multiple fastening points (X0) and different from the specific fastening point have already been fastened by the tool (2).

[0160] According to this aspect, it is possible to make the worker comply with the minimum tightening sequence.

[0161] A tool (2) according to a seventh aspect is used in the tool system (1) according to any one of the first to sixth aspects. The tool (2) includes a drive unit (24) and a control unit (27).

[0162] A mode switching method according to an eighth aspect is executed by a tool system (1). The tool system (1) includes a portable tool (2) having a driving unit (24), an imaging unit (26), and a control unit (27). The driving unit (24) is operated by power from a power source (battery pack 201). The imaging unit (26) generates a captured image. The control unit (27) controls the driving unit (24). There are a plurality of control modes of the tool (2) in which at least one of a fastening procedure and a fastening torque is different for the same work object (A1). The tool system (1) includes a control information storage unit (341) that stores control information for each of the plurality of control modes. The mode switching method includes a switching step and a drive control step. In the switching step, the control mode is switched when a specific condition is satisfied. In the drive control step, the driving unit (24) is controlled based on the control information corresponding to the control mode after the switch.

[0163] According to this embodiment, it is possible to improve the work efficiency, for example, in a case where it is necessary to perform temporary fastening and final fastening on the work object (A1).

[0164] A program according to a ninth aspect is a program for causing a tool system (1) to execute the mode switching method according to the eighth aspect.

[0165] According to this embodiment, it is possible to improve the work efficiency, for example, in a case where it is necessary to perform temporary fastening and final fastening on the work object (A1).

[0166] The configurations other than the first aspect are not essential to the tool system (1) and may be omitted as appropriate. [Explanation of symbols]

[0167] 1 Tool System 2 tools 201 Power source (battery pack) 24 Drive unit 26 Imaging unit 27 Control Unit 341 Control information storage unit 342 Mode memory section 343 Result storage unit 353 Specific part 355 Order determination part A1 Work object X0 Fastening point

Claims

1. A tool system including a portable tool having a driving unit operated by power from a power source, an imaging unit that generates an image, and a control unit that controls the driving unit, As a control mode of the tool, there are a plurality of control modes in which at least one of a fastening procedure and a fastening torque is different for the same work object, a control information storage unit that stores control information for each of the plurality of control modes; The control unit is Switching control modes when certain conditions are met Controlling the drive unit based on the control information corresponding to the switched control mode. Tool system.

2. A mode storage unit that stores transition information that is information on the transition order of the control modes, The control unit switches the control mode based on the transition information. The tool system of claim 1 .

3. The specific condition is satisfied when all fastening points in the work object are fastened using the fastening procedure and fastening torque defined in the control information corresponding to the current control mode. The tool system of claim 1 .

4. Further comprising a result storage unit that stores the tightening result for each control mode. The tool system of claim 1 .

5. an identification unit that identifies a fastening location where the tool is set among a plurality of fastening locations on the work object based on an image captured by the imaging unit; an order determination unit that determines whether or not the tightening order of the specific tightening points, which are the tightening points identified by the identification unit, is correct based on the control information corresponding to a current control mode; Further comprising: The tool system of claim 1 .

6. The order determination unit performs the determination on the condition that one or more fastening points that are included in the plurality of fastening points and are different from the specific fastening point have already been fastened by the tool. The tool system of claim 5.

7. A tool system according to any one of claims 1 to 6, The drive unit and the control unit are provided. tool.

8. A mode switching method executed by a tool system including a portable tool having a drive unit operated by power from a power source, an imaging unit that generates an image, and a control unit that controls the drive unit, As a control mode of the tool, there are a plurality of control modes in which at least one of a fastening procedure and a fastening torque is different for the same work object, The tool system includes a control information storage unit that stores control information for each of the plurality of control modes, A switching step of switching the control mode when a specific condition is satisfied; a drive control step of controlling the drive unit based on the control information corresponding to the switched control mode; having How to switch modes.

9. The method for switching modes according to claim 8 is performed by the tool system. program.

Images