Mating detection and judgment system, mating detection and judgment device, and mating detection and judgment method

Abstract

To provide a mating detection determination system capable of performing connector mating determination more efficiently.SOLUTION: The mating detection determination system includes: a vibration generator that generates a first vibration, which is worn on one hand or arm of a worker who performs mating a pair of connectors; a vibration detector that detects a second vibration, which is worn on the other hand or arm of the worker; and a mating determination device that is connected to the vibration detector to communicate therewith and determines whether the pair of connectors are mated based on the second vibration detected by the vibration detector. The mating determination device starts the determination of whether or not the pair of connectors are mated when it is determined that the detected second vibration includes the first vibration.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a fit detection and determination system, a fit detection and determination device, and a fit detection and determination method. [Background technology]

[0002] Patent Document 1 discloses a half-lock detection device that determines that the connector is properly mated if the analysis data, which is the peak value of the frequency and power frequency of the connector natural vibration to be measured, includes master data, and determines that the connector is in a half-locked state if the analysis data does not include master data. The half-lock detection device performs a Fourier transform on measurement data obtained by measuring the acceleration applied to the connector when the connector is mated or removed using an acceleration sensor, and analyzes the measurement data as a sound pressure level for each frequency. The half-lock detection device compares detection data obtained by detecting the frequency indicating the peak of the sound pressure level from the analyzed sound pressure level after the Fourier transform with master data, which is the natural frequency of the connector to be measured by the acceleration sensor, and determines whether the detection data includes the master data or not. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-212044 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure has been devised in consideration of the above-mentioned conventional circumstances, and aims to provide a mating detection and determination system, a mating detection and determination device, and a mating detection and determination method that can more efficiently perform mating determination of a connector. [Means for solving the problem]

[0005] The present disclosure provides a mating detection and determination system comprising: a vibration generating device worn on one hand or arm of a worker performing mating of a pair of connectors and generating a first vibration; a vibration detection device worn on the other hand or arm of the worker and detecting a second vibration; and a mating determination device communicatively connected to the vibration detection device and determining whether or not the pair of connectors are mated based on the second vibration detected by the vibration detection device, wherein the mating determination device begins determining whether or not the pair of connectors are mated when it determines that the first vibration is included in the detected second vibration.

[0006] The present disclosure also provides a mating detection and determination system comprising: a magnetic field generating device that is worn on one hand or arm of a worker who mates a pair of connectors and generates a magnetic field; a magnetic field detection device that is worn on the other hand or arm of the worker and detects the magnetic field; a vibration detection device that is worn on the other hand or arm and detects vibrations; and a mating determination device that is communicatively connected between the magnetic field detection device and the vibration detection device and determines whether the pair of connectors are mated based on the vibration detected by the vibration detection device, wherein the magnetic field detection device transmits the detected magnetic field to the mating determination device, and when the mating determination device determines that the strength of the magnetic field is equal to or greater than a threshold value, it starts determining whether the pair of connectors are mated.

[0007] The present disclosure also provides a mating detection and determination device comprising an acquisition unit that acquires vibrations detected by a vibration detection device worn on one hand or arm of a worker performing mating of a pair of connectors, and a determination unit that determines whether or not the pair of connectors are mated based on the vibrations acquired by the acquisition unit, wherein the determination unit begins to determine whether or not the pair of connectors are mated when it determines that the vibrations include a predetermined vibration.

[0008] The present disclosure also provides a mating detection and determination device comprising: an acquisition unit that acquires a magnetic field detected by a magnetic field detection device worn on one hand or arm of a worker performing mating of a pair of connectors and vibrations detected by a vibration detection device worn on the one hand or arm; and a determination unit that determines whether or not the pair of connectors are mated based on the vibrations acquired by the acquisition unit, wherein the determination unit starts determining whether or not the pair of connectors are mated when it determines that the strength of the magnetic field is equal to or greater than a threshold value.

[0009] The present disclosure also provides a mating detection and determination method that detects and acquires vibrations of one hand or arm of a worker mating a pair of connectors, determines whether the acquired vibrations include a predetermined vibration, and, if it is determined that the vibrations include the predetermined vibration, begins determining whether the pair of connectors are mated.

[0010] The present disclosure also provides a mating detection and determination method that acquires a magnetic field at the position of one hand or arm of a worker performing mating of a pair of connectors and vibrations of the one hand or arm, determines whether or not the intensity of the acquired magnetic field is equal to or greater than a threshold value, and, if it is determined that the intensity of the magnetic field is equal to or greater than the threshold value, begins to determine whether or not the pair of connectors are mated. Effect of the Invention

[0011] According to the present disclosure, connector mating determination can be performed more efficiently. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing an example of the overall configuration of a fit detection and determination system according to a first embodiment. [Diagram 2] A diagram showing an example of a use case of a vibration generating device and a vibration detecting device. [Diagram 3] FIG. 13 is a diagram showing an example of a fitting vibration waveform. [Figure 4] FIG. 1 is a diagram showing an example of a vibration waveform of a predetermined sine wave. [Diagram 5] FIG. 13 is a diagram showing an example of a fitting vibration waveform. [Figure 6] A diagram showing an example of a decomposition of a mating vibration waveform [Figure 7] FIG. 11 is a block diagram showing an example of the overall configuration of a fitting detection and determination system according to a second embodiment. [Figure 8] FIG. 13 is a diagram showing an example of a use case of the fit detection and determination system according to the second embodiment. [Figure 9] FIG. 13 is a diagram showing an example of a fitting vibration waveform and a magnetic field waveform. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] (Background to this disclosure) Connectors used in vehicles have a pair of mechanisms (e.g., a male connector and a female connector), and by fitting the pair of mechanisms together, it is possible to electrically connect each electrical system within the vehicle. After such connectors are fitted by an operator, the operator checks whether the connectors are fitted properly by checking the presence or absence of a fitting sound that is emitted when the connectors are fitted and by visually checking the connectors. However, in recent years, with the electronicization of devices mounted on vehicles, the number of connectors used in the manufacture of each vehicle has increased, and therefore there is a demand for more efficient fitting of connectors.

[0014] However, in places where the connector fitting work is performed, it is difficult for the worker to hear the fitting sound of the connector that is the subject of the checking work due to surrounding noise, the fitting sound of other connectors, etc., and it is sometimes difficult to check the fitting by listening to the fitting sound. Also, the connector fitting work is sometimes performed in places where the worker cannot or has difficulty visually checking the mating state of the connectors, such as inside the frame of the vehicle or behind the front panel, making it difficult to visually check the mating state.

[0015] In order to solve the above-mentioned problems, in Patent Document 1, a natural frequency corresponding to the natural frequency of the mating when the connector is mated is acquired by an acceleration sensor, and based on the acquired natural frequency, it is determined whether the mating state of the connector is a half-mated (half-locked) state or a mated state, thereby determining whether the connector is properly mated or not. However, a half-lock detection device that performs mating determination by detecting vibration may detect the vibration of the worker's arm or the surrounding sounds (e.g., noise, mating sounds of similar connectors, etc.) and perform a constant mating determination of the connector based on the detected sounds, for example, when the worker's arm hits an obstacle during work, when a sound (vibration) similar to the mating sound of the connector is generated in the surroundings, or when a similar or identical connector mating sound (vibration) work is performed. Therefore, the half-lock detection device may increase the processing load required for the mating determination process or reduce the accuracy of the mating determination by performing the mating determination constantly.

[0016] Hereinafter, with reference to the drawings as appropriate, each embodiment that specifically discloses the configuration and operation of the mating detection and determination system, mating detection and determination device, and mating detection and determination method according to the present disclosure will be described in detail. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters and duplicate explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following explanation are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0017] (Embodiment 1) The overall configuration of a fit detection and determination system 100 according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing an example of the overall configuration of the fit detection and determination system 100 according to the first embodiment.

[0018] The mating detection and determination system 100 is a system for determining whether or not a male connector and a female connector are mated by a mating operation of connectors, which are a pair of components. The mating detection and determination system 100 includes a vibration generating device 11, a vibration detecting device 12, and a terminal device P1.

[0019] Here, the term "fitting" means that a pair of mechanical parts are at least physically in contact with each other and fixed. The term "connector" means a part used to physically or electrically connect devices mounted on a vehicle or the like, and includes a connection part using a mechanism such as a latch. Specifically, the connector in the first embodiment and the second embodiment described later may include mechanical parts such as a door opening / closing mechanism and a general locking mechanism. Note that the mating detection and determination system 100, 100A described below will be described as an example of determining whether or not a pair of connectors are normally mated in a mating operation between a male connector (connector 13A) and a female connector (connector 13B). Note that normal mating refers to a state in which the pair of connectors 13A and 13B are mated so as to be electrically connectable.

[0020] The vibration generating device 11 is a device that generates a predetermined sine wave (an example of a first vibration) and is attached, for example, to one of the hands, arms, etc. of a worker performing the fitting operation, on the side not wearing the vibration detecting device 12. Note that the predetermined sine wave here refers to vibration in a frequency band (e.g., 20 to 30 kHz, etc.) higher than the frequency band (e.g., 15 kHz, etc.) of the fitting sound generated when a pair of connectors 13A and 13B are fitted together.

[0021] The vibration detection device 12 is a piezoelectric sensor that converts a force applied to a piezoelectric body into a voltage, and is connected to the terminal device P1 so as to be capable of wireless communication. The vibration detection device 12 is attached to, for example, one of the hands, arms, etc. of a worker performing a fitting operation, which is different from the hand, arm, etc. on which the vibration generating device 11 is attached. The vibration detection device 12 detects vibrations such as a predetermined vibration (sine wave) generated by the vibration generating device 11 and vibrations (i.e., fitting sound) when fitting the pair of connectors 13A and 13B, converts them into voltages using a piezoelectric sensor, and generates vibration data based on the converted voltages. The vibration detection device 12 transmits the generated vibration data to the terminal device P1. Note that the wireless communication referred to here is, for example, short-distance wireless communication such as Bluetooth (registered trademark) or NFC (registered trademark), or communication via a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark). Note that the vibration detection device 12 may be connected to the terminal device P1 so as to be capable of wired communication, and transmit data.

[0022] The vibration data referred to here is data indicating a time series change in voltage value obtained by conversion by a piezoelectric sensor, and is an amplitude waveform of vibration.

[0023] The transmission unit 14 is connected to the vibration detection device 12 and the receiving unit 20 in the terminal device P1 so as to be able to communicate wirelessly, and is also connected to the receiving unit 20 so as to be able to communicate wirelessly. The transmission unit 14 transmits the vibration data output from the vibration detection device 12 to the receiving unit 20. The transmission unit 14 may also output the vibration data output from the vibration detection device 12 to the processor 21 by directly inputting the vibration data to a signal processing unit 24 via a microphone terminal, a Universal Serial Bus (USB) terminal, or the like. The transmission unit 14 may be configured integrally with the vibration detection device 12, or may be realized by an external device such as a transmitter connected to the vibration detection device 12 so as to be able to communicate with it.

[0024] The terminal device P1, which is an example of a mating determination device, is realized by, for example, a PC (Personal Computer), a notebook PC, a smartphone, a tablet terminal, or the like. The terminal device P1 is connected to the vibration detection device 12 so as to be able to communicate by wire or wirelessly, and acquires vibration data transmitted from the vibration detection device 12. The terminal device P1 determines whether or not each of the pair of connectors 13A, 13B is normally mated based on the acquired vibration data. The terminal device P1 includes a receiving unit 20, a processor 21, a memory 22, and a signal processing unit 24.

[0025] The receiving unit 20 is connected to the vibration detection device 12 so as to be able to communicate wirelessly with the vibration detection device 12, and outputs the vibration data transmitted from the vibration detection device 12 to the signal processing unit 24. Note that the receiving unit 20 may also be connected to the vibration detection device 12 so as to be able to communicate via wires.

[0026] The signal processing unit 24 , which is an example of an acquisition unit, outputs the vibration data output from the receiving unit 20 or the transmitting unit 14 to the processor 21 .

[0027] The processor 21, which is an example of a determination unit, is configured using, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor) or an FPGA (Field Programmable Gate Array), and controls the operation of each unit of the terminal device P1. The processor 21 performs various processes and controls in cooperation with the memory 22. Specifically, the processor 21 refers to the programs and data stored in the memory 22 and executes the programs to realize the functions of each unit (for example, a function to determine the timing to start a mating determination, a function to perform a mating determination of the pair of connectors 13A, 13B, etc.). Note that the units referred to here are the mating contact vibration waveform detection unit 21A and the mating determination unit 21B.

[0028] The fitting contact vibration waveform detection unit 21A converts the intensity of vibration into a voltage based on the vibration data transmitted from the vibration detection device 12 to generate fitting vibration waveform data (an example of a second vibration) indicating a time series change of the vibration detected by the vibration detection device 12. The fitting contact vibration waveform detection unit 21A executes a process (e.g., FFT (Fast Fourier Transform) conversion process) to separate a predetermined sine wave generated by the vibration generating device 11 from the generated fitting vibration waveform data, and judges whether or not the fitting vibration waveform data contains the predetermined sine wave. When the fitting contact vibration waveform detection unit 21A judges that the fitting vibration waveform data contains the predetermined sine wave (i.e., the predetermined sine wave has been detected), it generates a control command requesting the start of fitting judgment for each of the pair of connectors 13A, 13B, and outputs the control command to the fitting judgment unit 21B.

[0029] The mating determination unit 21B starts to determine whether the pair of connectors 13A, 13B are properly mated (i.e., mating determination) based on the mating vibration waveform data generated after the timing at which it is determined that the mating vibration waveform data contains a specified sine wave (i.e., that the specified sine wave has been detected) based on the control command output from the mating contact vibration waveform detection unit 21A.

[0030] The memory 22 has, for example, a RAM (Random Access Memory) as a work memory used when executing each process of the processor 21, and a ROM (Read Only Memory) that stores programs and data that define the operation of the processor 21. The RAM temporarily stores data or information generated or acquired by the processor 21. The ROM has programs that define the operation of the processor 21 written therein. The memory 22 may store a predetermined sine wave vibration waveform (see FIG. 4) generated by the vibration generator 11, a mating vibration waveform for each connector (see FIG. 3), or a trained model (not shown) used to determine whether or not the connectors are properly mated (mating determination), etc.

[0031] Next, a use case of the vibration generator 11 and the vibration detector 12 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of a use case of the vibration generator 11 and the vibration detector 12. Note that the frame line shown in Fig. 2 indicates an area that is not directly visible to the worker.

[0032] 2 shows an example in which the vibration generator 11 is attached to the wrist of the worker's left hand LH and the vibration detector 12 is attached to the wrist of the worker's right hand RH, but it goes without saying that the attachment example of the vibration generator 11 and the vibration detector 12 is not limited to this. The vibration generator 11 and the vibration detector 12 may be attached to the worker's fingers.

[0033] The vibration generator 11 generates a predetermined sine wave (vibration) that is set in advance. When the pair of connectors 13A, 13B are brought into physical contact with each other by a fitting operation by an operator, the predetermined sine wave (vibration) generated by the vibration generator 11 travels from the operator's left hand LH through the pair of connectors 13A, 13B to the vibration detector 12 attached to the operator's right hand RH. The vibration detector 12 detects the vibration generated by the vibration generator 11 through the pair of connectors 13A, 13B, generates vibration data based on the vibration, and transmits it to the terminal device P1.

[0034] The pair of connectors 13A, 13B are mated by an operator. The vibration detection device 12 detects mating sounds (vibrations) generated when the pair of connectors 13A, 13B are mated, generates vibration data based on the vibrations, and transmits the vibration data to the terminal device P1.

[0035] A fitting vibration waveform WV0 when the pair of connectors 13A, 13B are fitted together will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the fitting vibration waveform WV0 of the pair of connectors 13A, 13B. Note that the fitting vibration waveform WV0 shown in Fig. 3 is a fitting waveform when the vibration generator 11 is not generating a predetermined sine wave.

[0036] The fitting vibration waveform WV0 is a waveform (fitting vibration waveform) of vibration when the pair of connectors 13A, 13B are fitted together. The fitting vibration waveform WV0 shown in Fig. 3 shows an example of an amplitude waveform with a frequency of 15 kHz and amplitudes of 1 V and -1 V. Note that the frequency and voltage value of the fitting vibration waveform WV0 shown in Fig. 3 are merely examples and are not limited thereto. The fitting vibration waveform WV0 is stored in the memory 22 as the fitting waveform of each of the pair of connectors 13A, 13B, and is used for fitting judgment performed by the fitting judgment unit 21B.

[0037] Next, a vibration waveform WV1 of a predetermined sine wave generated by vibration generator 11 will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of the vibration waveform WV1 of a predetermined sine wave.

[0038] The vibration waveform WV1 shows a waveform of a predetermined sine wave (vibration) generated by the vibration generator 11. The frequency band of the vibration waveform WV1 of the predetermined sine wave is higher than that of the fitting vibration waveform WV0, for example, 20 to 30 kHz. The voltage value (amplitude) of the vibration waveform WV1 is smaller than that of the fitting vibration waveform WV0. In FIG. 4, the vibration waveform WV1 shows an example of an amplitude waveform with a voltage value (amplitude) of 10 mV and -10 mV. The frequency and voltage value of the vibration waveform WV1 shown in FIG. 4 are only an example and are not limited thereto. The vibration waveform WV1 is stored in the memory 22 as a predetermined sine wave generated by the vibration generator 11, and is used to determine the timing of starting the fitting determination process executed by the fitting contact vibration waveform detection unit 21A.

[0039] Here, the fitting determination process executed by the processor 21 will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a diagram showing an example of a fitting vibration waveform WV3. Fig. 6 is a diagram showing an example of decomposition of the fitting vibration waveform WV3.

[0040] The fitting vibration waveform WV3 shown in Fig. 5 is a vibration waveform indicated by fitting vibration waveform data generated by converting the vibration detected by the vibration detection device 12 into vibration data, and converting the intensity of the vibration indicated by the vibration data into a voltage value by the fitting contact vibration waveform detection unit 21A. The fitting contact vibration waveform detection unit 21A breaks down the generated fitting vibration waveform data into the respective frequency bands of the fitting sounds of the pair of connectors 13A and 13B and the predetermined sine wave. Note that the fitting vibration waveform WV31 and the vibration waveform WV32 shown in Fig. 6 each indicate a waveform after the fitting vibration waveform WV3 is broken down by the fitting contact vibration waveform detection unit 21A.

[0041] The fitting contact vibration waveform detection unit 21A judges whether it is time to start connector fitting judgment based on the vibration waveform WV32 of a frequency band corresponding to the frequency band of a predetermined sine wave. The fitting contact vibration waveform detection unit 21A judges whether the predetermined sine wave generated by the vibration generating device 11 is included based on the vibration waveform WV32.

[0042] As a result, the mating contact vibration waveform detection unit 21A determines whether a predetermined sine wave generated from the vibration generating device 11 attached to the right hand RH of the worker is detected by the vibration detecting device 12 attached to the left hand LH of the worker when the pair of connectors 13A, 13B come into contact with each other during the mating operation. Therefore, by this determination, the mating detection and determination system 100 can determine whether the worker is performing the mating operation of the pair of connectors 13A, 13B, or whether mating is about to begin.

[0043] When the fitting contact vibration waveform detection unit 21A determines that the fitting vibration waveform WV3 contains a predetermined sine wave as a result of the determination, it generates a control command requesting a fitting determination process and outputs the control command to the fitting determination unit 21B. The examples shown in Figures 5 and 6 will be described with respect to an example in which it is determined that the fitting vibration waveform WV3 contains a predetermined sine wave at time t31.

[0044] The fitting determination unit 21B starts the fitting determination process from time t31 based on the control command output from the fitting contact vibration waveform detection unit 21A, and starts the fitting determination process based on the fitting vibration waveform data after time t31. The fitting determination unit 21B compares the fitting vibration waveform WV31 of the frequency band corresponding to the fitting sound of the pair of connectors 13A, 13B generated by the fitting contact vibration waveform detection unit 21A with the fitting vibration waveform WV0 to determine whether the pair of connectors 13A, 13B are properly fitted together. When the fitting determination unit 21B determines that the pair of connectors 13A, 13B are not properly fitted together, the fitting determination unit 21B may notify the fitting determination result to the operator by displaying the determination result on a monitor (not shown) or outputting it as a voice.

[0045] As described above, the mating detection and determination system 100 according to the first embodiment includes a vibration generating device 11 that is attached to one hand or arm of a worker who performs mating of the pair of connectors 13A and 13B and generates vibrations (one example of a first vibration, a predetermined sine wave), a vibration detecting device 12 that is attached to the other hand or arm of the worker and detects vibrations (one example of a second vibration), and a terminal device P1 (one example of a mating determination device) that is communicatively connected to the vibration detecting device 12 and determines whether the pair of connectors 13A and 13B are mated based on the vibrations (second vibrations) detected by the vibration detecting device 12. When the terminal device P1 determines that the vibrations (second vibrations) detected by the vibration detecting device 12 include vibrations (first vibrations) corresponding to the predetermined sine wave, the terminal device P1 starts determining whether the pair of connectors 13A and 13B are mated.

[0046] As a result, when the mating detection and determination system 100 according to the first embodiment detects contact between the pair of connectors 13A and 13B (that is, when a predetermined sine wave generated from the vibration generating device 11 is detected through each of the contacted pair of connectors 13A and 13B), it determines that it is time to start the mating determination process for the pair of connectors 13A and 13B, thereby shortening the time required for performing the mating determination process and effectively suppressing the processing load required for the mating determination process. In addition, since the mating detection and determination system 100 according to the first embodiment performs the mating determination process after detecting the contact between the pair of connectors 13A and 13B, it is possible to more effectively suppress detection of noise (vibration) unnecessary for the mating determination process, such as environmental sounds generated around the worker and mating sounds of other connectors. Therefore, the mating detection and determination system 100 according to the first embodiment can improve the mating determination accuracy and make a series of mating operations including the mating determination more efficient by more effectively suppressing the execution of the mating process based on such noise.

[0047] As described above, in the mating detection and determination system 100 according to the first embodiment, the terminal device P1 determines whether the pair of connectors 13A, 13B are mated or not based on the vibration (second vibration) after the timing at which it is determined that the vibration (second vibration) detected by the vibration detection device 12 includes the predetermined vibration (i.e., a predetermined sine wave) emitted by the vibration generation device 11. As a result, the mating detection and determination system 100 according to the first embodiment performs mating determination based on the vibration detected by the vibration detection device 12 after the timing at which the pair of connectors 13A, 13B come into contact with each other, and therefore the time required to perform the mating determination process can be shortened, and the processing load required for the mating determination process can be effectively suppressed.

[0048] As described above, in the mating detection and determination system 100 according to the first embodiment, the frequency band of the vibration generated by the vibration generator 11 is higher than the frequency band of the vibration generated when the pair of connectors 13A, 13B are mated. As a result, the mating detection and determination system 100 according to the first embodiment can distinguish between the vibration (predetermined sine wave) generated by the vibration generator 11 and the vibration (mating sound) generated when the pair of connectors 13A, 13B are mated, from the vibration detected by the vibration detection device 12.

[0049] As described above, in the mating detection and determination system 100 according to the first embodiment, the frequency band of the vibration generated by the vibration generator 11 is 20 to 30 kHz. This allows the terminal device P1 in the mating detection and determination system 100 according to the first embodiment to more clearly distinguish between the predetermined sine wave and noises such as environmental sounds generated around the worker and mating sounds of other connectors, and more accurately determine the timing to start mating determination. In addition, the predetermined sine wave (first vibration) generated by the vibration generator 11 is in a frequency band that is inaudible to the worker's ears, and therefore it is possible to prevent the vibration from attracting the worker's attention or interfering with the worker's work.

[0050] As described above, in the fit detection and determination system 100 according to embodiment 1, the vibration generated by the vibration generator 11 is a sine wave. As a result, in the fit detection and determination system 100 according to embodiment 1, even if the vibration detection device 12 detects an environmental sound, the terminal device P1 can more clearly distinguish between the vibration caused by the environmental sound and the vibration (predetermined sine wave) generated by the vibration generator 11, and can more accurately determine the timing to start the fit determination.

[0051] As described above, the terminal device P1 as an example of a mating detection and determination device according to the first embodiment includes a signal processing unit 24 (an example of an acquisition unit) that acquires vibrations detected by the vibration detection device 12 attached to one hand or arm of an operator who performs mating of the pair of connectors 13A, 13B, and a processor 21 (an example of a determination unit) that determines whether the pair of connectors 13A, 13B are mated or not based on the vibrations acquired by the signal processing unit 24. When the processor 21 determines that the vibrations include a predetermined vibration (i.e., a vibration corresponding to a predetermined sine wave), it starts determining whether the pair of connectors 13A, 13B are mated or not.

[0052] As a result, the terminal device P1 according to the first embodiment executes the mating determination process after detecting contact between the pair of connectors 13A, 13B, and therefore can more effectively suppress detection of noise (vibrations) unnecessary for the mating determination process, such as environmental sounds occurring around the worker and mating sounds of other connectors. Therefore, the mating detection and determination system 100 according to the first embodiment can improve the accuracy of the mating determination and make the series of mating operations, including the mating determination, more efficient by more effectively suppressing the execution of the mating process based on such noise.

[0053] (Modification of the first embodiment) In the mating detection and determination system 100 according to the first embodiment, a vibration generator 11 is attached to one hand, arm, etc. of a worker performing the mating operation of the connector 13, and a vibration detector 12 is attached to the other hand, arm, etc. In the mating detection and determination system 100 according to the first embodiment, when a pair of connectors 13A, 13B come into contact with each other during the mating operation, a predetermined sine wave generated by the vibration generator 11 is transmitted from one hand, arm, etc. to the other hand, arm, etc. via the pair of connectors 13A, 13B in contact with each other, and can be detected by the vibration detector 12.

[0054] The mating detection and determination system 100 according to a modified example of embodiment 1 described below will be described as an example in which one connector is inserted into a connector socket into which the connector can be inserted (e.g., a connector socket provided on a wall, floor, or ceiling of a building, a battery, or a device, etc.).

[0055] In a modified example of embodiment 1, vibration generating device 11 is attached or worn either to an object having a connector socket into which a connector can be inserted (e.g., a wall, floor, or ceiling of a building, a battery, a device, etc.) or to the hand, arm, etc. of a worker that holds the connector.

[0056] Furthermore, the vibration detection device 12 in a modified example of embodiment 1 is attached or mounted to either an object having a connector socket into which a connector can be inserted (e.g., a wall, floor, ceiling of a building, a battery, a device, etc.) or the hand, arm, etc. of a worker holding the connector.

[0057] In such a case, the connector held by the worker comes into contact with the connector socket during the process of inserting the connector into a connector socket into which the connector can be plugged. When the connector comes into contact with the connector socket, the predetermined sine wave generated from the vibration generator 11 is transmitted to the vibration detector 12 through the object and the connector. This allows the vibration detector 12 to detect the predetermined sine wave generated by the vibration generator 11.

[0058] (Embodiment 2) The fitting detection and determination system 100 according to the first embodiment has been described as an example in which the start timing of the fitting determination process is determined based on detection of a predetermined sine wave generated by the vibration generating device 11. The fitting detection and determination system 100A according to the second embodiment will be described as an example in which the start timing of the fitting determination process is determined based on detection of a magnetic field generated by the magnetic field generating device 31.

[0059] The overall configuration of a fit detection and determination system 100A according to the second embodiment will be described with reference to Fig. 7. Fig. 7 is a block diagram showing an example of the overall configuration of a fit detection and determination system 100A according to the second embodiment.

[0060] The vibration detection device 12A is worn on one hand, arm, etc. of the worker, and is connected to the transmitter 33 so as to be able to communicate by wire. The vibration detection device 12 detects vibrations such as vibrations (i.e., mating sound) generated when the pair of connectors 13A, 13B are mated, converts the detected vibrations into voltages using a piezoelectric sensor, and further converts the converted voltages into sound pressure signals. The vibration detection device 12A transmits the converted sound pressure signals to the terminal device P1. In the following description, the sound pressure signal generated by the vibration detection device 12A will be referred to as the "first sound pressure signal."

[0061] The magnetic field generating device 31 is a device that generates a predetermined magnetic field, and is attached to, for example, one hand, arm, etc. of a worker different from the other hand, arm, etc. on which the magnetic field detecting device 32 is attached.

[0062] The magnetic field detection device 32 is a device that detects the magnetic field generated by the magnetic field generation device 31, and is connected to the transmitter 33 so as to be able to communicate by wire. The magnetic field detection device 32 detects the magnetic field generated by the magnetic field generation device 31, converts the detected magnetic field (voltage) into sound pressure to generate a sound pressure signal, and transmits it to the transmitter 33. The magnetic field detection device 32 is worn on the hand, arm, etc. of the worker who is wearing each of the vibration detection device 12A and the transmitter 33. In the following description, the sound pressure signal generated by the magnetic field detection device 32 is referred to as a "second sound pressure signal."

[0063] The transmitter 33 is connected to the vibration detection device 12A and the magnetic field detection device 32 so as to be able to communicate by wire, and is connected to the receiver 34 so as to be able to communicate by wireless. The transmitter 33 is a so-called audio interface having at least two channels. The transmitter 33 is connected to the vibration detection device 12A and has a first channel (e.g., an R channel) for acquiring a first sound pressure signal transmitted from the vibration detection device 12A, and a second channel (e.g., an L channel) for acquiring a second sound pressure signal transmitted from the magnetic field detection device 32. The transmitter 33 transmits the first sound pressure signal acquired by the first channel and the second sound pressure signal acquired by the second channel to the receiver 34.

[0064] The receiver 34 is connected to the transmitter 33 so as to be able to communicate wirelessly, and is connected to the USB audio converter 35 so as to be able to communicate wired. The receiver 34 is a so-called audio interface, and has at least two channels. The receiver 34 acquires each of the first and second sound pressure signals transmitted from the transmitter 33, and transmits them to the USB audio converter 35. Specifically, the receiver 34 acquires the first sound pressure signal transmitted from the first channel of the transmitter 33 at the first channel (e.g., R channel) of the receiver 34. The receiver 34 acquires the second sound pressure signal transmitted from the second channel of the transmitter 33 at the second channel (e.g., L channel) of the receiver 34. The receiver 34 transmits the first sound pressure signal acquired at the first channel and the second sound pressure signal acquired at the second channel to the USB audio converter 35.

[0065] The USB audio converter 35 is connected to the receiver 34 so as to be able to communicate with each other via a wired connection, and is connected to the terminal device P1A so as to be able to communicate with each other via a USB connector. The USB audio converter 35 transmits each of the first and second sound pressure signals transmitted from the receiver 34 to the terminal device P1A.

[0066] The terminal device P1A as an example of the fitting determination device is realized by, for example, a PC, a notebook PC, a smartphone, a tablet terminal, etc. The terminal device P1A is connected to the USB audio converter 35 so as to be able to perform data communication, and acquires the first and second sound pressure signals transmitted from the USB audio converter 35. The terminal device P1A generates fitting vibration waveform data indicating a time series change of the vibration detected by the vibration detection device 12A based on the acquired first sound pressure signal. The terminal device P1A generates magnetic field waveform data indicating a time series change of the magnetic field detected by the magnetic field detection device 32 based on the acquired second sound pressure signal. The terminal device P1A determines the timing of starting fitting determination of the pair of connectors 13A, 13B based on the generated magnetic field waveform data. The terminal device P1A determines whether the pair of connectors 13A, 13B are properly fitted based on the fitting vibration waveform data generated after the timing of starting fitting determination. The terminal device P1A includes a signal processing unit 24, a processor 25, and a memory 26.

[0067] The signal processing unit 24, as an example of an acquisition unit, is connected to the USB audio converter 35 so as to be capable of data communication, and outputs each of the first and second sound pressure signals transmitted from the USB audio converter 35 to the processor 25.

[0068] The processor 25, which is an example of a determination unit, is configured using, for example, a CPU, a DSP, or an FPGA, and controls the operation of each unit of the terminal device P1A. The processor 25 performs various processes and controls in cooperation with the memory 26. Specifically, the processor 25 refers to the programs and data stored in the memory 26 and executes the programs to realize the functions of each unit (for example, a function to generate fitting vibration waveform data and magnetic field waveform data, a function to determine the timing of starting fitting determination based on the magnetic field waveform data, a function to perform fitting determination based on the fitting vibration waveform data, etc.). The units referred to here are the fitting contact vibration waveform detection unit 25A and the fitting determination unit 25B.

[0069] The fitting contact vibration waveform detection unit 25A generates magnetic field waveform data based on the second sound pressure signal transmitted from the USB audio converter 35. The fitting contact vibration waveform detection unit 25A judges whether or not the sound pressure of the generated magnetic field waveform data (i.e., the amplitude of the magnetic field waveform WV42 shown in FIG. 9, i.e., the magnitude of the magnetic field) is equal to or greater than a threshold value. When the fitting contact vibration waveform detection unit 25A judges that the sound pressure of the magnetic field waveform data (i.e., the magnitude of the magnetic field) is equal to or greater than the threshold value, it judges that it is time to start fitting judgment, generates a control command requesting the start of fitting judgment, and outputs it to the fitting judgment unit 25B.

[0070] Based on the control command output from the mating contact vibration waveform detection unit 25A, the mating judgment unit 25B compares and analyzes the mating vibration waveform WV41 indicated by the mating vibration waveform data with the mating vibration waveform of the pair of connectors 13A, 13B recorded in the memory 26, and begins to judge whether the pair of connectors 13A, 13B are properly mated.

[0071] Memory 26 has, for example, a RAM as a work memory used when processor 25 executes each process, and a ROM for storing programs and data that define the operation of processor 25. Data or information generated or acquired by processor 25 is temporarily stored in the RAM. Programs that define the operation of processor 25 are written in the ROM. Memory 26 may store threshold value information, mating vibration waveform data (not shown) when various connectors are mated, or a trained model (not shown) for use in mating judgment by processor 25.

[0072] Next, a use case of the fit detection and determination system 100A according to the second embodiment will be described with reference to Fig. 8. Fig. 8 is a diagram showing an example of a use case of the fit detection and determination system 100A according to the second embodiment. Note that the frame line shown in Fig. 8 indicates an area that is not directly visible to the worker.

[0073] 8 shows an example in which the magnetic field generator 31 is attached to the thumb of the worker's left hand LH, and the vibration detector 12A is attached to the wrist of the worker's right hand RH, and the magnetic field detector 32 is attached to the thumb, but it goes without saying that the attachment examples of the vibration detector 12A, the magnetic field generator 31, and the magnetic field detector 32 are not limited to this. The vibration detector 12A may be attached to the worker's finger. The magnetic field generator 31 and the magnetic field detector 32 may be attached to other fingers or other locations (for example, the wrist). It goes without saying that the vibration detector 12A and the magnetic field detector 32 may be attached to the same hand (the right hand RH in FIG. 8), and may be attached to the left hand LH.

[0074] The magnetic field generator 31 generates a predetermined magnetic field. When a worker is engaged in the operation of fitting the pair of connectors 13A and 13B, the worker brings both hands holding the pair of connectors 13A and 13B close to each other to perform the operation.

[0075] The magnetic field detection device 32 detects a predetermined magnetic field emitted from the magnetic field generation device 31, converts the detected magnetic field (voltage) into sound pressure, and transmits a second sound pressure signal to the transmitter 33. Here, the magnetic field (electric field) detected by the magnetic field detection device 32 becomes larger as the distance between the magnetic field generation device 31 and the magnetic field detection device 32 (i.e., the distance between the right hand RH and left hand LH of the worker holding the pair of connectors 13A, 13B, respectively) becomes closer.

[0076] The vibration detection device 12A detects a mating sound (vibration) generated when the pair of connectors 13A, 13B are mated, converts the detected sound into a first sound pressure signal, and transmits the first sound pressure signal to the transmitter 33.

[0077] The transmitter 33 transmits the first sound pressure signal transmitted from the vibration detection device 12A and the second sound pressure signal transmitted from the magnetic field detection device 32 to the receiver .

[0078] The USB audio converter 35 transmits each of the first and second sound pressure signals transmitted from the receiver 34 to the terminal device P1A.

[0079] The terminal device P1A generates fitting vibration waveform data and magnetic field waveform data based on the first and second sound pressure signals transmitted from the USB audio converter 35. The terminal device P1A determines the start timing of fitting determination for each of the pair of connectors 13A and 13B based on the generated magnetic field waveform data. After starting the fitting determination, the terminal device P1A determines whether each of the pair of connectors 13A and 13B is properly fitted based on the generated fitting vibration waveform data.

[0080] The fitting determination start timing determination process and the fitting determination process will be described with reference to Fig. 9. Fig. 9 is a diagram showing an example of a fitting vibration waveform WV41 and a magnetic field waveform WV42.

[0081] The fitting vibration waveform WV41 shown in Fig. 9 is fitting vibration waveform data generated based on the first sound pressure signal. The amplitude of the fitting vibration waveform WV41 indicates a sound pressure value based on the magnitude of the vibration detected by the vibration detection device 12A. The magnetic field waveform WV42 shown in Fig. 9 is magnetic field waveform data generated based on the second sound pressure signal. The amplitude of the magnetic field waveform WV42 indicates a sound pressure value based on the magnitude of the magnetic field (voltage) detected by the magnetic field detection device 32, and the sound pressure value increases as the worker's hands approach.

[0082] The fitting contact vibration waveform detection unit 25A judges whether or not the sound pressure value, which is the amplitude of the magnetic field waveform data (i.e., the magnetic field waveform WV42), is equal to or greater than the threshold value TH1. In the example shown in FIG. 9, the threshold value TH1 is -20 dB, but it goes without saying that the threshold value TH1 is not limited thereto. When the fitting contact vibration waveform detection unit 25A judges that the right hand RH and the left hand LH of the worker who performs the fitting operation of the pair of connectors 13A and 13B are close to each other within a predetermined distance (e.g., 5 cm, 10 cm, etc.), that is, that the fitting operation of fitting the pair of connectors 13A and 13B is being performed, the fitting contact vibration waveform detection unit 25A generates a control command requesting the start of fitting judgment and outputs it to the fitting judgment unit 25B. In the example shown in FIG. 9, the sound pressure value is judged to be equal to or greater than the threshold value TH1 at time t41.

[0083] The fitting determination unit 25B starts the fitting determination process from time t41 based on the control command output from the fitting contact vibration waveform detection unit 25A, and starts the fitting determination process based on the fitting vibration waveform data after time t41. The fitting determination unit 25B compares the fitting vibration waveform WV41 of the frequency band corresponding to the fitting sound of the pair of connectors 13A, 13B generated by the fitting contact vibration waveform detection unit 25A with the fitting vibration waveform data stored in the memory 26 to determine whether the pair of connectors 13A, 13B are properly fitted together. When the fitting determination unit 25B determines that the pair of connectors 13A, 13B are not properly fitted together, the fitting determination unit 25B may notify the fitting determination result to the operator by displaying the determination result on a monitor (not shown) or outputting it as a voice.

[0084] As described above, the mating detection and determination system 100A according to the second embodiment includes a magnetic field generating device 31 that is attached to one hand or arm of a worker who performs mating of the pair of connectors 13A, 13B and generates a magnetic field, a magnetic field detecting device 32 that is attached to the other hand or arm of the worker and detects a magnetic field, a vibration detecting device 12A that is attached to the other hand or arm and detects vibration, and a terminal device P1A (an example of a mating determination device) that is communicably connected between the magnetic field detecting device 32 and the vibration detecting device 12A and determines whether the pair of connectors 13A, 13B are mated based on the vibration detected by the vibration detecting device 12A. The magnetic field detecting device 32 transmits the detected magnetic field to the terminal device P1A. When the terminal device P1A determines that the strength of the magnetic field is equal to or greater than a threshold value (for example, the threshold value TH1 shown in FIG. 5), it starts determining whether the pair of connectors 13A, 13B are mated.

[0085] As a result, the mating detection and determination system 100A according to the second embodiment detects that the right hand RH and the left hand LH of the worker who holds the pair of connectors 13A and 13B to perform the mating operation have come close enough to a predetermined distance where the pair of connectors 13A and 13B can be mated based on the strength of the magnetic field, and then detects contact between the pair of connectors 13A and 13B before executing the mating determination process, so that the time required to perform the mating determination can be shortened and detection of noise (vibration) unnecessary for the mating determination process, such as environmental sounds generated around the worker and mating sounds of other connectors, can be more effectively suppressed. Therefore, the mating detection and determination system 100A according to the second embodiment can improve the accuracy of the mating determination and make the series of mating operations including the mating determination more efficient by more effectively suppressing the execution of the mating process based on such noise.

[0086] As described above, the mating detection and determination system 100A according to the second embodiment determines whether the pair of connectors 13A, 13B are mated based on the vibration detected after the timing at which it is determined that the strength of the magnetic field is equal to or greater than the threshold (for example, time t41 shown in FIG. 9). As a result, the mating detection and determination system 100A according to the second embodiment performs mating determination based on the vibration detected by the vibration detection device 12A from the timing at which it is determined that the right hand RH and the left hand LH of the worker who holds the pair of connectors 13A, 13B and performs the mating operation have come close enough for the mating operation, and therefore the time required to perform the mating determination process can be shortened, and the processing load required for the mating determination process can be effectively suppressed.

[0087] As described above, in the fitting detection and determination system 100A according to the second embodiment, the magnetic field detection device 32 generates sound pressure data by converting the strength of the detected magnetic field into sound pressure, and transmits the sound pressure data to the terminal device P1A. The terminal device P1A determines whether the strength of the magnetic field is equal to or higher than a threshold based on the sound pressure data. As a result, the fitting detection and determination system 100A according to the second embodiment can obtain two different pieces of data from a pair of the transmitter 33 and the receiver 34 by converting the data into sound pressure data, even when obtaining two different pieces of data from two different devices (i.e., the magnetic field detection device 32 and the vibration detection device 12A). In other words, the fitting detection and determination system 100A can perform fitting determination with a simpler configuration. Furthermore, since the fitting detection and determination system 100A obtains two different pieces of data from a pair of the transmitter 33 and the receiver 34, time synchronization processing of these two different pieces of data is not required.

[0088] As described above, the terminal device P1A as an example of a mating detection and determination device according to the second embodiment includes a signal processing unit 24 (an example of an acquisition unit) that acquires a magnetic field detected by the magnetic field detection device 32 worn on one hand or arm of an operator who performs mating of the pair of connectors 13A, 13B and a vibration detected by the vibration detection device 12A worn on the one hand or arm, and a processor 25 (an example of a determination unit) that determines whether the pair of connectors 13A, 13B are mated or not based on the vibration acquired by the signal processing unit 24. When the processor 25 determines that the strength of the magnetic field is equal to or greater than a threshold value (for example, threshold value TH1 shown in FIG. 5), the processor 25 starts determining whether the pair of connectors 13A, 13B are mated or not.

[0089] As a result, the mating detection and determination system 100A according to the second embodiment executes the mating determination process after detecting contact between the pair of connectors 13A, 13B, and therefore can more effectively suppress detection of noise (vibrations) unnecessary for the mating determination process, such as environmental sounds occurring around the worker and mating sounds of other connectors. Therefore, the mating detection and determination system 100A according to the second embodiment can improve the accuracy of the mating determination and make a series of mating operations, including the mating determination, more efficient by more effectively suppressing the execution of the mating process based on such noise.

[0090] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, corrections, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also belong to the technical scope of the present disclosure. In addition, the components in the various embodiments described above may be arbitrarily combined within the scope of the invention. [Industrial Applicability]

[0091] The present disclosure is useful as providing a mating detection and determination system, a mating detection and determination device, and a mating detection and determination method that can more efficiently perform mating determination of a connector. [Explanation of symbols]

[0092] 11 Vibration Generator 12,12A Vibration detection device 13A, 13B Connectors 14 Transmitter 20 Receiving section 24 Signal Processing Section 21,25 Processor 21A, 25A Mating contact vibration waveform detector 21B, 25B Mating judgment part 22,26 Memory 31 Magnetic field generator 32 Magnetic field detection device 33 Transmitter 34 Receiver 35 USB Audio Converter P1, P1A terminal equipment

Claims

1. a vibration generator that is attached to one hand or arm of an operator who is performing fitting of a pair of connectors and generates a first vibration; a vibration detection device that is attached to the other hand or arm of the worker and detects a second vibration; a mating determination device that is communicatively connected to the vibration detection device and determines whether the pair of connectors are mated based on the second vibration detected by the vibration detection device, when it is determined that the detected second vibration includes the first vibration, the mating determination device starts to determine whether the pair of connectors are mated. Mating detection and judgment system.

2. the mating determination device determines whether the pair of connectors are mated based on a second vibration detected after a time when it is determined that the second vibration includes the first vibration. The fit detection and determination system according to claim 1 .

3. a frequency band of the first vibration is higher than a frequency band of vibration generated when the pair of connectors are mated; The fit detection and determination system according to claim 1 .

4. The frequency band of the first vibration is 20 to 30 kHz. The fit detection and determination system according to claim 1 .

5. the first vibration is a sine wave; The fit detection and determination system according to claim 1 .

6. a magnetic field generating device that is attached to one hand or arm of an operator who is mating the pair of connectors and generates a magnetic field; a magnetic field detection device that is worn on the other hand or arm of the worker and detects the magnetic field; a vibration detection device attached to the other hand or arm to detect vibrations; a mating determination device that is communicatively connected between the magnetic field detection device and the vibration detection device and determines whether the pair of connectors are mated based on the vibration detected by the vibration detection device, The magnetic field detection device is transmitting the detected magnetic field to the fitting determination device; The fit determination device includes: when it is determined that the intensity of the magnetic field is equal to or greater than a threshold value, a determination is started as to whether or not the pair of connectors are mated. Mating detection and judgment system.

7. the mating determination device determines whether the pair of connectors are mated based on vibrations detected after the timing at which it is determined that the strength of the magnetic field is equal to or greater than a threshold value. The fit detection and determination system according to claim 6 .

8. The magnetic field detection device is generating sound pressure data by converting the intensity of the detected magnetic field into sound pressure and transmitting the sound pressure data to the fit determination device; The fit determination device includes: determining whether the intensity of the magnetic field is equal to or greater than the threshold value based on the sound pressure data; The fit detection and determination system according to claim 6.

9. an acquisition unit that acquires vibrations detected by a vibration detection device attached to one hand or arm of an operator who is performing fitting of a pair of connectors; a determination unit that determines whether the pair of connectors are mated based on the vibration acquired by the acquisition unit, when the determination unit determines that the vibration includes a predetermined vibration, the determination unit starts to determine whether the pair of connectors are mated. Mating detection and judgment device.

10. an acquisition unit that acquires a magnetic field detected by a magnetic field detection device attached to one hand or arm of an operator who is performing fitting of a pair of connectors and a vibration detected by a vibration detection device attached to the one hand or arm; a determination unit that determines whether the pair of connectors are mated based on the vibration acquired by the acquisition unit, When the determination unit determines that the intensity of the magnetic field is equal to or greater than a threshold value, the determination unit starts to determine whether the pair of connectors are mated. Mating detection and judgment device.

11. Detecting and acquiring vibrations of one hand or arm of a worker who is mating a pair of connectors; determining whether the acquired vibration includes a predetermined vibration; when it is determined that the vibration includes the predetermined vibration, a determination is started as to whether or not the pair of connectors are mated. Mating detection judgment method.

12. acquiring a magnetic field at a position of one hand or arm of a worker who is performing fitting of a pair of connectors and a vibration of the one hand or arm; determining whether the acquired strength of the magnetic field is equal to or greater than a threshold; when it is determined that the intensity of the magnetic field is equal to or greater than the threshold value, a determination is started as to whether or not the pair of connectors are mated. Mating detection judgment method.

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