Inspection support device, inspection support system, inspection support method, and program

Abstract

The inspection support device (10) outputs information on a gripping and vibrating method for an object (50) using judgment reference data acquired and stored by gripping and vibrating an object (50) with a hand equipped with a pressure sensor (21) and an acceleration sensor (22). The inspection support device (10) has a similarity evaluation unit (12) that calculates a first pressure similarity (S1p) between pressure data and first reference pressure data (R1p), a first acceleration similarity (S1a) between acceleration data and first reference acceleration data (R1a), a second pressure similarity (S2p) between pressure data and second reference pressure data (R2p), and a second acceleration similarity (S2a) between acceleration data and second reference acceleration data (R2a) in an actual inspection, a gripping vibration judgment unit (13) that judges a gripping vibration method based on these similarities, and a presentation information generation unit (14).

Description

[Technical field]

[0001] The present disclosure relates to an inspection support device, an inspection support system, an inspection support method, and a program. [Background technology]

[0002] A device has been proposed that has the function of applying force to an object to vibrate it with a hand wearing a glove-type wearable sensor equipped with a pressure sensor, and determining the engagement state of the object based on the visual information, auditory information (e.g., sound), and tactile information (e.g., vibration) obtained at that time (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-1410 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional technology does not determine whether the operator's gripping and vibrating of an object (also referred to as "gripping vibration") is appropriate, and therefore there is a problem that when an operator with low skill level grips and vibrates an object, the accuracy of determining the fixed state of the object is low.

[0005] The present disclosure aims to provide an inspection support device, an inspection support system, an inspection support method, and a program that enable improved accuracy in determining the fixed state of an object by determining the appropriateness of grasping vibration of an object. [Means for solving the problem]

[0006] The inspection support device disclosed herein prepares, as judgment criteria data acquired and stored by grasping and vibrating an object with the hand to which the pressure sensor and acceleration sensor are attached, first reference pressure data and first reference acceleration data acquired from the pressure sensor and the acceleration sensor when an intentional inappropriate grasping and vibration is performed on the object with the hand to which the pressure sensor and the acceleration sensor are attached, and second reference pressure data and second reference acceleration data acquired from the pressure sensor and the acceleration sensor when an appropriate grasping and vibration is performed on the object with the hand to which the pressure sensor and the acceleration sensor are attached, and outputs information regarding the method of grasping and vibrating the object using the judgment criteria data when an operator grasps and vibrates the object in an actual inspection. The inspection support device is characterized in having a similarity evaluation unit that calculates, in the actual inspection, a first pressure similarity which is a similarity between the pressure data output from the pressure sensor and the first reference pressure data, calculates a first acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the first reference acceleration data, calculates a second pressure similarity which is a similarity between the pressure data output from the pressure sensor and the second reference pressure data, and calculates a second acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the second reference acceleration data, a grip vibration determination unit that makes a determination regarding the grip vibration method based on the first pressure similarity, the first acceleration similarity, the second pressure similarity, and the second acceleration similarity, and a presentation information generation unit that generates presentation information regarding the grip vibration method based on a result of the determination.

[0007] The inspection support method disclosed herein is a method executed by an inspection support device that prepares, as judgment criteria data acquired and stored by grasping and vibrating an object with a hand having a pressure sensor and an acceleration sensor attached thereto, first reference pressure data and first reference acceleration data acquired from the pressure sensor and the acceleration sensor when an intentional inappropriate grasping and vibration is performed on the object with the hand having the pressure sensor and the acceleration sensor attached thereto, and second reference pressure data and second reference acceleration data acquired from the pressure sensor and the acceleration sensor when an appropriate grasping and vibration is performed on the object with the hand having the pressure sensor and the acceleration sensor attached thereto, and outputs information regarding the method of grasping and vibrating the object using the judgment criteria data when an operator grasps and vibrates the object in an actual inspection. The inspection support method includes the steps of calculating a first pressure similarity which is a similarity between the pressure data output from the pressure sensor and the first reference pressure data, calculating a first acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the first reference acceleration data, calculating a second pressure similarity which is a similarity between the pressure data output from the pressure sensor and the second reference pressure data, and calculating a second acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the second reference acceleration data, making a determination regarding the grip vibration method based on the first pressure similarity, the first acceleration similarity, the second pressure similarity, and the second acceleration similarity, and generating presentation information regarding the grip vibration method based on a result of the determination. Effect of the Invention

[0008] According to the present disclosure, the accuracy of determining the fixed state of an object can be improved by determining the appropriateness of the gripping vibration of the object. [Brief description of the drawings]

[0009] [Figure 1]1 is a functional block diagram illustrating a configuration of an examination support device and an examination support system according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram illustrating an example of the sensor glove shown in FIG. [Diagram 3] FIG. 13 is a side view showing an example of gripping and vibrating an object. [Figure 4] FIG. 11 is a side view showing another example of gripping and vibrating an object. [Diagram 5] FIG. 11 is a side view showing another example of gripping and vibrating an object. [Figure 6] 1 is a diagram illustrating an example of a hardware configuration of an inspection support device and an inspection support system according to an embodiment. [Figure 7] 1 is a functional block diagram illustrating a schematic configuration of a sensor data collecting device. [Figure 8] FIG. 2 is a diagram illustrating an example of a hardware configuration of a sensor data collecting device. [Figure 9] 13 is a flowchart showing a process of collecting sensor data when an appropriate gripping vibration is applied. [Figure 10] 13 is a flowchart showing a process for collecting sensor data when an improper grip vibration is applied; [Figure 11] 4 is a flowchart showing the operation of the examination support device and the examination support system according to the embodiment. [Figure 12] 10 is a flowchart showing another operation of the inspection support device and the inspection support system according to the embodiment. [Figure 13] 13A and 13B are diagrams illustrating an example of a method for calculating a similarity. [Figure 14] 13A and 13B are explanatory diagrams showing an example of a method for determining grip vibration based on the absolute value of a pressure difference. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an examination support device, an examination support system, an examination support method, and a program according to embodiments will be described with reference to the drawings. The following embodiments are merely examples, and the embodiments can be appropriately combined and each embodiment can be appropriately modified.

[0011] 1 is a functional block diagram showing a schematic configuration of an examination support device 10 and an examination support system 1 according to an embodiment. The examination support device 10 is a device capable of implementing an examination support method according to an embodiment. The examination support device 10 is, for example, a computer that executes a program as software for implementing the examination support method.

[0012] The inspection support system 1 includes an inspection support device 10, a pressure sensor 21 and an acceleration sensor 22 attached to the hand of an operator, and an information presentation unit 30 that presents information to the operator. The pressure sensor 21 is located at the tip of the finger of the hand, detects the force applied to an object 50 by the finger, and outputs a pressure signal as an electric signal. The acceleration sensor 22 detects acceleration in orthogonal directions X, Y, and Z (i.e., three orthogonal axial directions), and outputs an acceleration signal as an electric signal.

[0013] When an operator grasps and vibrates an object 50 in an actual inspection, the inspection support device 10 outputs information about a gripping and vibrating method for the object 50 using judgment reference data acquired and stored in advance by grasping and vibrating the object 50 with the hand to which the pressure sensor 21 and the acceleration sensor 22 are attached. The judgment reference data includes, for example, first reference pressure data (inappropriate reference pressure data) R1p and first reference acceleration data (inappropriate reference acceleration data) R1a acquired from the pressure sensor 21 and the acceleration sensor 22 when an inappropriate gripping and vibrating is intentionally performed with the hand to which the pressure sensor 21 and the acceleration sensor 22 are attached, and second reference pressure data (appropriate reference pressure data) R2p and second reference acceleration data (appropriate reference acceleration data) R2a acquired from the pressure sensor 21 and the acceleration sensor 22 when an appropriate gripping and vibrating is performed with the hand to which the pressure sensor 21 and the acceleration sensor 22 are attached. Appropriate grip vibration is grip vibration that satisfies grip vibration conditions such as grip position, grip strength, vibration direction, vibration strength, vibration speed, vibration stroke at vibration time, etc. that are predetermined for each object. Inappropriate grip vibration is grip vibration that does not satisfy grip vibration conditions such as grip position, grip strength, vibration direction, vibration strength, vibration speed, vibration stroke at vibration time, etc. that are predetermined for each object.

[0014] The inspection support device 10 includes a similarity evaluation unit 12, a grip vibration determination unit 13, a presentation information generation unit 14, and storage devices 11, 41, and 42. The storage devices 11, 41, and 42 do not need to be part of the inspection support device 10, and may be storage devices provided in an external device (e.g., a server computer on a network) communicatively connected to the inspection support device 10.

[0015] In an actual inspection, the similarity evaluation unit 12 calculates a first pressure similarity S1p which is the similarity between the pressure data output from the pressure sensor 21 and the first reference pressure data R1p, and calculates a first acceleration similarity S1a which is the similarity between the acceleration data output from the acceleration sensor 22 and the first reference acceleration data R1a. In addition, the similarity evaluation unit 12 calculates a second pressure similarity S2p which is the similarity between the pressure data output from the pressure sensor 21 and the second reference pressure data R2p, and calculates a second acceleration similarity S2a which is the similarity between the acceleration data output from the acceleration sensor 22 and the second reference acceleration data R2a.

[0016] The grip vibration determination unit 13 determines the grip vibration method used by the operator based on the first pressure similarity S1p and the first acceleration similarity S1a, which are similarities with the judgment reference data at the time of inappropriate grip vibration, and the second pressure similarity S2p and the second acceleration similarity (S2a), which are similarities with the judgment reference data at the time of appropriate grip vibration. The determination of the grip vibration method is, for example, a determination of one or more of the grip position, grip strength, vibration direction, vibration strength, vibration speed, and vibration stroke at the time of vibration.

[0017] For example, the grip vibration judgment unit 13 can judge that the grip vibration method is inappropriate when at least one of the conditions that the first pressure similarity S1p is greater than or equal to the second pressure similarity S2p and the first acceleration similarity S1a is greater than or equal to the second acceleration similarity S2a is satisfied.

[0018] Alternatively, the grip vibration judgment unit 13 can judge whether the grip vibration method is appropriate or inappropriate based on whether the first pressure similarity S1p is greater than or equal to a predetermined first pressure threshold T1p, whether the first acceleration similarity S1a is greater than or equal to a predetermined first acceleration threshold T1a, whether the second pressure similarity S2p is greater than or equal to a predetermined second pressure threshold T2p, and whether the second acceleration similarity S2a is greater than or equal to a predetermined second acceleration threshold T2a.

[0019] Alternatively, the grip vibration judgment unit 13 can judge that the grip vibration method is inappropriate when at least one of the conditions that the first pressure similarity S1p is greater than or equal to a predetermined first pressure threshold T1p and the first acceleration similarity S1a is greater than or equal to a predetermined first acceleration threshold T1a is satisfied.

[0020] The presentation information generator 14 generates presentation information related to the gripping vibration method based on the result of the determination. The presentation information may include, for example, one or more pieces of information such as an appropriate gripping position, an appropriate gripping strength, an appropriate vibration direction, an appropriate vibration strength, an appropriate vibration speed, and an appropriate vibration stroke during vibration.

[0021] Specifically, the presentation information generation unit 14 may include as presentation information, "The grip position is inappropriate," "Please grip the surface, not the corner," "The hand is facing backwards," "The vibration direction is incorrect," "The vibration force is too strong," "The vibration force is too weak," and the like.

[0022] FIG. 2 is a schematic diagram showing an example of the sensor glove 20 shown in FIG. 1. The sensor glove 20 is a glove-type device worn on the hand of a worker. A pressure sensor 21 is provided on the gripping surface of the fingertips of the sensor glove 20. In the example of FIG. 2, a pressure sensor 21 is provided on each of the gripping surface of the thumb and the gripping surface of the index finger of the sensor glove 20. The gripping surface is a surface that faces the object 50 when the object 50 is gripped with two fingers. When the object 50 is gripped, each pressure sensor 21 is disposed between the finger and the object 50. Although two pressure sensors 21 are shown in FIG. 2, one pressure sensor 21 may be used. In addition, in the example of FIG. 2, an acceleration sensor 22 is provided on the thumb and the index finger of the sensor glove 20. Although two acceleration sensors 22 are shown in FIG. 2, one acceleration sensor 22 may be used. The acceleration sensor 22 may be attached to a position other than the fingertips of the hand. Additionally, the pressure sensor 21 and the acceleration sensor 22 may be attached directly to the worker's finger or hand.

[0023] Fig. 3 is a side view showing an example of a gripping and vibrating operation on an object 50 by a worker wearing the sensor glove 20 on his / her hand. Fig. 3 shows a state in which the object 50 (e.g., a device) fixed to the upper surface of a support member 51 by screws 53 and 54 as fastening parts is gripped from both above and below and vibrated in the D1 direction. While gripping and vibrating in this way, the worker judges whether the fixation state of the object 50 is good or bad based on sound information, tactile information transmitted to the hand, etc. It is also possible to judge whether the fixation state is good or bad based on the waveforms of the detection signals of the pressure sensor 21 and the acceleration sensor 22.

[0024] Fig. 4 is a side view showing another example (example of appropriate gripping) of gripping and vibrating the object 50 by a worker wearing the sensor glove 20 on his / her hand. Fig. 4 shows a state in which the object 50, which is fixed to the side of the support member 51 by screws 52, 53, and 54 as fastening parts, is gripped from both above and below and vibrated in the D2 direction. While gripping and vibrating in this way, the worker judges whether the fixation state of the object 50 is good or bad based on sound information, tactile information transmitted to the hand, etc. It is also possible to judge whether the fixation state is good or bad based on the waveforms of the detection signals of the pressure sensor 21 and the acceleration sensor 22.

[0025] Fig. 5 is a side view showing another example (an example of improper gripping) of a vibration application task to an object 50 by a worker wearing the sensor glove 20 on his / her hand. Fig. 5 shows a state in which two corners of the object 50, which is fixed to the side surface of a support member 51 by screws 52, 53, and 54 as fastening parts, are grasped from both sides and vibration is applied in the D3 direction. While gripping and applying vibration in this way, the worker judges whether the fixation state of the object 50 is good or bad based on sound information, tactile information transmitted to the hand, etc.

[0026] FIG. 6 is a diagram showing an example of a hardware configuration of the test support device 10 and the test support system 1 according to the embodiment. As shown in FIG. 6, the test support device 10 has a processor 101 such as a CPU (Central Processing Unit), a memory 102 which is a storage device, a non-volatile storage device 103 such as an SSD (Solid State Drive), and an interface 104. The memory 102 is, for example, a semiconductor memory such as a RAM (Random Access Memory). Each function of the test support device 10 shown in FIG. 6 can be realized by a processing circuit. The processing circuit may be dedicated hardware, or may be a processor 101 which executes a program (including the program according to the embodiment) stored in the memory 102. The processing circuit can realize each of the above-mentioned functions by hardware, software, firmware, or any combination of these. The program is provided by downloading via a network, or by a storage medium such as an optical disk on which the program is stored.

[0027] The information presenting unit 30 is, for example, a display device that presents an image. The information presenting unit 30 may include an audio output unit (such as a speaker) that presents sound information. The information presenting unit 30 may include a lamp and a drive circuit that turns the lamp on, off, and blinks. The information presenting unit 30 may include a vibration generator that notifies the operator of inappropriate gripping vibration by applying vibration to the operator's body or hand. The information presenting unit 30 may be a laptop computer, a tablet terminal, or a smartphone that can communicate with the inspection support device 10. The information presenting unit 30 may also include smart glasses or a smartphone that displays instructions on the gripping position and vibration direction by superimposing a virtual image on the real world using AR (Augmented Reality). In this case, it is possible to reduce even a slight deviation from the gripping vibration method of a skilled operator.

[0028] FIG. 7 is a functional block diagram showing a schematic configuration of the sensor data collection device 10a. The sensor data collection device 10a is a computer that collects data for creating a criterion for inappropriate gripping vibration that is stored in advance in the storage device 41 of the inspection support device 10 and a criterion for appropriate gripping vibration that is stored in advance in the storage device 42. The sensor data collection device 10a collects criterion data using the same pressure sensor 21 and acceleration sensor 22 (i.e., physically the same or having the same function) as the pressure sensor 21 and acceleration sensor 22 connected to the inspection support device 10. The sensor data collection device 10a may be the same computer as the inspection support device 10. In other words, the computer as the inspection support device 10 may have a function of collecting criterion data and creating criterion data.

[0029] An appropriate judgment criterion is created, for example, based on the pressure data and acceleration data acquired when a skilled worker grasps and applies vibration to a number of objects in turn.

[0030] The inappropriateness judgment criteria are created based on the pressure data and acceleration data acquired at the time, for example, when an operator intentionally adopts an inappropriate grip and applies vibration, when an operator intentionally adopts an inappropriate grip and applies inappropriate vibration, when an operator adopts an appropriate grip and intentionally applies inappropriate vibration, etc.

[0031] The sensor data collecting unit 15 stores the pressure data serving as an inappropriateness criterion as the first reference pressure data R1p and the acceleration data as the first reference acceleration data R1a in the storage device 41. The sensor data collecting unit 15 may have a storage device 16 that stores label information indicating the cause of the inappropriate grip vibration and countermeasures (instructions to the worker) in advance. In this case, the sensor data collecting unit 15 may classify and store each of the first reference pressure data R1p and the first reference acceleration data R1a into categories for each cause of the inappropriate grip vibration method. The sensor data collecting unit 15 may also select and assign label information for each classified category. Furthermore, label information (for example, text data representing the presentation information) may be assigned to each first reference pressure data R1p and each first reference acceleration data R1a, rather than to each category.

[0032] The sensor data collecting unit 15 stores the pressure data serving as an inappropriateness criterion as the first reference pressure data R1p and the acceleration data as the first reference acceleration data R1a in the storage device 41. The sensor data collecting unit 15 may have a storage device 16 that stores label information indicating the cause of the inappropriate grip vibration and countermeasures (instructions to the worker) in advance. In this case, the sensor data collecting unit 15 may classify and store each of the first reference pressure data R1p and the first reference acceleration data R1a into categories for each cause of the inappropriate grip vibration method. The sensor data collecting unit 15 may select and assign label information for each classified category. The label information may be assigned to each of the first reference pressure data R1p and each of the first reference acceleration data R1a, instead of to each category.

[0033] FIG. 8 is a diagram showing an example of a hardware configuration of the sensor data collecting device 10a. As shown in FIG. 8, the sensor data collecting device 10a has a processor 101a such as a CPU, a memory 102a which is a storage device, a non-volatile storage device 103a such as an SSD, and an interface 104a. Each function of the sensor data collecting device 10a shown in FIG. 8 can be realized by a processing circuit. The processing circuit may be dedicated hardware, or may be a processor 101a which executes a program stored in the memory 102a. The processing circuit can realize each of the above-mentioned functions by hardware, software, firmware, or any combination of these.

[0034] Fig. 9 is a flow chart showing the process of collecting sensor data during appropriate gripping and vibration application. The sensor data during appropriate gripping and vibration application (or the judgment reference data created based on the sensor data) stored in the storage device 42 before the actual inspection is collected and stored as follows. A skilled worker wears the sensor glove 20 connected to the sensor data collection device 10a shown in Figs. 7 and 8, and appropriate gripping and vibration application is performed for each object. The pressure data and acceleration data at that time are stored in the storage device 42 as second reference pressure data R2p and second reference acceleration data R2a (steps S11 to S13).

[0035] FIG. 10 is a flow chart showing the process of collecting sensor data when an improper gripping vibration is applied. The sensor data when an improper gripping vibration is applied (or the judgment reference data is created based on the sensor data) stored in the storage device 41 before the actual inspection is collected and stored as follows. The sensor glove 20 connected to the sensor data collecting device 10a shown in FIG. 7 and FIG. 8 is worn by an operator, and an improper gripping vibration is intentionally performed for each object, and the pressure data and acceleration data at that time are stored in the storage device 42 as the first reference pressure data R1p and the first reference acceleration data R1a (steps S21 to S24). In addition, in step S23, the sensor data collecting device 10a may perform labeling to give a label to each of the first reference pressure data R1p, each of the first reference acceleration data R1a, or each of the categories into which these are classified. The label information is output to the information presenting unit 30 as presentation information.

[0036] 11 is a flowchart showing the operation of the test support device 10 and the test support system 1 according to the embodiment. In this case, the similarity evaluation unit 12 calculates a first pressure similarity S1p, which is a similarity between the pressure data output from the pressure sensor 21 and the first reference pressure data (inappropriate reference pressure data) R1p, in an actual test, and calculates a first acceleration similarity S1a, which is a similarity between the acceleration data output from the acceleration sensor 22 and the first reference acceleration data (inappropriate reference acceleration data) R1a (steps S31 and S32). Each of the first pressure similarity S1p and the first acceleration similarity S1a is also referred to as a first similarity.

[0037] Next, the similarity evaluation unit 12 calculates a second pressure similarity S2p, which is the similarity between the pressure data output from the pressure sensor 21 and the second reference pressure data (appropriate reference pressure data) R2p, and calculates a second acceleration similarity S2a, which is the similarity between the acceleration data output from the acceleration sensor 22 and the second reference acceleration data (appropriate reference acceleration data) R2a, in the actual inspection (step S33). Each of the second pressure similarity S2p and the second acceleration similarity S2a is also referred to as a second similarity.

[0038] The grip vibration judgment unit 13 judges that the grip vibration method is inappropriate when at least one of the conditions that the first pressure similarity S1p is greater than or equal to the second pressure similarity S2p and the first acceleration similarity S1a is greater than or equal to the second acceleration similarity S2a is satisfied (step S34).

[0039] In step S34, if the determination is NO, the gripping vibration is appropriate, and therefore the presentation information generator 14 outputs the determination result indicating that the gripping vibration is appropriate as presentation information, and ends the inspection (steps S37, S38).

[0040] In step S34, if the determination is YES, the gripping vibration is inappropriate, so the presentation information generating unit 14 outputs a determination result indicating that the gripping vibration is inappropriate as presentation information and instructs the operator to perform a re-examination (steps S35 and S36). At this time, the presentation information generating unit 14 may output instruction information regarding the gripping vibration to the operator based on the label information.

[0041] 12 is a flowchart showing another operation of the test support device 10 and the test support system 1 according to the embodiment. In this case, the similarity evaluation unit 12 calculates a first pressure similarity S1p, which is a similarity between the pressure data output from the pressure sensor 21 and the first reference pressure data (inappropriate reference pressure data) R1p, in an actual test, and calculates a first acceleration similarity S1a, which is a similarity between the acceleration data output from the acceleration sensor 22 and the first reference acceleration data (inappropriate reference acceleration data) R1a (steps S41 and S42). Each of the first pressure similarity S1p and the first acceleration similarity S1a is also referred to as a first similarity.

[0042] The grip vibration determination unit 13 determines that the grip vibration method is inappropriate when at least one of the conditions that the first pressure similarity S1p is equal to or greater than the first pressure threshold T1p and the first acceleration similarity S1a is equal to or greater than the first acceleration threshold T1a is satisfied (step S43). Each of the first pressure threshold T1p and the first acceleration threshold T1a is also referred to as a first threshold.

[0043] In step S43, if the determination is YES, the gripping vibration is inappropriate, so the presentation information generating unit 14 outputs a determination result indicating that the gripping vibration is inappropriate as presentation information and instructs the operator to perform a re-examination (steps S44, S45). At this time, the presentation information generating unit 14 may output instruction information regarding the gripping vibration to the operator based on the label information.

[0044] If the determination in step S43 is NO, the similarity evaluation unit 12 calculates a second pressure similarity S2p, which is the similarity between the pressure data output from the pressure sensor 21 and the second reference pressure data (appropriate reference pressure data) R2p, and calculates a second acceleration similarity S2a, which is the similarity between the acceleration data output from the acceleration sensor 22 and the second reference acceleration data (appropriate reference acceleration data) R2a (step S46). Each of the second pressure similarity S2p and the second acceleration similarity S2a is also referred to as a second similarity.

[0045] The grip vibration judgment unit 13 judges that the grip vibration method is inappropriate if at least one of the conditions that the second pressure similarity S2p is greater than or equal to the second pressure threshold T2p and the second acceleration similarity S2a is greater than or equal to the second acceleration similarity S2a is not satisfied (step S47).

[0046] In step S47, if the determination is NO, the gripping vibration is inappropriate, so the presentation information generating unit 14 outputs a determination result indicating that the gripping vibration is inappropriate as presentation information and instructs the operator to perform a re-examination (steps S44, S45). At this time, the presentation information generating unit 14 may output instruction information regarding the gripping vibration to the operator based on the label information.

[0047] If the determination in step S47 is YES, the gripping vibration is appropriate, and therefore the presentation information generation unit 14 outputs the determination result indicating that the gripping vibration is appropriate as presentation information, and ends the inspection (steps S48, S49).

[0048] 13(A) and (B) are explanatory diagrams showing an example of a method for calculating similarity. FIG. 13(A) shows a vectorization process for acquiring time series data by sampling from a pressure signal waveform (or an acceleration signal waveform). When the pressure signal (or acceleration signal) data and the judgment criterion data are expressed as vector data, the Euclidean distance can be used as the similarity. Also, when the pressure signal (or acceleration signal) data and the judgment criterion data are expressed as vector data, the correlation coefficient that can be acquired from a scatter plot can be used as the similarity. FIG. 13(A) shows an example of calculating the distance on a waveform (solid line) whose time length is adjusted by dynamic time warping (DTW) from the pressure signal waveform (or acceleration signal waveform) shown by the dashed line.

[0049] Figure 14 (A) and (B) show the method of determining grip vibration based on the absolute value of the pressure difference. other 14A shows an example of a case where the absolute value of the pressure difference does not exceed a predetermined judgment threshold, in which case it is determined that grip vibration is inappropriate. FIG. 14A shows an example of a case where the absolute value of the pressure difference exceeds a predetermined judgment threshold, in which case it is determined that grip vibration is appropriate. Note that the method of determining the similarity is not limited to the above example, and other known similarities may be used.

[0050] As described above, according to this embodiment, it is possible to know on-site whether the gripping vibration applied by the operator is appropriate. Therefore, if the gripping vibration is inappropriate, the gripping vibration can be applied again on the spot and re-inspected, and it is not necessary to go back to the site for re-inspection after leaving the site. In addition, since the gripping vibration can be applied appropriately, the accuracy of the inspection of the fixed state of the target object 50 can be improved.

[0051] In addition, when the pressure data (or acceleration data) acquired in an actual inspection is similar to multiple inappropriate judgment criteria data (or similar to multiple categories of judgment criteria data), the inspection support device 10 can set the inappropriate factors of the gripping vibration method in natural language.

[0052] In addition, when the pressure data (or acceleration data) is similar to multiple categories of inappropriate judgment criteria data, the test support device 10 may individually calculate the similarity with each inappropriate category, extract categories having a similarity equal to or greater than a predetermined threshold, and present them as information.

[0053] In addition, when the pressure data (or acceleration data) is similar to multiple categories of inappropriate judgment criteria data and the presentation information for each inappropriate category contains information with opposite meanings (e.g., opposite concepts or antonyms), the presentation information generation unit 14 of the test support device 10 may preferentially display the presentation information for the category with a higher similarity (i.e., delete the presentation information for the category with a lower similarity). [Explanation of symbols]

[0054] 1 inspection support system, 10 inspection support device, 11 memory device, 12 similarity evaluation unit, 13 gripping vibration determination unit, 14 presentation information generation unit, 20 sensor glove, 21 pressure sensor, 22 acceleration sensor, 30 information presentation unit, 41, 42 memory device, 50 object, R1p first reference pressure data, R1a first reference acceleration data, R2p second reference pressure data, R2a second reference acceleration data, S1p first pressure similarity, S1a first acceleration similarity, S2p second pressure similarity, S2a second acceleration similarity.

Claims

1. As the judgment reference data acquired and stored by grasping and vibrating an object with the hand to which the pressure sensor and the acceleration sensor are attached, first reference pressure data and first reference acceleration data acquired from the pressure sensor and the acceleration sensor when an inappropriate grasping vibration is intentionally performed on the object with the hand to which the pressure sensor and the acceleration sensor are attached, and second reference pressure data and second reference acceleration data acquired from the pressure sensor and the acceleration sensor when an appropriate grasping vibration is performed on the object with the hand to which the pressure sensor and the acceleration sensor are attached are prepared; When an operator grasps and vibrates an object during an actual inspection, information regarding a method of grasping and vibrating the object is output using the judgment criterion data. An inspection support device, comprising: a similarity evaluation unit that calculates, in the actual inspection, a first pressure similarity which is a similarity between the pressure data output from the pressure sensor and the first reference pressure data, calculates a first acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the first reference acceleration data, calculates a second pressure similarity which is a similarity between the pressure data output from the pressure sensor and the second reference pressure data, and calculates a second acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the second reference acceleration data; a grip vibration determination unit that determines the grip vibration method based on the first pressure similarity, the first acceleration similarity, the second pressure similarity, and the second acceleration similarity; a presentation information generating unit that generates presentation information related to the gripping vibration method based on a result of the determination; An inspection support device comprising:

2. The grip vibration determination unit determines that the grip vibration method is inappropriate when at least one of a condition that the first pressure similarity is equal to or greater than the second pressure similarity and a condition that the first acceleration similarity is equal to or greater than the second acceleration similarity is satisfied.

2. The inspection support device according to claim 1.

3. The grip vibration determination unit determines whether the grip vibration method is appropriate or inappropriate based on whether the first pressure similarity is equal to or greater than a predetermined first pressure threshold, whether the first acceleration similarity is equal to or greater than a predetermined first acceleration threshold, whether the second pressure similarity is equal to or greater than a predetermined second pressure threshold, and whether the second acceleration similarity is equal to or greater than a predetermined second acceleration threshold.

2. The inspection support device according to claim 1.

4. The grip vibration determination unit determines that the grip vibration method is inappropriate when at least one of a condition that the first pressure similarity is equal to or greater than a predetermined first pressure threshold and a condition that the first acceleration similarity is equal to or greater than a predetermined first acceleration threshold is satisfied.

2. The inspection support device according to claim 1.

5. Each of the first reference pressure data and the first reference acceleration data is classified into a category for each cause of the inappropriate gripping vibration method, and a label that is information indicating the cause is assigned to each of the first reference pressure data and the first reference acceleration data.

5. The inspection support device according to claim 1,

6. When the pieces of presentation information for each inappropriate category contain information with a contradictory meaning, the presentation information generating unit preferentially displays the pieces of presentation information for the category with a higher similarity.

6. The inspection support device according to claim 5.

7. The inspection support device according to any one of claims 1 to 4, The pressure sensor; The acceleration sensor; An inspection support system comprising:

8. As the judgment reference data acquired and stored by grasping and vibrating an object with the hand to which the pressure sensor and the acceleration sensor are attached, first reference pressure data and first reference acceleration data acquired from the pressure sensor and the acceleration sensor when an inappropriate grasping vibration is intentionally performed on the object with the hand to which the pressure sensor and the acceleration sensor are attached, and second reference pressure data and second reference acceleration data acquired from the pressure sensor and the acceleration sensor when an appropriate grasping vibration is performed on the object with the hand to which the pressure sensor and the acceleration sensor are attached are prepared; When an operator grasps and vibrates an object during an actual inspection, information regarding a method of grasping and vibrating the object is output using the judgment criterion data. An inspection support method executed by an inspection support device, comprising: In the actual inspection, calculating a first pressure similarity which is a similarity between the pressure data output from the pressure sensor and the first reference pressure data, calculating a first acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the first reference acceleration data, calculating a second pressure similarity which is a similarity between the pressure data output from the pressure sensor and the second reference pressure data, and calculating a second acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the second reference acceleration data; A step of determining the grip vibration method based on the first pressure similarity, the first acceleration similarity, the second pressure similarity, and the second acceleration similarity; generating presentation information related to the gripping vibration method based on a result of the determination; 13. An inspection support method comprising:

9. As the judgment reference data acquired and stored by grasping and vibrating an object with the hand to which the pressure sensor and the acceleration sensor are attached, first reference pressure data and first reference acceleration data acquired from the pressure sensor and the acceleration sensor when an inappropriate grasping vibration is intentionally performed on the object with the hand to which the pressure sensor and the acceleration sensor are attached, and second reference pressure data and second reference acceleration data acquired from the pressure sensor and the acceleration sensor when an appropriate grasping vibration is performed on the object with the hand to which the pressure sensor and the acceleration sensor are attached are prepared; When an operator grasps and vibrates an object during an actual inspection, information regarding a method of grasping and vibrating the object is output using the judgment criterion data. The computer, which is the inspection support device, In the actual inspection, calculating a first pressure similarity which is a similarity between the pressure data output from the pressure sensor and the first reference pressure data, calculating a first acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the first reference acceleration data, calculating a second pressure similarity which is a similarity between the pressure data output from the pressure sensor and the second reference pressure data, and calculating a second acceleration similarity which is a similarity between the acceleration data output from the acceleration sensor and the second reference acceleration data; A step of determining the grip vibration method based on the first pressure similarity, the first acceleration similarity, the second pressure similarity, and the second acceleration similarity; generating presentation information related to the gripping vibration method based on a result of the determination; A program characterized by executing the above.

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