Tool system, tool management method, and program

Abstract

To provide a tool system, a tool management method and a program which can improve convenience of a tool.SOLUTION: A tool system 1 comprises a portable tool 2, a photographing part 5 and a control part 3. The tool 2 has a driving part 24 that is operated by power from a power source. The photographing part 5 is mounted on the tool 2 and generates a photographed image. The control part 3 controls the tool 2 on the basis of the photographed image. The control part 3 has a work support function. The work support function is a function that restricts motion of the tool 2 when a work target specified based on the photographed image does not correspond to a work instruction specified in a work procedure. The control part 3, when a release condition is satisfied during operation using the work support function, stops operation using the work support function and releases the restriction on the motion of the tool 2.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Patent Document 1 describes a tool system including a portable tool having a drive unit operated by power from a battery pack, and an imaging unit provided in the tool. The imaging unit is arranged such that, for example, a socket attached to the output shaft of the tool is within the imaging range, and images a work target (an object or a place, etc. on which work is performed using the tool) during work with the tool.

[0003] In Patent Document 1, the captured image generated by the imaging unit is used to identify the work target on which the tool is set (that is, the work target prepared so that the tool can perform work on the work target). That is, the tool system described in Patent Document 1 includes an identifying unit. The identifying unit compares the captured image generated by the imaging unit with a plurality of reference images stored in the image storage unit, and identifies the actual work target shown in the captured image as the work target. Thereby, the work target can be identified non - contact by the imaging unit provided in the tool. Further, in Patent Document 1, when the work target identified by the identifying unit does not match the work order in the reference work procedure, the tool performs processing such as stopping the operation of the drive unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the above-described configuration, for example, when performing additional tightening or retightening of the fastening parts for which the work has been completed, or when performing irregular work, etc., the operation of the tool may be restricted and the tool may not be usable.

[0006] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a tool system, a tool management method, and a program capable of improving the convenience of the tool.

Means for Solving the Problems

[0007] A tool system according to an aspect of the present disclosure includes a portable tool, an imaging unit, and a control unit. The tool has a drive unit that operates by power from a power source. The imaging unit is mounted on the tool and generates an imaging image. The control unit controls the tool based on the imaging image. The tool has an operation reception unit that receives an operation of a user. The control unit has a work support function. The work support function is a function of restricting the operation of the tool when the work target specified based on the imaging image does not correspond to the work instruction defined in the work procedure. When a release condition is satisfied during the operation of the work support function, the control unit stops the operation of the work support function and releases the restriction on the operation of the tool. The release condition includes the operation reception unit receiving a release operation by the user. When the control unit satisfies the return condition while the operation in the work support function is stopped, it returns to the operation in the work support function. The control unit sequentially executes a plurality of processes in the work support function. When the control unit returns to the operation in the work support function after stopping the operation in the work support function with a stop process among the plurality of processes, it has a function of resuming from the stop process among the plurality of processes. A tool system according to an aspect of the present disclosure includes a portable tool, an imaging unit, and a control unit. The tool has a drive unit that operates by power from a power source. The imaging unit is mounted on the tool and generates a captured image. The control unit controls the tool based on the captured image. The tool has an operation reception unit that receives a user's operation. The control unit has a work support function. The work support function is a function of restricting the operation of the tool when a work target specified based on the captured image does not correspond to a work instruction defined in a work procedure. When the control unit satisfies a release condition during the operation in the work support function, it stops the operation in the work support function and releases the restriction on the operation of the tool. The release condition includes the operation reception unit receiving a release operation by the user. When the control unit satisfies the return condition while the operation in the work support function is stopped, it returns to the operation in the work support function. The control unit sequentially executes a plurality of processes in the work support function. When the control unit returns to the operation in the work support function after stopping the operation in the work support function with a stop process among the plurality of processes, it has a function of resuming from a process later than the stop process among the plurality of processes. A tool system according to one aspect of the present disclosure includes a portable tool, an imaging unit, and a control unit. The tool has a drive unit that operates by power from a power source. The imaging unit is mounted on the tool and generates a captured image. The control unit controls the tool based on the captured image. The tool has an operation reception unit that receives an operation by a user. The control unit has a work support function. The work support function is a function that restricts the operation of the tool when a work target specified based on the captured image does not correspond to a work instruction defined in a work procedure. When a release condition is satisfied during the operation of the work support function, the control unit stops the operation of the work support function and releases the restriction on the operation of the tool. The release condition includes the operation reception unit receiving a release operation by the user. When a return condition is satisfied while the operation of the work support function is stopped, the control unit returns to the operation of the work support function. The control unit sequentially executes a plurality of processes in the work support function. When the control unit returns to the operation of the work support function after stopping the operation of the work support function in a stop process among the plurality of processes, the control unit has a function of restarting from a process before the stop process among the plurality of processes. A tool system according to one aspect of the present disclosure includes a portable tool, an imaging unit, and a control unit. The tool has a drive unit that operates by power from a power source. The imaging unit is mounted on the tool and generates a captured image. The control unit controls the tool based on the captured image. The tool has an operation reception unit that receives a user operation. The control unit has a work support function. The work support function is a function that restricts the operation of the tool when a work target specified based on the captured image does not correspond to a work instruction defined in a work procedure. When a release condition is satisfied during the operation of the work support function, the control unit stops the operation of the work support function and releases the restriction on the operation of the tool. The release condition includes the operation reception unit receiving a release operation by the user. When a return condition is satisfied while the operation of the work support function is stopped, the control unit returns to the operation of the work support function. The control unit sequentially executes a plurality of processes in the work support function. When returning to the operation of the work support function, the control unit automatically determines from which of the plurality of processes to resume. A tool system according to an aspect of the present disclosure includes a portable tool, an imaging unit, and a control unit. The tool has a drive unit that operates by power from a power source. The imaging unit is mounted on the tool and generates an imaging image. The control unit controls the tool based on the imaging image. The tool has an operation reception unit that receives a user's operation. The control unit has a work support function. The work support function is a function that restricts the operation of the tool when a work target specified based on the imaging image does not correspond to a work instruction defined in a work procedure. When the control unit satisfies a release condition during the operation of the work support function, the control unit stops the operation of the work support function and releases the restriction on the operation of the tool. The release condition includes the operation reception unit receiving a release operation by the user. When the control unit satisfies a return condition while the operation of the work support function is stopped, the control unit returns to the operation of the work support function. The control unit sequentially executes a plurality of processes in the work support function. When the control unit returns to the operation of the work support function, which process among the plurality of processes to resume is determined according to the operation of the user received by the operation reception unit. A tool system according to an aspect of the present disclosure includes a portable tool, an imaging unit, a control unit, and a log acquisition unit. The tool has a drive unit that operates by power from a power source. The imaging unit is mounted on the tool and generates an imaging image. The control unit controls the tool based on the imaging image. The tool has an operation reception unit that receives a user's operation. The control unit has a work support function. The work support function is a function that restricts the operation of the tool when a work target specified based on the imaging image does not correspond to a work instruction defined in a work procedure. When the control unit satisfies a release condition during the operation of the work support function, the control unit stops the operation of the work support function and releases the restriction on the operation of the tool. The release condition includes the operation reception unit receiving a release operation by the user. The log acquisition unit acquires, as a log, the operation history of the tool during the stop of the operation of the work support function.

[0008] A tool management method according to an aspect of the present disclosure includes a first step, a second step, and a third step. The first step is a step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit that operates by power from a power source. The second step is a step of restricting the operation of the tool when a work target specified based on the captured image does not correspond to a work instruction defined in a work procedure. The third step is a step of stopping the second step and releasing the restriction on the operation of the tool when a release condition is satisfied during the second step. The release condition includes the operation reception unit of the tool receiving a release operation by the user. When the return condition is satisfied during the third step, the process returns to the second step. In the second step, a plurality of processes are sequentially executed. In the second step, when resuming the second step after stopping the second step with a stopped process among the plurality of processes, the process resumes from the stopped process among the plurality of processes. A tool management method according to an aspect of the present disclosure includes a first step, a second step, and a third step. The first step is a step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit that operates by power from a power source. The second step is a step of restricting the operation of the tool when the work target identified based on the captured image does not correspond to the work instruction defined in the work procedure. The third step is a step of stopping the second step and releasing the restriction on the operation of the tool when a release condition is satisfied during the second step. The release condition includes the operation reception unit of the tool receiving a release operation by the user. When the return condition is satisfied during the third step, the process returns to the second step. In the second step, a plurality of processes are sequentially executed. In the second step, when resuming the second step after stopping the second step with a stopped process among the plurality of processes, the process resumes from a process among the plurality of processes that is later than the stopped process. A tool management method according to an aspect of the present disclosure includes a first step, a second step, and a third step. The first step is a step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit that operates by power from a power source. The second step is a step of restricting the operation of the tool when the work target identified based on the captured image does not correspond to the work instruction defined in the work procedure. The third step is a step of stopping the second step and releasing the restriction on the operation of the tool when a release condition is satisfied during the second step. The release condition includes the operation reception unit of the tool receiving a release operation by the user. When the return condition is satisfied during the third step, the process returns to the second step. In the second step, a plurality of processes are sequentially executed. In the second step, when resuming the second step after stopping the second step with a stopped process among the plurality of processes, the process resumes from a process among the plurality of processes that is earlier than the stopped process. A tool management method according to an aspect of the present disclosure includes a first step, a second step, and a third step. The first step is a step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit that operates by power from a power source. The second step is a step of restricting the operation of the tool when a work target identified based on the captured image does not correspond to a work instruction defined in a work procedure. The third step is a step of stopping the second step and releasing the restriction on the operation of the tool when a release condition is satisfied during the second step. The release condition includes that an operation reception unit of the tool receives a release operation by a user. When a return condition is satisfied during the third step, the process returns to the second step. In the second step, a plurality of processes are sequentially executed. In the second step, when returning to the second step, it is automatically determined from which of the plurality of processes to resume. A tool management method according to an aspect of the present disclosure includes a first step, a second step, and a third step. The first step is a step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit that operates by power from a power source. The second step is a step of restricting the operation of the tool when a work target identified based on the captured image does not correspond to a work instruction defined in a work procedure. The third step is a step of stopping the second step and releasing the restriction on the operation of the tool when a release condition is satisfied during the second step. The release condition includes that an operation reception unit of the tool receives a release operation by a user. When a return condition is satisfied during the third step, the process returns to the second step. In the second step, a plurality of processes are sequentially executed. In the second step, when returning to the second step, from which of the plurality of processes to resume is determined according to the operation of the user received by the operation reception unit. A tool management method according to one aspect of the present disclosure includes a first step, a second step, a third step, and a fourth step. The first step is a step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit that operates by power from a power source. The second step is a step of restricting the operation of the tool when the work target specified based on the captured image does not correspond to a work instruction defined in the work procedure. The third step is a step of stopping the second step and releasing the restriction on the operation of the tool when a release condition is satisfied during the second step. The fourth step is a step of acquiring, as a log, the operation history of the tool during the execution of the second step. The release condition includes the operation reception unit of the tool receiving a release operation by the user.

[0009] A program according to an aspect of the present disclosure is a program for causing one or more processors to execute the tool management method.

Advantages of the Invention

[0010] According to the present disclosure, there is an advantage that the convenience of the tool can be improved.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

MODE FOR CARRYING OUT THE INVENTION

[0012] (Embodiment 1) (1) Outline First, the outline of the tool system 1 according to the present embodiment will be described with reference to FIG. 1.

[0013] The tool system 1 according to the present embodiment includes a portable tool 2. The tool 2 has a drive unit 24 including, for example, a motor or the like. The drive unit 24 operates by power (such as electric power) from a power source such as a battery pack 201. Examples of this type of tool 2 include various types of tools such as an impact wrench, a nut runner, an oil pulse wrench, a driver (including an impact driver), a drill, or a drill driver. By using this type of tool 2, a user can, for example, attach fastening parts (such as bolts or nuts) to a work (a workpiece to be processed) that is the work target, or perform processing such as drilling on the work.

[0014] In addition, the tool system 1 according to the present embodiment further includes an imaging unit 5. The imaging unit 5 is mounted on the tool 2. The imaging unit 5 generates an imaging image. The imaging unit 5 includes, for example, a socket 242 (see FIG. 2A) attached to the output shaft 241 (see FIG. 2A) of the tool 2 within the imaging range (field of view). Thereby, during the work with the tool 2, the work target is imaged and an imaging image is obtained by the imaging unit 5.

[0015] Therefore, in the tool system 1 according to the present embodiment, for example, based on the captured image obtained by the imaging unit 5, it is possible to identify the work target and determine whether the work performed by the user using the tool 2 follows the work procedure. As another example, in the tool system 1, based on the captured image obtained by the imaging unit 5, it is possible to determine the quality of the work performed on the work target, notify the user of work instructions according to the work target, or leave an image as a log (work record). Thus, by using the image (captured image) obtained by the imaging unit 5 mounted on the tool 2, for example, it is possible to realize support or management of the user's work using the tool 2.

[0016] Incidentally, as shown in FIG. 1, the tool system 1 according to the present embodiment includes a control unit 3 in addition to the tool 2 and the imaging unit 5. That is, the tool system 1 includes a portable tool 2, an imaging unit 5, and a control unit 3. The tool 2 has a drive unit 24 that operates by power from a power source. The imaging unit 5 is mounted on the tool 2 and generates a captured image. The control unit 3 controls the tool 2 based on the captured image. Here, the control unit 3 has a work support function. The work support function is a function that restricts the operation of the tool 2 when the work target identified based on the captured image does not correspond to the work instruction defined in the work procedure. Then, when the release condition is satisfied during the operation of the work support function, the control unit 3 stops the operation of the work support function and releases the restriction on the operation of the tool 2.

[0017] According to this configuration, basically, the control unit 3 can identify the work target based on the captured image obtained by the imaging unit 5 by means of the work support function, and determine whether the work performed by the user using the tool 2 conforms to the work procedure. Then, when the work target identified based on the captured image does not correspond to the work instruction defined in the work procedure, that is, when the work performed by the user using the tool 2 does not conform to the work procedure, the control unit 3 can restrict the operation of the tool 2. Therefore, according to the tool system 1, it is possible to prevent incorrect work that does not conform to the work procedure from being performed, and it is possible to support the user's work that conforms to the work procedure. Moreover, according to the tool system 1 according to the present embodiment, when the release condition is satisfied during the operation of the work support function, the operation of the work support function can be stopped and the restriction on the operation of the tool 2 can be released. Therefore, when the user is performing work according to the work procedure, for example, when performing additional tightening or re-tightening of the fastened parts after the work is completed, or when performing irregular work, etc., if the restriction on the operation of the tool 2 is released, the work using the tool 2 becomes possible. As a result, there is an advantage that the convenience of the tool 2 can be improved.

[0018] (2) Detailed configuration Hereinafter, the detailed configuration of the tool system 1 according to the present embodiment will be described with reference to FIGS. 1 to 2B.

[0019] (2.1) Premise The tool system 1 according to the present embodiment is used, for example, in an assembly line for performing product assembly work in a factory. In particular, in this embodiment, as an example, it is assumed that the tool 2 included in the tool system 1 is a fastening tool used for fastening fastening parts (such as bolts or nuts, etc.), such as an impact wrench. More specifically, in this embodiment, it is assumed that there are a plurality of fastening target locations for one product, and the user uses the tool 2 to attach fastening parts to each of the plurality of fastening target locations in one work space.

[0020] As used in the present disclosure, the "tightening target location" is a part of the workpiece (object to be processed), and is the location where the tightening component is attached. For example, if the tightening component is a bolt, the threaded hole where the tightening component is tightened and the area around the threaded hole become the tightening target locations. That is, in the present embodiment, there are a plurality of such parts that serve as tightening target locations on one workpiece.

[0021] In addition, the "work target" as used in the present disclosure means an object or part (location) on which work is performed using the tool 2. In particular, among the work targets, the work target in a state where the tool 2 is set may be referred to as the "set work target". The "state where the tool 2 is set" as used herein means a state in which the tool 2 is prepared so that work can be performed on the work target, and includes not only a state where the tool 2 is hitting the work target, but also a state where the tool 2 is about to hit the work target. That is, in a state where the tool 2 is set on the work target, the tool 2 may be hitting the work target or may be separated from it. In the present embodiment, as an example, it is assumed that each of the plurality of tightening target locations on one workpiece is a work target.

[0022] In addition, the "captured image" as used in the present disclosure is an image captured by the imaging unit 5, and includes still images (still pictures) and moving images (video images). Furthermore, the "moving image" includes an image composed of a plurality of still images obtained by frame shooting or the like. The captured image does not necessarily have to be the data itself output from the imaging unit 5. For example, the captured image may be subjected to appropriate processing such as data compression, conversion to another data format, or cutting out a part from the image captured by the imaging unit 5, focusing adjustment, brightness adjustment, or contrast adjustment. In the present embodiment, as an example, it is assumed that the captured image is a full-color moving image.

[0023] In addition, the "mounted" as used in the present disclosure includes both built-in (including an integrated state where it cannot be separated) and externally attached (including a state where it is removably fixed using a coupler or the like). That is, the imaging unit 5 mounted on the tool 2 may be built into the tool 2 or may be externally attached to the tool 2.

[0024] In addition, the "working procedure" referred to in the present disclosure means the procedure of working using the tool 2. For example, when a series of operations on one or more work objects is regarded as one working process, the working procedure indicates the working order of the one or more work objects in the working process. More specifically, when an instruction for working on one work object is defined as a "working instruction", the working procedure is information indicating one or more working instructions in one working process together with their order. In other words, the working procedure indicates which working process among one or more working processes the work object corresponds to and which number of the work in the corresponding working process it is. In the present embodiment, as an example, it is assumed that the working procedure defines in which order to perform operations on a plurality of work objects in one workpiece.

[0025] (2.2) Configuration of the tool First, the configuration of the tool 2 in the tool system 1 according to the present embodiment will be described with reference to FIGS. 2A and 2B.

[0026] That is, the tool system 1 according to the present embodiment includes the portable tool 2 as described above. In the present embodiment, the tool 2 is a power tool that operates the drive unit 24 using electric energy. In particular, in the present embodiment, it is assumed that the tool 2 is an impact wrench. With such a tool 2, it is possible to perform a tightening operation of attaching a fastening component to a work object. In addition to the drive unit 24, the tool 2 further has an impact mechanism 25.

[0027] Here, the tool 2 uses the battery pack 201 as a power source and operates the drive unit 24 with the electric power (electric energy) supplied from the battery pack 201. In the present embodiment, it is assumed that the battery pack 201 is included in the components of the tool 2, but it is not essential that the battery pack 201 be included in the components of the tool 2, and the battery pack 201 may not be included in the components of the tool 2.

[0028] Further, the tool 2 further has a body 20. The body 20 houses a drive unit 24 and an impact mechanism 25. Further, the imaging unit 5, the control unit 3, the memory unit 4, and the notification unit 211 included in the tool system 1 described later are also housed in the body 20. That is, in the present embodiment, the imaging unit 5, the control unit 3, the memory unit 4, and the notification unit 211, which are components of the tool system 1, are integrated with the tool 2 by being housed in the body 20 of the tool 2.

[0029] The body 20 of the tool 2 has a body portion 21, a grip portion 22, and a mounting portion 23. The body portion 21 is formed in a cylindrical shape (here, a circular cylindrical shape). The grip portion 22 protrudes from a part of the circumferential surface of the body portion 21 along the normal direction (the radial direction of the body portion 21). The mounting portion 23 is detachably mounted with a battery pack 201. In the present embodiment, the mounting portion 23 is provided at the tip of the grip portion 22. In other words, the body portion 21 and the mounting portion 23 are connected by the grip portion 22.

[0030] At least the drive unit 24 is housed in the body portion 21. The drive unit 24 has a motor. The drive unit 24 is configured to operate using the electric power supplied from the battery pack 201, which is a power source, to the motor as power. An output shaft 241 protrudes from one end surface in the axial direction of the body portion 21. The output shaft 241 rotates about a rotation axis Ax1 along the protruding direction of the output shaft 241 as the drive unit 24 operates. That is, the drive unit 24 drives the output shaft 241 to rotate the output shaft 241 around the rotation axis Ax1. In other words, when the drive unit 24 operates, torque acts on the output shaft 241 and the output shaft 241 rotates.

[0031] A cylindrical socket 242 for rotating a fastening component (e.g., a bolt or a nut, etc.) is removably attached to the output shaft 241. The socket 242 rotates around the output shaft 241 together with the output shaft 241. The size of the socket 242 attached to the output shaft 241 is appropriately selected by the user according to the size of the fastening component. With such a configuration, when the driving unit 24 operates, the output shaft 241 rotates and the socket 242 rotates together with the output shaft 241. At this time, if the socket 242 is fitted to the fastening component, the fastening component rotates together with the socket 242, and operations such as tightening or loosening the fastening component are realized. Therefore, the tool 2 can realize operations such as tightening or loosening the fastening component by the operation of the driving unit 24.

[0032] Also, a socket anvil can be attached to the output shaft 241 instead of the socket 242. The socket anvil is also removably attached to the output shaft 241. In this case, a bit (e.g., a driver bit or a drill bit, etc.) can be attached via the socket anvil.

[0033] The tool 2 has an impact mechanism 25 as described above. When the tightening torque (working value) exceeds a predetermined level, the impact mechanism 25 applies a rotational impact force to the output shaft 241. Thereby, the tool 2 can apply a larger tightening torque to the fastening component.

[0034] The grip portion 22 is a portion that the user grips when performing work. The grip portion 22 is provided with a trigger switch 221 and a forward / reverse changeover switch 222. The trigger switch 221 is a switch for controlling the on / off of the operation of the driving unit 24, and the rotational speed of the output shaft 241 can be adjusted according to the amount of depression. The forward / reverse changeover switch 222 is a switch for switching the rotational direction of the output shaft 241 between forward rotation and reverse rotation.

[0035] The mounting portion 23 is formed in a flat rectangular parallelepiped shape. A battery pack 201 is removably mounted on one surface of the mounting portion 23 opposite to the grip portion 22.

[0036] The battery pack 201 has a resin case 202 formed in a rectangular parallelepiped shape. The case 202 houses a storage battery (for example, a lithium ion battery). The battery pack 201 supplies power to the drive unit 24, the control unit 3, the imaging unit 5, and the like.

[0037] Also, an operation panel 231 is provided on the mounting portion 23. The operation panel 231 has, for example, a plurality of push button switches 232 and a plurality of LEDs (Light Emitting Diodes) 233. With the operation panel 231, various settings regarding the tool 2 and status confirmation and the like can be performed. That is, the user can, for example, change the operation mode of the tool 2 and check the remaining capacity of the battery pack 201 by operating the push button switch 232 of the operation panel 231.

[0038] Furthermore, a light emitting portion 234 is provided on the mounting portion 23. The light emitting portion 234 includes, for example, an LED. The light emitting portion 234 irradiates light toward the work object during work using the tool 2. The on / off of the light emitting portion 234 can be performed by operating the operation panel 231. Also, the light emitting portion 234 may automatically light up when the trigger switch 221 is turned on.

[0039] (2.3) Overall configuration of the tool system Next, the overall configuration of the tool system 1 according to the present embodiment will be described with reference to FIG. 1.

[0040] As described above, the tool system 1 includes a portable tool 2, an imaging unit 5, and a control unit 3. In addition, in this embodiment, the tool system 1 further includes a storage unit 4 and a notification unit 211 in addition to the tool 2 (including the battery pack 201), the imaging unit 5, and the control unit 3. The storage unit 4 and the notification unit 211 are not essential components of the tool system 1, and at least a part of the storage unit 4 and the notification unit 211 can be appropriately omitted.

[0041] The imaging unit 5, the control unit 3, the storage unit 4, and the notification unit 211 are housed in the body 20 of the tool 2. In this embodiment, as an example, the imaging unit 5 and the notification unit 211 are housed in the body part 21. The control unit 3 and the storage unit 4 are housed in the grip part 22 or the mounting part 23.

[0042] The imaging unit 5 is mounted on the tool 2 and generates data as an imaging image. The imaging unit 5 is, for example, a camera having an imaging element and a lens. In this embodiment, as described above, the imaging unit 5 is mounted on the tool 2 so as to be integrated with the tool 2 by being housed in the body 20 (body part 21) of the tool 2. The imaging unit 5 is mounted toward the tip side of the output shaft 241 so as to image the work object during work using the tool 2.

[0043] Specifically, the imaging unit 5 is arranged at the tip of the body part 21 toward the tip side (socket 242) of the output shaft 241 so that the socket 242 attached to the output shaft 241 is within the imaging range (see FIGS. 2A and 2B). The optical axis of the imaging unit 5 is arranged along the rotation axis Ax1 of the output shaft 241. Here, the imaging unit 5 is arranged such that the optical axis is located within a predetermined distance from the rotation axis Ax1 of the output shaft 241 and the rotation axis Ax1 and the optical axis are substantially parallel. In addition, the imaging unit 5 is configured to continuously perform imaging during the activation of the control unit 3, generate a series of consecutive imaging images, that is, a moving image, and output it to the processing unit 34 of the control unit 3.

[0044] The notification unit 211 is composed of, for example, LEDs. The notification unit 211 is provided at an end of the body part 21 of the body 20 on the side opposite to the output shaft 241 so that the user can easily visually check the notification unit 211 during work (see FIG. 2B).

[0045] The control unit 3 mainly includes, for example, a microcontroller having one or more processors and one or more memories. The microcontroller realizes the function as the control unit 3 by executing a program recorded in one or more memories with one or more processors. The program may be recorded in the memory in advance, or may be recorded and provided on a non-temporary recording medium such as a memory card, or provided through a telecommunication line. In other words, the above program is a program for causing one or more processors to function as the control unit 3.

[0046] As described above, the control unit 3 has a work support function that restricts the operation of the tool 2 when the work target specified based on the captured image generated by the imaging unit 5 does not correspond to the work instruction defined in the work procedure. Further, the control unit 3 is configured to stop the operation in the work support function and release the restriction on the operation of the tool 2 when the release condition is satisfied during the operation in the work support function. That is, in the present embodiment, the control unit 3 is configured such that the work support function is not always effective, and becomes ineffective when a certain release condition is satisfied. In other words, the control unit 3 is configured to be able to switch the enable / disable of the work support function.

[0047] The control unit 3 has functions such as a drive control unit 31, an imaging control unit 32, an operation reception unit 33, a processing unit 34, a notification control unit 35, a determination unit 36, and a registration unit 37. The control unit 3 enters a sleep state when no operation input is made to the trigger switch 221 or the operation panel 231 for a certain period of time. The control unit 3 wakes up when an operation input is made to the trigger switch 221 or the operation panel 231 during the sleep state.

[0048] The drive control unit 31 controls the drive unit 24. Specifically, the drive control unit 31 operates the drive unit 24 so as to rotate the output shaft 241 at a rotational speed based on the retraction amount of the trigger switch 221 and in the rotational direction set by the forward / reverse changeover switch 222.

[0049] Also, the drive control unit 31 controls the drive unit 24 so that the tightening torque becomes the torque set value (working set value). Here, the drive control unit 31 has a torque estimation function for estimating the magnitude of the tightening torque. In this embodiment, as an example, the drive control unit 31 estimates the magnitude of the tightening torque based on the rotational speed of the drive unit 24 (motor) until the estimated value of the tightening torque reaches the seating determination level. When the estimated value of the tightening torque reaches the seating determination level, the drive control unit 31 estimates the magnitude of the tightening torque based on the number of strikes of the impact mechanism 25. When the number of strikes of the impact mechanism 25 reaches the threshold number based on the torque set value, the drive control unit 31 determines that the tightening torque has reached the torque set value and stops the drive unit 24 (motor). Thereby, the tool 2 can tighten the tightened component with the tightening torque according to the torque set value. Details of the "torque set value" will be described later.

[0050] The imaging control unit 32 controls the imaging unit 5. The imaging control unit 32 controls the imaging unit 5 so as to image the work object at least during work using the tool 2. Thereby, the imaging control unit 32 causes the imaging unit 5 to generate a work object at least during work using the tool 2.

[0051] The operation reception unit 33 has a function of receiving the user's operations. In this embodiment, as an example, the operation reception unit 33 receives the user's operations when operation signals generated in response to operations of the trigger switch 221 and a plurality of push button switches 232 on the operation panel 231 are input. That is, when the user operates the trigger switch 221 or the push button switch 232, an operation signal corresponding to the operation content is generated and input to the operation reception unit 33. The operation reception unit 33 receives the user's operations when such an operation signal is input. As an example, assume that a specific operation such as pressing the trigger switch 221 and the push button switch 232 simultaneously is defined as a "release operation". In this case, when the operation reception unit 33 receives the operation signal generated when the user performs the above specific operation on the trigger switch 221 and the push button switch 232, it means that the operation reception unit 33 has received the release operation.

[0052] The processing unit 34 executes processing based on the captured image. The processing unit 34 executes predetermined processing based on the captured image at least when the control unit 3 is operating in the work support function, that is, when the work support function is valid.

[0053] In this embodiment, as an example, the processing unit 34 performs processing to identify, as the set work target, the work target actually shown in the captured image (hereinafter also referred to as the actual work target) among a plurality of work targets. That is, the processing unit 34 has a function of identifying the work target (set work target) in a state where the tool 2 is set. Specifically, the processing unit 34 performs pattern matching processing on the captured image using a plurality of reference images corresponding to a plurality of work targets as template data to identify the actual work target. That is, the processing unit 34 identifies the work target shown in the captured image by comparing the captured image with a plurality of reference images corresponding to a plurality of work targets. The processing unit 34 recognizes the work target identified in this way as the set work target.

[0054] The processing unit 34 performs image processing (pattern matching processing) on the video format data (captured images) output from the imaging unit 5 in units of frames to identify the work target. Therefore, when the work target is within the imaging range of the imaging unit 5, the processing unit 34 can identify which work target among the plurality of work targets the work target (actual work target) being imaged by the imaging unit 5 is. The plurality of reference images are stored in the storage unit 4 (image storage unit 41).

[0055] Furthermore, when the identified work target does not correspond to the work instruction defined by the work procedure, the processing unit 34 executes at least one of restricting the operation of the drive unit 24 and giving a notification. In short, the processing unit 34 determines whether the work target (actual work target) identified by the processing unit 34 corresponds to the work instruction defined by the preset work procedure. That is, the processing unit 34 determines whether the work target identified by the processing unit 34 matches the work target that is the target of the work instructed by the work instruction included in the work procedure.

[0056] Specifically, the processing unit 34 extracts the data of the work procedure corresponding to the actual work target from the procedure storage unit 44 of the storage unit 4. Then, the processing unit 34 determines whether the work target that is the target of the current work instruction defined by the work procedure extracted from the procedure storage unit 44 matches the work target identified as the actual work target. If the two match, the processing unit 34 determines that the identified work target corresponds to the work instruction defined by the work procedure. If the two do not match, the processing unit 34 determines that the identified work target does not correspond to the work instruction defined by the work procedure.

[0057] And as a result of the determination as described above, when it is determined that the work target does not correspond to the work instruction defined by the work procedure, the processing unit 34 executes at least one of restricting the operation of the drive unit 24 and giving a notification. The "notification" referred to in the present disclosure includes not only notifications to the user but also notifications to external terminals (for example, mobile terminals, etc.).

[0058] Specifically, when the processing unit 34 determines that the work target does not correspond to the work instruction defined by the work procedure, the driving unit 24 is not operated even if the trigger switch 221 is pulled. That is, the operation of the driving unit 24 is permitted only when the processing unit 34 determines that the work target corresponds to the work instruction defined by the work procedure. Therefore, even if the tool 2 is set on a work target that deviates from the work procedure, the driving unit 24 remains stopped, making the tightening work impossible. As a result, it is possible to suppress the work from being performed in the wrong work order. When the processing unit 34 determines that the work target does not correspond to the work instruction defined by the work procedure, the processing unit 34 may lock the trigger switch 221 so that it cannot be pulled.

[0059] Also, when the processing unit 34 determines that the work target does not correspond to the work instruction defined by the work procedure, the notification control unit 35 operates the notification unit 211. As a result, the notification unit 211 functions as a user notification unit that notifies the user that the tool 2 is set on a work target that deviates from the work procedure.

[0060] In short, as a predetermined process based on the captured image, the processing unit 34 executes at least an object identification process for identifying the work target. That is, the processing unit 34 executes at least the identification of the work target as a (predetermined) process. Further, as a predetermined process based on the captured image, the processing unit 34 compares the identified work target with the work instruction defined by the work procedure, and executes a procedure determination process for determining the correspondence between the two. That is, the processing unit 34 executes the determination of the correspondence between the identified work target and the work instruction defined by the work procedure as a (predetermined) process. Furthermore, as a result of the procedure determination process, when the work target does not correspond to the work instruction, the processing unit 34 executes the restriction and / or notification of the operation of the driving unit 24.

[0061] However, in the processing unit 34, the procedure determination process for determining the correspondence between the work target and the work instruction defined by the work procedure, and the process of restricting and / or notifying the operation of the drive unit 24 according to the result are executed only when the work support function of the control unit 3 is valid. In short, when the control unit 3 stops operating in the work support function, that is, when the work support function is invalid, the processing unit 34 does not perform the procedure determination process in the first place, nor does it perform the process of restricting and / or notifying the operation of the drive unit 24 according to the result.

[0062] The notification control unit 35 controls the notification unit 211 provided in the tool 2. The notification control unit 35 preferably lights the notification unit 211 in different modes when the determination result of the processing unit 34 is inconsistent (that is, it is determined that the work target does not correspond to the work instruction defined by the work procedure) and when the processing unit 34 identifies the actual work target. For example, when the determination result of the processing unit 34 is inconsistent, the notification control unit 35 lights the notification unit 211 in red, and when the processing unit 34 identifies the actual work target, the notification control unit 35 lights the notification unit 211 in green. Thereby, the user can recognize whether or not they have deviated from the work procedure by visually observing the lighting state of the notification unit 211. The notification control unit 35 may light the notification unit 211 when the trigger switch 221 is pulled in a state where the determination result of the processing unit 34 is inconsistent.

[0063] The determination unit 36 is configured to determine whether the tightening torque is normal when the tightening component is attached to the tightening target location. Here, the determination unit 36 preferably determines whether the tightening torque is normal based on the work instruction defined by the work procedure. Specifically, the work instruction defined by the work procedure includes the target torque value corresponding to the work target. Thereby, the determination unit 36 can determine whether the work is being performed with the tightening torque according to the work instruction by comparing the target torque value included in the work instruction with the tightening torque.

[0064] For example, when the drive control unit 31 stops the drive unit 24 because the number of strikes of the impact mechanism 25 reaches the threshold number of times, the determination unit 36 determines that the tightening torque is normal. Further, when the drive control unit 31 stops the drive unit 24, for example, by turning off the trigger switch 221 before the number of strikes of the impact mechanism 25 reaches the threshold number of times, the determination unit 36 determines that the tightening torque is insufficient (not normal). Further, the determination unit 36 performs a result storage process of storing the determination result in the result storage unit 43 in association with the tightening target location.

[0065] Here, the tool 2 of the present embodiment has at least an operation mode and a registration mode as operation modes. The operation mode is an operation mode when the user performs work using the tool 2. The registration mode is an operation mode for storing a plurality of reference images in the image storage unit 41 of the storage unit 4 and storing a plurality of target torque values in the torque storage unit 42 of the storage unit 4. The switching of the operation mode can be performed, for example, by an operation on the operation panel 231. The switching of the operation mode may be performed by, for example, a dip switch or the like separate from the operation panel 231.

[0066] When the operation mode of the tool 2 is the registration mode, the registration unit 37 performs an image registration process of storing a plurality of reference images in the image storage unit 41 of the storage unit 4 and a torque registration process of storing a plurality of target torque values in the torque storage unit 42 of the storage unit 4.

[0067] In the torque registration process, the registration unit 37 stores the torque set value when the tightening component is attached to the work target as the target torque value in the torque storage unit 42. Specifically, when the operation mode of the tool 2 is the registration mode, the user can arbitrarily input a torque value by operating the operation panel 231, and the drive control unit 31 sets the input torque value as the torque set value. When the tightening component is attached to the work target, the registration unit 37 stores the torque set value set at this time as the target torque value in the torque storage unit 42.

[0068] In addition, in the image registration process, the registration unit 37 causes the image storage unit 41 to store, for example, a still image generated by the imaging unit 5 capturing a work target as a reference image. Specifically, when the operation mode of the tool 2 is the registration mode, the trigger switch 221 also functions as a shutter button, and when the trigger switch 221 is turned on, the imaging unit 5 generates a still image. The registration unit 37 stores this still image in the image storage unit 41 as a reference image.

[0069] That is, in the present embodiment, when the operation mode of the tool 2 is the registration mode, the trigger switch 221 has both a function as a switch for operating the drive unit 24 and a function as a shutter button for generating a reference image. Therefore, by performing the tightening operation in the state where the operation mode of the tool 2 is the registration mode, the registration unit 37 performs the torque registration process and the image registration process in parallel. Specifically, the registration unit 37 stores the torque setting value during the tightening operation as a target torque value in the torque storage unit 42, and stores the still image of the work target during the tightening operation in the image storage unit 41 as a reference image.

[0070] The storage unit 4 is composed of, for example, a semiconductor memory, and has the functions of an image storage unit 41, a torque storage unit 42 (target value storage unit), a result storage unit 43, and a procedure storage unit 44. In the present embodiment, the image storage unit 41, the torque storage unit 42, the result storage unit 43, and the procedure storage unit 44 are composed of one memory, but they may be composed of a plurality of memories. Further, the storage unit 4 may be a recording medium such as a memory card that is detachably attached to the tool 2.

[0071] The image storage unit 41 stores a plurality of reference images in association with a plurality of work targets. The reference image is a still image showing the corresponding work target. For one work target, a plurality of reference images obtained by photographing this work target at various angles or sizes may be associated.

[0072] The torque memory unit 42 stores a plurality of target torque values (target values) in a one-to-one correspondence with a plurality of work objects. The target torque value is the target value of the tightening torque when attaching a fastening part to the corresponding work object.

[0073] The result memory unit 43 stores a plurality of work objects in association with the determination results at a plurality of fastening target locations by the determination unit 36. Further, it is preferable that the result memory unit 43 stores the determination result of the determination unit 36 with a time stamp indicating the working time added thereto. Thereby, it becomes possible to distinguish the determination results of the work objects for each product on the assembly line.

[0074] The procedure memory unit 44 stores data of one or more work procedures. As described above, the work procedure means the procedure of the work using the tool 2, and as an example, it is data that defines in what order the work is to be performed for a plurality of work objects in one workpiece.

[0075] (3) Operation Hereinafter, the operation of the tool system 1 according to the present embodiment will be described with reference to FIGS. 3 to 6.

[0076] Here, as an example, the operation of the tool system 1 when a user performs the assembly work of two products (first product, second product) of the same type on the assembly line will be described. Each product has four work objects (first to fourth work objects), and the user will perform the work of attaching a fastening part to each work object using the tool 2.

[0077] (3.1) Registration mode First, an operation example of the tool system 1 when performing the assembly work of the first product will be described with reference to FIG. 3. Here, it is assumed that the tool 2 is in an initial state in which the image registration process and the torque registration process by the registration unit 37 are not performed. That is, in the tool 2 in the initial state, the first to fourth reference images corresponding to the first to fourth work objects, and the first to fourth target torque values are not stored in the image memory unit 41 and the torque memory unit 42, respectively.

[0078] The user sets the operation mode of tool 2 to the registration mode (S1). The user operates the operation panel 231 to input the torque value of the tightening torque when attaching the fastening part to the first work object (S2). The drive control unit 31 sets the input torque value as the torque setting value for the first work object. Then, the user pulls the trigger switch 221 to perform a tightening operation of attaching the fastening part to the first work object (S3). At this time, the first work object is photographed, and a still image of the first work object is generated.

[0079] When the tightening operation is completed, the registration unit 37 performs a registration process (image registration process and torque registration process) (S4). Specifically, the registration unit 37 performs an image registration process of storing the still image of the first work object generated during the tightening operation in step S3 in the image storage unit 41 as the first reference image corresponding to the first work object. Also, the registration unit 37 performs a torque registration process of storing the torque setting value when the fastening part is attached to the first work object during the tightening operation in step S3 in the torque storage unit 42 as the first target torque value corresponding to the first work object. That is, the first target torque value corresponds to the first reference image.

[0080] In particular, in this embodiment, since the processing unit 34 executes the procedure determination process, in the registration process, the target torque value is registered including the work instruction. In other words, in the registration process, the work procedure is registered. Here, the registration unit 37 registers the work procedure so that the work instruction for instructing the work on the first work object becomes the first work instruction in the work procedure. Specifically, the registration unit 37 registers, as the work with the work order being "the first" in the work procedure, the work instruction for instructing the work on the first work object, and this work instruction includes the first target torque value.

[0081] The determination unit 36 performs a result storage process of storing, in the result storage unit 43 in association with the first work object, the first determination result as to whether the tightening torque when the fastening part is attached to the first work object is normal (S5).

[0082] Also, the user performs the tightening operations on each of the second to fourth work objects in the same work procedure as for the first work object. Specifically, when the user operates the operation panel 231 to attach a tightening part to the second work object, the user inputs the torque value of the tightening torque (S6), and performs the tightening operation of attaching the tightening part to the second work object (S7). At this time, a still image of the second work object is generated, and the registration unit 37 performs registration processing (image registration processing and torque registration processing) (S8). The registration unit 37 registers a work instruction for instructing the work on the second work object as the work whose work order is "second" in the work procedure, and this work instruction includes the second target torque value. The determination unit 36 performs a result storage process of storing the second determination result as to whether or not the tightening torque in the tightening operation in step S7 is normal in the result storage unit 43 (S9).

[0083] When the tightening operation on the second work object is completed, the user performs the tightening operation on the third work object. When the user operates the operation panel 231 to attach a tightening part to the third work object, the user inputs the torque value of the tightening torque (S10), and performs the tightening operation of attaching the tightening part to the third work object (S11). At this time, a still image of the third work object is generated, and the registration unit 37 performs registration processing (image registration processing and torque registration processing) (S12). The registration unit 37 registers a work instruction for instructing the work on the third work object as the work whose work order is "third" in the work procedure, and this work instruction includes the third target torque value. The determination unit 36 performs a result storage process of storing the third determination result as to whether or not the tightening torque in the tightening operation in step S11 is normal in the result storage unit 43 (S13).

[0084] Although not shown in FIG. 3, when the tightening operation on the third work object is completed, the user performs the tightening operation on the fourth work object, and the same processing as in steps S10 to S13 is executed for the fourth work object. That is, the registration unit 37 registers a work instruction for instructing the work on the fourth work object as the work whose work order is "fourth" in the work procedure, and this work instruction includes the fourth target torque value.

[0085] (3.2) Operation Mode When the assembly work of the first product (tightening work for the first to fourth work targets) is completed in the registration mode, the user performs the assembly work of the second product. An operation example of the tool system 1 when the user performs the assembly work of the second product will be described with reference to FIG. 4.

[0086] Here, the operation of the tool system 1 when the control unit 3 is operating in the work support function, that is, when the work support function of the control unit 3 is valid, will be described. The operation of the tool system 1 when the control unit 3 stops operating in the work support function by satisfying the release condition will be described in the section of "(3.3) Invalidation of the work support function".

[0087] The user operates the operation panel 231 to switch the operation mode of the tool 2 from the registration mode to the operation mode (S21). Then, the user performs the assembly work of the second product with the operation mode of the tool 2 set to the operation mode.

[0088] First, the user sets the tool 2 to the first work target in order to attach a fastening part to the first work target. At this time, the imaging unit 5 generates an imaging image of the first work target of the second product (S22).

[0089] The processing unit 34 uses the imaging image of the first work target generated by the imaging unit 5 to execute target identification processing for identifying the first work target as the actual work target (S23). Further, the processing unit 34 executes procedure determination processing for determining the correspondence between the identified first work target and the work instruction defined in the work procedure (S24). That is, the processing unit 34 performs predetermined processing (target identification processing and procedure determination processing) based on the imaging image generated by the imaging unit 5.

[0090] In the procedure determination process, the processing unit 34 determines whether the specified work target corresponds to the work instruction defined by the work procedure, that is, whether the work target matches the work procedure. At this time, the processing unit 34 compares the next work instruction in the work procedure read from the procedure storage unit 44 with the specified actual work target. Here, since the next work instruction in the work procedure, that is, the work instruction with the work order of "the first", is the work for the first work target, in the processing unit 34, both the specified work target and the work target included in the work instruction match the first work target.

[0091] If the determination result of the procedure determination process is a match, that is, if the specified work target corresponds to the work instruction defined by the work procedure, the processing unit 34 sets the target torque value included in this work instruction as the torque setting value. That is, if the specified work target is the first work target, the processing unit 34 sets the first target torque value corresponding to the first work target as the torque setting value (S25).

[0092] More specifically, when the processing unit 34 identifies the actual work target, the processing unit 34 acquires the target torque value corresponding to the actual work target from the torque storage unit 42. Then, the processing unit 34 sets the acquired target torque value as the torque setting value. Also, once the processing unit 34 identifies the actual work target, it holds the target torque value corresponding to the actual work target as the torque setting value until another work target appears in the captured image. Therefore, for example, even if the processing unit 34 cannot identify the actual work target immediately before the tightening operation, the tightening part can be tightened with the target torque value corresponding to this actual work target.

[0093] In this state, the user performs a tightening operation of attaching the tightening part to the first work target (S26). The determination unit 36 performs a result storage process of storing the first determination result as to whether the tightening torque when the tightening part is attached to the first work target is normal, in association with the first work target, in the result storage unit 43 (S27).

[0094] On the other hand, when the user makes a mistake in the work procedure or the like, the determination result of the procedure determination process may be inconsistent, that is, the identified work target may not correspond to the work instruction defined by the work procedure. If the determination result of the procedure determination process is inconsistent, the operation of the drive unit 24 is restricted (stopped), and the notification unit 211 lights up. As a result, the user can notice that the work order is incorrect.

[0095] In addition, the user performs the tightening operations on each of the second to fourth work targets in the same work procedure as the first work target in sequence. Specifically, the user sets the tool 2 to the second work target in order to attach the tightening part to the second work target. At this time, the imaging unit 5 generates a captured image of the second work target (S28). Then, the processing unit 34 executes a target identification process for identifying the second work target as the actual work target using the generated captured image of the second work target (S29). Further, the processing unit 34 executes a procedure determination process for determining the correspondence between the identified second work target and the work instruction defined by the work procedure (S30). At this time, the next work instruction in the work procedure, that is, the work instruction with the work order being "second", is a work for the second work target. Therefore, in the processing unit 34, both the identified work target and the work target included in the work instruction match the second work target.

[0096] Therefore, the processing unit 34 sets the second target torque value corresponding to the second work target as the torque set value (S31). In this state, the user performs a tightening operation to attach the tightening part to the second work target (S32). The determination unit 36 performs a result storage process of storing the second determination result as to whether the tightening torque when the tightening part is attached to the second work target is normal, in association with the second work target, in the result storage unit 43 (S33).

[0097] When the tightening operation on the second work target is completed, the user performs the tightening operation on the third work target. That is, the user sets the tool 2 on the third work target to attach the tightening part to the third work target. At this time, the imaging unit 5 generates a captured image of the third work target (S34). Then, the processing unit 34 executes target identification processing for identifying the third work target as the actual work target using the generated captured image of the third work target (S35). Further, the processing unit 34 executes procedure determination processing for determining the correspondence between the identified third work target and the work instruction defined in the work procedure (S36). At this time, since the next work instruction in the work procedure, that is, the work instruction with the work order "third", is a work on the third work target, in the processing unit 34, both the identified work target and the work target included in the work instruction are the third work target and match.

[0098] Therefore, the processing unit 34 sets the third target torque value corresponding to the third work target as the torque setting value (S37). In this state, the user performs a tightening operation to attach the tightening part to the third work target (S38). The determination unit 36 performs result storage processing for storing the third determination result as to whether the tightening torque when the tightening part is attached to the third work target is normal, in association with the third work target, in the result storage unit 43 (S39).

[0099] Although not shown in FIG. 4, when the tightening operation on the third work target is completed, the user performs the tightening operation on the fourth work target, and the same processing as steps S34 to S39 is executed for the fourth work target. That is, the processing unit 34 uses the captured image of the fourth work target generated by the imaging unit 5 to identify the fourth work target as the actual work target, and determines the correspondence between the identified fourth work target and the work instruction defined in the work procedure. Then, the processing unit 34 sets the fourth target torque value corresponding to the fourth work target as the torque setting value.

[0100] FIG. 5 is a flowchart showing an outline of the operation of the tool system 1 when the control unit 3 is operating in the work support function as described above, that is, when the work support function of the control unit 3 is valid. As is also clear from FIG. 5, in the work support function, the control unit 3 sequentially executes a plurality of processes.

[0101] That is, the control unit 3 determines whether or not the operation mode of the tool 2 is the operation mode (S101). If the operation mode of the tool 2 is not the operation mode (S101: No), the control unit 3 repeats the process S101. If the operation mode of the tool 2 is the operation mode (S101: Yes), the control unit 3 proceeds to the next process S102, and the processing unit 34 sets the work order N of the work instruction in the work procedure to "1" (S102). Thereafter, the control unit 3 controls the imaging unit 5 by the imaging control unit 32 to perform imaging of the work target, and causes the imaging unit 5 to generate an imaging image (S103).

[0102] Then, the control unit 3 executes, by the processing unit 34, a target identification process for identifying the work target reflected in the imaging image as the actual work target using the imaging image (S104). Then, the control unit 3 executes, by the processing unit 34, a procedure determination process for determining the correspondence between the identified work target and the work instruction defined in the work procedure (S105). At this time, the processing unit 34 determines whether or not the work target (actual work target) identified from the imaging image matches the work target included in the work instruction of the work order N.

[0103] When the determination results of the procedure determination process match (S105: Yes), that is, when the specified work target corresponds to the work instruction defined in the work procedure, the control unit 3 sets the target torque value included in the work instruction as the torque setting value in the processing unit 34 (S106). In this state, when the tightening operation of the tightening component is performed using the tool 2, the control unit 3 causes the determination unit 36 to store the determination result of whether the work result at this time, that is, the tightening torque of the tightening component, is normal, in the result storage unit 43 (S107). Then, the control unit 3 increments the work sequence number N of the work instruction in the work procedure in the processing unit 34 (S108), and determines whether all the work in the work procedure has been completed (S109). At this time, if the incremented work sequence number N exceeds the work sequence number of the last work instruction defined in the work procedure, the control unit 3 determines that all the work has been completed (S109: Yes), and ends a series of operations in the operation mode. If the work has not been completed (S109: No), the control unit 3 returns to the process S103 and repeatedly executes the same processing for the next work target.

[0104] On the other hand, when the determination results of the procedure determination process do not match (S105: No), that is, when the specified work target does not correspond to the work instruction defined in the work procedure, the control unit 3 restricts (stops) the operation of the drive unit 24 in the processing unit 34 (S110). Further, the control unit 3 causes the notification control unit 35 to turn on the notification unit 211 and notify that the work sequence is incorrect (S111). After that, the control unit 3 returns to the process S103 and repeatedly executes the same processing.

[0105] The flowchart shown in FIG. 5 is merely an example of the operation of the tool system 1. For example, the order of processing may be appropriately changed, or processing may be added or omitted as appropriate.

[0106] (3.3) Deactivation of the work support function Next, the operation of the tool system 1 when the operation of the work support function of the control unit 3 is stopped, that is, when the work support function is deactivated, will be described with reference to FIG. 6.

[0107] That is, in the present embodiment, as described above, the control unit 3 is configured to be able to switch between enabling / disabling the work support function. If the work support function is enabled, as described in the column of "(3.2) Operation mode", when the work target specified based on the captured image generated by the imaging unit 5 does not correspond to the work instruction defined in the work procedure, the control unit 3 restricts the operation of the tool 2. On the other hand, when the control unit 3 satisfies a predetermined release condition during the operation of the work support function, it stops the operation of the work support function, that is, disables the work support function.

[0108] And in the state where the operation of the work support function is stopped, the tool 2 can be forcibly driven without being restricted by the operation of the drive unit 24 by the work support function, that is, in a state where the operation of the drive unit 24 is not restricted. Therefore, basically, when the work support function stops, the control unit 3 releases the restriction on the operation of the tool 2 (drive unit 24). In short, in the present embodiment, when the control unit 3 satisfies a predetermined release condition during the operation of the work support function, it stops the operation of the work support function and releases the restriction on the operation of the tool 2.

[0109] Here, the release condition includes the operation reception unit 33 receiving a release operation by the user. Particularly in the present embodiment, only the operation reception unit 33 receiving a release operation by the user is set as the release condition. In other words, the release operation itself becomes the release condition. When the control unit 3 is operating with the work support function and the operation reception unit 33 receives a release operation by the user, immediately, the operation of the control unit 3 with the work support function stops.

[0110] Here, as an example, assume that the operation of simultaneously pressing the trigger switch 221 and the push button switch 232 is defined as a "release operation". Therefore, when the user simultaneously presses the trigger switch 221 and the push button switch 232, it means that the user has performed a release operation. That is, for the user, in a state where the work support function is effective, for example, while pressing the push button switch 232 and pulling in the trigger switch 221, a release operation can be performed, and the work support function of the control unit 3 can be disabled. As a result, when the user is performing work according to the work procedure, for example, when tightening or re-tightening the fastening parts after the work is completed, or when performing irregular work, etc., by performing a release operation, the user can intentionally release the restriction on the operation of the tool 2.

[0111] Furthermore, in the present embodiment, when the control unit 3 satisfies the return condition while the operation in the work support function is stopped, it returns to the operation in the work support function. That is, in the present embodiment, even if the work support function is once disabled while the control unit 3 is operating in the work support function, that is, in a state where the work support function is effective, then, by enabling the work support function again, the control unit 3 can return to the operation in the work support function. In short, when the control unit 3 satisfies a predetermined return condition while the operation in the work support function is stopped, it returns to the operation in the work support function, that is, enables the work support function. And in the state where it has returned to the operation in the work support function, when the work target specified based on the captured image generated by the imaging unit 5 does not correspond to the work instruction defined in the work procedure, the control unit 3 restricts the operation of the tool 2.

[0112] Here, the return condition includes the operation reception unit 33 receiving a return operation by the user. In particular, in the present embodiment, only the operation reception unit 33 receiving a return operation by the user is set as the return condition. In other words, the return operation itself becomes the return condition. When the control unit 3 is stopped in the operation of the work support function and the operation reception unit 33 receives a return operation by the user, immediately, the operation of the control unit 3 in the work support function returns.

[0113] Here, as an example, assume that the simultaneous pressing operation of the trigger switch 221 and the push button switch 232 is defined as a "return operation". Therefore, when the user simultaneously presses the trigger switch 221 and the push button switch 232, it means that the user has performed a return operation. That is, for the user, in a state where the work support function is invalid, for example, by pulling in the trigger switch 221 while pressing the push button switch 232, a return operation can be performed, and the work support function of the control unit 3 can be enabled. As a result, the user can, for example, when tightening or re-tightening fastening parts, or when an irregular work is completed, perform a return operation to intentionally return to a state where the operation of the tool 2 is restricted by the work support function.

[0114] By the way, as described above, the control unit 3 sequentially executes a plurality of processes in the work support function (see FIG. 5). Therefore, when the control unit 3 stops the operation in the work support function and then returns to the operation in the work support function, various patterns can be considered as to which of these plurality of processes the control unit 3 resumes from. In the present embodiment, the control unit 3 has at least three return patterns of the first to third described below.

[0115] That is, in the first return pattern, when the control unit 3 satisfies the return condition, it resumes the operation in the work support function from the process in which the operation in the work support function was stopped among the plurality of processes. As an example, when the operation in the work support function stops during the work on the second work target whose work order is "second", according to the first return pattern, the control unit 3 resumes the operation in the work support function from the work on the second work target. Therefore, according to the first return pattern, the work on the work target is neither skipped nor duplicated, and it is possible to resume the original work. In other words, when the control unit 3 returns to the operation in the work support function after stopping the operation in the work support function in the stop process among the plurality of processes, it has a function of resuming from the stop process among the plurality of processes.

[0116] In the second return pattern, when the control unit 3 satisfies the return condition, it resumes the operation of the work support function from the process after the process in which the operation of the work support function has been stopped among the plurality of processes. As an example, when the operation of the work support function stops during the work on the second work target whose work order is "second", according to the second return pattern, the control unit 3 resumes the operation of the work support function from the work on the third work target whose work order is "third". Therefore, according to the second return pattern, it is possible to resume the original work while skipping the work on the work target. In other words, when the control unit 3 resumes the operation of the work support function after stopping the operation of the work support function in the stopped process among the plurality of processes, it has a function of resuming from the process after the stopped process among the plurality of processes.

[0117] In the third return pattern, when the control unit 3 satisfies the return condition, it resumes the operation of the work support function from the process before the process in which the operation of the work support function has been stopped among the plurality of processes. As an example, when the operation of the work support function stops during the work on the second work target whose work order is "second", according to the third return pattern, the control unit 3 resumes the operation of the work support function from the work on the first work target whose work order is "first". Therefore, according to the third return pattern, it is possible to resume the original work while duplicating the work on the work target. In other words, when the control unit 3 resumes the operation of the work support function after stopping the operation of the work support function in the stopped process among the plurality of processes, it has a function of resuming from the process before the stopped process among the plurality of processes.

[0118] Also, in this embodiment, which of the above first to third return patterns is adopted is determined according to the operation of the user received by the operation reception unit 33. That is, when the control unit 3 resumes the operation of the work support function, from which process among the plurality of processes to resume is determined according to the operation of the user received by the operation reception unit 33.

[0119] Specifically, depending on the content of the return operation, the control unit 3 selects any one of the above-described first to third return patterns. That is, in this embodiment, as an example, the operation of simultaneously pressing the trigger switch 221 and the push button switch 232 is defined as the "return operation". Here, since a plurality of push button switches 232 are provided, any one of the first to third return patterns is selected depending on which of these plurality of push button switches 232 is used for the return operation. For example, as the return operation, when the first push button switch 232 and the trigger switch 221 are simultaneously pressed among the plurality of push button switches 232 including the first to third push button switches 232, the first return pattern is selected. On the other hand, as the return operation, when the second push button switch 232 and the trigger switch 221 are simultaneously pressed among the plurality of push button switches 232, the second return pattern is selected. Similarly, as the return operation, when the third push button switch 232 and the trigger switch 221 are simultaneously pressed among the plurality of push button switches 232, the third return pattern is selected.

[0120] FIG. 6 is a flowchart showing a process of stopping the operation of the work support function of the control unit 3 described above, that is, invalidating the work support function, and further restarting the operation of the work support function, that is, validating the work support function. In the present embodiment, the process of stopping the operation of the work support function of the control unit 3, that is, invalidating the work support function, is an interrupt process in the operation mode, and the work support function can be stopped at any timing as long as the control unit 3 is operating in the operation mode. That is, the flowchart shown in FIG. 6 is an interrupt process (interrupt flowchart) that can be executed at any stage of the processes S102 to S111 in FIG. 5.

[0121] First, the control unit 3 determines whether the operation reception unit 33 has received a cancellation operation by the user (S201). If the operation reception unit 33 has not received a cancellation operation by the user (S201: No), the control unit 3 repeatedly executes the process S201.

[0122] On the other hand, when the operation reception unit 33 receives a cancellation operation by the user (here, a simultaneous press of the trigger switch 221 and the push button switch 232) (S201: Yes), the control unit 3 disables the work support function and stops the operation in the work support function (S202). Here, as an example, it is assumed that for the second work target whose work order is "second", when it is determined that it does not match the work instruction, the operation of the tool 2 is restricted and a notification is made, and the user performs a cancellation operation. In this case, the stop process is the notification process (S111 in FIG. 5) for the second work target.

[0123] When the control unit 3 disables the work support function, it releases the restrictions imposed on the operation of the tool 2 (drive unit 24) at that time (S203). That is, if the operation of the tool 2 is not restricted by the work support function in the first place, the control unit 3 does not particularly release the restriction on the operation of the tool 2, but if any restriction is imposed on the operation of the tool 2, this restriction is released.

[0124] Furthermore, the control unit 3 causes the notification unit 211 to blink in the notification control unit 35 and notifies that the work support function has been disabled (S204). Basically, the notification that the work support function has been disabled is continuously performed until the work support function is enabled thereafter. That is, the user can grasp that the tool 2 is in a situation where it can be forcibly driven without the operation of the drive unit 24 being restricted by looking at the notification unit 211. In this state, the user can use the tool 2 to, for example, re-tighten or re-tighten the fastening parts for which the work has been completed, or perform irregular work.

[0125] Thereafter, the control unit 3 determines whether the operation reception unit 33 has received a return operation by the user (S205). If the operation reception unit 33 does not receive a return operation by the user (S205: No), the control unit 3 repeatedly executes the process S205.

[0126] On the other hand, when the operation reception unit 33 receives a return operation by the user (here, the simultaneous pressing of the trigger switch 221 and the push button switch 232) (S205: Yes), the control unit 3 enables the work support function and resumes the operation in the work support function (S206). At this time, the control unit 3 determines which of the first to third return patterns the return pattern is from the content of the return operation (S207). If the first return pattern is selected (S207: the first), the control unit 3 resumes the operation in the work support function from the stop process, that is, the process of notifying about the second work target (S111 in FIG. 5) (S208). Also, if the second return pattern is selected (S207: the second), the control unit 3 resumes the operation in the work support function from the process after the stop process, that is, the process for the third work target whose work order is "third" (S209). Further, if the third return pattern is selected (S207: the third), the control unit 3 resumes the operation in the work support function from the process before the stop process, that is, the process for the first work target whose work order is "first" (S210).

[0127] Furthermore, the control unit 3 causes the notification unit 211 to light up with the notification control unit 35 and notifies that the work support function has been enabled (S211).

[0128] The control unit 3 repeatedly executes the processes of S201 to S211 as an interrupt process of the process shown in the flowchart of FIG. 5. The flowchart shown in FIG. 6 is only an example of the operation of the tool system 1, and for example, the order of the processes may be appropriately changed, or processes may be added or omitted as appropriate.

[0129] (4) Modification example Embodiment 1 is merely one of various embodiments of the present disclosure. Embodiment 1 can be variously modified according to design and the like as long as the object of the present disclosure can be achieved. Each figure described in the present disclosure is a schematic diagram, and the ratio of the size and thickness of each component in each figure does not necessarily reflect the actual dimensional ratio. Further, functions equivalent to those of the tool system 1 according to Embodiment 1 may be embodied by a tool management method, a (computer) program, or a non-transitory recording medium recording the program. The tool management method according to one aspect has a first step, a second step, and a third step. The first step is a step of acquiring a captured image from an imaging unit 5 mounted on a portable tool 2. The tool 2 has a drive unit 24 that operates by power from a power source. The second step is a step of restricting the operation of the tool 2 when the work target specified based on the captured image does not correspond to the work instruction defined in the work procedure. The third step is a step of stopping the second step and releasing the restriction on the operation of the tool 2 when a release condition is satisfied during the second step. The program according to one aspect is a program for causing one or more processors to execute the above tool management method.

[0130] Hereinafter, modified examples of Embodiment 1 will be listed. The modified examples described below can be applied in appropriate combinations. Hereinafter, for configurations similar to those of Embodiment 1, common reference numerals will be given and the description will be omitted as appropriate.

[0131] The tool system 1 in the present disclosure includes a computer system in a control unit 3 or the like. The computer system mainly includes a processor and a memory as hardware. By the processor executing a program recorded in the memory of the computer system, the functions as the tool system 1 in the present disclosure are realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded on a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). Here, integrated circuits such as the IC or LSI mentioned here have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, for an FPGA (Field-Programmable Gate Array) that is programmed after the manufacture of the LSI, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit section inside the LSI, it can also be adopted as a processor. The plurality of electronic circuits may be integrated on one chip, or may be provided distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be provided distributed in a plurality of devices. The computer system mentioned here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0132] Also, it is not an essential configuration of the tool system 1 that at least some functions of the tool system 1 are integrated within one housing (body 20). The components of the tool system 1 may be provided distributed among a plurality of housings. For example, some functions of the control unit 3 may be provided in a housing separate from the body 20 of the tool 2. Also, at least some functions such as those of the control unit 3 may be realized by, for example, a server or the cloud (cloud computing), etc.

[0133] The usage of the tool system 1 is not limited to an assembly line for performing product assembly work in a factory, and may be other usage.

[0134] Also, in Embodiment 1, the case where the tool 2 is an impact wrench was described, but the tool 2 is not limited to an impact wrench, and may be, for example, a nut runner or an oil pulse wrench, etc. Further, the tool 2 may be, for example, a driver (including an impact driver) used for tightening work of a screw (fastening component). In this case, instead of the socket 242, a bit (for example, a driver bit, etc.) is attached to the tool 2. Further, the tool 2 is not limited to a configuration with the battery pack 201 as a power source, and may be a configuration with an AC power supply (commercial power supply) as a power source. Also, the tool 2 is not limited to an electric tool, and may be a pneumatic tool having an air motor (drive unit) that operates with compressed air (power) supplied from an air compressor as a power source.

[0135] Also, in Embodiment 1, the case where each of a plurality of fastening target locations on one workpiece is a work target was described as an example, but it is not limited to this. For example, the work target may be a module, component, or product, etc. having a plurality of fastening target locations. In this case, the target torque values corresponding to the plurality of fastening locations on one work target may be the same as each other, or may be different from each other.

[0136] Further, the control unit 3 only needs to have a work support function, and in addition to the work support function, it may have various functions. For example, the control unit 3 may execute a process of outputting an image as a log (including writing to a memory, etc.). Thereby, the control unit 3 can output an image suitable for confirmation by the user or analysis by a computer as a log. Further, for example, the control unit 3 may execute a process of instructing the user to perform work, and in this case, for example, a process of determining the quality of the work may be executed.

[0137] Also, the tool 2 may be provided with a torque sensor for measuring the tightening torque. In this case, the drive control unit 31 controls the drive unit 24 so that the tightening torque measured by the torque sensor becomes the torque set value. Further, the determination unit 36 may determine whether the tightening torque is normal by comparing the measurement result of the torque sensor with the target torque value. The determination unit 36 determines that the tightening torque is normal when the measurement result of the torque sensor is within a predetermined range based on the target torque value. The determination unit 36 determines that the tightening torque is insufficient (abnormal) when the measurement result of the torque sensor is outside the predetermined range based on the target torque value.

[0138] Also, the image registration process is not limited to the process of storing the still image generated by the imaging unit 5 as a reference image in the image storage unit 41. For example, the image registration process may be a process of registering a still image downloaded from a server as a reference image in the image storage unit 41, or a process of registering a still image acquired from an external memory such as a memory card as a reference image in the image storage unit 41.

[0139] In addition, the notification unit 211 may be implemented not only by a light-emitting unit such as an LED, but also by an image display device such as a liquid crystal display or an organic EL (Electro Luminescence) display. Further, the notification unit 211 may perform notification (presentation) by means other than display. For example, it may be configured by a speaker or a buzzer that generates sound (including voice). In this case, it is preferable that the notification control unit 35 generates different sounds from the notification unit 211 when the determination result of the processing unit 34 is inconsistent and when the processing unit 34 identifies the imaging operation target. Also, the notification unit 211 may be implemented by a vibrator that generates vibration, or a transmitter that transmits a notification signal to an external terminal (such as a mobile terminal) of the tool 2. Furthermore, the notification unit 211 may have two or more functions among functions such as display, sound, vibration, or communication.

[0140] Also, the storage unit 4 may store data of a work procedure indicating a predetermined work order for a plurality of work targets. The processing unit 34 selects a reference image to be used for image processing (pattern matching) from among a plurality of reference images based on the work procedure. Specifically, the processing unit 34 preferentially selects a reference image whose work order corresponds to the most recent work target among the plurality of reference images. The most recent work target is the work target scheduled to be worked on next after the last identified work target. The processing unit 34 performs image processing for comparing the selected reference image with the captured image as template data. That is, the processing unit 34 predicts the work target reflected in the captured image based on the work procedure and selects a reference image. Thereby, it becomes possible to shorten the time required for the processing unit 34 to identify the work target reflected in the captured image.

[0141] Further, the processing unit 34 may be configured to perform image processing on the captured image of the imaging unit 5 to determine the type of the socket 242 attached to the tool 2. The "type" referred to here is information for distinguishing parts and includes at least one of information on size (length or length), shape, and material. In the present embodiment, the processing unit 34 is configured to determine the length of the socket 242 attached to the tool 2. The processing unit 34 corrects the target torque value based on the length of the socket 242 and sets the corrected target torque value as the torque setting value. For example, the processing unit 34 corrects the target torque value by multiplying the target torque value corresponding to the actual work target by a coefficient based on the length of the socket 242, and sets the corrected target torque value as the torque setting value. That is, the processing unit 34 controls the drive unit 24 so that the tightening torque becomes the corrected target torque value. Thereby, it is possible to reduce the variation in the tightening torque due to the length of the socket 242.

[0142] Further, the processing unit 34 may be configured to set the torque setting value based on the determined length (type) of the socket 242. In the storage unit 4, torque values corresponding one-to-one to various lengths of the socket 242 are stored. The processing unit 34 acquires the torque value corresponding to the determined length of the socket 242 from the storage unit 4 and sets the value based on the acquired value as the torque setting value. For example, the processing unit 34 sets the torque value acquired from the storage unit 4 as the torque setting value. Thereby, the tightening operation can be performed with a torque value corresponding to the type of the socket 242.

[0143] Further, the captured image generated by the imaging unit 5 is not limited to a moving image, and may be, for example, a still image when the tightening operation is completed. If the captured image is a still image, the determination unit 36 associates the still image generated by the imaging unit 5 with the determination result and stores it in the result storage unit 43. Thereby, for example, it is possible to check the still image of the work target for which it is determined that the tightening torque is insufficient.

[0144] Further, the imaging unit 5 may be provided not only in the body portion 21 of the body 20 but also, for example, in the mounting portion 23 of the body 20 or the battery pack 201 or the like. Similarly, the arrangements of the control unit 3, the storage unit 4, etc. can be changed as appropriate.

[0145] Further, the user operations received by the operation reception unit 33 are not limited to the operations of the trigger switch 221 or the plurality of push button switches 232 on the operation panel 231. For example, the operation reception unit 33 may receive a voice input or a gesture input by the user, or an input such as acceleration or vibration with respect to the tool 2 as a user operation. Further, the operation reception unit 33 may receive a user operation by receiving an operation signal transmitted from the external terminal to the tool 2 by a user operation on the external terminal (such as a mobile terminal). Furthermore, the operation reception unit 33 may have two or more of the various input means as described above.

[0146] Further, the release condition is not limited to the simultaneous pressing operation (release operation) of the trigger switch 221 and the push button switch 232 as described above. For example, a specific operation such as a long press or a double press of the push button switch 232 may be included in the release condition as a release operation. Furthermore, as described above, when the operation reception unit 33 receives an operation other than the operations of the trigger switch 221 and the push button switch 232, such as a voice input or a gesture input, as a user operation, these operations may be used as a release operation. Furthermore, the release condition may include conditions related to, for example, the continuous working time, the time zone, or the detection results of other sensors, instead of or in addition to the release operation by the user.

[0147] Similarly, the return condition is not limited to the simultaneous pressing operation (return operation) of the trigger switch 221 and the push button switch 232 as described above. For example, specific operations such as a long press or a double press of the push button switch 232 may be included in the return condition as return operations. Further, as described above, when the operation reception unit 33 receives an operation other than the operations of the trigger switch 221 and the push button switch 232, such as voice input or gesture input, as a user operation, these operations may be used as return operations. Further, the return condition may include conditions related to, for example, the elapsed time since the work support function was disabled, the time zone, or the detection results of other sensors, instead of or in addition to the return operation by the user. The return condition and the release condition may be the same or different.

[0148] Also, when returning to the operation in the work support function, the control unit 3 may determine from which of the plurality of processes to resume according to the user operation received by the operation reception unit 33, and it does not have to depend on the content of the return operation. For example, the control unit 3 may select any one of the first to third return patterns according to the content of the release operation, or may select any one of the first to third return patterns according to a user operation different from both the return operation and the release operation.

[0149] Also, it is not an essential configuration in the tool system 1 that the control unit 3 determines from which of the plurality of processes to resume when returning to the operation in the work support function according to the user operation received by the operation reception unit 33. For example, regardless of the user operation, any one of the first return pattern, the second return pattern, or the third return pattern may always be selected as the operation when returning to the operation in the work support function.

[0150] (Embodiment 2) The tool system 1A according to the present embodiment is different from the tool system 1 according to the first embodiment in that it further includes a log acquisition unit 38 as shown in FIG. 7. Hereinafter, the same components as those in the first embodiment will be denoted by the same reference numerals and the description will be omitted as appropriate.

[0151] In this embodiment, as an example, the log acquisition unit 38 is provided as a function of the control unit 3. That is, the control unit 3 has the log acquisition unit 38. The log acquisition unit 38 acquires, as a log, the operation history of the tool 2 during the stop of the operation in the work support function. That is, even during the period when the work support function is invalidated by satisfying the release condition, the work record using the tool 2 can be left as a log. The log acquisition unit 38 acquires, as a log, for example, the magnitude of the tightening torque based on the number of strikes of the impact mechanism 25 and an image (captured image) obtained by the imaging unit 5 during the work, and stores the acquired log in the result storage unit 43. Here, the log acquired during the period when the work support function is invalid may be stored in the result storage unit 43 so as to be mixed with the log (such as the determination result of the determination unit 36) acquired when the work support function is valid, or may be stored in the result storage unit 43 in a distinguishable manner.

[0152] Further, the tool system 1A according to this embodiment is different from the tool system 1 according to the first embodiment in that when the control unit 3 returns to the operation in the work support function, it is automatically determined from which of a plurality of processes to resume. That is, in the first embodiment, which of the first to third return patterns to adopt is determined according to the operation of the user received by the operation reception unit 33. On the other hand, in this embodiment, which of the first to third return patterns to adopt is automatically determined.

[0153] Specifically, for example, the control unit 3 automatically determines from which of a plurality of processes to resume based on the content of the work performed by the tool 2 during a period when the work support function is invalid. As an example, if during a period when the work support function is invalid, retightening or re-tightening of a fastening component for which the work has already been completed has been performed, the control unit 3 selects the first return pattern and resumes the operation with the work support function from the stop process. As another example, if, due to an error in the target identification process or the like, during a period when the work support function is invalid, attachment of a fastening component for which the work is incomplete has been performed, the control unit 3 selects the second return pattern and resumes the operation with the work support function from a process after the stop process.

[0154] In this embodiment, providing the log acquisition unit 38 is not an essential configuration for the tool system 1A. That is, in the configuration of the second embodiment, the log acquisition unit 38 can be appropriately omitted.

[0155] The configurations (including modified examples) described in the second embodiment can be adopted in appropriate combination with the various configurations (including modified examples) described in the first embodiment.

[0156] (Summary) As described above, the tool system (1, 1A) according to the first aspect includes a portable tool (2), an imaging unit (5), and a control unit (3). The tool (2) has a drive unit (24) that operates by power from a power source. The imaging unit (5) is mounted on the tool (2) and generates an imaging image. The control unit (3) controls the tool (2) based on the imaging image. The control unit (3) has a work support function. The work support function is a function that restricts the operation of the tool (2) when the work target specified based on the imaging image does not correspond to the work instruction defined in the work procedure. When the release condition is satisfied during the operation with the work support function, the control unit (3) stops the operation with the work support function and releases the restriction on the operation of the tool (2).

[0157] According to this aspect, basically, the control unit (3) can identify the work target based on the captured image obtained by the imaging unit (5) by means of the work support function, and determine whether the work performed by the user using the tool (2) is in accordance with the work procedure. Then, when the work target identified based on the captured image does not correspond to the work instruction defined in the work procedure, that is, when the work performed by the user using the tool (2) is not in accordance with the work procedure, the control unit (3) can restrict the operation of the tool (2). Therefore, it is possible to prevent incorrect work that does not follow the work procedure from being performed, and it is possible to support the user's work in accordance with the work procedure. Moreover, when the release condition is satisfied during the operation of the work support function, the operation of the work support function can be stopped and the restriction on the operation of the tool (2) can be released. Therefore, when the user is working in accordance with the work procedure, for example, when performing re-tightening or re-fastening of the fastened parts after the work is completed, or when performing irregular work, etc., if the restriction on the operation of the tool (2) is released, the work using the tool (2) becomes possible. As a result, there is an advantage that the convenience of the tool (2) can be improved.

[0158] In the tool system (1, 1A) according to the second aspect, in the first aspect, when the control unit (3) satisfies the return condition while the operation of the work support function is stopped, it returns to the operation of the work support function.

[0159] According to this aspect, even if the operation of the work support function is once stopped and the restriction on the operation of the tool (2) is released, it is possible to resume the operation of the work support function by satisfying the return condition thereafter.

[0160] In the tool system (1, 1A) according to the third aspect, in the second aspect, the control unit (3) sequentially executes a plurality of processes in the work support function. When the control unit (3) returns to the operation of the work support function after stopping the operation of the work support function in the stop process among the plurality of processes, it has a function of resuming from the stop process among the plurality of processes.

[0161] According to this aspect, the operation by the work support function can be resumed from where the work support function was interrupted.

[0162] In the tool system (1, 1A) according to the fourth aspect, in the second or third aspect, the control unit (3) sequentially executes a plurality of processes in the work support function. When the control unit (3) resumes the operation in the work support function after stopping the operation in the work support function at the stop process among the plurality of processes, it has a function of resuming from the process after the stop process among the plurality of processes.

[0163] According to this aspect, after interrupting the work support function, at least one process can be skipped and the operation by the work support function can be resumed.

[0164] In the tool system (1, 1A) according to the fifth aspect, in any one of the second to fourth aspects, the control unit (3) sequentially executes a plurality of processes in the work support function. When the control unit (3) resumes the operation in the work support function after stopping the operation in the work support function at the stop process among the plurality of processes, it has a function of resuming from the process before the stop process among the plurality of processes.

[0165] According to this aspect, after interrupting the work support function, the operation by the work support function can be resumed from where at least one process is redone.

[0166] In the tool system (1, 1A) according to the sixth aspect, in any one of the second to fifth aspects, the return condition includes that the operation reception unit (33) receives a return operation by the user.

[0167] According to this aspect, even if the operation in the work support function is once stopped and the restriction on the operation of the tool (2) is released, the operation in the work support function can be resumed by the return operation of the user.

[0168] In the tool system (1, 1A) according to the seventh aspect, in any of the second to sixth aspects, the control unit (3) sequentially executes a plurality of processes in the work support function. When returning to the operation in the work support function, the control unit (3) automatically determines from which of the plurality of processes to resume.

[0169] According to this aspect, it is not necessary for the user to specify from which of the plurality of processes to resume.

[0170] In the tool system (1, 1A) according to the eighth aspect, in any of the second to sixth aspects, the control unit (3) sequentially executes a plurality of processes in the work support function. When returning to the operation in the work support function, from which of the plurality of processes to resume is determined according to the user operation received by the operation reception unit (33).

[0171] According to this aspect, the user can specify by himself / herself from which of the plurality of processes to resume.

[0172] In the tool system (1, 1A) according to the ninth aspect, in any of the first to eighth aspects, the release condition includes the operation reception unit (33) receiving a release operation by the user.

[0173] According to this aspect, the work support function can be interrupted by the user's release operation.

[0174] The tool system (1, 1A) according to the tenth aspect further includes a log acquisition unit (38) in any of the first to ninth aspects. The log acquisition unit (38) acquires the operation history of the tool (2) during the stop of the operation in the work support function as a log.

[0175] According to this aspect, the operation history of the tool (2) during the stop of the operation in the work support function can be left as a log.

[0176] The tool management method according to the 11th aspect includes a first step, a second step, and a third step. The first step is a step of acquiring a captured image from an imaging unit (5) mounted on a portable tool (2) having a drive unit (24) that operates by power from a power source. The second step is a step of restricting the operation of the tool (2) when the work target specified based on the captured image does not correspond to the work instruction defined in the work procedure. The third step is a step of stopping the second step and releasing the restriction on the operation of the tool (2) when a release condition is satisfied during the second step.

[0177] According to this aspect, there is an advantage that the convenience of the tool (2) can be improved.

[0178] The program according to the 12th aspect is a program for causing one or more processors to execute the tool management method according to the 11th aspect.

[0179] According to this aspect, there is an advantage that the convenience of the tool (2) can be improved.

[0180] Not limited to the above aspects, various configurations (including modified examples) of the tool systems (1, 1A) according to Embodiment 1 and Embodiment 2 can be embodied by a tool management method or a program.

[0181] Regarding the configurations according to the 2nd to 10th aspects, they are not essential configurations of the tool system (1, 1A) and can be omitted as appropriate.

Explanation of Reference Numerals

[0182] 1, 1A Tool system 2 Tool 5 Imaging unit 24 Drive unit 3 Control unit 33 Operation reception unit 38 Log acquisition unit

Claims

1. A portable tool having a drive unit that operates by power from a power source, an imaging unit mounted on the tool that generates an imaging image, and a control unit that controls the tool based on the imaging image, wherein the tool has an operation reception unit that receives an operation by a user, and the control unit has a work support function that restricts the operation of the tool when a work target identified based on the imaging image does not correspond to a work instruction defined in a work procedure, and when a release condition is satisfied during the operation of the work support function, stops the operation of the work support function and releases the restriction on the operation of the tool, wherein the release condition includes the operation reception unit receiving a release operation by the user, and the control unit returns to the operation of the work support function when a return condition is satisfied while the operation of the work support function is stopped, wherein in the work support function, a plurality of processes are sequentially executed, and when resuming the operation of the work support function after stopping the operation of the work support function in a stop process among the plurality of processes, has a function of resuming from the stop process among the plurality of processes, a tool system.

2. A portable tool having a drive unit that operates by power from a power source, an imaging unit mounted on the tool that generates an imaging image, and a control unit that controls the tool based on the imaging image, wherein the tool has an operation reception unit that receives an operation by a user, and the control unit has a work support function that restricts the operation of the tool when a work target identified based on the imaging image does not correspond to a work instruction defined in a work procedure, and when a release condition is satisfied during the operation of the work support function, stops the operation of the work support function and releases the restriction on the operation of the tool, wherein the release condition includes the operation reception unit receiving a release operation by the user, and the control unit returns to the operation of the work support function when a return condition is satisfied while the operation of the work support function is stopped, wherein in the work support function, a plurality of processes are sequentially executed, and when resuming the operation of the work support function after stopping the operation of the work support function in a stop process among the plurality of processes, has a function of resuming from a process after the stop process among the plurality of processes, a tool system.

3. A portable tool having a drive unit that operates by power from a power source, an imaging unit mounted on the tool that generates an imaging image, A control unit that controls the tool based on the captured image, and the tool has an operation reception unit that receives a user's operation, the control unit has a work support function that restricts the operation of the tool when the work target specified based on the captured image does not correspond to the work instruction defined in the work procedure, when a release condition is satisfied during the operation of the work support function, the operation of the work support function is stopped and the restriction on the operation of the tool is released, the release condition includes the operation reception unit receiving a release operation by the user, the control unit when a return condition is satisfied while the operation of the work support function is stopped, returns to the operation of the work support function, in the work support function, a plurality of processes are sequentially executed, when resuming the operation of the work support function after stopping the operation of the work support function in a stop process among the plurality of processes, it has a function of resuming from a process before the stop process among the plurality of processes, A tool system.

4. A portable tool having a drive unit that operates by power from a power source, an imaging unit mounted on the tool that generates a captured image, a control unit that controls the tool based on the captured image, and the tool has an operation reception unit that receives a user's operation, the control unit has a work support function that restricts the operation of the tool when the work target specified based on the captured image does not correspond to the work instruction defined in the work procedure, when a release condition is satisfied during the operation of the work support function, the operation of the work support function is stopped and the restriction on the operation of the tool is released, the release condition includes the operation reception unit receiving a release operation by the user, the control unit when a return condition is satisfied while the operation of the work support function is stopped, returns to the operation of the work support function, in the work support function, a plurality of processes are sequentially executed, when resuming the operation of the work support function, it is automatically determined from which process among the plurality of processes to resume, A tool system.

5. A portable tool having a drive unit that operates by power from a power source, an imaging unit mounted on the tool that generates a captured image, a control unit that controls the tool based on the captured image, and the tool has an operation reception unit that receives a user's operation, the control unit When the work target specified based on the captured image does not correspond to the work instruction defined in the work procedure, it has a work support function for restricting the operation of the tool. When the release condition is satisfied during the operation of the work support function, the operation of the work support function is stopped and the restriction on the operation of the tool is released. The release condition includes the operation reception unit receiving a release operation by the user. The control unit When the return condition is satisfied while the operation of the work support function is stopped, it returns to the operation of the work support function. In the work support function, a plurality of processes are sequentially executed. When resuming the operation of the work support function, which process among the plurality of processes to resume from is determined according to the operation of the user received by the operation reception unit. Tool system.

6. A portable tool having a drive unit operated by power from a power source, an imaging unit mounted on the tool for generating a captured image, a control unit for controlling the tool based on the captured image, and a log acquisition unit. The tool has an operation reception unit for receiving a user's operation. The control unit When the work target specified based on the captured image does not correspond to the work instruction defined in the work procedure, it has a work support function for restricting the operation of the tool. When the release condition is satisfied during the operation of the work support function, the operation of the work support function is stopped and the restriction on the operation of the tool is released. The release condition includes the operation reception unit receiving a release operation by the user. The log acquisition unit acquires, as a log, the operation history of the tool during the stop of the operation of the work support function. Tool system.

7. The return condition includes the operation reception unit receiving a return operation by the user. The tool system according to any one of claims 1 to 5.

8. A first step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit operated by power from a power source, a second step of restricting the operation of the tool when the work target specified based on the captured image does not correspond to the work instruction defined in the work procedure, and a third step of stopping the second step and releasing the restriction on the operation of the tool when the release condition is satisfied during the second step. The release condition includes the operation reception unit of the tool receiving a release operation by the user. When the return condition is satisfied during the third step, it returns to the second step. In the second step, a plurality of processes are sequentially executed, when resuming the second step after stopping the second step with a stop process among the plurality of processes, resuming from the stop process among the plurality of processes, Tool management method.

9. A first step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit operated by power from a power source; A second step of restricting the operation of the tool when a work target identified based on the captured image does not correspond to a work instruction defined in a work procedure; A third step of stopping the second step and releasing the restriction on the operation of the tool when a release condition is satisfied during the second step, and the release condition includes the operation reception unit of the tool receiving a release operation by the user, when a return condition is satisfied during the third step, returning to the second step, In the second step, a plurality of processes are sequentially executed, when resuming the second step after stopping the second step with a stop process among the plurality of processes, resuming from a process after the stop process among the plurality of processes, Tool management method.

10. A first step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit operated by power from a power source; A second step of restricting the operation of the tool when a work target identified based on the captured image does not correspond to a work instruction defined in a work procedure; A third step of stopping the second step and releasing the restriction on the operation of the tool when a release condition is satisfied during the second step, and the release condition includes the operation reception unit of the tool receiving a release operation by the user, when a return condition is satisfied during the third step, returning to the second step, In the second step, a plurality of processes are sequentially executed, when resuming the second step after stopping the second step with a stop process among the plurality of processes, resuming from a process before the stop process among the plurality of processes, Tool management method.

11. A first step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit operated by power from a power source; A second step of restricting the operation of the tool when a work target identified based on the captured image does not correspond to a work instruction defined in a work procedure; When a release condition is satisfied during the second step, there is a third step of stopping the second step and releasing the restriction on the operation of the tool. The release condition includes that the operation reception unit of the tool receives a release operation by the user. When a return condition is satisfied during the third step, the process returns to the second step. In the second step, a plurality of processes are sequentially executed. When returning to the second step, it is automatically determined from which of the plurality of processes to resume. Tool management method.

12. A first step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit operated by power from a power source, a second step of restricting the operation of the tool when the work target specified based on the captured image does not correspond to a work instruction specified in the work procedure, When a release condition is satisfied during the second step, there is a third step of stopping the second step and releasing the restriction on the operation of the tool. The release condition includes that the operation reception unit of the tool receives a release operation by the user. When a return condition is satisfied during the third step, the process returns to the second step. In the second step, a plurality of processes are sequentially executed. When returning to the second step, from which of the plurality of processes to resume is determined according to the operation of the user received by the operation reception unit. Tool management method.

13. A first step of acquiring a captured image from an imaging unit mounted on a portable tool having a drive unit operated by power from a power source, a second step of restricting the operation of the tool when the work target specified based on the captured image does not correspond to a work instruction specified in the work procedure, When a release condition is satisfied during the second step, there is a third step of stopping the second step and releasing the restriction on the operation of the tool. A fourth step of acquiring, as a log, the operation history of the tool during the execution of the second step. The release condition includes that the operation reception unit of the tool receives a release operation by the user. Tool management method.

14. A program for causing one or more processors to execute the tool management method according to any one of Claims 8 to 13.

Images