Tool system

Abstract

The present invention facilitates determination of a specific work object to which a captured image corresponds. A tool system (100) comprises a portable tool (1) that performs work on a work target, an imaging unit (12) that is mounted on the tool (1), a position detection system (10), and a history storage unit (152). The imaging unit (12) repeatedly performs an imaging operation for acquiring a captured image in a range including at least a portion of the work target. The position detection system (10) executes a detection process each time the imaging operation is performed. In the detection process, relative position information for the tool (1) with respect to the work target is acquired. The history storage unit (152) stores history information in which the relative position information acquired using the detection process corresponding to the imaging operation is associated with the captured image acquired using the imaging operation.

Description

Tool System

[0001] The present disclosure relates to a tool system, and more particularly to a tool system including a tool and an imaging unit mounted on the tool.

[0002] Patent Literature 1 describes a power tool system including a power tool device for performing tightening work, and a torque measuring unit and an imaging unit mounted on the power tool device. In this power tool system, a work history in which torque measurement values ​​measured by the torque measuring unit and images captured by the imaging unit are linked is stored in a history storage unit.

[0003] In the power tool system described above, the imaging range of the imaging unit may only include some of the multiple work targets included in the workpiece. For example, when performing a tightening operation to tighten a tightening member such as a nut to each of two work targets, the "left rear wheel" and the "left front wheel," which are included in the workpiece, the "left side of the vehicle," the power tool system of Patent Document 1 may have difficulty distinguishing between the image captured for the tightening operation on the left rear wheel and the image captured for the tightening operation on the left front wheel.

[0004] Japanese Patent Application Laid-Open No. 2022-127500

[0005] An object of the present disclosure is to provide a tool system that can facilitate determination of which work object a captured image corresponds to.

[0006] A tool system according to one aspect of the present disclosure includes a portable tool, an imaging unit mounted on the tool, a position detection system, and a history storage unit. The tool includes a drive unit powered by a power source, and the drive unit performs work on a work object. The imaging unit repeatedly performs an imaging operation. The imaging operation is an operation of capturing an image of an imaging range including at least a portion of the work object to obtain a captured image. The position detection system executes a detection process each time the imaging operation is performed. The detection process is a process of detecting the relative position of the tool with respect to the work object and obtaining relative position information. The history storage unit stores history information. The history information is information in which the captured image obtained by the imaging operation is linked to the relative position information obtained by the detection process corresponding to the imaging operation.

[0007] FIG. 1 is a block diagram of a tool system according to an embodiment of the present disclosure. FIG. 2 is a flowchart illustrating the operation of the tool system. FIG. 3 is a data structure diagram of work target information stored in a reference image storage unit constituting the tool system. FIG. 4A is a data structure diagram illustrating an example of history-related information stored in a history storage unit constituting the tool system. FIG. 4B is a data structure diagram illustrating another example of the history-related information. FIG. 5A is a schematic diagram illustrating an example of a captured image constituting the history information (a captured image of the left side of a vehicle before a tightening operation), FIG. 5B is a schematic diagram illustrating another example of the captured image (a captured image of the left rear wheel after a tightening operation), and FIG. 5C is a schematic diagram illustrating another example of the captured image (a captured image of the left front wheel after a tightening operation). FIG. 6A is a schematic diagram illustrating an example of the captured image (a captured image of the left rear wheel before a tightening operation), and FIG. 6B is a schematic diagram illustrating another example of the captured image (a captured image of the left front wheel before a tightening operation). 7 and 8 are block diagrams of a first and second modified example of the tool system, respectively.

[0008] (1) Overview This disclosure describes a tool system 100 that can easily determine which work object an image corresponds to by storing historical information in which the relative position information of the tool 1 with respect to the work object is linked to the image captured by the imaging unit 12 mounted on the tool 1.

[0009] As shown in FIG. 1 , the tool system 100 of the present disclosure includes a portable tool 1 , an imaging unit 12 mounted on the tool 1 , a position detection system 10 , and a history storage unit 152 .

[0010] The tool 1 includes a drive unit 11, and performs work on a work object using the drive unit 11. The drive unit 11 is powered by a power source. The drive unit 11 is, for example, a motor powered by a battery mounted on the tool 1.

[0011] In the present disclosure, the work object is a fastening object, and the work is a fastening operation on the fastening object. The fastening operation is, for example, the operation of fastening a fastening object such as a nut to a workpiece such as the wheels (left rear wheel 201 and left front wheel 202: see FIGS. 5B and 5C ) of vehicle 200. However, the work object may also be a drilling object such as a plate member, and the work may also be drilling a hole in a drilling object.

[0012] The imaging unit 12 repeatedly performs an imaging operation, which is an operation of capturing an image of an imaging range that includes at least a part of a work object, and acquiring a captured image.

[0013] The position detection system 10 executes a detection process every time an imaging operation is performed. The detection process is a process of detecting the relative position of the tool 1 with respect to the work object and acquiring relative position information.

[0014] The relative position is at least one of the distance and direction from the work object to the tool 1. In the present disclosure, the relative position is both the distance and the direction. The relative position information is information indicating the relative position. In the present disclosure, the relative position information is information indicating both the distance and the direction, and is specifically expressed in polar coordinates (r, θ, φ) with the position of the work object (known) as the origin. However, the relative position information may also be expressed, for example, in Euclidean coordinates (x, y, z) with the position of the work object as the origin.

[0015] The position detection system 10 may be mounted on the tool 1 or provided outside the tool 1. In the embodiment, the position detection system 10 is mounted on the tool 1, and in the first and second modified examples, the position detection system 10 is provided outside the tool 1.

[0016] The history storage unit 152 stores history information. The stored history information is information in which captured images acquired by imaging operations are linked to relative position information acquired by detection processing corresponding to the imaging operations.

[0017] The history storage unit 152 may be provided in the tool 1 or in a device (e.g., an information processing device) external to the tool 1. The history storage unit 152 is provided in the tool 1 in any of the embodiment, the first modified example, and the second modified example.

[0018] According to the present disclosure, by storing historical information (e.g., see Figure 4A) in which relative position information is linked to the captured image, it is possible to easily determine which work object the captured image corresponds to (e.g., whether it is an image of the left rear wheel 201 or the left front wheel 202 on the left side of the vehicle 200: e.g., see Figures 5A to 5C).

[0019] As shown in FIG. 1 , the tool system 100 further includes a temporary storage unit 151. The temporary storage unit 151 temporarily stores the captured images acquired by the imaging unit 12 and the relative position information acquired by the position detection system 10. The temporary storage is a temporary storage. For example, the temporary storage may be a storage for a period of time longer than the average time required for one tightening operation. Specifically, if the average time required for one tightening operation is 3 seconds, the temporary storage may be a storage for a period of time of, for example, 4 to 6 seconds. The temporary storage unit 151 has a storage capacity corresponding to the amount of information of captured images over a period of, for example, 5 seconds. After storing captured images over a period of 5 seconds, the captured images are overwritten with new captured images, starting with the oldest.

[0020] In detail, each time the tightening work is performed, the temporary storage unit 151 temporarily stores the captured image acquired by the imaging operation in association with imaging time information. The imaging time information is information indicating the time when the tightening work was performed. Furthermore, each time the detection process is performed, the temporary storage unit 151 temporarily stores the relative position information acquired by the detection process in association with position detection time information. The position detection time information is information indicating the time when the detection process was performed.

[0021] The history storage unit 152 stores history information in which the relative position information is linked to the captured image based on the captured image and the relative position information that satisfy the linking condition.

[0022] The linking condition is a condition for linking a captured image with relative position information. In this embodiment, the linking condition is a condition that, among the multiple captured images and multiple pieces of relative position information temporarily stored in the temporary storage unit 151, the difference between the capture time information associated with the captured image and the position detection time information associated with the relative position information is equal to or less than a threshold. Note that the linking condition may be, for example, that the capture time information and the position detection time information match, in other words, that the difference between the capture time information and the position detection time information is 0 (threshold value = 0).

[0023] This allows the history storage unit 152 to store history information in which relative position information is linked to captured images.

[0024] (2) Embodiments Next, embodiments of the present disclosure will be described. Note that, in the following, descriptions of previously mentioned matters will be omitted or simplified.

[0025] (2-1) Overview of the embodiment As described above, the tool system 100 according to the embodiment of the present disclosure is realized by a single tool 1. As shown in FIG. 1 , the tool 1 includes a drive unit 11, an imaging unit 12, a torque measurement unit 13, a processing unit 14, a storage unit 15, and a motion detection unit 16.

[0026] The torque measuring unit 13 measures the tightening torque of the tool 1. More specifically, the torque measuring unit 13 executes a measurement process while the tightening operation is being performed by the driving unit 11. The measurement process is a process of measuring the tightening torque of the tightening operation and acquiring a torque measurement value.

[0027] The processing unit 14 executes various processes, such as processes performed by an image processing unit 141, which will be described later. The processing unit 14 also performs various determinations, which will be described using the flowchart in FIG. 2.

[0028] 1, the processing unit 14 includes an image processing unit 141. The image processing unit 141 performs various types of image processing on the captured image acquired by the imaging unit 12. The various types of image processing include, for example, extracting high-frequency components from the captured image and comparing the extraction results with a threshold value (a fifth threshold value, described below).

[0029] Furthermore, the image processing unit 141 in this embodiment cooperates with the reference image storage unit 150 to execute the detection process and obtain relative position information.

[0030] The image processing unit 141 identifies a similar image from among a plurality of reference images (described later) stored in the reference image storage unit 150, and acquires, as relative position information, position information associated with the similar image from among the plurality of position information. A similar image is a reference image that satisfies a similarity condition with respect to the captured image. The similarity condition is, for example, a condition that, among the plurality of reference images, the reference image has the highest similarity to the captured image.

[0031] The storage unit 15 stores various types of information, such as a reference image, a captured image, relative position information, and torque measurement values.

[0032] As shown in FIG. 1, the storage unit 15 includes a reference image storage unit 150 , a temporary storage unit 151 , and a history storage unit 152 .

[0033] The reference image storage unit 150 stores a plurality of reference images of the work object captured from a plurality of different positions within a predetermined area A1 in which the tool 1 can be present, and links the images to a plurality of position information corresponding to the plurality of positions.

[0034] The reference image is captured in advance, for example, by the imaging unit 12 mounted on the tool 1. However, the reference image may also be an image captured by an imaging unit (separate camera) equivalent to the imaging unit 12 mounted on the tool 1, which is mounted on a device other than the tool 1.

[0035] As described above, the position detection system 10 in this embodiment is mainly realized by the reference image storage unit 150 and the image processing unit 141. In other words, it can be said that the position detection system 10 includes the reference image storage unit 150 and the image processing unit 141, as shown in FIG.

[0036] According to this embodiment, the reference image storage unit 150 stores multiple reference images in advance, and the image processing unit 141 acquires position information linked to similar images that are similar to the captured image as relative position information, making it easier for tool 1 alone to determine which work object the captured image corresponds to.

[0037] (2-2) Details of the embodiment (2-2-1) Details of the reference image storage unit The reference image storage unit 150 in this embodiment stores multiple pieces of work object information. The work object information is information related to the work object. For example, as shown in FIG. 3, the work object information includes object identification information, multiple reference images associated with the object identification information, and multiple pieces of relative position information respectively corresponding to the multiple reference images.

[0038] The object identification information is information that identifies the work object. Examples of the work object include the "left side of the vehicle," the "left rear wheel," and the "left front wheel." The object identification information is, for example, an ID (e.g., a unique character string combining numbers and letters) that corresponds to each of the "left side of the vehicle," the "left rear wheel," and the "left front wheel." However, for the sake of convenience, the character strings "left side of the vehicle," "left rear wheel," and "left front wheel" will be used below as the object identification information.

[0039] (2-2-2) Specific Examples of Work Object Information The reference image storage unit 150 specifically stores three pieces of work object information, for example, as shown in Fig. 3. The first piece of work object information includes object identification information "left side of vehicle", a plurality of reference images such as "std01.jpg" and "std02.jpg", and a plurality of pieces of relative position information such as "(r01, θ01, φ01)" and "(r02, θ02, φ02)".

[0040] Each of the multiple reference images "std01.jpg", "std02.jpg", etc. is an image file of an image captured from each of multiple different positions of the left side of vehicle 200. Each of the multiple pieces of relative position information "(r01, θ01, φ01)", "(r02, θ02, φ02)", etc. is information indicating the polar coordinates of the positions where each of reference images "std01.jpg" and "std02.jpg" was captured, with the center point of the left side of vehicle 200 as the origin.

[0041] The second work object information includes object identification information "left rear wheel", a plurality of reference images "std11.jpg" and "std12.jpg" etc. corresponding to the object identification information "left rear wheel", and a plurality of relative position information "(r11, θ11, φ11)" and "(r12, θ12, φ12)" etc. corresponding to the plurality of reference images "std11.jpg" and "std12.jpg", respectively.

[0042] Each of the multiple reference images "std11.jpg", "std12.jpg", etc. is an image file of an image captured from each of multiple different positions of the left rear wheel 201. Each of the multiple pieces of relative position information "(r11, θ11, φ11)", "(r12, θ12, φ12)", etc. is information indicating the polar coordinates of the positions where each of the reference images "std11.jpg" and "std12.jpg" was captured, with the center point of the left rear wheel 201 as the origin.

[0043] The third work object information includes object identification information "left front wheel", a plurality of reference images "std21.jpg" and "std22.jpg" etc. corresponding to the object identification information "left front wheel", and a plurality of relative position information "(r21, θ21, φ21)" and "(r22, θ22, φ22)" etc. corresponding to the plurality of reference images "std21.jpg" and "std22.jpg", respectively.

[0044] Each of the multiple reference images "std21.jpg", "std22.jpg", etc. is an image file of an image captured from each of multiple different positions of the left front wheel 202. Each of the multiple pieces of relative position information "(r21, θ21, φ21)", "(r22, θ22, φ22)", etc. is information indicating the polar coordinates of the positions where each of the reference images "std21.jpg" and "std22.jpg" was captured, with the center point of the left front wheel 202 as the origin.

[0045] (2-2-3) Details of the History Storage Unit The history storage unit 152 stores history-related information. The history-related information is information related to various histories in the tool system 100. The various histories include, for example, a history of the imaging operation and a history of the detection process.

[0046] (2-2-4) Example of Data Structure of History-Related Information The history-related information includes, for example, history information, torque measurement values ​​associated with the history information, and object identification information associated with the history information, as shown in Fig. 4A. The history information includes captured images and relative position information associated with the captured images.

[0047] (2-2-5) Specific Examples of History-Related Information The history storage unit 152 specifically stores multiple pieces of history-related information (three pieces in this example) as shown in FIG. 4A. The first piece of history-related information includes history information "cpt01.jpg, (r01, θ01, φ01)", a torque measurement value "-", and object identification information "left side of vehicle". Note that "-" is information indicating the absence of a corresponding value.

[0048] The captured image "cpt01.jpg" constituting the history information "cpt01.jpg, (r01, θ01, φ01)" is, for example, an image file of an image of the left side of the vehicle 200 captured by the imaging unit 12 before the tightening work on the left rear wheel 201 and the left front wheel 202, as shown in FIG. 5A. The relative position information "(r01, θ01, φ01)" is information indicating the polar coordinates of the position where the captured image "cpt01.jpg" was captured, with the center point of the left side of the vehicle 200 as the origin. Note that this relative position information "(r01, θ01, φ01)" matches one of the multiple pieces of relative information included in the first work object information (information on the left side of the vehicle 200) shown in FIG. 3 (i.e., the relative position information "(r01, θ01, φ01)" corresponding to the reference image "std01.jpt").

[0049] The second history-related information includes history information “cpt02.jpg, (r12, θ12, φ12),” torque measurement value “trq1,” and target identification information “left rear wheel.” The captured image “cpt02.jpg” constituting the history information “cpt02.jpg, (r12, θ12, φ12)” is, for example, an image file of the left rear wheel 201 captured by the imaging unit 12 immediately after the tightening operation on the left rear wheel 201, as shown in FIG. 5B .

[0050] The relative position information "(r12, θ12, φ12)" is information indicating the polar coordinates of the position where the captured image "cpt02.jpg" was captured, with the center point of the left rear wheel 201 as the origin. Note that this relative position information "(r12, θ12, φ12)" matches one of the multiple pieces of relative information included in the second work object information (information on the left rear wheel 201) shown in Figure 3 (i.e., the relative position information "(r12, θ12, φ12)" corresponding to the reference image "std12.jpt").

[0051] The third history-related information includes history information “cpt03.jpg, (r21, θ21, φ21),” torque measurement value “trq2,” and target identification information “left front wheel.” The captured image “cpt03.jpg” constituting the history information “cpt03.jpg, (r21, θ21, φ21)” is, for example, an image file of an image of the left front wheel 202 captured by the imaging unit 12 immediately after the tightening operation, as shown in FIG. 5C .

[0052] The relative position information "(r21, θ21, φ21)" is information indicating the polar coordinates of the position where the captured image "cpt03.jpg" was captured, with the center point of the left front wheel 202 as the origin. Note that this relative position information "(r21, θ21, φ21)" matches one of the multiple pieces of relative information included in the third work object information (information on the left front wheel 202) shown in Figure 3 (i.e., the relative position information "(r21, θ21, φ21)" corresponding to the reference image "std21.jpt").

[0053] (2-2-6) Output Example of Captured Images Each of the captured images in Figures 5A to 5C may be transmitted from the tool 1 to an information processing device, for example, and displayed on a display of the information processing device. Note that the output destination of the captured images is not limited to a display, and may also be a printer or other device (such as a storage device or a server). Comparing the images in Figures 5B and 5C with the image in Figure 5A reveals that the tightening members have been tightened on each of the left rear wheel 201 and the left front wheel 202.

[0054] (2-2-7) Other Examples of Data Structure of History-Related Information However, the torque measurement values ​​(and the target identification information associated with the torque measurement values) may be linked to two pieces of history information corresponding to the times immediately before and after the tightening operation. That is, the history-related information may include, for example, two pieces of history information, the torque measurement values ​​associated with the two pieces of history information, and the target identification information associated with the two pieces of history information, as shown in FIG. 4B .

[0055] (2-2-8) Other Specific Examples of History-Related Information In this case, the history storage unit 152 may specifically store multiple (here, three) pieces of history-related information, for example, as shown in FIG. 4B. The first piece of history-related information includes history information "cpt01.jpg, (r01, θ01, φ01)", a torque measurement value "-", and object identification information "left side of vehicle", similar to the first history-related information shown in FIG. 4A. The captured image "cpt01.jpg" is an image file of an image of the left side of the vehicle 200 captured by the imaging unit 12 before the tightening work on the left rear wheel 201 and the left front wheel 202, similar to FIG. 5A. The relative position information "(r01, θ01, φ01)" is the same information as that included in the first history information shown in FIG. 4A.

[0056] The second history-related information includes two pieces of history information "cpt02.jpg, (r12, θ12, φ12)" and "cpt03.jpg, (r12, θ12, φ12)" corresponding to immediately before and immediately after the tightening work on the left rear wheel 201, as well as the torque measurement value "trq1" and object identification information "left rear wheel". The captured image "cpt02.jpg" is an image file of an image of the left rear wheel 201 captured by the imaging unit 12 immediately before the tightening work on the left rear wheel 201, as shown in FIG. 6A. The captured image "cpt03.jpg" is an image file of an image of the left rear wheel 201 captured by the imaging unit 12 immediately after the tightening work on the left rear wheel 201, as shown in FIG. 5B. The relative position information "(r12, θ12, φ12)" is the same information as that included in the second history information shown in FIG. 4A.

[0057] The third history-related information includes two pieces of history information "cpt04.jpg, (r21, θ21, φ21)" and "cpt05.jpg, (r21, θ21, φ21)" corresponding to immediately before and immediately after the tightening work on the left front wheel 202, as well as the torque measurement value "trq2" and object identification information "left front wheel". The captured image "cpt04.jpg" is an image file of an image of the left front wheel 202 captured by the imaging unit 12 immediately before the tightening work on the left front wheel 202, as shown in FIG. 6B. The captured image "cpt05.jpg" is an image file of an image of the left front wheel 202 captured by the imaging unit 12 immediately after the tightening work on the left front wheel 202, as shown in FIG. 5C. The relative position information "(r21, θ21, φ21)" is the same information as that included in the third history information shown in FIG. 4A.

[0058] 5A to 5C and 6A and 6B may be transmitted from the tool 1 to an information processing device and displayed on a display of the information processing device. Comparing the images in Fig. 5B and 5C with the images in Fig. 6A and 6B, respectively, it can be seen that the tightening members have been tightened on the left rear wheel 201 and the left front wheel 202.

[0059] (2-2-10) Linking of Torque Measurement Values ​​When a tightening operation is performed by the drive unit 11, the history storage unit 152 stores history information in which relative position information and torque measurement values ​​are linked to the captured image acquired by the imaging operation of the imaging unit 12. The history information in which relative position information and torque measurement values ​​are linked to the captured image may be, for example, information in which torque measurement values ​​are further linked to history information in which relative position information is linked to the captured image, as shown in Figures 4A and 4B.

[0060] The torque measurement value associated with the history information and stored by the history storage unit 152 may be transmitted from the tool 1 to an information processing device, for example, and displayed on a display provided in the information processing device.

[0061] In this way, the history memory unit 152 stores history information in which torque measurement values ​​are further linked to the captured image, making it easier to subsequently check the torque measurement values ​​during tightening work on the work object corresponding to the captured image.

[0062] (2-2-11) Storing images acquired simultaneously with tightening work Each time tightening work is performed, the history storage unit 152 stores history information in which relative position information and torque measurement values ​​are linked to images acquired with a time difference of less than a predetermined time from the tightening work.

[0063] The captured image acquired with a time difference of less than a predetermined time from the tightening operation may be rephrased as, for example, a captured image acquired simultaneously with the tightening operation. In other words, "simultaneous" in this embodiment does not necessarily mean completely simultaneous, but may also mean a time difference that can be considered simultaneous. The predetermined time may be, for example, 0.1 seconds or 0.5 seconds, or may be a value such as half the cycle of the imaging operation.

[0064] The captured image acquired simultaneously with the tightening work is, for example, at least one of an image captured immediately before the tightening work (an image captured a predetermined time before the start time of the tightening work) and an image captured immediately after the tightening work (an image captured a predetermined time after the end time of the tightening work).

[0065] (2-2-12) Capturing Video The imaging unit 12 may perform a video capturing operation to capture a video. The temporary storage unit 151 temporarily stores the video captured by the imaging unit 12 for a certain period (for example, the most recent 5 seconds). Each of the multiple still images constituting the video temporarily stored in the temporary storage unit 151 is associated with time information (a timestamp).

[0066] (2-2-13) Method for selecting one or two still images to be stored The history storage unit 152 can refer to the time information associated with each of the multiple still images and select one or two still images to be stored as captured images that constitute the history information from among the multiple still images.

[0067] The one or two still images to be stored as the captured images may be, for example, a still image taken immediately after the tightening operation is completed. The still image taken immediately after the tightening operation is, for example, a still image among the multiple still images whose associated time information is later than the work end time and closest to the work end time.

[0068] Alternatively, the one or two still images to be stored as captured images may be two still images: a still image immediately after the tightening operation has ended and a still image immediately before the tightening operation has started. The still image immediately before the tightening operation has started is, for example, a still image among the multiple still images whose time information associated with the still image is before the work start time and closest to the work start time.

[0069] Alternatively, the one or two still images to be stored as captured images may be two still images: a still image immediately after the end of the tightening action as described above, and a still image a predetermined time before the still image immediately after the end of the tightening action. The still image a predetermined time before the still image immediately after the end of the tightening action is, for example, a still image among the multiple still images whose time information corresponds to the still image a predetermined time before the time information corresponding to the still image immediately after the end of the tightening action.

[0070] As a result, every time a tightening operation is performed, history information in which relative position information and torque measurement values ​​are linked to the captured image acquired simultaneously with the tightening operation is stored in the history storage unit 152. Therefore, in the tool system 100, it is possible to further facilitate determination of which work object the captured image corresponds to.

[0071] (2-2-14) Linking torque measurement values ​​to one or two pieces of history information The temporary storage unit 151 performs a process of temporarily storing an image acquired by an imaging operation in association with imaging time information each time a tightening operation is performed (captured image temporary storage process), and a process of temporarily storing relative position information acquired by a detection process in association with position detection time information each time a detection process is performed (relative position information temporary storage process), and further performs a torque measurement value temporary storage process.

[0072] The torque measurement value temporary storage process is a process of temporarily storing the torque measurement value acquired by the torque measurement unit 13 each time a tightening operation is performed, in association with work start time information and work end time information. The work start time information is information indicating the time when the tightening operation started. The work end time information is information indicating the time when the tightening operation ended. The start of the tightening operation is detected, for example, by the start of operation of the drive unit 11. The end of the tightening operation is detected, for example, by the stop of operation of the drive unit 11.

[0073] The history storage unit 152 stores history information in which the relative position information is linked to the captured image based on the captured image and the relative position information that satisfy a first linking condition. The first linking condition is a condition that, among the multiple captured images and multiple pieces of relative position information temporarily stored in the temporary storage unit 151, the difference between the capture time information associated with the captured image and the position detection time information associated with the relative position information is equal to or less than a first threshold. The first linking condition may also be that the capture time information and the position detection time information match (i.e., the first threshold = 0).

[0074] Furthermore, when the torque measurement value is temporarily stored in the temporary storage unit 151, the history storage unit 152 further links the torque measurement value to at least one of two pieces of history information that satisfy a second linking condition out of the multiple pieces of history information in which relative position information is linked to the captured image and that are stored in the history storage unit 152. The second linking condition is a condition in which the image capture time information is earlier than the work start time information by a time equal to or less than a second threshold, or the image capture time information is later than the work end time information by a time equal to or less than a third threshold.

[0075] In this way, the history memory unit 152 stores history information in which relative position information and torque measurement values ​​are linked to at least one of the captured image taken immediately before the tightening operation and the captured image taken immediately after the tightening operation, thereby making it easier to check after the fact whether the tightening operation was performed appropriately.

[0076] In particular, since both the captured image taken just before the tightening operation and the captured image taken just after the tightening operation are stored in the history memory unit 152, it becomes possible to compare the two captured images corresponding to before and after the tightening operation.

[0077] (2-2-15) Use of Motion Detection Results in Detection Processing The motion detection unit 16 detects motion of the tool 1. The motion includes at least one of acceleration and angular velocity (preferably both). The motion detection unit 16 includes, for example, at least one of an acceleration sensor and a gyroscope (preferably both), and acquires at least one of an acceleration value that is the detection result of the acceleration sensor and an angular velocity value that is the detection result of the gyroscope (preferably both).

[0078] The position detection system 10 may calculate at least one (preferably both) of the travel distance and rotation angle of the tool 1 based on the detection results of the motion detection unit 16, such as at least one (preferably both) of the acceleration value and the angular velocity value, and obtain relative position information taking the calculation results into consideration.

[0079] For example, the position detection system 10 calculates the velocity and thus the moving distance (position change) based on the acceleration value, calculates the rotation angle (posture change) based on the angular velocity value, and estimates the relative position based on the two calculation results (moving distance and rotation angle).The position detection system 10 then compares relative position information based on the estimation result with relative position information acquired by image processing of the image captured by the imaging unit 12, and may perform verification based on the comparison result and further correction according to the verification result.

[0080] In this way, by also using the detection results of the movement detection unit 16 mounted on the tool 1, it is possible to improve the accuracy of the relative position information.

[0081] (2-3) Operation Example The tool system 100 configured as described above operates, for example, according to the flowchart of Fig. 2. Note that the process of Fig. 2 is started, for example, when the motion detection unit 16 mounted on the tool 1 detects a predetermined motion (for example, an acceleration value of an acceleration sensor exceeding a predetermined value), and is ended when a stationary state (for example, a state in which the acceleration value is 0) continues for a predetermined time or more.

[0082] When the process starts, the image capturing unit 12 and the position detection system 10 start the image capturing operation and the detection process, respectively (step S1).

[0083] Next, the temporary storage unit 151 starts a temporary storage process for temporarily storing the captured image obtained by the imaging operation and the relative position information obtained by the detection process (step S2).

[0084] Next, the processing unit 14 determines whether or not a first linking condition is satisfied between the plurality of captured images and the plurality of pieces of relative position information temporarily stored in the temporary storage unit 151 (step S3). If it is determined that the first linking condition is not satisfied (No in step S3), the processing proceeds to step S6.

[0085] If it is determined in step S3 that the first association condition is satisfied (Yes), the history storage unit 152 associates the captured image and the relative position information that satisfy the first association condition (step S4).

[0086] Next, the history storage unit 152 stores the history information in which the captured image is associated with the relative position information (step S5), after which the process returns to step S3.

[0087] In step S6, the processing unit 14 determines whether or not a tightening operation is being performed by the tool 1, based on the operating state of the drive unit 11. If it is determined that a tightening operation is not being performed (No in step S6), the processing returns to step S3.

[0088] If it is determined in step S6 that the tightening operation is being performed (Yes), the torque measurement unit 13 measures the tightening torque and obtains a torque measurement value (step S7).

[0089] Next, the temporary storage unit 151 temporarily stores the torque measurement value acquired in step S7 (step S8).

[0090] Next, the processing unit 14 determines (at step S9) whether a second linking condition is satisfied between the torque measurement value temporarily stored in step S8 and the plurality of pieces of history information stored in the history storage unit 152. If it is determined that the second linking condition is not satisfied (No at step S9), the processing returns to step S3.

[0091] If it is determined in step S9 that the second linking condition is satisfied (Yes), the history storage unit 152 links the torque measurement value to at least one piece of history information that satisfies the second linking condition (step S10). Thereafter, the process returns to step S3.

[0092] (2-4) Specific Example In the tool system 100 (see FIG. 1) of this specific example, the reference image storage unit 150 pre-stores a plurality of pieces of work target information as shown in FIG. 3. A worker uses the tool 1 to tighten nuts on the left rear wheel 201 and the left front wheel 202 of a vehicle 200 (see FIGS. 5A to 5C).

[0093] When the worker picks up the tool 1, the movement detection unit 16 detects the movement (acceleration, etc.) of the tool 1, and the imaging operation of the imaging unit 12 and the detection process of the position detection system 10 are started. The temporary storage unit 151 starts the process of temporarily storing the image captured by the imaging operation and the relative position information by the detection process in association with the imaging time information and the position detection time information, respectively.

[0094] When the worker points the tool 1 toward the left side of the vehicle 200, the history memory unit 152 uses the multiple work object information stored in the reference image memory unit 150 to store history information "cap01.jpg, (r01, θ01, φ01)" in which the relative position information "(r01, θ01, φ01)" is linked to the captured image "cap01.jpg" based on the captured image "cap01.jpg" and relative position information "(r01, θ01, φ01)" that satisfy the first linking condition, from the multiple captured images and multiple relative position information temporarily stored in the temporary memory unit 151.

[0095] This history information is based on the first reference image "std01.jpg" included in the first piece of work object information (information relating to the left side of vehicle 200) among the multiple pieces of work object information stored in reference image storage unit 150, and the corresponding relative position information "(r01, θ01, φ01)". This history information is linked to the object identification information "left side of vehicle". As a result, the first piece of history-related information of the three pieces of history-related information shown in FIG. 4A is stored by history storage unit 152.

[0096] Next, when the worker points the tool 1 toward the left rear wheel 201, the history memory unit 152 uses the multiple work object information stored in the reference image memory unit 150 to store history information "cap02.jpg, (r12, θ12, φ12)" in which the relative position information "(r12, θ12, φ12)" is linked to the captured image "cap02.jpg" based on the captured image "cap02.jpg" and relative position information "(r12, θ12, φ12)" that satisfy the first linking condition, from the multiple captured images and multiple relative position information temporarily stored in the temporary memory unit 151.

[0097] This history information is information based on the second reference image “std12.jpg” and the corresponding relative position information “(r12, θ12, φ12)” included in the second work object information (information relating to the left rear wheel 201) among the multiple pieces of work object information stored in the reference image storage unit 150. This history information is linked to the object identification information “left rear wheel.”

[0098] Next, when the worker performs tightening work on the left rear wheel 201 with the tool 1, the torque measurement unit 13 measures the tightening torque of the tightening work, and the temporary storage unit 151 temporarily stores the torque measurement value "trq1". The history storage unit 152 further links the torque measurement value "trq1" to the history information "cap02.jpg, (r12, θ12, φ12)" that satisfies the second linking condition out of the two pieces of history information "cap01.jpg, (r01, θ01, φ01)" and "cap02.jpg, (r12, θ12, φ12)" that it stores. In this way, the second piece of history-related information out of the three pieces of history-related information shown in FIG. 4A is stored by the history storage unit 152.

[0099] Next, when the worker points the tool 1 toward the left front wheel 202, the history memory unit 152 uses the multiple work object information stored in the reference image memory unit 150 to store history information "cap03.jpg, (r22, θ21, φ21)" in which the relative position information "(r22, θ21, φ21)" is linked to the captured image "cap03.jpg" based on the captured image "cap03.jpg" and relative position information "(r22, θ21, φ21)" that satisfy the first linking condition, from the multiple captured images and multiple relative position information temporarily stored in the temporary memory unit 151.

[0100] This history information is based on the first reference image “std21.jpg” and the corresponding relative position information “(r21, θ22, φ21)” included in the third piece of work object information (information relating to the left front wheel 202) among the multiple pieces of work object information stored in the reference image storage unit 150. This history information is linked to the object identification information “left front wheel.”

[0101] Next, when the worker performs tightening work on the left rear wheel 201 with the tool 1, the torque measurement unit 13 measures the tightening torque of the tightening work, and the temporary storage unit 151 temporarily stores the torque measurement value "trq2." The history storage unit 152 further links the torque measurement value "trq2" to the history information "cap03.jpg, (r22, θ21, φ21)" that satisfies the second linking condition among the three pieces of stored history information "cap01.jpg, (r01, θ01, φ01)," "cap02.jpg, (r12, θ12, φ12)," and "cap03.jpg, (r22, θ21, φ21)." In this way, the third piece of history-related information out of the three pieces of history-related information shown in FIG. 4A is stored by the history storage unit 152.

[0102] (3) First Modification In the following, the description of the same matters as in the embodiment will be omitted or simplified, and the differences will be described in detail.

[0103] As shown in FIG. 7, the tool system 100 of this modified example is realized by the tool 1 and a position detection system 10 that is separate from the tool 1.

[0104] The tool 1 includes a drive unit 11, an imaging unit 12, a torque measurement unit 13, a processing unit 14, a memory unit 15, and a movement detection unit 16. The processing unit 14 includes an image processing unit 141. The memory unit 15 includes a temporary memory unit 151 and a history memory unit 152. The position detection system 10 includes an imaging device 2 and an image processing device 3.

[0105] That is, the tool system 100 of this modified example has a configuration in which the tool system 100 of the embodiment (see FIG. 1 ) further includes an imaging device 2 and an image processing device 3, while the reference image storage unit 150 is deleted from the tool 1. The position detection system 10 of this modified example is realized by the imaging device 2 and the image processing device 3.

[0106] The captured image described in the embodiment is the first captured image in this modification. Similarly, the imaging operation is the first imaging operation, and the imaging range is the first imaging range.

[0107] The imaging device 2 is provided at a reference position within a predetermined area A1 in which the tool 1 can be present. For example, the predetermined area A1 may be a work room, and the imaging device 2 may be a surveillance camera provided at a reference position within the work room (for example, on the ceiling or a predetermined position near the ceiling). The position (absolute position) of the imaging device 2 is known. In other words, information indicating the absolute position of the imaging device 2 (such as latitude and longitude information) is stored in, for example, the memory of the image processing device 3.

[0108] The imaging device 2 repeatedly performs a second imaging operation. The second imaging operation is an operation of capturing an image of a second imaging range to obtain a second captured image. The second imaging range is an area that includes the work target and at least one of the tool 1 and the worker performing the work with the tool 1.

[0109] Each time the second imaging operation is performed, the image processing device 3 executes a detection process based on the second captured image acquired by the imaging device 2. The second captured image is an image acquired by the second imaging operation that satisfies the simultaneity condition with the first imaging operation.

[0110] The simultaneous condition is a condition that the first imaging operation and the second imaging operation are performed simultaneously. The simultaneous condition may be, for example, that the difference between the execution time of the first imaging operation (first imaging time information) and the execution time of the second imaging operation (second imaging time information) is equal to or less than a fourth threshold.

[0111] The history storage unit 152 stores history information in which the first captured image acquired by the first imaging operation is linked to relative position information acquired based on the second captured image.

[0112] According to this modified example, by using a tool 1 equipped with an imaging unit 12 in combination with an imaging device 2 and an image processing device 3 that are separate from the tool 1, the configuration of the tool 1 can be simplified while making it easier to determine which work object the image (first image) captured by the imaging unit 12 mounted on the tool 1 corresponds to (for example, whether it is an image of the left rear wheel 201 or the left front wheel 202 on the left side of the vehicle 200: see Figures 5A to 5C).

[0113] (4) Second Modification A tool system 100 of this modification is realized by a tool 1 and a position detection system 10 that is separate from the tool 1, as shown in FIG.

[0114] The tool 1 includes a drive unit 11, an imaging unit 12, a torque measurement unit 13, a processing unit 14, a memory unit 15, and a motion detection unit 16. The processing unit 14 includes an image processing unit 141. The memory unit 15 includes a temporary memory unit 151 and a history memory unit 152. The position detection system 10 includes a radio wave sensor 4 and a wireless positioning device 5.

[0115] That is, the tool system 100 of this modified example has a configuration in which the tool system 100 of the embodiment (see FIG. 1 ) further includes a radio wave sensor 4 and a wireless positioning device 5, while the reference image storage unit 150 is deleted from the tool 1. The position detection system 10 of this modified example is realized by the radio wave sensor 4 and the wireless positioning device 5.

[0116] In other words, the tool system 100 of this modified example is the tool system 100 of the first modified example in which the position detection system 10 equipped with the imaging device 2 and the image processing device 3 is replaced with a position detection system 10 equipped with a radio wave sensor 4 and a wireless positioning device 5.

[0117] The relative position described in the embodiment is the first relative position in this modification. Similarly, the relative position information is the first relative position information.

[0118] The radio wave sensor 4 is provided at a reference position within the predetermined area A1. The radio wave sensor 4 detects radio waves from the tool 1. The radio waves may be, for example, radio waves emitted from the radio wave sensor 4 toward the predetermined area A1, and a reflected wave that is a portion of the radio waves reflected by the tool 1. Examples of this type of radio wave sensor 4 include radio wave sensors based on the FMCW (Frequency Modulated Continuous Wave) system, the pulse system, the Doppler system, and the UWB (Ultra-Wide Band) system.

[0119] Alternatively, the radio wave may be a beacon signal transmitted by a beacon transmitter mounted on the tool 1, and in that case the radio wave sensor 4 may be a scanner (beacon receiver) that receives the beacon signal.

[0120] The wireless positioning device 5 performs wireless positioning processing based on the detection result of the radio wave sensor 4. The detection result of the radio wave sensor 4 is, for example, at least one of the strength of the radio wave (received signal strength), phase, frequency, and propagation time. The propagation time is the time required for the radio wave to propagate between the tool 1 and the radio wave sensor 4.

[0121] The wireless positioning process is a process of measuring the position of the tool 1 using the detection result of the radio wave sensor 4. The wireless positioning process in this modified example includes a second detection process and a first detection process. The second detection process is a process of detecting a second relative position, which is a relative position of the tool 1 with respect to a reference position, and acquiring second relative position information. The second relative position here is the relative position of the tool 1 with respect to the radio wave sensor 4 provided at the reference position. The first detection process is a process of detecting a first relative position based on reference position information indicating the reference position and the second relative position information obtained by the second detection process, and acquiring first relative position information.

[0122] The history memory unit 152 stores history information in which the captured image obtained by the imaging operation is linked to first relative position information obtained based on second relative position information obtained by radio positioning processing performed simultaneously with the imaging operation.

[0123] According to this modified example, by using a tool 1 equipped with an imaging unit 12 in combination with a radio wave sensor 4 and a wireless positioning device 5 that are separate from the tool 1, it is possible to simplify the configuration of the tool 1 while making it easier to determine which work object the captured image corresponds to.

[0124] (5) Other Modified Examples (5-1) Modified Example of Method for Selecting One or Two Captured Images to Be Stored from Multiple Still Images In this modified example, the image processing unit 141 extracts high-frequency components and compares the extraction result with a fifth threshold for each of multiple still images that make up the moving image temporarily stored in the temporary storage unit 151. Then, the history storage unit 152 may store, among the multiple still images, a still image taken immediately after the completion of the tightening work (a still image taken immediately after the high-frequency components fall below the fifth threshold: a still image taken immediately after the contour line becomes clear) and a still image taken immediately before the start of the tightening work (a still image taken immediately before the high-frequency components become equal to or greater than the fifth threshold: a still image taken immediately before the contour line becomes unclear), as captured images that are components of the history information.

[0125] Alternatively, the image processing unit 141 may make a determination regarding high frequency components for a still image taken immediately before the tightening operation, and if the determination is equal to or greater than the fifth threshold, may make a further determination regarding a still image taken immediately before the tightening operation, and repeat this process until the determination is less than the fifth threshold. Similarly, the image processing unit 141 may make a determination regarding high frequency components for a still image taken immediately after the tightening operation, and if the determination is equal to or greater than the fifth threshold, may make a further determination regarding a still image taken thereafter, and repeat this process until the determination is less than the fifth threshold.

[0126] This makes it possible to avoid storing a blurred image due to the operation of the drive unit 11 or camera shake.

[0127] (5-2) Modification of Location of Storage Unit In the embodiment, the first modification, and the second modification, the storage unit 15 (the reference image storage unit 150, the temporary storage unit 151, and the history storage unit 152) may be located outside the tool 1 (for example, in an information processing device, a storage device, a server, etc.). The location of the storage unit 15 does not matter as long as it is accessible by the processing unit 14 (processor) of the tool 1.

[0128] (5-3) Modifications of Implementation Means of the Position Detection System 10 of the Embodiment The position detection system 10 of the embodiment may be implemented by a device (e.g., an information processing device, a storage device, a server, etc.) external to the tool 1. That is, the image processing unit 141 and the reference image storage unit 150 shown in Fig. 1 may be provided in an external device. Furthermore, the image processing unit 141 and the reference image storage unit 150 may be provided in separate devices.

[0129] (5-4) Partial modification of the first modified example In the first modified example, the imaging device 2 may transmit the acquired second captured image to the tool 1, and the image processing unit 141 of the tool 1 may perform detection processing based on the second captured image.

[0130] (5-5) Partial Modification of the Second Modification In the second modification, the position detection system 10 may be integrated with the tool 1. That is, the tool 1 may be equipped with the radio wave sensor 4 and the wireless positioning device 5 that constitute the position detection system 10.

[0131] In this case, an antenna that emits radio waves is provided at a reference position within the predetermined area A1, and the radio wave sensor 4 mounted on the tool 1 receives the radio waves from the antenna. Then, the wireless positioning device 5 mounted on the tool 1 performs wireless positioning processing based on the detection result of the radio wave sensor 4. The second relative position here is the relative position of the radio wave sensor 4 mounted on the tool 1 with respect to the antenna provided at the reference position.

[0132] Alternatively, only the radio wave sensor 4 may be mounted on the tool 1, and the radio positioning device 5 may be provided outside the tool 1.

[0133] (6) Summary The tool system (100) according to the first aspect includes a portable tool (1), an imaging unit (12) mounted on the tool (1), a position detection system (10), and a history storage unit (152). The tool (1) includes a drive unit (11) powered by a power source, and the drive unit (11) performs work on a work object. The imaging unit (12) repeatedly performs an imaging operation. The imaging operation is an operation of capturing an image of an imaging range including at least a portion of the work object to acquire a captured image. The position detection system (10) executes a detection process each time the imaging operation is performed. The detection process is a process of detecting the relative position of the tool (1) with respect to the work object and acquiring relative position information. The history storage unit (152) stores history information. The history information is information in which the captured image acquired by the imaging operation is linked to relative position information acquired by the detection process corresponding to the imaging operation.

[0134] According to this aspect, by storing history information in which relative position information is linked to the captured image, it is possible to easily determine which work object the captured image corresponds to.

[0135] In the tool system (100) according to the second aspect, in the first aspect, the work is a tightening work on a workpiece to be tightened. The tool system (100) further includes a temporary storage unit (151). The temporary storage unit (151) temporarily stores an image acquired by an imaging operation each time a tightening work is performed, in association with imaging time information, and temporarily stores relative position information acquired by the detection process each time a detection process is performed, in association with position detection time information. The imaging time information is information indicating the time when the tightening work was performed. The position detection time information is information indicating the time when the detection process was performed. The history storage unit (152) stores history information in which the relative position information is linked to the captured image, based on the captured image and the relative position information that satisfy the linking conditions. The linking condition is that, among the multiple captured images and multiple pieces of relative position information temporarily stored in the temporary storage unit (151), the difference between the image capture time information corresponding to the captured image and the position detection time information corresponding to the relative position information is less than or equal to a threshold value.

[0136] According to this aspect, it is possible to store history information in which relative position information is linked to a captured image.

[0137] In the tool system (100) according to the third aspect, in the first aspect, the work is a tightening work on a workpiece to be tightened. The tool (1) further includes a torque measurement unit (13). The torque measurement unit (13) executes a measurement process while the tightening work is being performed. The measurement process is a process of measuring the tightening torque of the tightening work and acquiring a torque measurement value. The history storage unit (152) stores history information in which relative position information and torque measurement values ​​are linked to captured images acquired by an imaging operation when the tightening work is being performed.

[0138] According to this aspect, by storing historical information in which torque measurement values ​​are further linked to the captured image, it is possible to facilitate subsequent confirmation of torque measurement values ​​during tightening work on the work object corresponding to the captured image.

[0139] In the tool system (100) according to the fourth aspect, in the third aspect, the history memory unit (152) stores history information in which relative position information and torque measurement values ​​are linked to an image acquired with a time difference of less than a predetermined time from the tightening operation each time the tightening operation is performed.

[0140] According to this aspect, each time a tightening operation is performed, historical information linked to relative position information and torque measurement values ​​is stored in the captured image acquired simultaneously with the tightening operation, making it even easier to determine which work object the captured image corresponds to.

[0141] The tool system (100) according to the fifth aspect is the fourth aspect, further including a temporary storage unit (151). The temporary storage unit (151) temporarily stores an image acquired by an imaging operation each time a tightening operation is performed, in association with imaging time information. The imaging time information is information indicating the time at which the tightening operation was performed. Furthermore, the temporary storage unit (151) temporarily stores relative position information acquired by the detection operation each time a detection operation is performed, in association with position detection time information. The position detection time information is information indicating the time at which the detection operation was performed. Furthermore, the temporary storage unit (151) temporarily stores torque measurement values ​​acquired by the torque measurement unit (13) each time a tightening operation is performed, in association with work start time information and work end time information. The work start time information is information indicating the time at which the tightening operation started. The work end time information is information indicating the time at which the tightening operation ended. The history storage unit (152) stores history information in which the relative position information is linked to the captured image based on the captured image and the relative position information that satisfy a first linking condition. The first linking condition is a condition that, among the multiple captured images and multiple pieces of relative position information temporarily stored in the temporary storage unit (151), a difference between image capture time information associated with the captured image and position detection time information associated with the relative position information is equal to or less than a first threshold.

[0142] Furthermore, when the torque measurement value is temporarily stored in the temporary storage unit (151), the history storage unit (152) further links the torque measurement value to at least one of two pieces of history information that satisfy a second linking condition among the multiple pieces of history information stored in the history storage unit (152) and in which relative position information is linked to the captured image. The second linking condition is a condition in which the image capture time information is earlier than the work start time information by a time equal to or less than a second threshold value, or the image capture time information is later than the work end time information by a time equal to or less than a third threshold value.

[0143] According to this aspect, by storing history information in which relative position information and torque measurement values ​​are linked to at least one of the captured image acquired immediately before the tightening operation and the captured image acquired immediately after the tightening operation, it is possible to easily check after the fact whether the tightening operation was performed appropriately. In particular, by storing both the captured image acquired immediately before the tightening operation and the captured image acquired immediately after the tightening operation, it is possible to compare the two captured images corresponding to before and after the tightening operation.

[0144] In a tool system (100) according to a sixth aspect, in any one of the first to fifth aspects, the position detection system (10) includes a reference image storage unit (150) and an image processing unit (141). The reference image storage unit (150) stores a plurality of reference images, each of which is captured from a plurality of different positions within a predetermined area (A1) where the tool (1) can be present, by linking the images to a plurality of pieces of position information corresponding to the plurality of positions. The image processing unit (141) identifies a similar image from the plurality of reference images and acquires, as relative position information, position information linked to the similar image from the plurality of pieces of position information. The similar image is a reference image that satisfies a similarity condition with respect to the captured image.

[0145] According to this aspect, multiple reference images are stored in advance, and position information linked to similar images that are similar to the captured image is obtained as relative position information, making it easier to determine which work object the captured image corresponds to using the tool (1) alone.

[0146] In a tool system (100) according to a seventh aspect, in any one of the first to fifth aspects, the captured image is a first captured image, the imaging operation is a first imaging operation, and the imaging range is a first imaging range. The position detection system (10) includes an imaging device (2) provided at a reference position within a predetermined area (A1) in which the tool (1) can be present, and an image processing device (3). The imaging device (2) repeatedly performs a second imaging operation. The second imaging operation is an operation of capturing an image of the second imaging range to acquire a second captured image. The second imaging range is a range that includes the work object and at least one of the tool (1) and the worker performing the work with the tool (1). The image processing device (3) performs a detection process based on the second captured image each time the second imaging operation is performed. The second captured image is an image acquired by the second imaging operation that satisfies a simultaneity condition with the first imaging operation. The history storage unit (152) stores history information in which the first captured image acquired by the first imaging operation is linked to relative position information acquired based on the second captured image.

[0147] According to this aspect, by using an imaging device (2) and an image processing device (3) separate from the tool (1), the configuration of the tool (1) can be simplified while facilitating determination of which work object the image captured by the imaging unit (12) mounted on the tool (1) corresponds to.

[0148] In a tool system (100) according to an eighth aspect, in any one of the first to fifth aspects, the relative position is a first relative position, and the relative position information is first relative position information. The position detection system (10) includes a radio wave sensor (4) and a wireless positioning device (5). The radio wave sensor (4) detects radio waves propagating between the tool (1) and a reference position within a predetermined area (A1) in which the tool (1) can be present. The wireless positioning device (5) performs wireless positioning processing based on the detection result of the radio wave sensor (4). The wireless positioning processing includes a second detection processing and a first detection processing. The second detection processing is processing for detecting a second relative position, which is a relative position of the tool (1) with respect to the reference position, and acquiring second relative position information. The first detection processing is processing for detecting a first relative position based on reference position information indicating the reference position and the second relative position information, and acquiring first relative position information. The history storage unit (152) stores history information in which an image captured by an imaging operation is linked to first relative position information acquired based on second relative position information acquired by a radio positioning process performed simultaneously with the imaging operation.

[0149] In the eighth aspect, the radio wave sensor (4) may be provided at a reference position and detect radio waves from the tool (1). Alternatively, the radio wave sensor (4) may be mounted on the tool (1) and detect radio waves from an antenna provided at a reference position.

[0150] According to this aspect, by using the radio wave sensor (4) and the wireless positioning device (5) together to determine the relative position (second relative position) of the tool (1) with respect to a reference position, and then determining the relative position (first relative position) of the tool (1) with respect to the work object based on the second relative position, it is possible to reduce the processing required to obtain the first relative position information linked to the captured image while making it easier to determine which work object the captured image corresponds to.

[0151] A tool system (100) according to a ninth aspect is any one of the first to eighth aspects, further comprising a motion detection unit (16) mounted on the tool (1). The motion detection unit (16) detects the motion of the tool (1). The position detection system (10) calculates at least one of the travel distance and rotation angle of the tool (1) based on the detection result of the motion detection unit (16), and acquires relative position information in consideration of the calculation result.

[0152] According to this aspect, by using the detection results of the movement detection unit (16) mounted on the tool (1) in addition, the accuracy of the relative position information can be improved.

[0153] REFERENCE SIGNS LIST 100 Tool system 1 Tool 10 Position detection system 11 Driving unit 12 Imaging unit 13 Torque measurement unit 141 Image processing unit 150 Reference image storage unit 151 Temporary storage unit 152 History storage unit 16 Movement detection unit 2 Imaging device 3 Image processing device 4 Radio wave sensor 5 Wireless positioning device A1 Predetermined area

Claims

1. A tool system comprising: a portable tool having a drive unit operated by power from a power source, the drive unit performing work on a work object; an imaging unit mounted on the tool and repeatedly performing an imaging operation of imaging an imaging range including at least a portion of the work object to obtain an image; a position detection system that executes a detection process each time the imaging operation is performed, the detection process detecting the relative position of the tool with respect to the work object and obtaining relative position information; and a history memory unit that stores history information in which the image obtained by the imaging operation is linked to the relative position information obtained by the detection process corresponding to the imaging operation.

2. A tool system as described in claim 1, wherein the work is a tightening operation on a workpiece to be tightened, and the tool system further comprises a temporary memory unit which, each time the tightening operation is performed, temporarily stores the image acquired by the imaging operation in association with imaging time information indicating the time at which the tightening operation was performed, and which, each time the detection process is performed, temporarily stores the relative position information acquired by the detection process in association with position detection time information indicating the time at which the detection process was performed, and the history memory unit stores the history information in which the relative position information is linked to the captured image based on the captured image and the relative position information that satisfy the linking condition that the difference between the imaging time information associated with the captured image and the position detection time information associated with the relative position information is equal to or less than a threshold value, among the multiple captured images and multiple pieces of relative position information temporarily stored in the temporary memory unit.

3. The tool system of claim 1, wherein the operation is a tightening operation on a workpiece to be tightened, the tool further comprises a torque measurement unit which executes a measurement process for measuring the tightening torque of the tightening operation and obtaining a torque measurement value while the tightening operation is being performed, and the history memory unit stores the history information in which the relative position information and the torque measurement value are linked to the image acquired by the imaging operation when the tightening operation is being performed.

4. The tool system of claim 3, wherein the history memory unit stores the history information in which the relative position information and the torque measurement value are linked to the captured image acquired with a time difference of less than a predetermined time from the tightening operation each time the tightening operation is performed.

5. A temporary storage unit which, each time the tightening operation is performed, temporarily stores the captured image acquired by the imaging operation in association with imaging time information indicating the time when the tightening operation was performed, and, each time the detection process is performed, temporarily stores the relative position information acquired by the detection process in association with position detection time information indicating the time when the detection process was performed, and, each time the tightening operation is performed, temporarily stores the torque measurement value acquired by the torque measurement unit in association with work start time information indicating the time when the tightening operation was started and work end time information indicating the time when the tightening operation was ended, and the history storage unit stores the history information in which the captured image is associated with the relative position information based on the captured image and the relative position information which satisfy a first linking condition that a difference between the imaging time information associated with the captured image and the position detection time information associated with the relative position information is equal to or less than a first threshold value, among the multiple captured images and multiple pieces of relative position information temporarily stored in the temporary storage unit, The tool system of claim 4, wherein when the torque measurement value is temporarily stored in the temporary memory unit, the torque measurement value is further linked to at least one of two of the multiple pieces of history information stored in the history memory unit, in which the relative position information is linked to the captured image, and which satisfy a second linking condition that the imaging time information is earlier than the work start time information by a second threshold value or less, or the imaging time information is later than the work end time information by a third threshold value or less.

6. The tool system according to any one of claims 1 to 5, wherein the position detection system comprises: a reference image storage unit that stores a plurality of reference images captured from a plurality of different positions within a specified area in which the tool can be present, each of the reference images being linked to a plurality of position information corresponding to the plurality of positions; and an image processing unit that identifies a similar image from the plurality of reference images, which is a reference image that satisfies a similarity condition between the captured image, and acquires, from the plurality of position information, the position information linked to the similar image as the relative position information.

7. A tool system according to any one of claims 1 to 5, wherein the captured image is a first captured image, the imaging operation is a first imaging operation, the imaging range is a first imaging range, and the position detection system comprises: an imaging device that is provided at a reference position within a predetermined area in which the tool can be present, and that repeatedly performs a second imaging operation of capturing an image of a second imaging range including the work object and at least one of the tool and a worker performing the work with the tool to obtain a second captured image, and an image processing device that performs the detection process based on the second captured image each time the second imaging operation is performed, and the history memory unit stores the history information in which the first captured image obtained by the first imaging operation is linked to the relative position information obtained based on the second captured image obtained by the second imaging operation that satisfies a simultaneity condition with the first imaging operation.

8. A tool system according to any one of claims 1 to 5, wherein the relative position is a first relative position, and the relative position information is first relative position information, the position detection system comprises: a radio wave sensor that detects radio waves propagating between the tool and a reference position within a predetermined area in which the tool can be present; and a radio positioning device that executes radio positioning processing including: a second detection process that detects a second relative position, which is a relative position of the tool with respect to the reference position, based on a detection result of the radio wave sensor, and acquires second relative position information, and a first detection process that detects the first relative position based on reference position information indicating the reference position and the second relative position information, and acquires the first relative position information, and the history memory unit stores the history information in which the first relative position information acquired based on the second relative position information acquired by the radio positioning processing performed simultaneously with the imaging operation is linked to the image acquired by the imaging operation.

9. A tool system according to any one of claims 1 to 8, further comprising a motion detection unit mounted on the tool and detecting the motion of the tool, wherein the position detection system calculates at least one of a travel distance and a rotation angle of the tool based on a detection result of the motion detection unit, and acquires the relative position information by taking into consideration the calculation result.

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