JP7672240B2 - Working and display devices - Google Patents

Description

The present invention relates to a work device and a display device.

There is known a welding device that performs welding by remotely operating a robot arm to which a welding tool is attached (see, for example, Patent Document 1). In the welding device described in Patent Document 1, an image acquisition device installed on the robot arm can acquire images of the welding tool and the object to be welded (workpiece). Then, an operator can perform remote operation while visually checking the image displayed on a screen (monitor).

Special table 2019-505391 publication

However, in the welding device described in Patent Document 1, depending on the positional relationship between the image acquisition device and the workpiece, i.e., the image capturing direction of the image acquisition device relative to the workpiece, the worker may not be able to get a sense of distance in the depth direction of the workpiece. In this case, there is a problem that it is difficult to perform accurate welding work.
An object of the present invention is to provide a working device and a display device that enable an operator to easily grasp the sense of distance in the depth direction of a workpiece when performing remote operation.

One aspect of the working device of the present invention is a working unit that performs work on a workpiece,
A remote control unit that performs remote control to move the working unit;
An imaging unit that captures an image including the working unit and the workpiece;
a display unit that displays the image captured by the imaging unit,
The display unit is characterized in that, in addition to displaying both the working unit and the work on the image displayed on the display unit, it displays a marker that enables the depth direction of the work to be grasped when performing the remote operation and enables the positional relationship between the working unit and the work in the depth direction to be grasped, and the marker's position in the depth direction does not move as the working unit moves along the central axis of the working unit .

One aspect of the display device of the present invention is a display device comprising: a working unit that performs work on a workpiece;
A remote control unit that performs remote control to move the working unit;
A display device used together with an imaging unit that captures an image of the working unit and the workpiece,
a display unit that displays the image captured by the imaging unit,
The display unit is characterized in that, in addition to displaying both the working unit and the work on the image displayed on the display unit, it displays a marker that enables the depth direction of the work to be grasped when performing the remote operation and enables the positional relationship between the working unit and the work in the depth direction to be grasped, and the marker's position in the depth direction does not move as the working unit moves along the central axis of the working unit .

According to the present invention, for example, when a laser beam is irradiated toward a workpiece, the laser beam that strikes the workpiece can be displayed on the image on the display unit and can function as a marker for grasping the depth of the plate material. This allows the worker to visually recognize the marker when performing remote operation and easily grasp the sense of distance in the depth direction of the workpiece. This allows work to be performed accurately by remote operation.

FIG. 1 is a perspective view showing a first embodiment of a working device according to the present invention. FIG. 2 is an image diagram showing a remote control state of the working device shown in FIG. FIG. 3 is a block diagram of a main part of the working device shown in FIG. FIG. 4 shows an image displayed on the display device in the first embodiment of the present invention. FIG. 5 shows an image displayed on a display device in the second embodiment of the present invention. FIG. 6 is a vertical sectional side view showing a third embodiment of the present invention. FIG. 7 shows an image displayed on a display device in the third embodiment of the present invention. FIG. 8 shows an image displayed on a display device in the fourth embodiment of the present invention. FIG. 9 shows an image displayed on a display device in the fifth embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a working device and a display device of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
In the following, for convenience of explanation, the upper side in Figures 1, 2, and 4 to 7 will be referred to as "upper (or upper)" and the lower side will be referred to as "lower (or lower)". Also, for convenience of explanation, three axes that are orthogonal (intersect) with each other are set as the X-axis, Y-axis, and Z-axis. As an example, the XY plane including the X-axis and Y-axis is horizontal, and the Z-axis is vertical.

First Embodiment
A first embodiment of a working device and a display device of the present invention will be described with reference to FIGS. 1 to 4. FIG.
The working device (working system) 1 includes a welding vehicle 10 (see FIG. 1), a remote control device 2 (see FIG. 2), a display device 3 (see FIG. 2), and a control device 4 (see FIG. 3).

1, a welding vehicle 10 is a welding robot (work vehicle) that moves in the direction of an arrow α on horizontally placed iron plate materials (steel plates) 20, welding workpieces to be welded, i.e., the plate materials 20 together. After welding, the plate materials 20 are used, for example, as a floor.
The welding vehicle 10 is a vehicle that includes a vehicle body 11, a welding device 12, four wheels 18, and a drive unit 16 that drives and rotates each of the wheels 18.
As shown in FIGS. 2 and 3 , the welding vehicle 10 is equipped with an imaging unit 17 and a laser light irradiation unit 19 .

The vehicle body 11 has a rotation support portion (support portion) 13 that rotatably supports each wheel 18 (wheel main body).
Further, a driving unit 16 is fixed to the outside of each rotation support part 13. The driving unit 16 is formed of, for example, a gear motor (geared motor) and is connected to wheels 18. The wheels 18 can be rotated by operating the driving unit 16. This rotation allows the welding vehicle 10 to travel with the front surface (upper surface) of the plate material 20 as a travel surface 201.
In this embodiment, the number of wheels 18 is four, but is not limited to this.

A welding device 12 is mounted on a vehicle body 11. The welding device 12 includes a torch (welding torch) 14 and a displacement mechanism 15 that supports the torch 14 so that the torch 14 can be displaced.
The torch 14 is a working unit that performs a welding operation on the plate materials 20. The torch 14 is configured to perform arc welding by arc discharge. By this arc welding, the plate materials 20 can be easily and firmly welded together.
Before welding, a groove 202 is formed between the plate materials 20. Then, a wire (not shown) is melted by the torch 14, and the groove 202 is filled with the molten material, thereby welding the plate materials 20 to each other.
The groove 202 may have a total length of 5 m or more, a width of about 5 mm, and a depth of about 10 mm, depending on the application of the plate material 20, for example.
In this embodiment, the longitudinal direction of the groove 202 is parallel to the X-axis direction, the width direction of the groove 202 is parallel to the Y-axis direction, and the depth direction of the groove 202 is parallel to the Z-axis direction.

The displacement mechanism 15 has a first moving mechanism 151 , a second moving mechanism 152 , a third moving mechanism 153 , and a rotation mechanism (angle adjustment mechanism) 154 .
The first moving mechanism 151 is a mechanism that moves the torch 14 relative to the vehicle body 11 in a direction parallel to the direction of the arrow α (X-axis direction).

A second moving mechanism 152 is connected to the first moving mechanism 151. The second moving mechanism 152 is a mechanism that moves the torch 14 relative to the vehicle body 11 in a direction perpendicular to the direction of the arrow α (Y-axis direction).
A third moving mechanism 153 is connected to the second moving mechanism 152. The third moving mechanism 153 is a mechanism that moves the torch 14 in the vertical direction (Z-axis direction) relative to the vehicle body 11.

A rotating mechanism 154 is connected to the third moving mechanism 153. The rotating mechanism 154 is connected to the torch 14 via a connecting portion 155. The rotating mechanism 154 is a mechanism that rotates the torch 14 about a horizontal axis relative to the vehicle body 11.
The displacement mechanism 15 configured in this manner makes it possible to appropriately change the position and attitude of the torch 14 with respect to the joint between the plate materials 20, making it easy to perform welding.

2, the imaging unit 17 is connected to and supported by the torch 14 via a connecting member 171. The imaging unit 17 is configured with, for example, a CMOS camera or a CCD camera, and can capture an image including the torch 14 and the plate material 20.
The torch 14 also supports a laser beam irradiation unit 19. The laser beam irradiation unit 19 irradiates the plate material 20 including the grooves 202 with a laser beam LB.

2, the remote control device 2 is a device with which a worker (operator) WK remotely controls the welding vehicle 10 in a separate room or the like away from the welding vehicle 10. Therefore, the working device 1 is a leader-follower system in which the welding vehicle 10 follows the operation of the worker WK without delay.
The remote control device 2 has a remote control unit 21 that is held by an operator WK and can apply force in a desired direction.

When the worker WK operates the remote control unit 21 by applying a force in the X-axis direction, the torch 14 can be moved in the X-axis direction via the first moving mechanism 151 of the displacement mechanism 15 .
Similarly, when the worker WK operates the remote control unit 21 by applying a force in the Y-axis direction, the worker WK can move the torch 14 in the Y-axis direction via the second moving mechanism 152 of the displacement mechanism 15 .
Furthermore, when the worker WK operates the remote control unit 21 by applying a force in the Z-axis direction, the torch 14 can be moved in the Z-axis direction via the third movement mechanism 153 of the displacement mechanism 15 .
The remote control unit 21 can operate the displacement mechanism 15 to perform remote control to move the torch 14 in the X-axis direction, the Y-axis direction, and the Z-axis direction. The remote control unit 21 is not particularly limited, and for example, a joystick or the like can be used.

In addition, in the working device 1, a display device 3 is also used in addition to the welding vehicle 10 and the remote control device 2.
3, the display device 3 has a display unit 31. The display unit 31 is configured with a liquid crystal display, an organic EL display, or the like, and can display an image captured by the imaging unit 17. The worker WK can perform remote operation while visually checking the image displayed on the display unit 31.

The control device 4 is configured, for example, by a personal computer. The control device 4 is electrically connected to the welding vehicle 10, the remote control device 2, and the display device 3, and can control the operations of these devices. Note that the "electrical connection" may refer to either a wireless connection or a wired connection.
The control device 4 includes a CPU 41 , a storage unit 42 , and a transmission unit 43 .
The CPU 41 can execute programs and the like stored in the storage unit 42 .
The transmitting unit 43 can transmit an input signal, i.e., a command, from the remote control device 2 to the receiving unit 101 of the welding vehicle 10. The receiving unit 101 can receive the input signal from the remote control device 2. This allows the welding vehicle 10 to be remotely operated in accordance with the input signal.

As described above, the display unit 31 can display the image captured by the imaging unit 17. The worker WK can perform remote control while visually checking the image displayed on the display unit 31.
As shown in Fig. 2, in this embodiment, the imaging unit 17 captures images from the positive side in the X-axis direction, that is, from the front in the traveling direction of the welding vehicle 10. In this case, the torch 14 and the plate material 20 are displayed in a planar manner on the display unit 31 (see Fig. 4). Therefore, the worker WK may not be able to grasp the sense of distance in the depth direction of the plate material 20, that is, the accurate positional relationship between the torch 14 and the plate material 20 in the X-axis direction. Then, it becomes difficult for the worker WK to accurately grasp where on the plate material 20 the heated spot HP by the torch 14 is actually located.

Therefore, the working device 1 is configured to eliminate such problems. The configuration and operation of the working device 1 will be described below.
2, the laser light irradiation unit 19 is disposed at the same position in the X-axis direction as the torch 14 and adjacent to the positive side of the Y-axis direction of the torch 14. As a result, the laser light LB from the laser light irradiation unit 19 is irradiated at the same position in the X-axis direction as the torch 14.
Further, the laser light irradiation unit 19 irradiates a spot laser light as the laser light LB.
The laser light LB hits in a dot state on at least one of the side surface 203 and the bottom surface 204 of the groove 202. In the present embodiment, as an example, the laser light LB hits the side surface 203 of the groove 202.

At this time, an image in the state shown in Fig. 4 is displayed on the display unit 31. In the image shown in Fig. 4, the laser light LB hits the side surface 203 of the groove 202 and is displayed on the side surface 203 as a dot DT.
Using the dots DT as a guide (marker), the worker WK can easily get a sense of distance in the depth direction of the plate material 20. This allows the worker WK to accurately grasp where on the plate material 20 the heated spot HP by the torch 14 is actually located.

For example, in the case of this embodiment, the heating point HP by the torch 14 is near the intersection CP between a straight line SL1 that passes through the torch 14 in the Z-axis direction and a straight line SL2 that passes through the dot DT in the Y-axis direction. The worker WK can imagine the intersection CP. This allows the worker WK to accurately perform the welding work on the plate material 20.
In addition, in the working device 1, the intersection point CP may be displayed on the image displayed on the display unit 31. This allows the worker WK to perform the welding work on the plate material 20 more accurately.

As described above, in the working device 1, the laser light LB (dot DT) that hits the plate material 20 can be displayed on the image of the display unit 31 to function as a marker MK for grasping the depth of the plate material 20. As a result, when performing remote operation, the worker WK can visually recognize the marker MK in addition to the workpiece image around the torch 14, and can easily grasp the sense of distance in the depth direction of the plate material 20. In other words, since both the working part (torch 14) and the marker MK are displayed on the image of the display unit 31 , the worker WK can easily grasp the depth of the plate material 20 when performing remote operation. As a result, welding work can be performed accurately by remote operation .
The light color (emission color) of the laser light LB is not particularly limited as long as it is a color that can be visually recognized by the worker WK, but may be, for example, a red or green color.

Second Embodiment
Hereinafter, a second embodiment of the working device and display device of the present invention will be described with reference to FIG. 5. The differences from the above-described embodiment will be mainly described, and descriptions of similar points will be omitted.
5, in this embodiment, the laser light irradiation unit 19 is configured to irradiate a line laser light along the Y-axis direction as the laser light LB. This allows the laser light LB to strike in a line state.

At this time, an image in the state shown in Fig. 5 is displayed on the display unit 31. In the image shown in Fig. 5, the laser light LB is displayed as a line LN extending from a part of the top surface of the plate material 20, through the side surface 203 of the groove 202, and to a part of the bottom surface 204.
As in the first embodiment, the worker WK can easily get a sense of the distance in the depth direction of the plate material 20 by using the line LN as a clue.

Third Embodiment
Hereinafter, a third embodiment of the working device and display device of the present invention will be described with reference to FIGS. 6 and 7. The differences from the above-described embodiment will be mainly described, and descriptions of similar points will be omitted.
As shown in Fig. 6, in this embodiment, two laser light irradiation units 19 are provided. Hereinafter, one laser light irradiation unit 19 will be referred to as "laser light irradiation unit 19A" and the other laser light irradiation unit 19 will be referred to as "laser light irradiation unit 19B." In addition, the laser light LB irradiated from the laser light irradiation unit 19A will be referred to as "LB(A)," and the laser light LB irradiated from the laser light irradiation unit 19B will be referred to as "LB(B)."

The laser light irradiating units 19A and 19B are disposed apart from each other in the X-axis direction (depth direction of the plate material 20). The laser light irradiating units 19A and 19B are located at the same position in the Y-axis direction.
By the laser light irradiation units 19A and 19B as described above, an image shown in Fig. 7 is displayed on the display unit 31. In the image shown in Fig. 7, the laser light LB(A) hits the side surface 203 of the groove 202 and is displayed as a dot DT(A) on the side surface 203. In addition, the laser light LB(A) hits a position on the side surface 203 different from the dot DT(A) and is displayed as a dot DT(B) on the side surface 203.

Furthermore, the interval L (DT) between the dots DT(A) and DT(B) is the same as the center-to-center distance L (19) between the laser light irradiation units 19A and 19B. Thus, for example, if the center-to-center distance L (19) is known to be 10 mm, the interval L (DT) is also 10 mm.
By visually checking the screen displayed on the display unit 31, the worker WK can accurately grasp not only the sense of distance in the depth direction of the plate material 20 but also the actual distance on the screen, i.e., the distance L (DT) on the screen is 10 mm. This allows the worker WK to perform accurate welding by adjusting, for example, the amount of movement of the torch 14 or the welding range by the torch 14.
In the present embodiment, the number of laser light irradiation units 19 is two, but is not limited to this and may be three or more.

Fourth Embodiment
Hereinafter, a fourth embodiment of the working device and display device of the present invention will be described with reference to FIG. 8. The differences from the above-described embodiment will be mainly described, and descriptions of similar points will be omitted.
In this embodiment, an image IM shown in the upper left of FIG.
In this embodiment, a three-dimensional shape Q of the surface of the plate material 20 shown in the lower left of Fig. 8 is obtained in advance. Data of this three-dimensional shape Q, i.e., point cloud data indicating the surface shape of the plate material 20, is stored in the storage unit 42. The three-dimensional shape Q is obtained by, for example, a light cutting method.

8, a portion Q1 of the data of the three-dimensional shape Q is superimposed on the image IM as a marker MK on the display unit 31. The portion Q1 of the data is an extracted line-shaped portion of the three-dimensional shape Q that is located at the same position in the X-axis direction as the torch 14.
Then, the worker WK can easily get a sense of the distance in the depth direction of the plate material 20 by using the part of the data Q1 as a clue.
In this embodiment, the display unit 31 displays a portion Q1 of the data, but is not limited to this, and may display, for example, the entire three-dimensional shape Q. In this case, an item corresponding to a part of the portion Q1 of the data may be highlighted.
In this embodiment, the part of data Q1 is displayed on the display unit 31 by a dashed line, but this is not limited thereto, and it may be displayed by, for example, a solid line or other line type.

Fifth Embodiment
Hereinafter, a fifth embodiment of the working device and display device of the present invention will be described with reference to FIG. 9. The differences from the above-described embodiments will be mainly described, and descriptions of similar points will be omitted.
9, in this embodiment, a portion Q1 of the data is superimposed on the image IM as a dot-shaped marker MK on the display unit 31. This allows the worker WK to easily grasp the sense of distance in the depth direction of the plate material 20 by using the portion Q1 of the data as a clue.

Although the working device and the display device of the present invention have been described above in terms of the illustrated embodiment, the present invention is not limited thereto, and each part constituting the working device and the display device can be replaced with any other component capable of exerting the same function. In addition, any other component may be added.
Furthermore, the working device and the display device of the present invention may be a combination of any two or more of the configurations (features) of the above-described embodiments.
Furthermore, the imaging unit 17 captures images from the positive side in the X-axis direction, but is not limited to this. For example, the imaging unit 17 may capture images from the negative side in the X-axis direction.
In addition, in addition to the imaging unit 17, the present invention may further include an imaging unit that captures an image including the torch 14 and the plate material 20 from the Y-axis direction.

1. Work device (work system)
2 Remote control device 21 Remote control unit 3 Display device 31 Display unit 4 Control device 41 CPU
42 Memory unit 43 Transmission unit 10 Welding vehicle 101 Reception unit 11 Vehicle body 12 Welding device 13 Rotation support unit (support unit)
14 Welding torch 15 Displacement mechanism 151 First moving mechanism 152 Second moving mechanism 153 Third moving mechanism 154 Rotation mechanism (angle adjustment mechanism)
155 Connection section 16 Drive section 17 Imaging section 171 Connection member 18 Wheel 19 Laser light irradiation section 19A Laser light irradiation section 19B Laser light irradiation section 20 Plate material (steel plate)
201 Running surface 202 Groove 203 Side surface 204 Bottom surface DT Dot DT(A) Dot DT(B) Dot HP Heated point LB Laser light LB(A) Laser light LB(B) Laser light LN Line L(19) Center distance L(DT) Interval MK Marker Q Three-dimensional shape Q1 Part of data SL1 Straight line SL2 Straight line WK Worker (operator)
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Claims (7)

A working unit that performs work on a workpiece;
A remote control unit that performs remote control to move the working unit;
An imaging unit that captures an image including the working unit and the workpiece;
a display unit that displays the image captured by the imaging unit,
a display unit that displays, on the image displayed on the display unit, in addition to displaying both the working unit and the workpiece, a marker that enables the user to grasp the depth direction of the workpiece when performing the remote operation and enables the user to grasp the positional relationship between the working unit and the workpiece in the depth direction , the marker whose position in the depth direction does not move in conjunction with the movement of the working unit along a central axis of the working unit. A laser light irradiation unit that irradiates a laser light toward the workpiece,
The working device according to claim 1 , wherein the laser light that is incident on the workpiece functions as the marker. The working device according to claim 2, wherein the laser light irradiation unit irradiates spot laser light or line laser light as the laser light. The working device according to claim 2 or 3, wherein the laser light irradiation unit irradiates at least two of the laser lights spaced apart in the depth direction of the workpiece. The workpiece has a groove,
5. The working device according to claim 2, wherein the laser light irradiating section irradiates the laser light toward at least one of a side surface and a bottom surface of the groove. The work device according to any one of claims 1 to 5, wherein the display unit superimposes at least a portion of the point cloud data indicating the surface shape of the workpiece on the image as the marker. A working unit that performs work on a workpiece;
A remote control unit that performs remote control to move the working unit;
A display device used together with an imaging unit that captures an image of the working unit and the workpiece,
a display unit that displays the image captured by the imaging unit,
The display unit displays, on the image displayed on the display unit, in addition to displaying both the working unit and the work, a marker that enables the user to grasp the depth direction of the work when performing the remote operation and the positional relationship between the working unit and the work in the depth direction , and the marker's position in the depth direction does not move as the working unit moves along the central axis of the working unit .

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