WO2019003340A1

WO2019003340A1 - Position detection system

Info

Publication number: WO2019003340A1
Application number: PCT/JP2017/023738
Authority: WO
Inventors: 高志林田; 美紀西尾; 浩延松下; 佑樹福原; 剛志栂野
Original assignee: 三菱電機エンジニアリング株式会社
Priority date: 2017-06-28
Filing date: 2017-06-28
Publication date: 2019-01-03
Also published as: GB2578031A; CN110832413A; JPWO2019003340A1; GB201918547D0

Abstract

The present invention comprises: a vibration detection unit (1) that is attached to a mobile body (12), the vibration detection unit (1) detecting vibration and transmitting a signal that has vibration information and identification information indicating the detected vibration; a transmitter (2) that is attached to the mobile body (12), the transmitter (2) periodically transmitting a signal that has the identification information; a plurality of receivers (3) that receive the signals; an identification unit (402) that identifies, from the identification information possessed by the signals received by the receiver (3), the source from which the signals were transmitted; a position detection unit (403) that detects, from the reception strength of the signals received by the receiver (3) and the identification results obtained from the identification unit (402), the position of the transmitter (2) that is the source from which the signals were transmitted; and a work status detection unit (404) that detects, from the vibration information possessed by the signals received by the receiver (3), the identification results obtained from the identification unit (402), and the detection results obtained from the position detection unit (403), the work status with respect to the mobile body (12) to which the vibration detection unit (1) that is the source from which the signals were transmitted is attached, or a work object (11) disposed on the mobile body (12).

Description

Position detection system

The present invention relates to a position detection system that detects the position of a movable body on which a work object is placed and the work state of the movable body or the work object placed on the movable body.

Conventionally, as a device for detecting the position of a worker, for example, a device disclosed in Patent Document 1 is known. In the apparatus disclosed in Patent Document 1, the position of the worker is detected using an ultrasonic transmitter mounted on a helmet of the worker and an ultrasonic receiver installed on an industrial vehicle.

JP, 2010-20548, A

However, in the device disclosed in Patent Document 1, there is a problem that the work state by the worker can not be detected. Further, in the apparatus disclosed in Patent Document 1, since the ultrasonic transmitter is attached to the helmet of the worker, there is a problem that the burden on the worker is large.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a position detection system capable of detecting an operation state without putting a burden on the operator.

A position detection system according to the present invention is attached to a movable body on which a work object is placed, detects a vibration, and transmits a signal having vibration information indicating the detected vibration and identification information; The transmitter of the signal is attached from a transmitter attached to the mobile body and periodically transmitting a signal having identification information, a plurality of receivers receiving the signal, and identification information of the signal received by the receiver. A position detection unit that detects the position of a transmitter that is a transmission source of the signal from the identification unit that identifies, the reception strength of the signal received by the receiver, and the identification result by the identification unit, and the signal received by the receiver From the vibration information possessed by the identification unit, the identification result by the identification unit and the detection result by the position detection unit, the mobile unit attached with the vibration detection unit that is the transmission source of the signal or the work object mounted on the mobile unit Characterized in that a work state detection unit that detects a working state that.

According to this invention, since it comprised as mentioned above, it can detect an operation state, without putting a burden on an operator.

It is a figure which shows the structural example of the position detection system which concerns on Embodiment 1 of this invention. It is a figure which shows the structural example of the control apparatus in Embodiment 1 of this invention. It is a figure which shows the structural example of the production spot where the position detection system which concerns on Embodiment 1 of this invention is applied. It is a flowchart which shows the operation example of the position detection system which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the reception result by the receiver in Embodiment 1 of this invention. It is a figure which shows the operation example of the position detection system which concerns on Embodiment 1 of this invention. The position detection system which concerns on Embodiment 1 of this invention WHEREIN: It is a figure explaining the case where a working state is detected by a vibration pattern. The position detection system which concerns on Embodiment 1 of this invention WHEREIN: It is a figure explaining the case where a working state is detected by a vibration pattern, and is a figure which shows the case where a vibration pattern is registered for every process. The position detection system which concerns on Embodiment 1 of this invention WHEREIN: It is a figure explaining the case where a working state is detected by a vibration pattern, and is a figure which shows the case where the vibration pattern for every process is changed. It is a figure which shows the structural example of the transmission side in the position detection system which concerns on Embodiment 2 of this invention. It is a figure which shows the structural example of the control apparatus in Embodiment 2 of this invention. It is a flowchart which shows the operation example of the position detection system which concerns on Embodiment 2 of this invention. It is a figure which shows the structural example of the transmission side in the position detection system which concerns on Embodiment 3 of this invention. It is a figure which shows the structural example of the control apparatus in Embodiment 3 of this invention. FIGS. 15A and 15B are diagrams showing an example of a hardware configuration of a control device according to Embodiment 1-4 of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1
FIG. 1 is a view showing a configuration example of a position detection system according to Embodiment 1 of the present invention.
The position detection system detects the position of a carriage (mobile body) 12 on which a work object 11 (see FIG. 6 etc.) such as a product is placed at a production site, and places the carriage 12 or the carriage 12 on it. The work state of the worker with respect to the work object 11 thus detected is detected. In addition, one or more carriages 12 are used at a production site. As shown in FIG. 1, the position detection system includes a vibration detection unit 1, a transmitter 2, a plurality of receivers 3, and a control device 4. In the example of FIG. 1, two receivers 3 are shown.

The vibration detection unit 1 is attached to the carriage 12 and detects vibration. Then, each time the vibration detection unit 1 detects a vibration, the vibration detection unit 1 transmits a signal including vibration information indicating the detected vibration and identification information for identifying itself (the vibration detection unit 1) to the outside. The signal transmitted from the vibration detection unit 1 is set to have a high radio wave intensity so that the receiver 3 does not miss it. As this vibration detection part 1, a vibration sensor is mentioned, for example.

The transmitter 2 is attached to the carriage 12 and periodically (for example, every 0.5 seconds) transmits a signal having identification information for identifying itself (the transmitter 2) to the outside.

The receiver 3 receives a signal. The receiver 3 is disposed, for example, for each process at a production site.

The control device 4 processes the reception result by the receiver 3. As shown in FIG. 2, the control device 4 includes a storage unit 401, an identification unit 402, a position detection unit 403, and a work state detection unit 404.

The storage unit 401 stores identification information of the vibration detection unit 1 and the transmitter 2. The storage unit 401 also stores the correspondence between the vibration detection unit 1 and the transmitter 2. The storage unit 401 is, for example, a nonvolatile or volatile semiconductor memory such as a random access memory (RAM), a read only memory (ROM), a flash memory, an EPROM (erasable programmable ROM), an EEPROM (electrically EPROM), or the like. , Magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Disc), etc.

The identification unit 402 identifies the transmission source of the signal from the identification information included in the signal received by the receiver 3. At this time, the identification unit 402 identifies the transmission source of the signal by collating the identification information of the signal received by the receiver 3 with the identification information stored in the storage unit 401.

The position detection unit 403 detects the position of the transmitter 2 that is the transmission source of the signal from the reception strength of the signal received by the receiver 3 and the identification result by the identification unit 402. At this time, the position detection unit 403 first specifies the receiver 3 with the highest reception strength of the signal from the transmitter 2 that is the detection target identified by the identification unit 402 among the plurality of receivers 3. Then, the position detection unit 403 detects an area (for example, a process) in which the specified receiver 3 is arranged as the position of the transmitter 2.

The work state detection unit 404 is attached with the vibration detection unit 1 that is a transmission source of the signal from the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403. The working condition of the work vehicle 11 or the work object 11 placed on the work vehicle 12 is detected by the worker. At this time, the work state detection unit 404 includes vibration information included in the signal from the vibration detection unit 1 as a detection target identified by the identification unit 402 and a transmitter attached to the same carriage 12 as the vibration detection unit 1. The work state is detected from the position 2.

Next, an operation example of the position detection system according to the first embodiment will be described with reference to FIGS. 3 to 5.
In the following, it is assumed that the production line method at the production site is the cell production method. At this production site, for example, as shown in FIG. 3, a plurality of processes (cells) are provided. Then, one or a plurality of workers are arranged for one or a plurality of processes, and the workers perform the work on the work object 11 placed on the carriage 12. In addition, there is also a process in which no worker is disposed and no work is performed. Moreover, the stop position of the trolley | bogie 12 is decided for every process. Further, the dolly 12 may be moved to the next process by the worker who has performed the work in the previous process, or may be withdrawn from the previous process by the worker who performs the work in the next process. After the carriage 12 stops at the stop position, the operator sets the parts if necessary to mount the parts, and then takes a tool to perform work. The worker may work without moving and may work while moving around the carriage 12.

On the other hand, the storage unit 401 stores in advance identification information of the vibration detection unit 1 and the transmitter 2 and the correspondence between the vibration detection unit 1 and the transmitter 2. Further, one set of the vibration detection unit 1 and the transmitter 2 are attached to the carriage 12. For example, two vibration sensors having the functions of vibration detection and position beacon can be used as one set of the vibration detection unit 1 and the transmitter 2. Then, the vibration detection unit 1 detects a vibration and transmits a signal including vibration information and identification information indicating the detected vibration to the outside. The transmitter 2 periodically transmits a signal having identification information to the outside. Also, a plurality of receivers 3 are arranged for each process and receive signals.

Then, in the control device 4, as shown in FIG. 4, the identification unit 402 first identifies the transmission source of the signal from the identification information possessed by the signal received by the receiver 3 (step ST401). At this time, the identification unit 402 identifies the transmission source of the signal by collating the identification information of the signal received by the receiver 3 with the identification information stored in the storage unit 401.

Next, the position detection unit 403 detects the position of the transmitter 2 that is the transmission source of the signal from the reception strength of the signal received by the receiver 3 and the identification result by the identification unit 402 (step ST402). At this time, the position detection unit 403 first specifies the receiver 3 with the highest reception strength of the signal from the transmitter 2 that is the detection target identified by the identification unit 402 among the plurality of receivers 3. Then, the position detection unit 403 detects, as the position of the transmitter 2, the process in which the specified receiver 3 is arranged.
As described above, the transmitter 2 periodically transmitting a signal is attached to the carriage 12 and the plurality of receivers 3 are arranged at the production site, so that the control device 4 receives the signal of the signal received by the receiver 3. The position of the transmitter 2 can be detected from the reception intensity. Therefore, the control device 4 can detect the position of the carriage 12 to which the transmitter 2 is attached. In addition, when the control device 4 determines that the bogie 12 has stopped at the stop position of the process, the control device 4 can instruct the operator to start the operation by displaying (screen display or light) or by voice.

The work state detection unit 404 also receives the vibration information of the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403, the vibration detection unit 1 that is the transmission source of the signal. The work condition by the worker with respect to the mounted carriage 12 or the work object 11 placed on the carriage 12 is detected (step ST403). At this time, the work state detection unit 404 includes vibration information included in the signal from the vibration detection unit 1 as a detection target identified by the identification unit 402 and a transmitter attached to the same carriage 12 as the vibration detection unit 1. The work state is detected from the position 2.
As described above, the vibration detection unit 1 for detecting the vibration is attached to the carriage 12, so that the control device 4 detects the vibration detected by the vibration detection unit 1 and the detection result by the position detection unit 403. The presence or absence of movement or the presence or absence of work on the work object 11 placed on the carriage 12 can be detected.

FIG. 5 shows the result of reception of signals by the receiver 3 arranged in a specific process. In FIG. 5, the horizontal axis indicates time, and the vertical axis indicates reception intensity. Further, in FIG. 5, reference numeral 501 indicates a signal transmitted by the transmitter 2 attached to the specific carriage 12. Reference numeral 502 denotes vibration (acceleration) in the x-axis direction detected by the vibration detection unit 1 attached to the specific carriage 12, and reference numeral 503 denotes vibration in the y-axis direction detected by the vibration detection unit 1. The (acceleration) is shown, and reference numeral 504 indicates the vibration (acceleration) in the z-axis direction detected by the vibration detection unit 1.

In FIG. 5, since the reception intensity of the signal 501 by the receiver 3 is low in the time zone 505, the position detection unit 403 determines that the specific carriage 12 is not positioned in the specific process. In the time zone 505, the vibrations 502 to 504 are detected by the vibration detection unit 1. Therefore, the work state detection unit 404 determines that the cart 12 is moving from the detection result of the position detection unit 403 and the vibrations 502 to 504.
On the other hand, in the time zone 506, since the reception intensity of the signal 501 by the receiver 3 is high, the position detection unit 403 determines that the specific truck 12 is located in the specific process. Further, in the time zone 506, the vibrations 502 to 504 are detected by the vibration detection unit 1. Therefore, the work state detection unit 404 determines from the detection result of the position detection unit 403 and the vibrations 502 to 504 that the work on the work object 11 placed on the carriage 12 is being performed.

Further, as shown in FIG. 5, in the time zone 505 in which the carriage 12 is moving, the reception intensity of the signal 501 is displaced, and in the time zone 506 in which the carriage 12 is stopped, the reception intensity of the signal 501 is substantially constant. It has become. Therefore, the work state detection unit 404 may detect the work state in consideration of the displacement of the reception intensity of the signal 501.

Then, from the position of the carriage 12 detected by the position detection unit 403 and the work condition for the carriage 12 detected by the work condition detection unit 404 or the work object 11 placed on the carriage 12, the control device 4 , Manage progress at the production site.

In FIG. 6, the control device 4 uses three receivers 12-1 to 12-3 or corresponding carriers 12-1 using the receivers 3-1 to 3-4 respectively disposed in the first to fourth steps. A case of detecting the work state of the work object 11 placed on the positions .about.12-3 is shown. The upper part in FIG. 6 is mounted on the positional relationship between the receivers 3-1 to 3-4 and the carriages 12-1 to 12-3 and the carriages 12-1 to 12-3 or the carriages 12-1 to 12-3. The work state for the work object 11 is shown. The lower part in FIG. 6 shows the reception results of the signals by the receivers 3-1 to 3-4.
In FIG. 6, the receiver 3-1 disposed in the first step and the receiver 3-2 disposed in the second step indicate the vibrations detected by the vibration detection unit 1 attached to the carriage 12-1. A signal including vibration information and a signal transmitted by the transmitter 2 are received. Further, in the receiver 3-1, the reception strength of the signal from the transmitter 2 gradually decreases, and in the receiver 3-2, the reception strength of the signal from the transmitter 2 gradually increases. That is, from the reception result by the receiver 3-1 and the receiver 3-2, vibration is detected by the vibration detection unit 1 attached to the carriage 12-1, and the carriage 12-1 is separated from the receiver 3-1. Also, it can be seen that the receiver 3-2 is approaching. Therefore, the control device 4 determines that the carriage 12-1 is moving from the first process side to the second process side.

Further, in FIG. 6, the receiver 3-3 arranged in the third step and the receiver 3-4 arranged in the fourth step detect the vibration detected by the vibration detection unit 1 attached to the carriage 12-2. A signal including vibration information shown and a signal transmitted by the transmitter 2 are received. Further, there is no change in the reception strength of the signal from the transmitter 2 in the receiver 3-3 and the receiver 3-4, and the reception strength of the signal in the receiver 3-3 is the same as that in the receiver 3-4. High for received signal strength. That is, from the reception result by the receiver 3-3 and the receiver 3-4, the vibration is detected by the vibration detection unit 1 attached to the truck 12-2, and the truck 12-2 is close to the receiver 3-3 And it can be seen that it is far from the receiver 3-4. Therefore, the control device 4 determines that work is being performed on the work object 11 placed on the carriage 12-2 in the third step.

Further, in FIG. 6, the receiver 3-4 disposed in the fourth step receives a signal transmitted by the transmitter 2 attached to the carriage 12-3, and the reception intensity is high. The receiver 3-4 does not receive the signal from the vibration detection unit 1 attached to the carriage 12-3. That is, from the reception result by the receiver 3-4, it is understood that the vibration is not detected by the vibration detection unit 1 attached to the carriage 12-3, and the carriage 12-3 is close to the receiver 3-4. Therefore, the control device 4 determines that the dolly 12-3 is stopped in the fourth step.

As described above, according to the first embodiment, the vibration detection unit 1 is attached to the carriage 12 to detect vibration and transmits a signal having vibration information and identification information indicating the detected vibration, and the carriage 12 From the transmitter 2 for transmitting a signal having identification information periodically, the plurality of receivers 3 for receiving the signal, and the identification information of the signal received by the receiver 3, the transmission source of the signal And a position detection unit 403 for detecting the position of the transmitter 2 that is the transmission source of the signal from the reception strength of the signal received by the receiver 3 and the identification result by the identification unit 402; From the vibration information possessed by the signal received by the machine 3, the identification result by the identification unit 402 and the detection result by the position detection unit 403, the carriage 12 to which the vibration detection unit 1 as the transmission source of the signal is attached Since a work state detection unit 404 for detecting the working state for the work object 11 placed on 該台 wheel 12, and can detect the work state. Further, since the vibration detection unit 1 and the transmitter 2 are attached to the carriage 12, the burden on the worker is reduced compared to the prior art.

In addition, in the above, the case where the production line system in a production field is a cell production system, and the trolley | bogie 12 was used as a mobile was shown. However, the present invention is not limited to this, as long as the mobile object is one on which the work object 11 is placed. For example, even when the production line system is the line production system and a belt conveyor is used as the movable body, the position detection system according to the first embodiment can be applied.

Further, in the above, the position detection unit 403 identifies the receiver 3 having the highest reception strength of the signal from the transmitter 2 which is the detection target identified by the identification unit 402 among the plurality of receivers 3, and identifies the receiver 3 The case where the area where the receiver 3 is placed is detected as the position of the transmitter 2 is shown. However, not limited to this, the position detection unit 403 may detect the position of the transmitter 2 based on the difference in the reception intensity of the signal from the transmitter 2 in the plurality of receivers 3. As described above, position detection using the plurality of receivers 3 enables more detailed position detection in the area.

Moreover, in the above, the case where the operation | work state detection part 404 detects an operation | work state was shown using the presence or absence of the vibration which the vibration information which the signal received by the receiver 3 shows shows. However, the present invention is not limited to this. For example, the work state detection unit 404 may detect the work state by machine learning using a vibration pattern indicated by vibration information included in the signal received by the receiver 3. In this case, the work state detection unit 404 machine-learns a vibration pattern from the vibration detected by the vibration detection unit 1 in advance when the corresponding work is performed by the manager (the length of the work place or the like). . As a result, the work state detection unit 404 can detect the contents of the work on the work object 11.

In a production site, a plurality of operations are usually performed in each process. Therefore, the work state detection unit 404 performs work state detection using a vast number of vibration patterns. For example, FIG. 7 shows a case where a plurality of steps (first to ninth) exist and 45 operations are performed in total, and the operation state detection unit 404 uses 45 vibration patterns in each step. It shows the case where the operation state detection is performed. In this case, the process in the work state detection unit 404 takes time.

Therefore, in such a case, in advance, with respect to the work state detection unit 404, the work content to be performed for each process and the corresponding vibration pattern are associated and registered. Thereby, the number of vibration patterns used in each process can be reduced, and the processing in the work state detection unit 404 can be shortened. The example shown in FIG. 8 shows the case where, in the work state detection unit 404, the three work contents performed in the first step and the corresponding vibration patterns are linked and registered.

In addition, the work content and vibration pattern for each process registered in the work state detection unit 404 may be changed. This makes it possible to change the work performed in a certain process to the work in another process according to the work load on the current day. The example shown in FIG. 9 shows a case where the 45th operation (compressor screw tightening) performed in the first step is changed as performed in the second step.

Second Embodiment
In the first embodiment, by attaching one set of the vibration detection unit 1 and the transmitter 2 to the carriage 12, the position detection unit 403 detects the position of the carriage 12, and the work state detection unit 404 detects the carriage 12 or the carriage The case where the work state for the work object 11 placed on 12 is detected is shown.
On the other hand, conventionally, there is known a method of attaching a vibration detection unit to a tool and detecting whether or not an operation has been performed normally (see, for example, Patent Documents 2 and 3). However, these conventional techniques can not detect whether the worker is working at the correct work position. So, below, the method of solving this is demonstrated.
Japanese Patent Laid-Open No. 2000-117357 JP 2012-139766 A

FIG. 10 is a diagram showing an example of a configuration of the transmission side (functional units excluding the receiver 3 and the control device 4) in the position detection system according to Embodiment 2 of the present invention, and FIG. It is a figure which shows the structural example of the control apparatus 4 in. In the position detection system according to the second embodiment shown in FIGS. 10 and 11, a plurality of vibration detection units (second vibration detection units) 1b are provided to the position detection system according to the first embodiment shown in FIGS. , And a work position determination unit 405 is added. The other configurations are the same, the same reference numerals are given, and only different portions will be described.

A plurality of vibration detection units 1b are attached to the work object 11, and detect vibrations. Then, each time the vibration detection unit 1 b detects a vibration, the vibration detection unit 1 b transmits a signal including vibration information indicating the detected vibration and identification information for identifying itself (the vibration detection unit 1 b) to the outside. The signal transmitted by the vibration detection unit 1 b is set to have a high radio wave intensity so that the receiver 3 does not miss it. As this vibration detection part 1b, a vibration sensor is mentioned, for example. In the example of FIG. 10, two vibration detection units 1b are shown.

The storage unit 401 stores the identification information of the vibration detection unit 1, the vibration detection unit 1b, and the transmitter 2, and the correspondence between the vibration detection unit 1, the vibration detection unit 1b, and the transmitter 2.

The work position determination unit 405 is attached with the vibration detection unit 1b that is a transmission source of the signal from the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403. It is determined whether the work position for the work target 11 is correct. The work position determination unit 405 performs the above determination by machine learning. At this time, the work position determination unit 405 includes vibration information included in the signal from the vibration detection unit 1b which is the determination target identified by the identification unit 402, and a transmitter attached to the same carriage 12 as the vibration detection unit 1b. From the position of 2, it is determined whether the work position for the work object 11 is correct. The work position determination unit 405 detects the vibration detection unit 1b in advance when work is performed at a correct work position by a manager (the length of a production site, etc.) and when work is performed at a wrong work position. Machine learning the vibration pattern from the detected vibration.

Next, an operation example of the position detection system according to the second embodiment will be described with reference to FIG.
In the position detection system according to the second embodiment, as shown in FIG. 12, first, control device 4 detects an operation on work object 11 based on the signal received by receiver 3 (step ST1201). ). The process in step ST1201 is realized by the process shown in FIG.

Next, from the vibration information of the signal received by the receiver 3, the discrimination result by the discrimination unit 402 and the detection result by the position detection unit 403, the work position determination unit 405 transmits the vibration detection unit 1b that is the transmission source of the signal. A work position for the attached work object 11 is specified (step ST1202).

Next, the work position determination unit 405 determines whether the work position is correct (step ST1203). In step ST1203, when the work position determination unit 405 determines that the work position is correct, the sequence ends. Thereafter, the work position determination unit 405 shifts to work position determination for the next work.
On the other hand, when the work position determination unit 405 determines that the work position is incorrect in step ST1203, the fact is notified to the outside by display or voice.

As described above, by attaching the plurality of vibration detection units 1b for detecting vibrations to the work target 11, when the operator tightens the work target 11, for example, using a driver, the plurality of vibration detection units 1b The working position determination unit 405 can determine whether the screw tightening position is correct or not based on the combination of the vibration patterns detected by the vibration detection unit 1 b.
In addition, with respect to the work for which the accuracy is required, the work is repeated a plurality of times in advance, and the work position determination unit 405 performs machine learning of the vibration pattern, so that the vibration pattern can be standardized.

As described above, according to the second embodiment, the vibration detection unit 1b is attached to the work object 11, detects vibration, and transmits a signal having vibration information indicating the detected vibration and identification information; From the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403, the operation for the work object 11 to which the vibration detection unit 1b as the transmission source of the signal is attached Since the work position determination unit 405 that determines whether the position is correct or not is provided, in addition to the effects of the first embodiment, it is possible to detect whether the worker is working at the correct work position.

In the above, the work position determination unit 405 shows the case of determining whether the work position is correct. However, the present invention is not limited to this, and in addition to the above, the work position determination unit 405 may determine whether the number or order of work is correct.

Third Embodiment
In the first embodiment, the transmitter 2 is attached to the carriage 12, the plurality of receivers 3 are disposed at the production site, and the position detection unit 403 transmits the transmitter based on the reception intensity of the signals received by the plurality of receivers 3. The case of detecting the position of 2 was shown. On the other hand, in the third embodiment, the sheet-like uneven portion 5 is provided on the ground on which the carriage 12 moves, and the position detection unit 403 b detects the vibration pattern generated when the carriage 12 moves over the uneven portion 5. A method of detecting the position of the carriage 12 will be described.
FIG. 13 is a diagram showing an example of a configuration of the transmitting side (functional units excluding the receiver 3 and the control device 4) in the position detection system according to Embodiment 3 of the present invention, and FIG. It is a figure which shows the structural example of the control apparatus 4 in. In the position detection system according to the third embodiment shown in FIGS. 13 and 14, the transmitter 2 is removed from the position detection system according to the first embodiment shown in FIGS. The position detection unit 403 is changed to a position detection unit 403b. Also, a plurality of receivers 3 may be used as a single receiver 3. The other configuration is the same, and the same reference numerals are given and the description thereof is omitted.

The uneven portion 5 is a sheet-like member having an uneven pattern and disposed on the ground on which the carriage 12 moves. The uneven pattern is configured in a pattern that can identify the position of the carriage 12.

The position detection unit 403 b detects the position of the vibration detection unit 1 that is the transmission source of the signal from the vibration information included in the signal received by the receiver 3 and the identification result by the identification unit 402. The position detection unit 403 b performs the above detection by machine learning. At this time, the position detection unit 403 b detects the position of the vibration detection unit 1 from the vibration information included in the signal from the vibration detection unit 1 that is the detection target identified by the identification unit 402. The position detection unit 403 b performs machine learning of the vibration pattern from the vibration detected by the vibration detection unit 1 in advance when the bogie 12 moves on the uneven portion 5 by the manager (the length of the production site or the like).

As described above, the uneven portion 5 is provided on the ground on which the carriage 12 moves, and the position detection unit 403 b uses the pattern of vibration detected by the vibration detection unit 1 when the carriage 12 moves on the uneven portion 5. Since the present embodiment is configured to detect the position of 12, the position of the carriage 12 and the working condition of the carriage 12 or the work object 11 with the single vibration detection unit 1 with respect to the first embodiment without using the transmitter 2 And can be detected.
This also improves the maintainability of the position detection system. That is, in the sensors such as the vibration detection unit 1 and the transmitter 2, a button battery may be used. In this case, battery replacement is required. In particular, the transmitter 2 used as a position beacon tends to be depleted in battery. Moreover, in the above-mentioned sensor, parameter setting for functioning as vibration detection or a position beacon is required, respectively. Therefore, by using only the single vibration detection unit 1 without using the transmitter 2, the frequency of battery replacement and the number of setting parameters can be suppressed, and the maintainability is improved.

Fourth Embodiment
In the first and third embodiments, the vibration detection unit 1 is attached to the carriage 12, and in the second embodiment, the vibration detection unit 1 b is attached to the work object 11. On the other hand, a vibration detection unit similar to the

vibration detection units

1 and 1b may be attached to a worker or a tool to perform progress management at a production site.

For example, when the vibration detection unit is attached to the arm of the worker and parts are insufficient in the assembly process, the vibration detection unit detects the vibration by causing the worker to perform a predetermined operation (such as shaking) of the arm. Then, the control device 4 recognizes the shortage of parts from the pattern of the vibration and notifies the outside by display or voice.
Further, for example, the vibration detection unit is attached to the driver, and the vibration detection unit detects the vibration of screw tightening by the driver. Then, the control device 4 calculates the screw tightening time and the number of rotations by the driver from the pattern of vibration (amplitude, period, etc.), and when the screw tightening is completed within a predetermined time or less or less than the predetermined rotation number It is determined that the information is displayed or notified to the outside by voice or the like.

Finally, a hardware configuration example of the control device 4 in the embodiment 1-4 will be described with reference to FIG. Although an example of the hardware configuration of the control device 4 in the first embodiment is shown below, the same applies to the second to fourth embodiments.
Each function of the identification unit 402, the position detection unit 403, and the work state detection unit 404 in the control device 4 is realized by the processing circuit 51. Even if the processing circuit 51 is dedicated hardware as shown in FIG. 15A, as shown in FIG. 15B, a CPU (Central Processing Unit, central processing unit, processing device) that executes a program stored in the memory 53 Or a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor) 52.

When the processing circuit 51 is dedicated hardware, the processing circuit 51 may be, for example, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), an FPGA (field programmable gate) Array) or a combination thereof. Each function of each unit of the identification unit 402, the position detection unit 403, and the work state detection unit 404 may be realized by the processing circuit 51, or the function of each unit may be realized collectively by the processing circuit 51.

When the processing circuit 51 is the CPU 52, the functions of the identification unit 402, the position detection unit 403, and the work state detection unit 404 are realized by software, firmware, or a combination of software and firmware. Software and firmware are described as a program and stored in the memory 53. The processing circuit 51 reads out and executes the program stored in the memory 53 to realize the function of each part. In addition, it can be said that these programs cause a computer to execute the procedures and methods of the identification unit 402, the position detection unit 403, and the work state detection unit 404. Here, the memory 53 is, for example, nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, etc., magnetic disk, flexible disk, optical disk, optical disk, compact disk, mini disk, DVD, etc. Applicable

The functions of the identification unit 402, the position detection unit 403, and the work state detection unit 404 may be partially realized by dedicated hardware and partially realized by software or firmware. For example, the function of the identification unit 402 is realized by the processing circuit 51 as dedicated hardware, and for the position detection unit 403 and the work state detection unit 404, the processing circuit 51 reads and executes the program stored in the memory 53. It is possible to realize the function by doing.

In this manner, the processing circuit 51 can implement the above-described functions by hardware, software, firmware, or a combination thereof.

In the scope of the invention, the present invention allows free combination of each embodiment, or modification of any component of each embodiment, or omission of any component in each embodiment. .

The position detection system according to the present invention can detect the work state, and detects the position of the movable body on which the work object is placed and the work state on the movable body or the work object placed on the movable body It is suitable for use in position detection systems and the like.

DESCRIPTION OF SYMBOLS 1 Vibration detection part, 1b Vibration detection part (2nd vibration detection part), 2 transmitters, 3 receivers, 4 control apparatuses, 5 uneven parts, 11 work objects, 12 moving bodies, 51 processing circuits, 52 CPUs, 53 memory, 401 storage unit, 402 identification unit, 403, 403b position detection unit, 404 operation state detection unit, 405 operation position determination unit.

Claims

A vibration detection unit attached to a movable body on which the work object is mounted, detecting a vibration, and transmitting a signal having vibration information indicating the detected vibration and identification information;
A transmitter attached to the mobile unit and periodically transmitting a signal having identification information;
Multiple receivers receiving the signal,
An identification unit for identifying a transmission source of the signal from identification information of the signal received by the receiver;
A position detection unit that detects the position of the transmitter that is the transmission source of the signal from the reception strength of the signal received by the receiver and the identification result by the identification unit;
From the vibration information included in the signal received by the receiver, the identification result by the identification unit, and the detection result by the position detection unit, the movable body attached with the vibration detection unit as the transmission source of the signal or the movement A position detection system comprising: a work state detection unit that detects a work state of the work object placed on a body.
A vibration detection unit attached to a movable body on which the work object is mounted, detecting a vibration, and transmitting a signal having vibration information indicating the detected vibration and identification information;
A sheet-like uneven portion disposed on the ground on which the movable body moves;
A receiver that receives the signal;
An identification unit for identifying a transmission source of the signal from identification information of the signal received by the receiver;
A position detection unit that detects the position of the vibration detection unit that is the transmission source of the signal from the vibration information included in the signal received by the receiver and the identification result by the identification unit;
From the vibration information included in the signal received by the receiver, the identification result by the identification unit, and the detection result by the position detection unit, the movable body attached with the vibration detection unit as the transmission source of the signal or the movement A position detection system comprising: a work state detection unit that detects a work state of the work object placed on a body.
The position detection unit according to claim 2, wherein the position detection unit performs machine learning of a vibration pattern from the vibration detected by the vibration detection unit in advance when the movable body moves on the uneven portion. system.
A plurality of second vibration detection units attached to the work object, detecting a vibration, and transmitting a signal having vibration information and identification information indicating the detected vibration;
From the vibration information included in the signal received by the receiver, the identification result by the identification unit, and the detection result by the position detection unit, the work target to which the second vibration detection unit as the transmission source of the signal is attached The position detection system according to any one of claims 1 to 3, further comprising: a work position determination unit that determines whether a work position with respect to an object is correct.
The work position determination unit is configured to generate a vibration pattern from the vibration detected by the second vibration detection unit in advance when the work is performed at the correct work position and when the work is performed at the incorrect work position. The position detection system according to claim 4, wherein learning is performed.