CN-121994214-A - Positioning system

CN121994214ACN 121994214 ACN121994214 ACN 121994214ACN-121994214-A

Abstract

A positioning system for positioning an operator includes an attitude sensor worn by the operator to detect a physical quantity related to a change in the attitude of the operator, an optical tracker device to optically detect a physical quantity indicating the position of the tracker worn by the operator, and a position determining unit to selectively determine the position of the operator using at least one of a first detection result obtained by the attitude sensor and a second detection result obtained by the optical tracker device in a plurality of modes.

Inventors

TSUBOTA TOMOHIRO

Assignees

丰田自动车株式会社

Dates

Publication Date: 20260508
Application Date: 20251029
Priority Date: 20241105

Claims (5)

1. A positioning system for positioning an operator, The positioning system is provided with: An attitude sensor worn by the worker and detecting a physical quantity related to a change in attitude of the worker; An optical tracker device for optically detecting a physical quantity indicative of a position of a tracker worn by the worker, and And a position determining unit configured to determine a position of the operator using at least one of the first detection result obtained by the attitude sensor and the second detection result obtained by the optical tracker device selectively in a plurality of modes.
2. The positioning system of claim 1, wherein, The position determining unit selectively uses the at least one of the detection results in the plurality of modes according to an area in which the worker is located.
3. The positioning system of claim 1, wherein, The positioning system further comprises a receiving unit configured to be able to receive the first detection result from the attitude sensor and to be able to receive the second detection result from the optical tracker device, The position determining section selectively uses the at least one of the detection results received through the receiving section in the plurality of modes, In the case where only the first detection result of the first detection result and the second detection result is received by the receiving section, the position determining section performs a first process of determining the position of the worker using the first detection result and not using the second detection result, The position determining unit performs a second process of determining the position of the worker using the first detection result and the second detection result when the first detection result and the second detection result that are mutually corresponding in time are received by the receiving unit.
4. The positioning system of claim 3, wherein, The position determining section determines at least a position of a foot of the worker as a position of the worker, The tracker is worn on the head of the operator, The second process is a process of determining at least the position of the foot using the posture calculated using the first detection result and the position of the head represented by the second detection result.
5. The positioning system of claim 3 or 4, wherein, The position determining unit determines a position of the worker by calculating a displacement from a reference position using the first detection result using the position of the worker determined in the second process immediately after the end of the second process as the reference position when the first process is performed immediately after the second process.

Description

Positioning system Cross Reference to Related Applications The present application claims priority based on japanese patent application No. 2024-193480 filed at the japanese patent office at month 11 and 5 of 2024, the entire disclosure of which is incorporated herein by reference. Technical Field The present disclosure relates to positioning systems. Background Regarding a positioning system for positioning an operator, international publication No. 2018/087844 discloses a technique for identifying an operation performed by the operator by using position coordinates of a body part of the operator acquired by a sensor. In a positioning system for positioning an operator, a technique for ensuring positioning accuracy and positioning robustness is desired. Disclosure of Invention Means for solving the problems According to one aspect of the present disclosure, a positioning system for positioning an operator is provided. The positioning system includes an attitude sensor that is worn by the worker and detects a physical quantity related to a change in the attitude of the worker, an optical tracker that optically detects a physical quantity indicating a position of a tracker worn by the worker, and a position determination unit that selectively uses at least one of a first detection result obtained by the attitude sensor and a second detection result obtained by the optical tracker in a plurality of modes to determine the position of the worker. Drawings Fig. 1 is an explanatory diagram showing a schematic configuration of a positioning system according to the first embodiment. Fig. 2 is a flowchart of the position determination process in the first embodiment. Fig. 3 is a diagram illustrating an example of the position determination processing in the first embodiment. Fig. 4 is a flowchart of the position determination process in the second embodiment. Fig. 5 is a diagram illustrating an example of the position determination processing in the second embodiment. Detailed Description A. first embodiment: Fig. 1 is an explanatory diagram showing a schematic configuration of a positioning system 10 according to the first embodiment. The positioning system 10 is used for positioning an operator WK who performs work. The positioning system 10 is used at a work place where the worker WK performs work. The work place in the present embodiment is a factory FC for manufacturing the vehicle VC. The work in the present embodiment is various works for manufacturing the vehicle VC, and includes, for example, assembly of the vehicle VC, assembly of components to the vehicle VC, inspection of the vehicle VC, and the like. The positioning system 10 includes an attitude sensor 50, an optical tracker device 60, and a position determination device 100. The posture sensor 50 is worn by the worker WK. In the present embodiment, the posture sensor 50 is worn on each of the head, the left and right arms, the chest, the abdomen, and the left and right legs of the worker WK. The posture sensor 50 is configured to be able to detect a physical quantity related to a change in posture of the operator WK. More specifically, the posture sensor 50 detects acceleration and angular velocity generated by the worker WK as physical quantities related to changes in the posture of the worker WK. In the present embodiment, the attitude sensor 50 is configured as an inertial measurement unit (Inertial Measurement Unit:imu) including a three-axis acceleration sensor, a three-axis gyro sensor, and a three-axis geomagnetic sensor. The current detection result of the attitude sensor 50 is also referred to as a "first detection result". The first detection result is associated with information indicating the timing at which the first detection result is detected. The posture sensor 50 transmits the detected first detection result to the position determining device 100. The optical tracker device 60 has a tracker 61 and a base station 62. The optical tracker device 60 is configured to be able to optically detect a physical quantity indicating the position of the tracker 61 worn by the worker WK. In the present embodiment, the worker WK wears a single tracker 61. More specifically, in the present embodiment, the single tracker 61 is worn on the head of the worker WK. The body part on which the tracker 61 is mounted may be any, but is preferably a body part such as a head that is not likely to obstruct the operation. The detection result of the optical tracker device 60 is also referred to as a second detection result. The second detection result is associated with information indicating the timing at which the second detection result is detected. The base station 62 is disposed in the vicinity of an area where the worker WK performs work in the factory FC. In the present embodiment, two base stations 62 are disposed in the factory FC. The base station 62 emits detection light for detecting the position of the tracker 61 at predetermined time intervals. The