JP2007128308A - Monitoring controller and monitoring control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitoring controller and a monitoring control method capable of storing an image useful for an analysis of the operation of a movable part moving through a plurality of operation steps wherein one operation is divided, and repeating the operation, and allowing the suppression of an increase in the cycle time of the movable part by the image storage. <P>SOLUTION: This monitoring controller 1 comprises: an imaging means 11 acquiring the image of the movable part; a storage means 13 storing the image; and a control means 12. The control means 12 has: a position detection part 122 detecting a position of the movable part on the basis of the image; a movement completion decision part 123 deciding whether or not the movable part arrives at a movement destination in each operation step, and storing the image used for the decision into a temporary storage part 124; a storage step selection part 125 setting an arbitrary operation step among the plurality of operation steps as an image storage step on the basis of a required time of each operation step; and an image storage execution part 126 storing the image stored in the temporary storage part 124 into the image storage means 13. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a monitoring control device and a monitoring control method for controlling a facility or apparatus having a movable portion, and more specifically, has a movable portion that moves by dividing a single operation into a plurality of operation steps. The present invention relates to a monitoring control device and a monitoring control method for controlling equipment or a device based on an image obtained by photographing a movable part thereof.

  2. Description of the Related Art In recent years, automation has been increasingly progressed in manufacturing processes and inspection processes of various machines and devices, and facilities such as various automatic assembly apparatuses and automatic inspection apparatuses have been used. For example, in an automatic assembling apparatus, a captured part is captured, the captured part is transported to a predetermined assembly position, another part is incorporated into the part transported to the assembly position, and the finished product is discharged. Perform the action. In order to perform each of such operations, there are a plurality of movable parts such as a transport unit and an assembly unit, and these movable parts move according to a plurality of operation steps in one operation of the facility. These movable parts are required to accurately operate at a predetermined timing toward a predetermined position in each operation step.

  Monitors whether such equipment is operating normally, acquires equipment image data with a surveillance camera, etc., to detect abnormalities such as failures, and stores the image data for cause analysis when an abnormality occurs It is known (see Patent Documents 1 and 2).

  For example, in the monitoring control device described in Patent Document 1, image data at the time of failure detection is stored in a database. In addition, in the trouble analysis support apparatus described in Patent Document 2, a person determines in advance whether or not there is a facility that causes a trouble, and for a facility that is known to cause a trouble, a moving image for a certain period before and after the trouble occurs. Voice, control information is stored. Then, the trouble is analyzed by simulation using the stored data.

  Furthermore, an apparatus is known that sequentially stores state transitions of a mechanical device and performs a simulation when a failure occurs using the storage, state transition diagram, and computer graphic image (see Patent Document 3).

  In order to appropriately grasp the situation when an abnormality occurs in the facility, it is desirable to store image data that indicates the operation status of a certain period immediately before the occurrence of the failure. However, if the image data for a certain period is stored as a moving image, the amount of data becomes enormous. On the other hand, in the case of storing as a still image, unless an image acquired at an appropriate timing is stored, the state at the time of occurrence of an abnormality cannot be grasped well, and it becomes difficult to specify the cause of the abnormality. End up. Further, if image data is stored in a hard disk or the like for each operation step, the time required for one operation of the equipment, that is, the cycle time becomes longer due to the time required to save the image, and the operating efficiency of the equipment decreases. . Therefore, it is desired to develop a monitoring control device and a monitoring control method that can suppress an increase in cycle time required for one operation by saving the image while saving the image of each operation step.

JP 2003-208218 A JP 2000-250775 A JP 11-259120 A

  In view of the above problems, the present invention stores image data useful for analyzing the operation of equipment or devices that have a moving part that moves through a plurality of operation steps obtained by dividing one operation and repeats the operation. It is an object of the present invention to provide a possible monitoring control apparatus or monitoring control method.

  Another object of the present invention is to provide a monitoring control device or a monitoring control method capable of suppressing an increase in cycle time due to time required for storing image data.

  According to the first aspect of the present invention, the monitoring and control apparatus according to the present invention takes an image with respect to a movable part that moves through a plurality of operation steps obtained by dividing one operation and repeats the operation. A position detection unit that detects the position of the movable unit based on image data captured by the means, and for each of the plurality of operation steps, a determination is made as to whether the movable unit has reached the moving destination based on the position of the movable unit When it is determined that the mobile destination has been reached, the movement end determination unit that stores the image data used for the determination in the temporary storage unit and each of the plurality of operation steps are required from the start to the end of the operation step. In the image storage step, a storage step selection unit that calculates a required time and sets an arbitrary operation step of the plurality of operation steps as an image storage step based on the required time. By having a control unit having an image storage execution unit for storing the image data stored in the temporary storage unit in the storage means you can store useful image data to analyze the operation. Further, by storing the image in the storage means during the execution of the operation step having a long time required for moving the movable part, it is possible to shorten the cycle time of the movable part or the equipment having the movable part as a whole. In particular, since the control means includes the storage step selection unit, the optimum image storage step is automatically selected from any operation step, and therefore the cycle time can be automatically shortened.

  In the above description, the time required for each operation step may be a time calculated based on the execution of one operation step, or may be an average time required when the same operation step is executed a plurality of times.

  According to a second aspect of the present invention, the storage step selection unit sets an operation step in which the required time exceeds a predetermined threshold value set in advance as an image storage step, thereby automatically storing the image. An operation step with sufficient margin can be selected.

  According to the third aspect of the present invention, the storage step selection unit sets an operation step having the longest required time as an image storage step, and thereby performs an operation step suitable for automatically executing image storage simultaneously. You can choose.

  Moreover, according to the form of Claim 4, the monitoring control apparatus which concerns on this invention moves through several operation | movement steps which divided | segmented one operation | movement, and with respect to the movable part which repeats the operation | movement, several An operation unit for setting an arbitrary operation step of the operation steps as an image storage step is provided, and the control unit stores the image data stored in the temporary storage unit in the storage unit in the set image storage step. By selecting an operation step suitable for executing image storage at the same time, the time required for image storage can be saved and the time required for one operation of the movable unit can be reduced. be able to.

  Furthermore, according to the description of claim 5, the control unit has a required time calculation unit that calculates a required time from the start to the end of the operation step for each of the plurality of operation steps, and the operation unit includes: By having a required time display unit for displaying the required time and a selection unit uniquely corresponding to each of the plurality of operation steps, the operation steps suitable for execution of image storage can be confirmed while checking the time required for each operation step. Easy to choose.

  Further, according to the sixth aspect, the image storing step is set to at least two operation steps. By setting the image storage step in a plurality of operation steps in one operation of the movable part, the number of image data to be stored in one image storage step can be reduced, so that the time required for image storage is reduced. Can be shortened.

  According to the seventh aspect of the present invention, the monitoring and control method according to the present invention moves through a plurality of operation steps obtained by dividing one operation, and the movable portion takes an image with respect to the movable portion that repeats the operation. It is determined whether or not the movable part has reached the movement destination based on the image data that has been obtained, and if it is determined that the movement destination has been reached, the image data used for the determination is stored in the temporary storage unit, and a plurality of For each operation step, the time required from the start to the end of the operation step is calculated, and based on the required time, an arbitrary operation step of the plurality of operation steps is set as the image storage step, and the image storage step The image data useful for analyzing the operation can be saved by saving the image data stored in the temporary storage unit in the storage means. Moreover, the cycle time of the movable part can be shortened as a whole by storing the image in the storage means during execution of an operation step having a long time required for moving the movable part.

  According to the eighth aspect of the present invention, the image storage step is set only by automatically storing an image by setting an operation step whose required time exceeds a predetermined threshold value as a predetermined image storage step. An operation step having a time margin can be selected.

  Furthermore, according to the ninth aspect of the present invention, the setting of the image storage step is an operation step suitable for automatically executing image storage simultaneously by setting the operation step having the longest required time as the image storage step. Can be selected.

  Further, according to the tenth aspect, the image storage step is set to at least two operation steps. By setting the image storage step in a plurality of operation steps in one operation of the movable part, the number of image data to be stored in one image storage step can be reduced, so that the time required for image storage is reduced. Can be shortened.

Hereinafter, a monitoring control apparatus according to the present invention will be described in detail with reference to the drawings.
The monitoring control device 1 according to the present invention is a facility having one to a plurality of movable parts, and has a plurality of operation steps during one operation. In each operation step, a predetermined movable part is an operation step. The equipment that ends the operation step is monitored by confirming that the movable part has moved to the movement destination by using the image data. Then, in each operation step of the monitoring target equipment, the image data used for determining that the movable part has moved to the moving destination is temporarily stored in a temporary storage unit such as a cache memory, and the required time is long. During the operation step, the temporarily stored image data is collectively stored in a storage means such as a hard disk, so that the image data for each operation step useful for operation analysis is saved and the time required for image storage is shortened. Thus, an increase in cycle time per operation is suppressed.

FIG. 1 shows a configuration block diagram of a monitoring control device 1 according to the present invention.
The monitoring control device 1 according to the present invention includes an imaging unit 11, a control unit 12, a storage unit 13, and an operation unit 14.

  The imaging means 11 is composed of a CCD camera or the like, and images the entire equipment to be monitored by the monitoring control device 1. The imaging means 11 is configured by one or a plurality of cameras, and all movable parts included in the facility are configured to be photographed by any camera. In addition, it is preferable to dispose the imaging unit 11 at a position away from the operation plane of each movable part that is a subject of photographing so that the movement of the movable part of the facility can be grasped as a change in the position on the image.

  Moreover, it is preferable that the imaging means 11 can be continuously photographed so that the operation of the movable part of the facility can be sequentially captured, for example, photographing at a video rate (30 Hz). The captured image is transmitted to the control means 12.

Next, the control means 12 will be described.
The control means 12 includes a personal computer (PC) central processing unit (CPU), a read only memory (ROM), a semiconductor memory such as a random access memory (RAM), a program read into the PC, and an external output port such as RS232C. Consists of. Furthermore, a driver for giving a control signal to the movable part of the equipment is incorporated.

  As shown in FIG. 1, the control unit 12 includes an operation instruction unit 121 that gives a control signal such as movement and stop to the movable unit of the facility, and image data acquired from the imaging unit 11. A position detection unit 122 that detects a position, a movement end determination unit 123 that determines whether or not each movable unit has moved to a moving destination based on the detected position, and image data used for the movement end determination. Temporary storage unit 124 that performs primary storage, storage step determination unit 125 that calculates a required time for each operation step, and determines an operation step for executing image storage based on the required time, and is stored in the primary storage unit. An image storage execution unit 126 that stores image data in the storage unit 13 is configured.

  The operation instruction unit 121 refers to the operation instruction information stored in the storage unit 13 for each operation step, and gives a control signal such as movement / stop in a predetermined direction to the movable unit. In addition, when a plurality of movable parts operate, the movement start timing is shifted as necessary, and control is performed so as not to cause physical interference. And those control signals are transmitted to each movable part through a built-in driver.

The position detection unit 122 analyzes the image data received from the imaging unit 11 and recognizes the position of the movable unit on the image data.
Here, the position of the movable part is represented as the position of a specific part in the movable part. Moreover, the specific part in a movable part can be made into a part from which the brightness or color tone differs clearly from the circumference | surroundings. For example, a red detection mark is attached to a white or silver portion, and the detection mark is recognized as a specific portion. In the following description, it is assumed that the detection mark is detected to determine the position of the movable part.

  First, in the current operation step, a region of interest is set in a region where there is a possibility that the detection mark of the movable part exists. This region of interest is preferably set to include only one detection mark. This is to prevent position detection failure due to erroneous detection of other detection marks. The following processing is performed only in the region of interest. This is because the amount of data to be handled is reduced and the processing speed can be increased.

Next, the image data is binarized so that it can be separated from the detection mark and the other. The binarization threshold is set empirically based on image data actually captured by the imaging means 11.
When the binarization is completed, the center of gravity Mg of the pixel corresponding to the detection mark is calculated. The center of gravity Mg is taken as the position of the movable part.

  Next, another example of the position detection process of the movable part will be described. Also in this example, the detection mark attached to the movable part is detected.

  In this example, instead of binarizing the image data, a pixel (referred to as an edge pixel) that is present along the outer shape of the detection mark and that has a large signal value difference from neighboring pixels is detected. For example, when the detection mark has a substantially circular shape shown in FIG. 2A on the image, and a pixel corresponding to the detection mark has a higher luminance (a larger pixel value) than its surrounding pixels. The filtering process is performed in the region of interest using the filter shown in FIG. Then, the pixel with the highest output result of the filtering process is detected as the center Mc of the detection mark. The center Mc of the detection mark is set as the position of the movable part.

  Note that the position detection process that can be used in the present invention is not limited to the above, and other processes based on pattern matching can be used.

  The movement end determination unit 123 refers to the position of the movable unit detected by the position detection unit 122 and the operation instruction information stored in the storage unit 13 to determine whether or not the movable unit has reached the movement destination in each operation step. Determine whether. And when it determines with having reached | attained the movement destination, a movable part is stopped through the operation | movement instruction | indication part 121. FIG.

  Note that whether or not the movable part has reached the moving destination can be determined as follows. First, the movement end point Pe in the operation step for the movable part is acquired from the operation instruction information. Then, a distance d between the position of the movable part detected by the position detection unit 122 and the movement end point Pe is calculated. If the distance d is equal to or less than the predetermined threshold Thdl, it is determined that the movable part has reached the movement end point Pe, and the control unit 12 stops the movable part through the operation instruction unit 121. On the other hand, when the distance d is larger than the threshold value Thdl, it is determined that the movable part has not finished moving.

  Further, when it is determined that all the movable parts moving in the operation step have reached the movement destination, the movement end determination part 123 stores the image data used for the analysis in the temporary storage part 124. On the other hand, in the analyzed image data, when it is determined that any one of the movable parts moving in the operation step has not reached the movement destination, the movement end determination part 123 uses the image used for the analysis. Discard the data. Then, the image data is re-acquired from the imaging unit 11 and the above processing is repeated.

  In this way, by storing the image data when the movable part is at the moving destination after the operation is completed, even if the moving part does not store the operating image data, the equipment has an abnormality, The cause of the abnormality can be sufficiently identified by examining the image data stored later, and the amount of data to be stored can be minimized.

The determination as to whether or not the movable part of interest is at the moving destination can be made by the method described below.
The distance between the position on the image data of the specific part recognized by the position detector 122 and the moving destination obtained from the image data obtained by photographing the equipment in the ideal state is within a predetermined allowable range. It is determined whether or not. When the distance falls within the allowable range, it is determined that the movable part of interest is at a predetermined position.

  The moving destination and the allowable range are set for each movable part for each operation step, and are stored in advance in the storage unit 13 as part of the operation instruction information.

  The temporary storage unit 124 temporarily stores image data and is configured by a semiconductor memory of the control unit 12. Further, the time required for writing the image data to the temporary storage unit 124 or reading the image data from the temporary storage unit 124 is relatively short compared to the time required for writing the image data to the storage unit 13. is there. The image data stored in the temporary storage unit 124 is erased from the temporary storage unit 124 when stored in the storage unit 13 by the image storage execution unit 126 described later. In this way, an increase in the storage capacity of the image data in the temporary storage unit 124 is prevented, and an increase in the time required for image storage by rewriting the image data already stored in the storage unit 13 into the storage unit 13 is prevented. is doing.

  The saving step selection unit 125 determines the timing for saving the image data stored in the temporary storage unit 124 in the storage unit 13. As the timing for storing the image data, an operation step that requires time to move the movable portion is selected. By simultaneously storing the image data during the execution of such operation steps, the time required to store the image data compared to the case where the image data is stored in the storage unit 13 after the movement end determination in each operation step is performed. As a result, the cycle time of the monitored equipment can be shortened.

Therefore, the storage step selection unit 125 sets the time when the operation instruction unit 121 starts transmitting a control signal for moving the movable unit at each measurement step j (j = 1, 2,..., M). Assuming that the time when the movement end determination unit 123 determines that the movement has ended is the measurement end time, the elapsed time from the measurement start time to the measurement end time is calculated and recorded as a required time. Then, for example, when the operation for 10 cycles is completed after the operation of the facility is started, the average required time τ _j of each operation step is calculated. When the average required time τ _j of each operation step is calculated, a step in which the average required time exceeds a predetermined threshold Thdt (for example, 500 msec) is selected as an image storage step Ms for executing image storage.

To indicate the selected operating step as the image storage step Ms, storage step selection section 125, for all the operation steps included in one operation cycle, whether to correspond to an image storage step Ms of the flags F _j (J = 1, 2,..., M). When the operation step j corresponds to the image storage step Ms, the value of the flag F _j is “1”, and for the other operation steps, the value of the flag F _j is “0”. Such a flag F _j is realized by providing, for example, a one-dimensional array having the number of elements corresponding to the number of operation steps for the flag F _j and corresponding each element of the array to the operation step on a one-to-one basis. it can.

  Note that only one operation step per operation of the equipment may be set as the image storage step Ms, but it is preferable to set a plurality of operation steps per operation as the image storage step Ms. Further, when a plurality of operation steps per operation cycle are set as the image storage steps Ms, it is preferable that the image storage steps Ms are not continuous. This is because the number of pieces of image data stored in the storage unit 13 is reduced by one image storage, so that the time required for one image storage can be reduced.

Further, the selection of the image storage step Ms can be performed by another method. For example, a predetermined number (for example, three steps) of operation steps may be selected as the image storage step Ms in order from the longest average required time τ _j of the operation steps. At this time, in order to prevent a continuous operation step from being selected as the image storage step Ms, the image storage step is selected in order from the operation step having the longest average required time, and the operation selected as the image storage step Ms is selected. The operation steps before and after the step may not be selected as the image storage step Ms.

In the above, the predetermined threshold Thdt for the average required time τ _j is not limited to 500 msec. It can be set as appropriate according to the structure, specifications, and operating conditions of the equipment. Also, the timing for selecting the image storage step Ms is not limited to 10 cycles after the start of operation of the equipment, and can be set to an optimal timing according to the situation, such as after 5 cycles or 20 cycles, and more regularly. The image storage step may be reselected.

  Further, the time required for each operation step may be calculated according to another standard. For example, the time required for the operation step j is set to the time when all the movable parts are determined to have finished moving in the previous operation step (j−1), and the image data is temporarily stored in the temporary storage unit 124. It is good also considering the time which complete | finished as a measurement end time. As described above, the time required for each operation step can be arbitrarily selected at the start of measurement and at the end of measurement as long as it is a measure of the time required from the start to the end of the operation step. .

The image storage execution unit 126 stores the image data stored in the temporary storage unit 124 in the storage unit 13 in the image storage step Ms. Further, as to whether or not it is the image storage step Ms, the value of the flag F _j corresponding to each operation step is referred to. If the value corresponds to the image storage step (F _j = 1), the image storage step Ms. Judge.

The storage of the image data in the storage means 13 starts before and after the output of a control signal for moving the movable parts by the operation instruction unit 121 in the image saving step Ms. By starting image storage at such timing, it is possible to store the image data stored in the temporary storage unit 124 in the storage means 13 until the end of the operation step, and the time required only for image storage Since the image data can be stored without providing, the cycle time of the monitoring target equipment can be shortened.
When the storage in the image storage unit 13 is completed, the image data stored in the temporary storage unit 124 is deleted.

  The storage means 13 has a relatively large capacity and a long capacity compared with the temporary storage unit 124 such as a hard disk, CD-ROM, CD-RAM, DVD-ROM, DVD-RAM, etc., although the data read / write time is long. It is composed of a recording device or a recording medium suitable for storing data for a period. The storage unit 13 stores various control information such as operation instruction information, image data captured by the imaging unit 11, and the like. In particular, the image data corresponding to the operation steps from the latest operation step to all the operation steps before several operation cycles of the equipment (for example, three cycles) are always stored. In addition, it is preferable that the position information of the movable part recognized in the image data and the shooting time are also stored in association with the stored image data.

  Further, when an abnormality occurs in the facility, the storage unit 13 preferably stores the image data of the operation step in which the abnormality is extracted, extracted from the stored image data, so as not to be deleted. Saving the image data at the time of occurrence of an abnormality facilitates analysis when an abnormality occurs in the facility.

  The operation means 14 is for manually specifying the image storage step, and includes a display device such as a liquid crystal display and a pointing device such as a touch panel and a mouse. Then, the operation unit and necessary information are displayed on the display screen of the display device. Then, the operator performs an operation on the display screen.

In FIG. 2, the schematic block diagram of the display screen of the operation means 14 is shown.
The operation unit 14 includes an image display unit 141 that displays image data stored in the storage unit 13, a required time display unit 142 that displays an average required time of each operation step, and an operation step that is selected as an image storage step. The operation step selection unit 143 and the like are determined.

  The image display unit 141 displays the image data of each operation step stored in the storage unit 13. The operator can grasp the state of the monitoring target equipment of the monitoring control device 1 by observing the image data to be displayed. The image data to be displayed can be arbitrarily selected from the storage means 13 by a known file selection method.

  As shown in FIG. 3, the required time display unit 142 displays the required time (msec) of each operation step in a horizontal row for each of the average value, the latest operation, and the previous operation to the previous three operations. In addition, the operator can easily grasp the time required for each operation step. In addition, adjacent to the display column of the required time of the first operation step (step 01), the total required time of all operation steps included in one operation of the monitored equipment, that is, the cycle time is also displayed, and the image is displayed. It is possible to easily grasp how the cycle time changes depending on the setting of the storage step.

The operation step selection unit 143 has a check box corresponding to each operation step. Then, the operation step whose check box is checked is selected as the image storage step, and the value of the flag F _j corresponding to the operation step is rewritten and set as the image storage step. Therefore, the operator of the monitoring control device 1 simply selects the check box of any operation step of the operation step selection unit 143 while referring to the average required time of each operation step displayed on the required time display unit 142. The image storage step can be easily set. For example, FIG. 3 shows that operation step 03 and operation step 12 are set as image storage steps.

  Note that the configuration of the display screen of the operation means 14 is not limited to that shown in FIG. The check box used to select the operation step may be replaced with another known function having a similar function. Further, other information such as position information of the movable part may be displayed. Moreover, you may make it have other functions, for example, various setting functions, such as the function of carrying out the emergency stop of the monitoring object equipment in operation, and the setting of the threshold value used for the position detection of a movable part.

Below, operation | movement of the monitoring control apparatus 1 which concerns on this invention is demonstrated using a flowchart.
FIG. 4 shows a flowchart of the operation of determining the image saving step Ms of the monitoring control device 1. In the following description, it is assumed that one operation of the monitoring target facility includes m operation steps from operation step 1 to operation step m.

First, for the monitoring target equipment, in order to determine the image storage step Ms, n is the number of cycles from the start of the operation cycle used to calculate the average required time τ _j of the operation step j, and n is a predetermined value determined in advance. Assume that the image storage step Ms is determined when the number of cycles exceeds Thdn.

  Therefore, the storage step selection unit 125 determines whether the number of cycles n exceeds the predetermined number of cycles Thdn after completion of all the operation steps in a certain operation cycle (step S101). When the cycle number n is equal to or less than the predetermined cycle number Thdn, a value obtained by adding 1 to n is set to n again, and the process proceeds to the next cycle (step S109).

On the other hand, when the cycle number n exceeds the predetermined cycle number Thdn, selection of the image storage step is started. Therefore, the storage step selection unit 125 first calculates the average required time τ _j (j = 1, 2,..., M) of each operation step (step S102).

Next, an image storage step is set by comparing the average required time of each operation step with a predetermined threshold value Thdt. Therefore, the average required time τ _j of the operation step j in order from the first operation step (operation step 1) to the last operation step (operation step m) included in one operation of the facility is equal to the predetermined threshold Thdt. It is determined whether or not it exceeds (step S103). When the average duration tau _k certain operating step k exceeds a threshold Thdt, set its operation step k as the image storing step, the value of the flag F _k representing an image storage step to '1' (step S104 ). Then, when the above determination is made for the operation step j, 1 is applied to j to make it j again (step S105), j is compared with the operation step number m (step S106), and if j is less than the operation step number m. For example, it is subsequently determined whether or not the operation step j is set as the image storage step.

  When the above determination is completed for all operation steps (when j> m), the number of cycles n is set to 0 (step S107), and the process proceeds to the next cycle (step S109).

  Once the image storage step is set, the image storage step is not reset by, for example, rewriting the value of Thdn to a very large value. Further, the image storage step may be reset periodically without rewriting such Thdn.

  As described above, from the average required time of each operation step, an operation step having a long required time is automatically extracted, and the extracted operation step is set as an image storage step, so that the storage means is stored during the operation of the movable part. The image data can be stored in 13, and the cycle time required for one operation of the monitoring target facility can be shortened.

  Next, the operation of the monitoring control device 1 in each operation step will be described. The operation of the monitoring control device 1 is not different depending on the operation step except for signals and data to be handled, such as a control signal output to the movable part. Therefore, in the following, an arbitrary operation step k (k = 1) , 2,..., M) will be described only.

FIG. 5 shows an operation flowchart of the monitoring control device 1 in the operation step k.
First, the operation instruction unit 121 of the control unit 12 starts to output a control signal for moving the movable unit that moves in the operation step k, and the movable unit starts moving (step S201). Also, calculation of the required time T _k of the operation step k is started.

Next, it is determined with reference to the value of the flag F _k whether or not the operation step k is an image storage step (step S202). If the flag F _k = 1, it is determined that the operation step k is an image storage step, and the image data stored in the temporary storage unit 124 of the control unit 12 is stored in the storage unit 13 (step S203). When the storage in the storage unit 13 is completed, the image data stored in the temporary storage unit 124 is deleted (step S204).

  On the other hand, the control means 12 acquires image data obtained by photographing the movable part from the imaging means 11 (step S205), analyzes the image data, and detects the position of the movable part (step S206). Then, it is determined whether or not all the movable parts moving in the operation step k have finished moving (step S207). If any of the movable parts has not finished moving, steps S205 to S207 are repeated.

On the other hand, when all the movable parts have finished moving, the calculation of the required time T _k is finished, and the image data used for the analysis is stored in the temporary storage part 124 (step S208). Then, the process proceeds to execution of the next operation step (k + 1) (step S209).

  In the flowchart of FIG. 5, steps S203 to S204 and steps S205 to S207 are sequentially described for convenience, but the operations of steps S203 and S204 are performed while the operations of steps S205 to S207 are performed. The

  In addition, embodiment mentioned above is for demonstrating this invention, and this invention is not limited to these embodiment.

  For example, when an abnormality occurs in the facility, the storage unit 13 may separately store the image data of the operation step in which the abnormality has been extracted, extracted from the stored image data so as not to be deleted. By storing these data, analysis when an abnormality occurs in the facility is facilitated. In that case, the control unit 12 may separately provide an abnormality detection unit that detects the occurrence of an abnormality when it is not determined that the movement has ended even if a predetermined predetermined elapsed time is exceeded for each operation step. .

  Further, the control means 12 may not set the image saving step for executing the image saving automatically, but set only the operation step selected by the operation unit 14 as the image saving step. In this case, the storage step selection unit 125 of the control unit 12 functions as a required time calculation unit that simply calculates the required time for each operation step.

  As described above, various modifications can be made within the scope of the present invention according to the embodiment to be implemented.

It is a block diagram of the configuration of a monitoring control device according to an example of the present invention. (A) is a figure showing an example of the shape on the image of the detection mark attached | subjected to the movable part, (b) is a figure showing the filter used for the detection of a detection mark. It is a schematic block diagram of the display screen of an operation means. It is a flowchart explaining the setting of the image preservation | save step in the monitoring control apparatus which concerns on an example of this invention. It is a flowchart which shows operation | movement of each operation | movement step in the monitoring control apparatus which concerns on an example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Monitoring and control apparatus 11 Imaging means 12 Control means 121 Operation instruction part 122 Position detection part 123 Movement end determination part 124 Temporary storage part 125 Storage step selection part 126 Image storage execution part 13 Storage means 14 Operation means 141 Image display part 142 Time required Display unit 143 Operation step selection unit

Claims (10)

An imaging unit that moves through a plurality of operation steps obtained by dividing one operation, images a movable part that repeats the operation, and acquires image data;
Storage means for storing the image data;
Control means,
A temporary storage unit for temporarily storing the image data;
A position detector for detecting the position of the movable part based on the image data;
For each of the plurality of operation steps, based on the position of the movable part, it is determined whether or not the movable part has reached the movement destination, and when it is determined that the movement destination has been reached, it is used for the determination A movement end determination unit for storing image data in the temporary storage unit;
For each of the plurality of operation steps, a required time required from the start to the end of the operation step is calculated, and an arbitrary operation step of the plurality of operation steps is set as an image storage step based on the required time. A saving step selection section;
In the image storage step, a control unit having an image storage execution unit that stores the image data stored in the temporary storage unit in the storage unit;
A monitoring control apparatus comprising:   The monitoring control device according to claim 1, wherein the storage step selection unit sets an operation step in which the required time exceeds a predetermined threshold value set in advance as an image storage step.   The monitoring control device according to claim 1, wherein the storage step selection unit sets an operation step having the longest required time as an image storage step. An imaging unit that moves through a plurality of operation steps obtained by dividing one operation, images a movable part that repeats the operation, and acquires image data;
Storage means for storing the image data;
An operation means for setting an arbitrary operation step of the plurality of operation steps as an image storage step;
Control means,
A temporary storage unit for storing the image data;
A position detector for detecting the position of the movable part based on the image data;
For each of the plurality of operation steps, based on the position of the movable part, it is determined whether or not the movable part has reached the movement destination, and when it is determined that the movement destination has been reached, it is used for the determination A movement end determination unit for storing image data in the temporary storage unit;
In the image storage step, a control unit having an image storage execution unit that stores the image data stored in the temporary storage unit in the storage unit;
A monitoring control apparatus comprising: The control means includes a required time calculation unit that calculates a required time from the start to the end of the operation step for each of the plurality of operation steps.
The operation means has a required time display unit for displaying the required time and a selection unit uniquely corresponding to each of the plurality of operation steps, and sets the operation step selected by the selection unit as an image storage step. The monitoring control device according to claim 4.   The monitoring control device according to claim 1, wherein the image storage step is set to at least two operation steps. It moves through a plurality of operation steps divided into one operation, and acquires image data by photographing a movable part that repeats the operation.
Detecting the position of the movable part based on the image data,
For each of the plurality of operation steps, it is determined whether or not the movable part has reached a moving destination based on the position of the movable part,
In the determination step, when it is determined that the movable part has reached the moving destination, the image data used for the determination is stored in the temporary storage unit,
For each of the plurality of operation steps, calculate the time required from the start to the end of the operation step,
Based on the required time, an arbitrary operation step of the plurality of operation steps is set as an image storage step,
In the image storing step, the image data stored in the temporary storage unit is stored in a storage unit.   The monitoring control method according to claim 7, wherein the setting of the image storage step is to set an operation step in which the required time exceeds a predetermined threshold value set in advance as an image storage step.   The monitoring control method according to claim 7, wherein the image storage step is set by setting an operation step having the longest required time as an image storage step.   The monitoring control method according to claim 7, wherein the image storage step is set to at least two operation steps.

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