JP2000033592A - Production system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure the safety sufficiently when workers work with an automatic machine together. SOLUTION: A self-running type robot 12 stops in facility 14 to perform work by a robot arm 16. A detection sensor on an automatic machine side 19 detecting that an obstacle enters an operation possible scope A1 of the robot arm 16 is provided in the self-running type robot 12, and an optical communicator 19 is provided in a wall part on the facility 14 side. A mat switch 20 detecting that a worker M enters a safety ensuring scope A2 is provided in a floor part around the facility 14, and an optical communicator 21 opposing to the optical communicator 19 is provided. A controller of the self-running type robot 12 stops the robot arm 16 when the detection sensor 18 is turned on and an obstacle detection signal is input from the optical communicator 21, and a controller of the facility 14 stops a work machine when the mat switch 20 is turned on and an obstacle detection signal is input from the optical communicator 19.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a production system having an automatic machine such as a self-propelled robot having a movement function for moving toward a work area and performing a production operation in the work area.

[0002]

In recent years, in a production system such as an assembly line for automobile parts, a plurality of self-propelled robots having a robot arm mounted on an unmanned carrier have been installed between a plurality of facilities (work areas). Are moved in order to perform an assembly operation or the like. Processing machines, such as a press machine, a welding machine, and a cutting machine, were also provided in the above-mentioned equipment. FIG. 9 shows an example of such a production system in a simplified manner. For example, two self-propelled robots 1 are provided so as to move on a traveling path 2 in the direction of arrow a, and Along the line 2, in this case four installations 3 are provided. The self-propelled robot 1 performs an assembling operation or the like while stopping at each of the facilities 3 in order.

At this time, in order to ensure the safety of the worker, the moving area (the range of the traveling path 2) of the self-propelled robot 1 and the entire equipment 3 are surrounded by a safety fence 4. Was. A safety device is connected to the safety fence 4, and when an operator attempts to enter the inside of the safety fence 4 from the entrance 4a, the movement of each self-propelled robot 1, the operation of the robot arm, and each facility 3 Are all stopped.

Incidentally, in such a production system, there is a case where an operator (human) needs to work together with the self-propelled robot 1. Specifically, when the self-propelled robot 1 fails or the work is delayed, the worker needs to work in place of the self-propelled robot 1, Even when the operation is being performed, there are cases where the operator needs to perform periodic maintenance (refilling of cooling water, replacement of jigs, and the like) and supply of materials to the equipment 3.

[0005] However, in the case where the safety fence 4 is provided as described above, when the safety device operates, all the devices in the safety fence 4 are stopped, which hinders an improvement in productivity. In addition, the safety device must be released each time the worker enters or exits the safety fence 4, which is inconvenient, and there is a problem that the safety of the worker who enters the safety fence 4 cannot be ensured. Was. Furthermore, the provision of the safety fence 4 has a problem that the device becomes large-scale, requires a large space, and is relatively expensive.

For example, Japanese Patent Application Laid-Open No. 1-222889 discloses a detector 5 comprising an optical sensor for detecting an obstacle at the front, rear, left and right of a self-propelled robot 1 as shown in FIG.
A safety device has been proposed in which the self-propelled robot 1 (arm 9) is stopped when the detectors 5 to 8 detect an obstacle. In this case, when the self-propelled robot 1 moves, the detector 5 on the traveling direction is enabled to detect an obstacle ahead in the traveling direction.
When the self-propelled robot 1 stops at the facility 3 and performs work, as illustrated, the detectors 5, 6, and 6 other than the facility 3 side are used.
8 is set to be valid, and an operator who enters the detection area A is detected.

However, even when the detectors 5 to 8 are provided, it is possible to prevent the detectors 5 to 8 from interfering with the equipment 3 or the arm 9 of the self-propelled robot 1 during the operation of the self-propelled robot 1. For this reason, since the detector 7 on the equipment 3 side (work area side) has to be invalidated, when the worker approaches the self-propelled robot 1 from the equipment 3 side, the worker can be detected. In the end, there was a problem that security could not be sufficiently secured.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a production system capable of ensuring sufficient safety even when an operator and an automatic machine work together. To offer.

[0009]

The production system according to the present invention is provided with an automatic machine-side detection sensor for detecting that an obstacle has entered the operable range of the automatic machine,
On the work area side, there is provided a work area side detection sensor that detects the intrusion of an obstacle into the safety assurance area around which the safety is required. The present invention is characterized in that a control means for enabling both the detection sensor and the work area side detection sensor and executing a safety ensuring operation based on the detection of the detection sensor is provided (the invention of claim 1).

[0010] According to this, at the time of working in the work area of the automatic machine, for example, when a worker or the like enters the operable range of the automatic machine, it is detected by the automatic machine side detection sensor as an intrusion of an obstacle, When the vehicle enters the security area of the work area, the work area side detection sensor detects the intrusion of an obstacle. Then, when the detection sensors detect the intrusion of the obstacle, the control means executes the safety ensuring operation.

Therefore, according to the production system of the first aspect of the present invention, even when the worker and the automatic machine coexist, the worker can secure the operable range and the work area of the automatic machine. If the user enters any of the ranges, the safety operation is performed, and sufficient safety for the worker is ensured.

In this case, an automatic machine-side warning detection sensor for detecting that an obstacle has entered a warning range set outside the operable range of the automatic machine, and a detection sensor outside the safety ensuring range of the work area. May be provided with a detection sensor for a work area side warning that detects that an obstacle has entered the warning range set in, and a notification unit that emits a warning sound based on the detection of the detection sensor for the warning. (Claim 2
Invention).

According to this, when the worker attempts to approach the operable range or the safety assurance range, for example, carelessly, when the worker enters the warning range outside the range, the detection is detected by the warning detection sensor. Then, a warning sound is issued by the notification means. Therefore, if the operator leaves the warning range in accordance with the warning sound, it is not necessary to execute the safety ensuring operation accompanying the entry into the operable range or the safety ensuring range.

Further, the work area side detection sensor or the work area side warning detection sensor can be constituted by a mat switch. According to this, it is possible to detect the intrusion of an obstacle in a wide and predetermined range, and it is possible to reliably perform the detection with a relatively inexpensive and simple configuration. Moreover, since the mat switch is arranged on the floor in a plane, it does not hinder the operation of an automatic machine or an operator, and is advantageous in terms of space.

Further, a wireless communication means for wirelessly transmitting a signal to that effect to the automatic machine side when the work area side detection sensor detects that an obstacle has entered the safety ensuring range is provided. (The invention of claim 4). According to this, even when an obstacle enters the security area on the working area side, a signal is transmitted to the automatic machine side by wireless communication such as optical communication or electric wave to ensure safety operation on the automatic machine side. Can be executed, and at this time, a fixed transmission system is not required, and workability can be prevented.

Further, the present invention can be applied to a large-scale production system in which a plurality of automatic machines move between a plurality of work areas (the invention of claim 5), and a safety fence is required. Therefore, a system with excellent workability can be obtained. In this case, if the production management and safety monitoring of the entire system are performed by the host computer (the invention of claim 6), efficient work can be performed and high safety can be secured.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a case where a self-propelled robot is used in an assembly line for automobile parts to perform work (corresponding to claims 1, 3, 4, and 5).
Will be described with reference to FIGS. 1 to 6. First, FIG. 3 shows a simplified overall configuration of a production system 11 according to the present embodiment. In this case, for example, two self-propelled robots 12 as automatic machines move on a traveling path 13 in the direction of arrow a. Along the path 13 and, in this case, four working areas of equipment 14
Is fixedly provided.

As shown in FIGS. 1 and 2, the self-propelled robot 12 has an unmanned transfer vehicle 15 having a moving function.
The robot arm 16 is mounted thereon.
As is well known, the unmanned transport cart 15 has wheels 15a (only a part is shown in FIG. 2) at a lower portion of a substantially rectangular box-shaped main body.
And a drive mechanism for driving the wheels 15a to move the automatic robot 12, a controller (both not shown), and the like. The upper surface of the automatic guided vehicle 15 is a mounting table on which the work 17 can be mounted.

At this time, although not shown, the traveling path 1
3 is provided with a guide line made of, for example, a guide tape, a guide wire, and the like.
Are provided with stop marks. The unmanned transport vehicle 15 (self-propelled robot 12) moves along the traveling path 13 while detecting its guide line, and based on detecting a stop mark, as shown in FIGS. It is configured to stop at each facility 14 (nearby).

The robot arm 16 is composed of an articulated arm, and is provided at its tip with a hand 16a for holding a work 17 and performing a predetermined operation. The operation of the robot arm 16 is controlled by the controller, and the robot arm 16 performs operations (production operation) such as transfer, assembly, inspection, and processing of the work 17. At this time, the operable range A of the robot arm 16
0 has a substantially circular shape when viewed from the top as shown in FIG.

On the other hand, the equipment 14 has, for example, a work table on which a work is placed, and supplies the work 17 to the robot arm 16, works such as assembling the work 17 by the robot arm 16, It is configured to receive the work 17 from the server. Although not shown, the equipment 14 is provided with a processing machine for processing the work 17 such as a press machine, a welding machine, a cutting machine, and a control device for controlling the equipment 14 as necessary. It is supposed to be.

Thus, the self-propelled robot 12 stops at each facility 14 in sequence while moving along the traveling path 13 in the direction of arrow a, and performs the work by the robot arm 16 sequentially. In this case, a plurality of (two) self-propelled robots 12 work simultaneously at positions separated from each other.

Now, in such a production system 11, there is a case where the worker M works together with the self-propelled robot 12. Specifically, for example, when a failure of the self-propelled robot 12 or a delay in work occurs, the worker M needs to work instead of the self-propelled robot 12 as shown in FIG. There are cases. In addition, self-propelled robot 1
2. Even when the normal work is performed by the operator 2, the worker M performs regular maintenance (replenishment of cooling water, replacement of jigs, etc.).
In some cases, it is necessary to supply materials and the like to the facilities 14. Therefore, the worker M coexisting with the self-propelled robot 12
In this embodiment, a safety device is provided as described below.

That is, the operable range A1 of the robot arm 16 is provided on the unmanned transfer carriage 15 of the self-propelled robot 12.
An automatic machine-side detection sensor 18 is provided for detecting that an obstacle (such as the worker M) has entered the inside. The automatic machine side detection sensor 18 is a contact type sensor such as an infrared sensor, for example, and is located at the center of the front and rear sides of the automatic guided vehicle 15 as shown in FIGS.
And two on each of the left and right sides, for a total of six. These automatic machine side detection sensors 18 detect obstacles within a detection range A1 set around the self-propelled robot 12, and at this time, as shown in FIG. It is set upward and covers the operation range of the robot arm 16.

These six automatic machine side detection sensors 18
Controlled by the controller, when the automatic guided vehicle 15 stops at the facility 14, that is, when the robot arm 16 operates, as shown in FIG. 1, the facility 14 and its own robot arm 16 are detected as obstacles. In order to prevent this, only the detection sensor 18 on the facility 14 side (left side in the traveling direction, right side in FIGS. 1 and 2) is invalidated. The detection signals of the automatic machine side detection sensor 18 are input to the controller.

Further, the side of the side wall of the automatic guided vehicle 15 facing the facility 14, that is, the center of the left side wall (the right side in FIGS. 1 and 2) in the traveling direction is a wireless communication means. An optical communication device 19 is provided. The optical communication device 19 is also controlled by the controller, and exchanges signals with the optical communication device on the equipment 14 side by optical communication as described later. Although illustration and detailed description are omitted, the self-propelled robot 12 is also provided with a sensor for detecting an obstacle in the traveling direction when the automatic guided vehicle 15 moves. This sensor has a detection range extending in the horizontal direction and having a long distance in the traveling direction.

On the other hand, the self-propelled robot 1
Two mat switches 20, which are work area side detection sensors, are respectively provided on the floor around the area other than the side where 2 stops. These mat switches 20 are provided in correspondence with a security area A2, which is an area where safety is required around the facility 14, and an operator enters the security area A2 (when the operator steps on the mat switch 20). ) Is detected. In this case, the security range A2 is
It is set around the movable range of the robot arm 16 of the self-propelled robot 12 stopped at the equipment 14, and around the processing machine.

The mat switch 20 is enabled by the control device only when the self-propelled robot 12 stops and performs work, and the detection signal is input to the control device. It is supposed to be.
Further, each facility 14 is provided with an optical communication device 21 as a wireless communication means corresponding to the optical communication device 19 of the automatic guided vehicle 15. When the self-propelled robot 12 (the unmanned carrier 15) stops at the facility 14, the optical communication device 19 faces the optical communication device 21, as shown in FIG. . The optical communication device 21 is also controlled by the control device.

As will be described later in the description of the operation,
Due to the software configuration, the controller of the self-propelled robot 12 stops at the facility 14 and performs the work by the robot arm 16 as described above.
Automatic machine side detection sensor 1 other than the one located on the equipment 14 side
8 (power ON), and any of the detection sensors 18
When the robot detects that an obstacle has entered the operable range A1, it executes a safety ensuring operation. In this case, the robot arm 16 is stopped.

At the same time, when one of the detection sensors 18 detects an obstacle, an obstacle detection signal is sent from the optical communication device 19 to the optical communication device 21 (control device of the equipment 14).
To be sent to. Further, even when an obstacle detection signal is input from the optical communication device 21 via the optical communication device 19, a safety ensuring operation for stopping the robot arm 16 is executed.

On the other hand, the control device of each facility 14 is such that the self-propelled robot 12 stops at the facility 14 and the robot arm 16
When performing the work by all the mat switches 2
0 is activated (power is turned on), and when any of the mat switches 20 detects the entry of an obstacle into the security ensuring range A2, the safety ensuring operation is executed.
(A processing machine or the like) is stopped, and an obstacle detection signal is transmitted from the optical communication device 21 to the optical communication device 19 (controller).

Further, from the optical communication device 19 to the optical communication device 2
Also, when an obstacle detection signal is input via the control unit 1, a safety ensuring operation for stopping the processing machine or the like is executed. Therefore, the controller according to the present invention comprises the controller and the control device. The control device disables the mat switch 20 (power OFF) when the self-propelled robot 12 does not exist in the vicinity. Further, when the mat switch 20 detects that an operator once has entered the safety ensuring range A2 and has exited from the range A2, the operation of the processing machine or the like can be restarted.

Next, the operation of the above configuration will be described with reference to FIGS. The flowchart of FIG. 5 illustrates a procedure of a process related to the safety ensuring operation performed by the controller of the self-propelled robot 12, and the flowchart of FIG. 6 illustrates a process of the process related to the safety securing operation performed by the control device of the equipment 14. The procedure is shown.

First, in the flowchart of FIG. 5, when the self-propelled robot 12 stops at one of the facilities 14 (Yes in step S1), as described above,
The automatic machine side detection sensors 18 other than those located on the side are enabled (power ON) (step S2). When the self-propelled robot 12 is moving on the traveling path 13 (No in step S1), all the automatic machine side detection sensors 18 are activated (step S3).

Then, the self-propelled robot 12 stops at the facility 14 and executes the work by the robot arm 16. During this time, the automatic machine side detection sensors 18 are constantly monitored (step S4). In this state, under the condition that the automatic machine-side detection sensor 18 does not detect the intrusion of the obstacle (the worker M) into the operable range A1 (is in the off state) (No in step S4), The operation of the robot arm 16 is permitted (step S5).

At this time, as described above, the optical communication device 19 of the self-propelled robot 12 and the optical communication device 21 of the facility 14 are opposed to each other so that signals can be transmitted and received by light. The operation by the robot arm 16 is performed on condition that there is no transmission of the obstacle detection signal from the optical communication device 21 (No in step S6).

Here, as described above, when the worker M is working coexisting in the production system 11,
For example, it is conceivable that the worker M accidentally approaches the self-propelled robot 12. If the worker M enters the operable range A1, the automatic machine side detection sensor 1
8 to detect an obstacle and output a detection signal (Yes in step S4).

Then, an obstacle detection signal is transmitted from the optical communication device 19 to the optical communication device 21 (step S).
Along with 7), a safety ensuring operation for stopping the robot arm 16 is executed (step S8).
Further, as described later, also when an obstacle detection signal is transmitted from the optical communication device 21 (Yes in step S6).
s) The safety ensuring operation for stopping the robot arm 16 is executed (step S8).

On the other hand, in the flowchart of FIG. 6, when the self-propelled robot 12 moves to the facility 14 and stops (Yes in step S11), the mat switch 20 is activated (power ON) as described above. (Step S1
2). In this case, in practice, the facility 14 can detect the approach of the self-propelled robot 12 and turn on the power of the mat switch 20 when approaching. When the self-propelled robot 12 does not exist near the facility 14 (No in step S11), the mat switch 20 is disabled (power OFF) (step S13).

While the self-propelled robot 12 stops at the facility 14 and executes the operation by the robot arm 16, each mat switch 20 is constantly monitored (step S).
14) In a state where the mat switch 20 has not detected the entry of the obstacle (the worker M) (N in step S14).
o), the operation of the processing machine and the like is permitted (step S15). At this time, the operation of the processing machine and the like is executed on condition that there is no transmission of the obstacle detection signal from the optical communication device 19 of the self-propelled robot 12 (No in step S16).

Here, if the worker M approaches the facility 14 and enters the safety assurance range A2, it is detected by the mat switch 20 and a detection signal (ON signal).
Is output (Yes in step S14). Then
An obstacle detection signal is transmitted from the optical communication device 21 to the optical communication device 19 (step S17), and a safety ensuring operation for stopping all movable parts of the facility 14 such as a processing machine is executed (step S18). . Further, as described above, also when the obstacle detection signal is transmitted from the optical communication device 19 of the self-propelled robot 12 (Yes in step S16), the movable part of the facility 14 such as the processing machine is stopped. (Step S1
8).

Thus, the self-propelled robot 12 is
When an obstacle enters the operable range A1 of the self-propelled robot 12, the robot arm 16 is stopped. The robot arm 16 is stopped even if the robot enters the safety assurance range A2 from the side. In addition, when the worker M enters the operable range A1 or the safety ensuring range A2, when the worker M
Is also stopped.

Therefore, according to the present embodiment, even when the worker M works together with the self-propelled robot 12, sufficient safety of the worker M can be ensured. In this case, unlike the conventional one shown in FIG.
Even when the worker M approaches the self-propelled robot 12 from the facility 14 side, the safety ensuring operation is executed, and the safety is extremely high.

Further, in addition to the above, unlike the conventional one provided with the safety fence 4 as shown in FIG. 9, there is no need to perform the operation of releasing the safety device each time, and the safety ensuring operation is partially performed. Because only the mobile robot 12 and the equipment 14 are stopped, without hindering productivity,
In addition, it does not require a large-scale device, and is advantageous in terms of space and cost.

In this embodiment, since the mat switch 20 is employed as the detection sensor on the equipment 14 side, it is possible to detect the intrusion of an obstacle in a wide area with one sheet, and it is relatively inexpensive and simple. With the configuration, the detection can be reliably performed, and furthermore, since it is arranged in a plane on the floor, it does not hinder the work of the self-propelled robot 12 or the worker M, and is advantageous in terms of space. Things. Further, since the obstacle detection signals are exchanged between the self-propelled robot 12 and the equipment 14 by the optical communication devices 19 and 21, a fixed transmission system is not required and the operation is relatively simple. The configuration is sufficient, and the operation can be performed without hindering the workability.

FIGS. 7 and 8 show another embodiment (corresponding to claim 2) of the present invention. This embodiment is different from the first embodiment in that the self-propelled robot 12 has an obstruction within a warning range A3 (shown with hatching for convenience) set outside the operable range A1. Is provided on the automatic machine side warning sensor for detecting that the vehicle has entered, and a failure is detected on the equipment 14 side within a warning range A4 (shown by hatching for convenience) set outside the safety ensuring range A2. A work area side warning detection sensor for detecting the intrusion of an object is provided.
In addition, an alarm device 31 is provided which is a notification means for issuing a warning sound, for example, a buzzer sound or a synthesized voice based on the detection of the warning detection sensors.

At this time, in this embodiment, the automatic machine-side detection sensor 18 is also used as the automatic machine-side warning detection sensor, and an obstacle is present in the warning range A3 depending on the sensitivity (input value). It is configured so that it can be distinguished whether the vehicle has entered or an obstacle has entered the operable range A1. A mat switch 32 is also used as the work area side warning detection sensor.

The controller of the self-propelled robot 12 activates the alarm device 31 when the automatic machine side detection sensor 18 detects that an obstacle (the worker M) has entered the warning range A3. A warning sound is generated. When the mat switch 32 detects that an obstacle has entered the warning range A4, a signal to that effect is transmitted from the optical communication device 21, and the controller also activates the warning device 31 in this case. To generate a warning sound. Incidentally, when the obstacle (the worker M) enters the operable range A1 or the safety ensuring range A2, the safety ensuring operation is executed in the same manner as in the above embodiment.

According to this, when the worker M inadvertently approaches the operable range A1 or the safety assurance range A2, for example, the warning range A3 outside the range is set.
Alternatively, it is detected at the time of intrusion into A4 and the alarm device 3
A 1 causes a warning sound. Therefore, if the worker M is caused to leave the warning range A3 or A4 according to the warning sound, it is possible to prevent the worker M from entering the operable range A1 or the safety ensuring range A2. As a result, the execution of the safety ensuring operation can be suppressed as much as possible, and the working efficiency can be further improved.

Although illustration and detailed description are omitted, it is also possible to adopt a configuration in which production management and safety monitoring of the entire system are performed by a host computer (corresponding to claim 6), whereby efficient work is performed. And high security can be ensured. In this case, the host computer and each self-propelled robot and the equipment can be connected wirelessly (radio wave).

Further, in the above embodiment, the apparatus is stopped as a safety ensuring operation. However, as the safety ensuring operation, the operation speed is reduced to an extremely low speed, or the arm is moved to a predetermined retreat position. Is also conceivable. The detection sensor is not limited to the infrared sensor, and may be an optical sensor, an ultrasonic sensor, or the like. In this case, a contacted sensor such as an infrared sensor can be used as the detection sensor on the equipment side. The wireless communication means is not limited to the one using light, but may be the one using radio waves. In the case where an alarm device is provided, in addition to emitting a sound or a sound, a visual notification such as turning on a rotation warning lamp may be performed.

In addition, the automatic machine is not limited to a self-propelled robot, but may be a machine that moves on a rail, or may be a device other than a robot, such as a loader. Furthermore, the present invention can be applied to a production system including only one self-propelled robot, and can be applied to various production systems other than the manufacture of automobile parts, and can be appropriately changed without departing from the gist. It can be implemented.

[Brief description of the drawings]

FIG. 1 is a plan view showing an embodiment of the present invention, in which a self-propelled robot stops at a facility and performs work.

FIG. 2 is a front view showing a state in which a self-propelled robot stops at equipment and performs work.

FIG. 3 is a schematic plan view of the entire production system showing a state in a normal state (a) and a state in which one self-propelled robot breaks down (b).

FIG. 4 is a plan view showing an operable range of the robot arm.

FIG. 5 is a flowchart showing a procedure of a safety ensuring operation performed by a controller of the self-propelled robot.

FIG. 6 is a flowchart showing a procedure of a safety ensuring operation performed by the control device of the facility.

FIG. 7 is a view corresponding to FIG. 1, showing another embodiment of the present invention.

FIG. 8 is a diagram corresponding to FIG. 2;

FIG. 9 shows a conventional example and is equivalent to FIG. 3 (a).

FIG. 10 is a view showing another conventional example, showing a detection area of a self-propelled robot.

[Explanation of symbols]

In the drawing, 11 is a production system, 12 is a self-propelled robot (automatic machine), 14 is equipment (work area), 15 is an unmanned carrier, 16 is a robot arm, 17 is a work, 18 is an automatic machine side detection sensor, 19 and 21 are optical communication devices (wireless communication means), 20 is a mat switch (work area side detection sensor), 31 is an alarm device (notification means), 32 is a mat switch (work area side warning detection sensor), and A1 is Operable range, A2 is safety assurance range, A3 and A4 are warning range, M
Indicates an operator.

Claims (6)

[Claims] 1. A production system provided with an automatic machine having a movement function for moving toward a work area and performing a production operation in the work area, wherein the automatic machine is provided in the automatic machine and an operable range of the automatic machine is provided. An automatic machine-side detection sensor that detects that an obstacle has entered the inside, and a work area-side detection sensor that detects that an obstacle has entered the safety assurance area that needs to ensure safety around the work area, A control unit that activates both the automatic machine-side detection sensor and the work area-side detection sensor during the work in the work area of the automatic machine, and executes a safety ensuring operation based on the detection of the detection sensor. A production system characterized by: 2. An automatic machine side warning detection sensor for detecting that an obstacle has entered a warning range set outside the operable range of the automatic machine, and a detection sensor outside the safety ensuring range of the work area. A work area side detection sensor for detecting that an obstacle has entered the set warning range; and a notification unit for generating a warning sound based on the detection of the detection sensor. The production system according to claim 1. 3. The production system according to claim 1, wherein the work area side detection sensor or the work area side warning detection sensor comprises a mat switch. 4. A wireless communication means for wirelessly transmitting a signal to that effect to the automatic machine when the work area side detection sensor detects that an obstacle has entered the safety ensuring range. 4. The method according to claim 1, wherein:
The production system according to any one of the above. 5. The production system according to claim 1, wherein a plurality of said automatic machines are provided, and said automatic machines are configured to move between a plurality of work areas. . 6. The production system according to claim 5, wherein production management and safety monitoring of the entire system are performed by a host computer.