JP2008059087A - Area detecting apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To secure reliability in area detection to be needed for functioning as a safety device etc., and to improve reliability of a measured value by an area detecting apparatus which does not depend on the measured value of only one medium. <P>SOLUTION: Rated output transmitter 7 equipped with a nondirectional antenna 6 is mounted on a material object A, while an area detecting means 8 is provided on a material object B. In the area detecting means 8, areas to be detected by antennas each different in its directional quality such as a directional antenna 9 and a nondirectional antenna 10 is multiplexed, then multiplex detecting area 11 as shown in a figure is formed. In a radio communication means, communication is carried out by an electromagnetic wave whose frequency is an order of 300 MHz, while intensity of an electric wave is measured, then the area is detected based on whether or not the intensity reaches to a value corresponding to a desired predetermined distance. In a reliability verifying means to be provided separately, the electromagnetic wave whose frequency is in the order of 300 MHz is measured, and coincidence of the intensity at the distance to which a starting means responds is checked by measuring the electromagnetic wave whose frequency is in the order of 300 MHz when the starting means is responded by a frequency of 120 kHz. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an area detection device that detects an area using radio.

  With the progress of robot technology, the introduction of service robots that cooperate with humans is expected. In factories, industrial robots are starting to operate with a space shared with workers, and it is desirable that the experience and technology cultivated there be reflected in the introduction of service robots.

  In a space-sharing factory where workers and industrial robots share an activity space, safety is to be ensured according to the protection measures stipulated by JIS standards and the like. In this standard, since the position detection technology of the worker is immature at present, the safety protection that separates the activity space of the worker and the robot is mainly recommended and defined.

  The safety protection measures in the industrial robot as described above can be broadly classified into (1) a method using a physical fence and (2) a method using a pseudo fence without using a physical fence. Usually, when the worker and the robot do not share the work space, the former method is used, and when the space is shared, the latter method is used.

  An example of the former is an industrial manipulator. In industrial manipulators, in order to maximize productivity, the speed and operating range of intrinsically safe designs are avoided as much as possible, and the work space is isolated using safeguards. Normally, a physical fence is used, but when the work space cannot be isolated or shared, a pseudo fence described later is also used to isolate the work space by time division. That is, they coexist in a time division manner.

  An example of the latter is a mobile robot. Since the mobile robot moves in the factory space, it is difficult to provide a physical fence. Therefore, a certain range from the mobile robot is monitored by a detector, and when a worker exists within the monitoring range, a pseudo fence that stops the robot is installed for protection. Protection with a pseudo fence is less safe than protection with a physical fence. Therefore, it is necessary to limit functions such as moving speed to some extent as part of the intrinsic safety design.

  In order to relax the functional restrictions of the robot, it is assumed that the reliability of the pseudo fence is equal to or higher than that of the physical fence. However, with the protection measures only for the detectors installed in the robot, there is a high risk that the failure of the detectors will directly cause damage, and it is difficult to ensure sufficient safety.

  In order to improve the reliability of the pseudo fence, that is, to ease functional restrictions, not only detectors equipped with robots but also detectors carried by workers and detectors installed in the environment cooperate. It is desirable to supplement the safety of the pseudo fence with multiple systems.

  As protection devices for constructing a multiplex system, there are intrusion detection with a camera installed in the environment, and an intrusion detection device by communication between an operator and a mobile robot. Each of these has drawbacks and it is desirable to complement each other.

  Therefore, it is considered to use wireless sensor network technology as a base for integrating these protection devices. Wireless sensor network (WSN) is a general term for sensor networks that utilize wireless communication technology. A wireless sensor network has a goal of building a sensor network that allows dynamic changes in the network, and focuses on independence, operability, and versatility of a single node.

An example in which a wireless sensor network is used as a protection device is shown in FIG. Establish safeguarding areas centering on hazards and detect operator intrusions. By communicating with the nodes installed in the environment, the detection information can also be notified to the monitoring system. The following can be expected as advantages of configuring the wireless sensor network.
・ Easy to construct an autonomous distributed system ・ Easy to install a pseudo fence using communication distance ・ Can share information within the network On the other hand, to function as a protection device ・ Area detection function ・ Fault detection function
Is required. The area detection function is necessary to secure the safe protection area shown in FIG. The failure detection function is indispensable because a failure of the node itself impairs reliability.

A method for detecting an area by wireless distance measurement using electromagnetic waves or the like has been proposed in Japanese Patent Laid-Open No. 9-500226 and the like, and its use for a safety device is also disclosed in Japanese Patent Laid-Open No. 2002-293498, Japanese Patent Laid-Open No. 9-62968, and Japanese Patent Laid-Open No. 10-237906.
JP-A-9-500226 Japanese Patent Laid-Open No. 2002-293498 JP-A-9-62968 JP-A-10-237906

  In the method of detecting a region by radio as described above, it is difficult to obtain sufficient reliability only by a single measurement method such as a method of measuring based only on the radio wave intensity of electromagnetic waves. For example, the use of electromagnetic waves not only causes large errors in measurement values due to the effects of multipath, but sometimes communication itself is not established. Surveying using sound waves and light also has its own difficulties. Therefore, wireless distance measurement using a single medium has a problem in use for a safety device that requires a high degree of reliability.

  In response to the above problems, for example, in the survey using electromagnetic waves, there is a method of improving the accuracy of distance measurement by using a multi-antenna such as a diversity antenna or a large antenna, or measuring at multiple points. However, the form is enlarged and it is not particularly suitable when a person carries it. In addition, the effect of multipath remains as an essence.

  The present invention has been proposed based on such a technical background, and an area necessary for functioning as a safety device or the like by an area detecting device that does not depend on a measured value of only one medium and a method of using the area detecting device. The object is to ensure the reliability of detection and further improve the reliability of the measured value.

  In order to solve the above-mentioned problems, the present invention uses a different kind of communication means that can be used more easily, such as radio field intensity and electromagnetic induction in radio, and uses each communication state for verification such as reference and comparison. An area detection apparatus having a communication function that improves accuracy is used, and the apparatus is limited so that communication can be established only at a specific distance or range. By utilizing these characteristics, areas and distances between apparatuses are specified, and further, by defining the arrangement and positional relationship of apparatuses, a more detailed area can be calculated.

  More specifically, the area detection apparatus of the present invention employs the following method. That is, in order to solve the above-described problem, the area detection apparatus of the present invention is a wireless communication means, an activation means that operates by obtaining an electromotive force from a communication wave output at a rating, and a state or an area in which the activation means reacts and operates. Reaction limiting means for limiting the conditions in advance by physical means, and reaction adjusting means for adjusting the reaction operation separately from the reaction limiting means, and proximity to a specific point, distance, range, or constant distance It is characterized in that a specific area is detected passively by reacting with.

  According to another aspect of the present invention, in the area detection device, a rated output transmitter that outputs the communication wave at a rated value that activates the activation unit is provided separately.

  In addition, another area detection apparatus of the present invention includes a plurality of area detection means that include wireless communication means and perform at least one kind of area detection including area detection based on distance measurement, and refer to each detection result. It is used for comparison or compensation, and is provided with a reliability verification means for obtaining the reliability of area detection alone.

  Further, another area detection device of the present invention includes a wireless communication means, an activation means that operates by obtaining an electromotive force from a communication wave that is output at a rating, and a state or an area condition in which the activation means reacts and operates. A plurality of regions for detecting different types of regions independently, including a reaction limiting unit previously limited by a physical configuration, a reaction adjusting unit for adjusting a reaction operation separately from the reaction limiting unit, and at least a region detection based on distance measurement Detecting means, and by detecting a specific area passively by reacting at a specific point, distance, range, or close proximity, and using each detection result for reference, comparison, or compensation, It is characterized by comprising a reliability verification means for obtaining the reliability of area detection alone.

In addition, another area detection device of the present invention includes the redundant communication means that communicates with different directivities having different linearity or diffraction characteristics in the area detection device, thereby improving the reliability of the area detection and communication. A multiplex communication means is provided.
Further, the region detection device includes means for communicating by a transmission method different from an electromagnetic coupling method, an electromagnetic induction method, or an electromagnetic wave method, and performs processing according to the state of each communication.
Further, the area detection device includes a recognition unit using RFID.
The area detection device further includes means for determining the establishment requirements of wireless communication in the wireless communication means based on the detection results.
In the area detection device, the wireless communication means may include a directional antenna, and a means for specifying a reaction area by reception by the antenna may be provided.
In the area detection device, the wireless communication unit includes an omnidirectional antenna having a directivity of a substantially perfect circle or a perfect sphere.
Further, in the area detection device, a person wears or carries the area detection device.
Further, the area detection device includes means for ensuring safety based on the detected distance or position.
In the area detection device, the area detection device is provided as a danger source.
Further, the area detection device includes means for determining the reliability of area detection or wireless communication based on each detection result according to claim 3.
Further, the area detection device includes a communication failure detection function based on the reliability or RFID identification / authentication or noise monitoring, and includes means for performing processing such as issuing an alarm based on the failure detection. And
Further, the area detection device further comprises means for processing according to the total number, position, or state of the apparatus that the area detection means has reacted or has not reacted.
The area detection apparatus according to claim 16, further comprising means for measuring a distance or a position to the apparatus that transmits the activation signal according to claim 2.
Further, the area detection device has a failure diagnosis function for detecting an abnormality by itself and includes means for processing based on a diagnosis result.
Further, the area detecting device includes means for recording the progress of wireless communication, and means for detecting and processing a communication abnormality from the record.
Further, the area detection device has a function of an enable device or operates in conjunction with the enable device.
The area detecting device operates in conjunction with an interlock guard device.
In the region detection device, the region detection device operates in conjunction with a limit switch or a mechanical stopper operation limiting device.
Further, in the region detection device, the region detection device, or a device that detects a region by providing means for reacting only at a specific distance, range, or proximity to a certain distance, on a straight line or on a plane Or, it is arranged in a positional relationship with regularity on a three-dimensional object, and has a means for measuring a distance based on the arrangement.
Further, in the apparatus using the region detection device, the region detection device, or the region detection device that detects the region by including a means that reacts only by approaching a specific distance or range or a certain distance, on a straight line, Or, it is provided with a positional relationship with regularity such as equidistant intervals on a plane or a solid, and a means for measuring a distance based on the arrangement is provided.
The apparatus is characterized by further comprising means for automatically calculating the arrangement.
The apparatus may further include means for calculating reliability or safety included in the arrangement.
Further, the apparatus is characterized by having a communication failure detection function based on the reliability or monitoring of the communication failure in the area detection device, and means for processing such as alarm transmission.
The apparatus further comprises means for recording a communication progress in the area detection apparatus, and means for processing including an alarm based on the communication record.
The apparatus further comprises means for processing according to the total number, position, or state of the apparatus in which the region detecting means has reacted or has not reacted.
The apparatus further comprises means for measuring a distance or a position to the apparatus that has transmitted the activation signal.

Since this invention was comprised as mentioned above, there can exist the following various effects.
1. The reliability of the device itself is improved by using not only a single measuring means such as radio wave intensity but also using a different medium such as electromagnetic induction.
2. Reliability is improved by recording and referring to the progress of wireless communication.
3. Reliability can be improved by providing the radio unit with a fault diagnosis function.
4). By defining the arrangement of the radios, the distance is measured, and the reliability of the measured value is improved.

  The present invention secures the reliability of area detection necessary for functioning as one end of a safety device, etc. by using the area detection apparatus that does not depend on the measurement value of only one medium and the method of using the apparatus. The problem of improving the reliability is that the wireless communication means, the starting means that operates by obtaining an electromotive force from the communication wave output at the rated value, and the condition of the state or region in which the starting means reacts and operates in advance Reaction limiting means limited by physical means, and reaction adjusting means for adjusting the reaction operation separately from the reaction limiting means, and by reacting at a specific point, distance, range, or close to a certain distance Realized by passively detecting specific areas.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows the basic configuration of the present invention. In the figure, the area detecting means 1 receives, for example, an electromagnetic wave having a frequency of about 120 kHz from a transmitter that transmits an activation signal by the wireless communication means 2. At this time, the transmission output from the transmitter is rated at an electric field strength of 400 μV / m at a distance of 3 m, for example, and when the rated output cannot be performed due to a voltage drop or the like, the output is stopped and a warning is given by a buzzer.

  In the receiver that receives the activation signal, the activation means 3 is activated by obtaining an induced electromotive force from the received wave using, for example, a coil antenna. The reaction limiting means 4 is provided with a directional antenna, a shielding plate, or a variable resistance is added to a circuit for obtaining an electromotive force so that the distance and direction for receiving the activation signal from the transmitter are clarified in the physical structure. To be able to limit. The reaction adjusting means 5 finely adjusts the resistance value of the reaction limiting means 4 and the reaction conditions of the starting means so as to satisfy a desired specification.

  When the region detection means of the present invention as described above is used for multi-region detection, for example, it can be implemented as shown in FIG. That is, the rated output transmitter 7 equipped with the omnidirectional antenna 6 is provided on the object A, and the area detecting means 8 is provided on the object B. In the area detection means 8, for example, areas to be detected by antennas having different directivities, such as a directional antenna 9 and an omnidirectional antenna 10 as shown, are multiplexed to form a multiple detection area 11 as shown.

  Further, the wireless communication means communicates with electromagnetic waves having a frequency of about 300 MHz, measures the radio wave intensity, and detects a region depending on whether the intensity reaches a value corresponding to a desired specific distance. In the separately provided reliability verification means, when the activation means reacts at a frequency of 120 kHz, an electromagnetic wave having a frequency of about 300 MHz is measured, and it is confirmed whether or not it matches the intensity at the distance that the activation means has reacted.

  FIG. 3 shows an example of use in which the region detection method as described above is used for safety protection. In the example shown in the figure, for example, a transmitter is mounted on the worker A and a receiver is mounted on the danger source B such as a robot. Next, in addition to the above settings, reaction limiting means and reaction adjusting means are set so that the starting means reacts at a distance of 2 m from the transmitter. At this time, it is preferable to take noise countermeasures by modulating the carrier wave or encoding the start signal.

  When the receiver reacts in this state, an operation such as stopping the robot is performed. The radio communication means measures the radio field intensity, and when the distance between the transmitter and the receiver reaches 3 m, the receiver transmits warning information to the transmitter. Further, when the distance reaches 2 m, the robot is stopped. In the reliability verification means, if the activation means does not react even though the radio wave intensity of the electromagnetic wave having a frequency in the range of 300 MHz has yet reached the value at 2 m, it is alerted as a malfunction or malfunction. .

  FIG. 4 shows an example in which the region measurement method according to the present invention is used for arrangement measurement or the like. In the arrangement measurement in the figure, for example, a transmitter is arranged on a measurement object A, and an area detection unit is arranged on a straight line at intervals of 20 cm on a robot or a wall. From the total number of devices that responded with the activation signal from the transmitter, the distance to the transmitter is calculated using Heron's formula. Furthermore, the area | region and position of a transmitter are specified from the position of this invention apparatus which is reacting. In addition, if there are receivers that are not responding even though the receivers on both sides are reacting, a warning is displayed as inoperative.

  The present invention can be carried out in various modes in addition to the above-described embodiment. For example, as a means for performing communication by wireless communication means and generating a start signal, it can be implemented by sound waves in addition to electromagnetic waves, and reliable. The property verification means includes redundant communication means for communicating with different directivities such as straightness and diffractiveness that are different from each other in the communication means, so that the reliability of area detection is obtained alone. Further, the cardiac reliability verification means can obtain the reliability of the area detection alone by using the area detection result for reference, comparison, compensation or the like.

  In addition, the communication means may include means for communicating by different transmission methods such as an electromagnetic coupling method, an electromagnetic induction method, and an electromagnetic wave method, and various processes may be performed according to the state of each communication. Also, a recognition means using RFID (Radio Frequency Identification) may be provided, a means for detecting a communication failure based on this recognition means and noise monitoring, and processing for issuing an alarm based on the detection of the failure May be provided. Further, it may be configured to have a failure diagnosis function for detecting an abnormality by itself, such as monitoring of a power supply voltage, and to have means for processing based on the diagnosis result.

  Furthermore, a means for recording the progress of wireless communication may be provided, and a means for processing based on the communication record, such as detecting a communication abnormality from the record and issuing an alarm, may be provided. Or may operate in conjunction with an enabling device. Further, it may be operated in conjunction with an interlock guard device, or may be operated in conjunction with an operation limiting device such as a limit switch or a mechanical stopper.

  In addition, the region detection device or the device for detecting the region by providing means for reacting only by approaching a specific distance or range or a fixed distance is equally spaced on a straight line, a plane, or a solid body. It is also possible to provide a means for measuring the distance based on the arrangement based on the positional relationship with the regularity. Furthermore, the above-mentioned region detection device or a device for detecting a region by providing means for reacting only at a specific distance, range, or proximity to a certain distance can be arranged on a straight line, on a plane, or on a solid body, etc. There may be provided means for deploying in a positional relationship with regularity and measuring the distance based on the arrangement. Further, a means for automatically calculating the arrangement may be provided. In addition, it is possible to provide means for calculating the reliability and safety of the arrangement.

  Further, a communication failure detection function based on the reliability or the communication failure monitoring in the device may be provided, and a means for performing processing such as alarm transmission may be provided. A means for recording the progress may be provided, and a means for processing based on the communication record, such as detecting an abnormality in communication from the record and issuing an alarm, may be provided. Further, a means for processing may be provided according to the total number, position, and state of the devices that have reacted or have not reacted by the area detecting means. Further, it may be provided with means for measuring the distance and position to the device that has transmitted the activation signal.

  More specific examples of the present invention as described above will be shown below. Note that the present invention is not limited to the experimental examples described below, and can naturally be implemented in various modes. Various experiments were conducted up to the present invention, and a space function module (UFAM: Ubiquitous Functions Activation Module) used as a wireless sensor network was first developed. This spatial function module achieves power saving by minimizing functions, and the specifications are shown in Table 1. The spatial function module is equipped with one switch as a user interface.

  In addition, an LED for presenting the module status is equipped. A PIC (programmable IC) is used as the control CPU, and the operation process can be changed. In addition, an IC having power saving and transmission / reception functions is separately provided for communication. A helical antenna is used as the antenna, and the vertical plane has a substantially circular directivity with respect to the direction in which the antenna extends. The communication interval can be changed by software, and the power consumption can be suppressed and the operation time can be extended by widening the communication interval. In the communication protocol, encoded communication is performed as a countermeasure against disturbance to the communication to ensure data consistency. Thereby, the reliability of communication data was secured.

In order to use the spatial function module as a protection device, a distance measuring function for providing a pseudo fence with a certain distance as a safe protection area is indispensable. In order to investigate the usefulness of the spatial function module, a preliminary experiment on distance measurement was conducted. The main features of the experimental environment are shown below.
・ 7.5 × 9.0 × 3 (m) laboratory ・ Wall is made of metal ・ Other measuring devices are in operation

  Since the spatial function module does not have a distance measurement function, we investigated the range of communication establishment. In the experiment, the UFM was divided into a transmitter and a receiver, and the receiver was installed near the wall of the room to change the position of the transmitter. As a result of the above experiments, communication between the transmitter and the receiver was established in most places in the laboratory.

  Considering the spatial function module as the protective device as described above, wide-range communication of the spatial function module is advantageous in transmitting the presence of the worker to the robot. However, since the spatial function module does not sufficiently satisfy the required distance measurement function, the relative positional relationship with the robot cannot be specified. In addition, communication may not be established due to multipath fading. Such unstable communication leads to a decrease in reliability as a protection device. In view of the above, the function of the spatial function module has room for improvement as a protection device.

  Based on the above experimental results, the present inventors have newly developed a safety function activation module (SFAM) in which a safety protection function is added without impairing the advantages of the spatial function module as described above. In the safety function module, a radio field intensity measurement function and a power supply voltage measurement function are added to the functions of the spatial function module. Furthermore, a communication function at 125 kHz has been added as a new communication means. Communication at 125 kHz is performed by electromagnetic induction. Therefore, the safety function module is divided into a transmitter and a receiver, and the receiver receives an induced electromotive force from the transmitter, and the circuit operates when the voltage exceeds a certain voltage.

  In this 125 kHz communication, data communication is not performed. The transmitter antenna is made omnidirectional by using a three-dimensional diversity antenna and reacts in a sphere with a constant radius centered on the transmitter. A 125 kHz radio wave has a long wavelength and is hardly affected by a phase change due to multipath, so that a certain reaction range is compensated. Since the transmitter supplies power to the receiver, it consumes more power than the receiver. In communication using 125 kHz, roles are divided between a transmitter and a receiver, but in communication using 303.2 MHz, bidirectional data communication is possible.

By using the safety function module as described above, the following problems can be addressed.
・ Detection of area ・ Prevents malfunctions due to power supply voltage drop

  As one of distance measuring methods using radio waves, a method using radio wave intensity has been proposed. Since the radio wave intensity is information obtained at the time of wireless communication, measurement is easy. The safety function module takes this advantage into account and added a radio field strength measurement function. However, since distance data based on radio field intensity in an indoor environment is affected by multipath, countermeasures are necessary.

  The safety function module performs area detection using electromagnetic induction separately from the area detection using the above-described radio wave intensity. Using the newly added 125 kHz reaction region, the receiver reacts in a sphere with a constant radius centered on the transmitter of the safety function module. Since there is no receiver, a certain reaction range is compensated. Since the transmitter supplies power to the receiver, it consumes more power than the receiver. In communication using 125 kHz, roles are divided between a transmitter and a receiver, but in communication using 303.2 MHz, bidirectional data communication is possible.

  Using the newly added 125 kHz reaction region, the receiver reacts in a sphere with a constant radius centered on the transmitter of the safety function module. Since the circuit operates when the electromotive force exceeds the threshold value, the receiver functions as a wireless switch that is ON or OFF. Furthermore, the position of the receiver can be specified by using a plurality of transmitters. Reliability improvement can be expected by using both radio wave intensity and electromagnetic induction. The reduction of the power supply voltage of the safety function module makes communication unstable, and thus the reliability is lowered. Therefore, a power supply voltage measurement function was added as a failure detection function. Details of the function will be described later.

Next, the safeguarding method using the safety function module is described. In the safety function module, 125 kHz communication is established within a radius of 2 m, and 303.2 MHz communication is established within a range of 10 m or more. FIG. 6 shows an example of setting the safe protection area using these two reaction ranges. The following safeguarding areas are provided centering on the safety function module installed in the robot, with the robot as a danger source.
Area A: Communication is not established at both frequencies Area B: Only communication at 303.2 MHz is established Area C: Communication is established at both frequencies.
Area A is outside the safeguarded area. Area B is outside the safeguarded area but is close to the safeguarded area. Area C is a safeguarded area. This protection technique is characterized in that the protection content is changed according to the risk level of each of these areas.

  The safety function module can be transmitted and received by itself, and the area of FIG. 6 can be applied not only to the robot but also to the operator. Next, based on the use of the safety function module, we examined the transmitter and receiver separately.

The transmitter communicates at both 125 kHz and 303.2 MHz frequencies. The receiver determines the area of the transmitter by receiving data from the transmitter. FIG. 7 shows a communication flow between the transmitter and the receiver. The receiver transmits an acknowledgment message in order to share the area information with the transmitter. Therefore, safeguarding measures can be taken for both the transmitter and the receiver. The relationship between the transmitter and the receiver varies depending on the number of workers and robots as well as the one shown in FIG. Therefore, the following four conditions were examined. In the following condition classification, the former is the number of transmitters and the latter is the number of receivers.
Casel: One to one
Case2: One-to-many
Case3: Many-to-one
Case4: Many-to-many

  Furthermore, the conditions are different between when the operator carries the transmitter and when the robot is equipped with the transmitter. The table of FIG. 8 shows the numerical relationship and the condition classification by the owner of the transmitter. 7 if the relationship shown in FIG. 7 is satisfied without any problem, and the relationship shown in FIG. 7 is not fully established. However, if the control strategy allows a certain degree of safety protection, the relationship shown in FIG. If there is a problem in protection, it is indicated by a cross.

  In the system as described above, considering the case where the operator carries the transmitter and the robot is equipped with the receiver, when the numerical relationship is Case 1, the communication relationship of FIG. 7 is established. However, in other cases, communication at 125 kHz is established, but communication at 303.2 MHz may collide. Therefore, the relationship of FIG. 7 does not always hold. However, since the intrusion information to the area C with respect to the robot is transmitted, the robot can be stopped. Although two-way communication does not hold, the robot can be stopped, so it is Δ in Table 1.

  When data transmission is performed from an operator, the power consumption of the safety function module increases, leading to a reduction in operating time. As a result, there is a risk that work efficiency may also be reduced. When workers have transmitters, measures against power consumption are indispensable.

  When the robot is equipped with a transmitter and the worker carries the receiver, if the worker and the robot are in a one-to-one relationship, the relationship shown in FIG. However, in other cases, it is difficult to recognize the area in both directions. As a result, in the robot equipped with the transmitter, the operator's area information cannot be acquired and cannot be stopped. Therefore, the safety for the operator is reduced.

  In order to ensure safety, it is necessary to avoid communication collisions. For this purpose, it is necessary to synchronize communication by a time division method or the like.

  On the other hand, paying attention to power consumption, the safety function module consumes a lot of power in communication at 125 MHz. Therefore, it can be said that it is advantageous to equip the robot with a transmitter because the robot is equipped with many power sources compared to the case where the operator carries it.

  Even in the protection device using the safety function module as described above, malfunction and non-operation are problematic. Malfunction refers to a phenomenon in which the device operates in a situation where it is not necessary, and malfunction refers to a phenomenon in which the device does not operate in a necessary situation. The malfunction stops the robot, so safety is ensured. However, the malfunction does not ensure the safety of the robot, so safety is not ensured, and multiple detection methods are required.

  Possible causes of malfunctions are mainly communication noise and a decrease in power supply voltage. In the safety function module, as a noise countermeasure, a signal is encoded in communication at 303.2 MHz. Furthermore, in order to prevent malfunction due to a drop in the power supply voltage, the safety function module always checks the power supply voltage, and warns the operator if the voltage is below a certain value. Since the drop in the power supply voltage causes not only malfunction but also malfunction, it is indispensable to confirm the operation from the stage of entering the work area.

In addition, as the inoperative factor, a decrease in power supply voltage, a failure of the safety function module, and the like are considered. The countermeasures against the malfunction factor are shown below.
Countermeasure (i): Monitoring of power supply voltage Countermeasure (ii): Recording communication information Countermeasure (iii): Monitoring of communication from the environment In the above countermeasure (i), the power supply voltage is always checked and the voltage is below a certain value. Warn the operator. In the measure (ii), information such as communication establishment time and radio wave intensity for a certain period is recorded at both the transmitter and the receiver, and used for abnormality detection. When the above is detected, the robot is stopped. Furthermore, in measure (iii), a safety function module to be a monitoring module is newly installed in the environment and combined with measure (ii). By taking measures against malfunctions and malfunctions described above, the reliability of the safety function module as a protective device is improved.

  With respect to the above system, the performance of the safety function module was evaluated and the effectiveness as a protective device was examined. In order to use the safety function module as a protection device, the safety protection area shown in FIG. 6 must be constructed. In the experiment, the position of the transmitter was fixed at the center of the rotary table, and the distance to which the receiver reacted was measured. The rotary table is rotated every 10 degrees, and the reaction distance of 36 directions in total is measured. Repeat this S times. Do not change the orientation of the receiver. As a result of the experiment, it was found that it responded with a probability of about 80% with respect to 2 m of the required specification, and with a probability of 90% or more at 1940 mm, and the usefulness of the present invention was proved.

  The region detection apparatus according to the present invention as described above can be used for safety devices, distance measurement, position measurement, safety work support, and the like in addition to general region detection.

It is a basic block diagram of the Example of this invention. It is a figure which shows the example of an area | region detection in the Example of this invention. It is a figure which shows the example of safe protection in the Example of this invention. It is a figure which shows the example of arrangement | positioning measurement in the Example of this invention. It is a figure which shows the example of the safety system by a wireless sensor network. It is a figure which shows the example of a safe area division. It is explanatory drawing of the area | region detection of the safety function module by this invention. It is a figure which shows the relationship between the number of the transmitters and receivers in this invention, and a transmitter holder.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Area | region detection means 2 Wireless communication means 3 Starting means 4 Reaction limiting means 5 Reaction adjustment means 6 Non-directional antenna 7 Rated output transmitter 8 Area | region detection means 9 Directional antenna 10 Non-directional antenna

Claims (30)

Wireless communication means;
Starting means that operates by obtaining electromotive force from the communication wave output at the rated value,
Reaction limiting means for limiting the condition of the state or region in which the activation means reacts and operates in advance with physical means; and
A reaction adjusting means for adjusting a reaction operation separately from the reaction limiting means,
An area detection apparatus characterized in that a specific area is passively detected by reacting at a specific point, distance, range, or close proximity.   2. The region detection device according to claim 1, wherein a rated output transmitter that outputs the communication wave at a rated value that activates the activation means is provided separately. Comprising wireless communication means,
Including at least area detection based on distance measurement, it has multiple area detection means to detect different types of areas alone,
An area detection apparatus comprising a reliability verification unit that uses each detection result for reference, comparison, or compensation, and obtains reliability of area detection alone. Wireless communication means;
Starting means that operates by obtaining electromotive force from the communication wave output at the rated value,
Reaction limiting means for limiting the condition of the state or region in which the activation means reacts and operates in advance with a physical configuration; and
Reaction adjusting means for adjusting reaction operation separately from the reaction limiting means;
Including a plurality of area detecting means for detecting different areas independently, including at least area detection based on distance measurement,
Detect specific areas passively by reacting at a specific point, distance, range, or proximity to a certain distance,
An area detection apparatus comprising: a reliability verification unit that uses each detection result for reference, comparison, or compensation and obtains the reliability of area detection alone.   The multiplex communication means which improves the reliability of area | region detection and communication by providing the redundant communication means which communicates in the different directivity from which straightness or diffraction property differs is any one of Claims 1-4 characterized by the above-mentioned. The area | region detection apparatus as described in.   6. The area detection apparatus according to claim 5, further comprising means for communicating by a transmission method different from an electromagnetic coupling method, an electromagnetic induction method, or an electromagnetic wave method, and performs processing according to a state of each communication.   The region detection apparatus according to claim 1, further comprising a recognition unit using RFID.   The area detection device according to any one of claims 3 to 7, further comprising means for determining establishment requirements of wireless communication in the wireless communication means based on each detection result according to claim 3. The wireless communication means includes a directional antenna,
9. The area detection apparatus according to claim 1, further comprising means for specifying an area that reacts with reception by the antenna.   The area detecting device according to claim 1, wherein the wireless communication unit includes an omnidirectional antenna having a directivity of a substantially perfect circle or a true sphere.   The region detection device according to claim 1, wherein a person wears or carries the region detection device.   The region detection device according to claim 1, further comprising means for ensuring safety based on the detected distance or position.   The region detection device according to any one of claims 1 to 12, wherein the region detection device is provided in a danger source.   The area detection apparatus according to claim 3, further comprising means for determining reliability of area detection or wireless communication based on each detection result according to claim 3.   15. A communication failure detection function based on reliability or RFID identification or authentication according to claim 14 or noise monitoring, and means for performing processing such as alarm transmission based on failure detection. 14. The area detection device according to 14.   16. The area detection apparatus according to claim 1, further comprising means for processing according to the total number, position, or state of the apparatus in which the area detection means has reacted or has not reacted.   The area detecting device according to claim 16, further comprising means for measuring a distance or a position to the device that transmits the activation signal according to claim 2.   The region detection device according to claim 1, further comprising a failure diagnosis function for detecting an abnormality by itself, and means for processing based on a diagnosis result.   The apparatus according to any one of claims 1 to 18, further comprising means for recording a progress of wireless communication, and means for detecting and processing a communication abnormality from the record.   20. The area detection device according to claim 1, wherein the region detection device has a function of an enable device or operates in conjunction with the enable device.   21. The region detection device according to claim 1, wherein the region detection device operates in conjunction with an interlock guard device.   The region detection device according to any one of claims 1 to 21, wherein the region detection device operates in conjunction with a limit switch or an operation restriction device for a mechanical stopper.   An area detection apparatus according to any one of claims 1 to 22, or an apparatus for detecting an area by providing means for reacting only at a specific distance, range, or proximity to a certain distance, on a straight line, or The area detecting device according to any one of claims 1 to 22, further comprising means for measuring a distance on the basis of the arrangement in a positional relationship with regularity on a plane or a solid.   An area detection apparatus according to any one of claims 1 to 23, or an area detection apparatus that detects an area by providing means that reacts only by proximity to a specific distance, range, or fixed distance, on a straight line or on a plane An apparatus comprising: a unit arranged in a positional relationship with regularity such as an equal interval on a top or a solid, and a unit for measuring a distance based on the arrangement.   An apparatus comprising: means for automatically calculating the arrangement according to claim 23 or 24.   An apparatus comprising: means for calculating reliability or safety provided in the arrangement according to claim 23 or 24.   A communication failure detection function based on monitoring of a communication failure in the reliability according to claim 14 or the region detection device according to any one of claims 1 to 24, and means for processing such as alarm transmission A device characterized by that.   An apparatus comprising: means for recording a communication progress in the area detection apparatus according to any one of claims 1 to 24; and means for performing processing including an alarm based on the communication record.   25. An apparatus comprising: means for processing according to the total number, position, or state of the area detection apparatus according to any one of claims 1 to 24, wherein the area detection means has reacted or has not reacted.   30. The apparatus according to claim 29, further comprising means for measuring a distance or a position to the apparatus that has transmitted the activation signal according to claim 2.

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