JP4111606B2 - Hand / arm discrimination method in a light-type safety device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a light beam safety device in a press machine, and more particularly to a hand arm discrimination method in a light beam safety device that performs hand discrimination and controls a PSDI (Presence, Sensing, Device Initiation) function.
[0002]
[Prior art]
Some industrial machines are provided with a light-type safety device that stops driving of the press machine when the operator's body is in a dangerous position, like a press machine. For example, FIG. 6 is a diagram for explaining an example of such a light safety device.
[0003]
As shown in the figure, the beam-type safety device is provided between the press machine and the worker, and is composed of a light emitting unit 1, a light receiving unit 2, and a control unit 3. Then, according to the control signal output from the control unit 3, the light emitting unit 1 emits light 1-2, 1-3,..., 1-n sequentially from, for example, the uppermost light emitting element 1-1, and the light receiving unit 2 The corresponding light is received by the light receiving elements 2-1, 2-2, 2-3,.
[0004]
And if the light from one of the light-emitting elements cannot be received by the corresponding light-receiving element, it is assumed that a part of the worker's body, parts or materials are in a dangerous position for the operation of the press machine. Even if the machine drive signal is input, the drive of the press machine, that is, the downward drive of the press machine is stopped. Further, when light emission from the light emitting element is interrupted during operation of the press machine, the drive of the press machine is immediately stopped.
[0005]
[Problems to be solved by the invention]
In the conventional light safety device described above, a method of instructing a press machine to perform a one-stroke operation using the PSDI function is adopted today. That is, in the safety area of the press machine, for example, when a work material is manually set on a mold and the hand is returned, a signal for operating the press machine for one stroke from the top dead center position is output.
[0006]
However, the conventional light safety device has a safety problem because the PSDI function is used without determining light blocking by the hand and arm. For example, once the optical axis is interrupted, the press machine is driven when the interruption is released (light is transmitted), but it cannot be determined whether the optical axis is interrupted by hand or the material has been accidentally passed. It was. In such a case, it is dangerous for the press machine to drive for one stroke.
[0007]
The present invention provides a hand-arm discrimination method in a beam-type safety device that discriminates hands and arms and uses the PSDI function safely in a beam-type safety device in which two or more optical axes are provided between an operator and a press machine. It is.
[0008]
[Means for Solving the Problems]
According to the first aspect of the present invention, in the light beam safety device provided between the press machine and the operator, the first optical axis group provided on the operator side and having a plurality of optical axes is provided. And a second optical axis group having a plurality of optical axes provided on the press machine side, and at the moment when any of the optical axes in the second optical axis group is shielded when the hand enters the arm. Detecting means for detecting the number of light axes shielded in one optical axis group, and determining means for determining that there is an abnormality when the number of optical axes detected by the detecting means exceeds a preset first constant; This can be achieved by providing a hand / arm discrimination method in a light safety device having
[0009]
That is, the hand / arm discrimination method in the light beam safety device of the present invention has first and second optical axis groups having a plurality of optical axes between the operator and the press machine, and the first optical axis group is a work. The second optical axis group is created on the press machine side. In addition, since the detection means sets, for example, the work material on the mold by hand, when the hand and arm enters the light beam type safety device, the hand and arm have one of the optical axes in the second optical axis group. At the moment of light shielding, the number of light axes shielded in the first light axis group that has already been shielded is detected.
[0010]
The determination means is configured to determine that the abnormality is detected when the number of optical axes detected by the detection means exceeds a preset first constant, and the first constant corresponds to a thickness of a human arm. Is set in advance.
[0011]
Therefore, with this configuration, if the number of optical axes exceeding the preset first constant is detected, it can be seen that the person blocking the first optical axis group is not a human skill. The PSDI function is stopped by judging that it is abnormal, and the one-stroke drive of the press machine is prohibited.
[0012]
According to a second aspect of the present invention, in the first aspect of the invention, the determination unit determines that the detection unit is abnormal when, for example, the number of optical axes detected by the detection unit is equal to or less than a second constant set in advance. It is.
[0013]
In this example, the minimum value of the thickness of the person's hand and arm is set when detecting the hand and arm, and the invention of claim 1 defines the thickness of the person's hand and arm as the maximum value. The thickness of the arm is defined as a minimum value.
[0014]
With this configuration, when detecting the number of optical axes that is smaller than a preset second constant, it can be determined that the one blocking the first optical axis group is not a human skill. The PSDI function can be stopped and one-stroke drive of the press machine can be prohibited.
[0015]
According to the invention described in claim 3, the light beam safety device provided between the press machine and the worker is provided with the first optical axis group provided on the worker side and having a plurality of optical axes. The second optical axis group provided on the press machine side and having a plurality of optical axes, and at the moment when all the optical axes in the second optical axis group pass through when the hand and arm are escaped, the first optical axis group Detecting means for detecting the number of light axes shielded in the optical axis group, and determining means for determining that there is an abnormality when the number of optical axes detected by the detecting means exceeds a preset first constant; This can be achieved by providing a hand / arm discrimination method in a light safety device having
[0016]
Here, the hand / arm discrimination method in the light beam safety device of the present invention has the first and second optical axis groups having a plurality of optical axes between the operator and the press machine, as in the first aspect of the invention. The first optical axis group is created on the operator side, and the second optical axis group is created on the press machine side. On the other hand, the detection means, for example, sets the work material on the mold by hand, and when the hand and arm escape from the light beam safety device, the hand and arm pass through the second optical axis group, and all the optical axes pass through. At the moment, the number of light axes shielded in the first light axis group still shielded is detected.
[0017]
The determination means is configured to determine that the abnormality is detected when the number of optical axes detected by the detection means exceeds a preset first constant, and the first constant is the thickness of a human arm as described above. It is set in advance correspondingly.
[0018]
Therefore, with this configuration, if the number of optical axes exceeding the preset first constant is detected, it can be seen that the person blocking the first optical axis group is not a human skill. Therefore, it can be determined that there is an abnormality, and the one-stroke drive of the press machine is prohibited.
[0019]
According to a fourth aspect of the present invention, in the invention according to the third aspect, the determination means determines that the abnormality is abnormal when, for example, the number of optical axes detected by the detection means is equal to or less than a second constant set in advance. It is a configuration.
[0020]
In this example, the minimum value of the thickness of a person's hand and arm is set as described in the second aspect. However, unlike the description of claim 2, the number of optical axes smaller than the preset second constant is detected when the hand and arm are escaped.
[0021]
With this configuration, when detecting the number of optical axes that is smaller than a preset second constant when the hand and arm are escaped, it is not the person's hand that blocks the first optical axis group. Similarly, the PSDI function can be stopped and the one-stroke drive of the press machine can be prohibited.
[0022]
According to the invention described in claim 5, the above-mentioned problem is that, in the light beam safety device provided between the press machine and the worker, the first optical axis group provided on the worker side and having a plurality of optical axes; And a second optical axis group having a plurality of optical axes provided on the press machine side, and at the moment when any of the optical axes in the second optical axis group is shielded when the hand enters the arm. A first detecting means for detecting the number of light axes shielded in one optical axis group; and at the moment when all the optical axes in the second optical axis group pass through when the hand escapes, A second detecting means for detecting the number of light axes shielded in one optical axis group, and a first constant in which the number of optical axes detected by the first and second detecting means is set in advance. It is possible to achieve this by providing a hand / arm discrimination method in a light-type safety device that has a judgment means for judging that it is abnormal.
[0023]
The present invention is a configuration in which the invention according to claim 1 and the invention according to claim 2 are combined, and the first detection means is configured to detect any light in the second optical axis group when the arm enters. At the moment when the axis is shielded, the number of light axes shielded in the first optical axis group is detected, and the second detection means is configured to detect all the light in the second optical axis group when the arm is escaped. At the moment when the axis passes, the number of light axes shielded in the first optical axis group is detected.
[0024]
With this configuration, when either the first detection unit or the second detection unit detects the number of optical axes smaller than the preset second constant, the determination unit blocks the first optical axis group. It is determined that it is not a person's hand and arm, and the PSDI function is similarly stopped, and one-stroke drive of the press machine is prohibited.
[0025]
According to a sixth aspect of the present invention, in the invention according to the fifth aspect, the determination unit is configured such that, for example, the number of optical axes detected by the first and second detection units is equal to or less than a preset second constant. It is the structure which judges that it is abnormal.
[0026]
In this example, the minimum value of the thickness of a person's hand and arm is set in the same manner as described in claims 2 and 4, and the number of optical axes detected by the first and second detection means is set in advance. When it is smaller than the set second constant, it is determined that there is an abnormality.
[0027]
By configuring in this way, it can be determined that the person blocking the first optical axis group is not a human hand, and similarly, the PSDI function can be stopped and the one-stroke drive of the press machine can be prohibited. .
[0028]
According to the seventh aspect of the present invention, there is provided a first optical axis group having a plurality of optical axes provided on the operator side, and a second optical axis having a plurality of optical axes provided on the press machine side. A light-type safety device provided between the press machine and an operator, and at the time of entering a hand and arm, the moment when one of the optical axes in the second optical axis group is shielded, A first detection function for detecting the number of optical axes shielded in the first optical axis group, and a moment when all the optical axes in the second optical axis group pass through at the time of escape from a hand, A second detection function for detecting the number of light axes shielded in the first optical axis group, and a number of optical axes detected by the first and second detection functions are set in advance. When the computer stores a program that includes a command that causes the computer to execute a determination function that determines that it is abnormal when a constant of 1 is exceeded, It can be achieved by providing a recording medium capable Ri.
[0029]
The present invention is configured to realize the invention according to claim 5 by a recording medium recorded on a floppy disk or a hard disk.
[0030]
Embodiment of the Invention
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
<First embodiment>
FIG. 1 is a schematic view of a light-type safety device used in the first embodiment of the present invention, and includes a configuration of a press machine. In the press machine 4, a slide 5 is positioned on the upper portion thereof, the slide 5 is driven up and down, and the slide 5 is provided with an upper die (not shown). A lower die (not shown) is attached to the lower portion 6. Moreover, a material is put between the above-mentioned upper mold and lower mold, and press working is performed.
[0031]
In front of the press machine 4, a light safety device 7 using the hand / arm discrimination method of this example is disposed. This light safety device 7 is composed of a light emitting unit 8 and a light receiving unit 9, and light is emitted sequentially from each light emitting element provided in the light emitting unit 8 according to a control signal output from the control circuit. It is the structure which receives light. Therefore, the number of light receiving elements is also made up of a number corresponding to the light emitting elements, and only the light from the facing light emitting elements is received. Further, two layers of optical axes are formed on the inner side and the outer side with respect to the press machine 4 on the light emitting side and the light receiving side.
[0032]
In addition, an operator (not shown) is positioned in front of the above-described light safety device 7 . Therefore, an operator (not shown) has a relationship of facing the press machine 4 with the light safety device 7 interposed therebetween. That is, the worker reaches the material on the lower mold through the light beam safety device 7 with the material in order to place the material on the lower mold. At this time, one of the optical axes is blocked. Accordingly, at this time, the press machine 4 is not driven even if, for example, a press drive instruction is given.
[0033]
The light reception signal detected by the light receiving unit 9 is output to a control box 10 having a control circuit. The control circuit provided in the control box 10 controls the light emission from the light emitting unit 8 and detects and controls the light reception by the light receiving unit 9, and the circuit and program for realizing the PSDI function Is remembered.
[0034]
FIG. 2 is a schematic cross-sectional view including the light beam safety device of this example and a part of the press machine, in which the first optical axis group is indicated by A and the second optical axis group is indicated by B. The optical axis group A is located on the operator side, and the optical axis group B is located on the press machine 4 side. Here, in this example, the optical axis group B has 32 optical axes. For example, the optical axes “1”, “2”, “3”,. Further, the arrangement interval of the optical axes “1”, “2”, “3”,..., “32” is, for example, 10 mm, and therefore the length of the optical axis group B is 320 mm. Incidentally, these optical axes “1”, “2”, “3”,..., “32” are, of course, optical axis groups created by the light emitting unit 8 and the light receiving unit 9 described above.
[0035]
On the other hand, the optical axis group A is composed of more optical axes than the above-described optical axis group B, and this optical axis is first shielded by the hands and arms of the operator. Further, the arrangement interval (pitch) of each optical axis is the same as that of the optical axis group B described above, for example, 10 mm.
[0036]
In this example, in the arrangement interval (pitch) described above, the first constant set in advance is “7”, and it is determined to be abnormal when seven or more consecutive optical axes of the optical axis group A are shielded. To do.
[0037]
In the above configuration, a hand / arm discrimination method in the light beam safety device of this example will be described.
[0038]
FIG. 3 is a diagram for explaining a driving cycle of the press machine 4 and performs driving of one cycle from top dead center to bottom dead center to top dead center. As described above, this example executes the PSDI function, and outputs a signal for driving the press machine 4 for one stroke in a state where the slide 5 is located at the top dead center. As shown in Fig. 3, the signal output for 1-stroke drive has a press machine (slide 5) at angles from top dead center to 15 ° and from 330 ° to top dead center. This is the case. This will be specifically described below.
[0039]
In the safety area of the press machine 4 described above, the operator holds the material in his / her hand in order to set the work material on the mold, and sequentially shields the optical axis group A and the optical axis group B formed on the light beam safety device 7. Then carry the material to the mold. FIG. 4 shows a state in which the hand 11 blocks the optical axis group A and reaches the optical axis group B. That is, it is a timing when the hand 11 first shields one of the optical axes of the optical axis group B. In this example, in this state, the hand 11 detects the number of optical axes that shield the optical axis group A.
[0040]
FIG. 5 is a time chart when the light receiving unit 9 receives the light reception signals of the optical axes “1”, “2”, “3”,..., “32” in synchronization with the synchronization signal. 2A shows the output timing of the synchronization signal, FIG. 2B shows the light receiving signal when there is no shielding object, and FIG. 2C shows the light receiving signal when there is a shielding object. Show. The synchronization signal described above is also supplied to the light emitting unit 8 at the same timing, and light reception according to the synchronization signal is detected at the same timing.
[0041]
Therefore, when there is a shield such as the hand 11, the light emitted by the synchronization signal shown in FIG. 5A is blocked by the shield and becomes, for example, a light reception signal shown in FIG. In the case of the example in FIG. 5C, an example is shown in which the optical axes “4” to “9” of the optical axis group A are shielded and the six optical axes are shielded. Therefore, the number is not more than 7 preset. That is, in this case, it is determined that the hand and arm of the person 11 shields the optical axis group A from light. In this case, it is determined that the hand and arm of the person 11 shields the optical axis group A, and when the material is later set on the mold and the hand is returned, a signal for one-stroke drive based on the function of PSDI. Is output. The press machine 4 is driven by the above-described processing, the slide 5 moves from the top dead center to the bottom dead center, presses the material, and returns from the bottom dead center to the top dead center.
[0042]
On the other hand, as shown in FIG. 5D, when the optical axes “4” to “11” of the optical axis group A are shielded, eight optical axes are shielded. Therefore, the number of light axes shielded at this time exceeds a preset number of seven. That is, in this case, it is assumed that the hand and arm of the person 11 does not shield the optical axis group A, and for example, one stroke based on the function of the PSDI assumes that a shield other than the hand and arm of the person shields the optical axis group A. Prohibits signal output for driving.
[0043]
Therefore, by driving as described above, the driving of the press machine 4 is prohibited, and it is dangerous to drive the press machine 4 originally, for example, when a large material accidentally passes the light safety device 7. In this case, the driving of the press machine 4 can be surely prohibited.
[0044]
As described above, this example detects the number of light axis shields of the optical axis group A at the timing when the optical axis group B is shielded when the hand and arm enter, and when the number of light shields exceeds a preset constant, It is determined that the arm is not invading, the PSDI function is stopped, and the safety of the press machine 4 is ensured.
[0045]
In the above-described embodiment, the optical axis setting interval (pitch) of the optical axis group B is 10 mm and the preset constant is “7”, but the optical axis setting interval (pitch) is 7.5 mm, or It may be set to 20 mm, and a preset constant may be set larger or smaller.
[0046]
Further, as a preset constant, when the minimum value of the thickness of a person's hand and arm is set as a second constant, and a smaller number of optical axes than the second constant are shielded, similarly, with the shading by the person's hand and arm, It is good also as a structure which judges that it is not.
<Second Embodiment>
Next, a second embodiment of the present invention will be described.
[0047]
In the first embodiment described above, the hand / arm discrimination method at the time of intrusion of the hand / arm has been described, but in the second embodiment, the hand / arm discrimination method at the time of escape of the hand / arm is described. The configuration of the press machine 4 in FIG. 1 used in the first embodiment described above and the configuration of the light beam safety device 7 described in FIG. 2 are the same in this example as well, and FIG. To explain.
[0048]
In this example, as described above, the hand / arm discrimination method at the time of escaping the hand / arm is described in detail.
[0049]
As described above, FIG. 3 is a diagram showing a driving cycle of the press machine 4, and shows driving of one cycle from top dead center to bottom dead center to top dead center. As described above, in the safety area of the press machine 4, the operator holds the material in his hand in order to set the work material on the mold, and sets the optical axis group A and the optical axis group B formed in the light-type safety device 7. Sequentially shield the light and carry the material to the mold. In this example, when the material is further set on the mold and the hand is returned, the light axis group B is no longer shielded from light, and the light passing state is lost. When the hand is returned, the light axis group A is shielded. It disappears, and it becomes a light transmission state. Therefore, in this example, the optical axis group B is not shielded first, and the number of optical axes that the hand and arm shield the optical axis group A is detected at the time when the light transmission state is reached.
[0050]
Also in this case, the light reception signal is as shown in FIG. 5 described above. For example, when the light reception signal shown in FIG. 5C is obtained, the optical axes “4” to “9” of the optical axis group A are shielded. The six optical axes are shielded from light. Therefore, as described above, in this case, it is determined that the number of the hand is not more than the preset number of seven, and that the human hand is blocking the optical axis group A. Therefore, in this case, a signal for driving one stroke based on the function of PSDI is output.
[0051]
On the other hand, as shown in FIG. 5D, when the optical axes “4” to “11” of the optical axis group A are shielded, the eight optical axes are shielded. The number of optical axes exceeds a preset number of seven. Therefore, in this case, it is determined that the human arm does not shield the optical axis group A, and signal output for one-stroke drive based on the PSDI function is prohibited.
[0052]
That is, by driving as described above, driving of the press machine 4 is prohibited. For example, when a large material accidentally passes through the light beam safety device 7, it is inherently dangerous to drive the press machine 4. In this case, the driving of the press machine 4 can be surely prohibited.
[0053]
As described above, in this example, when the hand and arm are escaped, the number of light axis shields of the optical axis group A is detected at the timing when all the light axis groups B are transmitted, and when the number of light shields exceeds a preset constant, Therefore, the PSDI function is stopped and the safety of the press machine 4 is ensured.
[0054]
In the above-described embodiment, the optical axis setting interval (pitch) of the optical axis group B is 10 mm and the preset constant is “7”, but the optical axis setting interval (pitch) is 7.5 mm, or It may be set to 20 mm, and a preset constant may be set larger or smaller.
[0055]
Further, as a preset constant, when the minimum value of the thickness of a person's hand and arm is set as a second constant, and a smaller number of optical axes than the second constant are shielded, similarly, with the shading by the person's hand and arm, It is good also as a structure which judges that it is not.
<Third Embodiment>
Next, a third embodiment of the present invention will be described.
[0056]
In the first embodiment described above, the hand / arm discrimination method at the time of intrusion of the hand / arm is described, and in the second embodiment described above, the hand / arm discrimination method at the time of escape of the hand / arm is described, but in the third embodiment, An example in which both are combined will be described. The configuration of the press machine 4 in FIG. 1 used in the first and second embodiments described above and the configuration of the light safety device 7 described in FIG. 2 are the same in this example as well. And it demonstrates using FIG.
[0057]
In this example, as described above, the hand / arm discrimination method at the time of intrusion of the hand / arm and at the time of escape of the hand / arm is described in detail below.
[0058]
This example is a hand / arm discrimination method at the time of intrusion of the hand / arm and at the time of escape of the hand / arm, and at the time of intrusion of the hand / arm, the same processing as in the first embodiment is performed, and for example, a light reception signal shown in FIG. If it is, the one-stroke drive is prohibited without judging the number of shields of the optical axis of the optical axis group B when the hand and arm are escaped. On the other hand, when the hand and arm are escaped, the same processing as that of the second embodiment described above is performed, and for example, when the light reception signal shown in FIG. 5C is obtained, driving of one stroke by the PSDI function is prohibited.
[0059]
By configuring as described above, this example determines that the human arm is not invading when the number of light-shielding exceeds a preset constant at the time of intrusion of the hand or arm, or at the time of escape of the arm, The PSDI function is stopped and the safety of the press machine 4 is ensured, and the drive safety of the press machine 4 can be further ensured.
[0060]
【The invention's effect】
As described above, according to the hand / arm discrimination method in the optical safety device of the present invention, when using the PSDI function, the intrusion / extraction of the hand / arm is confirmed, and the PSDI function is used safely. be able to.
[0061]
In addition, according to this example, it is determined whether or not the shield is a hand and arm not only when the hand and arm are invaded but also when the hand and arm are escaped, so when using the PSDI function, In addition, it is possible to more reliably confirm the escape and the safety of the press machine.
[Brief description of the drawings]
FIG. 1 is a schematic diagram of a light-type safety device used in this embodiment, and includes a partial configuration of a press machine.
FIG. 2 is a schematic cross-sectional view of FIG.
FIG. 3 is a diagram illustrating one cycle of a press machine.
FIG. 4 is a diagram for explaining a hand / arm discrimination method in a light beam safety device;
FIG. 5 is a time chart illustrating this example.
FIG. 6 is a diagram for explaining a conventional light safety device.
[Explanation of symbols]
4 Press machine 5 Slide 6 Lower part 7 Light safety device 8 Light emitting part 9 Light receiving part A Optical axis group B Optical axis group

Claims (7)

In the light safety device provided between the press machine and the operator,
A first optical axis group provided on the worker side and having a plurality of optical axes;
A second optical axis group provided on the press machine side and having a plurality of optical axes;
Detecting means for detecting the number of light axes shielded in the first optical axis group when any of the optical axes in the second optical axis group is shielded at the time of entering the hand;
Determining means for determining that the optical axis number detected by the detecting means is abnormal when the number of optical axes exceeds a preset first constant;
A hand / arm discrimination method in a light-type safety device.   2. The hand / arm discrimination in the light beam safety device according to claim 1, wherein the determination unit determines that there is an abnormality when the number of optical axes detected by the detection unit is equal to or less than a preset second constant. method. In the light safety device provided between the press machine and the operator,
A first optical axis group provided on the worker side and having a plurality of optical axes;
A second optical axis group provided on the press machine side and having a plurality of optical axes;
Detecting means for detecting the number of light axes shielded in the first optical axis group when all the optical axes in the second optical axis group pass through when the arm is escaped;
Determination means for determining that the optical axis number detected by the detection means is abnormal when the number of optical axes exceeds a preset first constant;
A hand / arm discrimination method in a light-type safety device.   4. The hand / arm discrimination in the light-type safety device according to claim 3, wherein the determining means determines that the number of optical axes detected by the detecting means is normal when the number of optical axes is equal to or less than a preset second constant. method. In the light safety device provided between the press machine and the operator,
A first optical axis group provided on the worker side and having a plurality of optical axes;
A second optical axis group provided on the press machine side and having a plurality of optical axes;
A first detecting means for detecting the number of light axes shielded in the first optical axis group at a moment when any of the optical axes in the second optical axis group is shielded at the time of hand arm penetration; ,
A second detecting means for detecting the number of light axes shielded in the first optical axis group at a moment when all the optical axes in the second optical axis group pass through when the arm is escaped; ,
Determining means for determining that the optical axis number detected by the first or second detecting means is abnormal when the number of optical axes exceeds a preset first constant;
A hand / arm discrimination method in a light-type safety device.   6. The light beam according to claim 5, wherein the determination means determines that the light beam is abnormal when the number of optical axes detected by the first or second detection means is equal to or less than a preset second constant. Discriminating method in a safety device. A first optical axis group having a plurality of optical axes provided on the operator side, and a second optical axis group having a plurality of optical axes provided on the press machine side, Used for light safety devices provided between people,
A first detection function for detecting the number of light axes shielded in the first optical axis group at the moment when any one of the optical axes in the second optical axis group is shielded at the time of hand penetration; ,
A second detection function for detecting the number of light axes shielded in the first optical axis group at the moment when all the optical axes in the second optical axis group pass through when the arm is escaped; ,
A determination function for determining that the optical axis number detected by the first and second detection functions is abnormal when the number of optical axes exceeds a preset first constant;
The computer-readable recording medium which stored the program containing the instruction | indication which makes a computer perform.

Images