JP5492512B2 - Animal body monitoring device - Google Patents

Description

  The present invention relates to an animal body monitoring apparatus.

  Conventionally, in Patent Documents 1 to 3, the angle of each joint of a movable machine including a plurality of robots is detected, and the position of each part of the movable machine, which is an animal body, based on the detected position of the workpiece or tool moved by the movable machine It has been proposed to obtain the position by calculation.

  Patent Document 4 also proposes a method of monitoring the position of a monitoring target based on the electromagnetic wave that is emitted from the object and reflected from the object.

JP 2004-243427 A JP 2008-213056 A JP 2004-322244 A JP-A-5-285882

  However, in Patent Documents 1 to 3, the method of calculating the position of each part of a movable machine, which is a moving object, teaches and sets in advance a position where the position is desired to be monitored as a virtual operation prohibition area in the control device of the movable machine Because it needs to be done every time you change the point you want to monitor, it takes a lot of time, effort and skill. Moreover, since all of Patent Documents 1 to 3 calculate the position of each part of the movable machine on the basis of a feedback value from a device (encoder) that detects the angle of each joint of the movable machine, there is no encoder. It cannot be applied to mobile machines.

  In the method of using the electromagnetic wave reflected from the object of Patent Document 4, the electromagnetic wave may not be reflected as appropriate for the measurement depending on the shape and material of the location to be monitored, and the position can be monitored by moving the location to be monitored. There is a risk of disappearing.

  The object of the present invention is to physically install the wireless transmission means on the position monitoring target part of the moving object, thereby facilitating the movement of the position monitoring target part, greatly saving time and labor, The location monitoring target site can be set up simply by having a wireless transmission means that emits radio waves in the location monitoring target site of the moving object. Provided is a monitoring device for an animal body that can stably monitor whether or not it is within a three-dimensional space region.

In order to solve the above problems, the invention described in claim 1 is provided in a movable part that is installed at a predetermined position and that is controlled by the control means and is driven by the drive means. The position varies so that the first wireless transmission means, the second wireless transmission means provided in a portion that can be carried by a person, and at least two three-dimensional overlapping space areas in which the reception ranges partially overlap each other. At least three directional antennas fixed to a fixing member that does not, and one of the three-dimensional overlapping space regions is a first region in which the existence of the first wireless transmission means is allowed, and one is The second wireless transmission means is allowed to exist in the second area, the first wireless transmission means is allowed to be located in the first area, and the position confirmation unique ID is located in the second area. Can Storage means for storing the position confirmation unique ID of each second wireless transmission means, detection means for detecting the signal strength of each received signal received by each of the directional antennas, and each of the storage means stored Based on the presence / absence of a match between the position confirmation unique ID and the position confirmation unique ID of each received signal, and the detection result of the signal strength of each received signal by the detection means, the first wireless transmission means and the second wireless transmission Determining means for determining whether the transmitting means is located in the first area or the second area, wherein the determining means includes the second wireless transmitting means in the first area. When it is determined that there is a stop command signal of the movable machine or a determination signal for stopping the driving of the driving unit is output to the control unit, the first wireless transmission unit is provided in the second area. Exist If it is determined that the stop command signal and the determination signal are not output, the control unit determines to stop the movable machine based on the stop command signal, or the drive unit stops driving. The movable machine is stopped based on the signal.

A second aspect of the present invention provides the first aspect according to the first aspect , wherein the first area includes a restriction area to which an operation restriction of the movable machine is applied, and the determination unit includes a detection result of a signal intensity of each received signal by the detection unit. Based on this, when it is determined that the first wireless transmission means is present in the restricted region, a determination signal for outputting a deceleration command is input to the control means of the movable machine. .

According to a third aspect of the present invention, in the first or second aspect , a plurality of the first wireless transmission means are attached to the movable portion, and the plurality of first wireless transmission means wirelessly transmit at different transmission frequencies. The detecting means receives at least one of the received signals transmitted by the first wireless transmitting means and detects the signal strength of the received signal, and the determining means detects the signal strength detection result of the detecting means. Based on the above, the first wireless transmission means determines whether the first area or the second area is present .

According to a fourth aspect of the present invention, in any one of the first to third aspects, a warning is generated when the determination unit determines that the second wireless transmission unit exists in the first area. It is characterized by providing a warning means.

According to a fifth aspect of the present invention, there is provided a portable teaching operation device according to any one of the first to fourth aspects, wherein the portion that can be carried by the person teaches a control means for controlling the operation of the movable machine. a position monitor target the operator carries with, the determination means includes position confirmation unique ID of the second wireless transmitting means for said storage means stores, localization unique ID of each received signal matches In this case, based on the detection result of the signal strength of each received signal by the detection means, it is determined in which three-dimensional overlapping space area the second wireless transmission means is present , and the determination means Restriction / permission grant that gives the control means a restriction or permission on the operation content of the portable teaching operation device held by the operator according to the determined three-dimensional overlapping space region where the second wireless transmission means exists Equipped with means It is an gist monitoring device of a moving object, characterized in Rukoto.

As described above in detail, according to the first aspect of the present invention, when the determination unit determines that the second wireless transmission unit is present in the first region, the control unit stops the movable machine. Since the command signal or the determination signal for stopping the driving of the driving unit is output, it is possible to prevent interference between the movable machine located in the first region and a person.

According to the invention of claim 2 , when the first wireless transmission means provided in the movable part of the movable machine is present in the restricted area, it can be operated with the speed reduced in the restricted area. The restricted area can be an area for interference countermeasures against other things by the movable machine.

According to the invention of claim 3, a plurality of radio transmitting means, one for provided in the part position, by one of the radio transmitting means failure or the like, even if you can not wirelessly transmitting, other radio transmitting means Since wireless transmission is performed, the safety of monitoring performance can be improved.

According to the invention of claim 4 , when it is determined that the second wireless transmission means is present in the first area , a warning is generated, so the second wireless transmission means is provided to the worker in the first area. It can inform you that it exists .

According to the invention of claim 5, determine the constant means, in accordance with the three-dimensional overlapping spatial region in which the second wireless transmitting means determines the presence, restriction or permission to the operation of the portable teaching operation apparatus, limiting and allow grant Since the means is given to the control means, it is possible to set a restriction or permission on the contents of the teaching operation according to the position operated by the portable teaching operation device, that is, the place where the operator is positioned.

Schematic which shows the arrangement | positioning relationship of the robot control system of 1st Embodiment which actualized this invention. (A) is a block diagram of the robot control system of the first embodiment, (b) is a block diagram of a teaching operation device, and (c) is a block diagram of a wireless transmitter. (A), (b) is explanatory drawing of a data packet. (A), (b) is explanatory drawing of the deceleration operation area | region of a movable machine, an operation | movement permission area | region, and an operator (operator) approach permission area | region. Explanatory drawing which shows the arrangement | positioning relationship of an antenna and a radio | wireless transmission means (station). Explanatory drawing which shows the arrangement | positioning relationship of an antenna and a radio | wireless transmission means (station). Explanatory drawing of the relationship between signal strength and an overlap space area | region. Explanatory drawing of the relationship between signal strength and an overlap space area | region. Explanatory drawing of the relationship between signal strength and an overlap space area | region. Explanatory drawing of the relationship between signal strength and an overlap space area | region. Schematic which shows the arrangement | positioning relationship of the robot control system of 2nd Embodiment. The block diagram of the robot control system of 2nd Embodiment.

  Hereinafter, an embodiment in which a moving body monitoring system according to the present invention is embodied in a movable machine system will be described with reference to FIGS. The movable machine system of this embodiment is a robot control system.

  As shown in FIG. 1, the robot control system includes a portable teaching operation device (hereinafter referred to as a teaching operation device 10), a robot control device 20 for controlling the operation of the robot R, a wireless transmitter 30 as a portable object, The teaching operation device 10, wireless transmitters 30, 30 </ b> A, 30 </ b> B and the robot control device 20 are configured by transmission / reception devices 40 </ b> A to 40 </ b> E that wirelessly connect via a wireless LAN (local area network) as network means.

  A plurality of teaching operation devices 10 can wirelessly communicate with the robot control device 20, but for convenience of explanation, only one teaching operation device 10 is shown in FIG. The robot R controlled by the robot control device 20 is, for example, a welding robot. The movable machine is not limited to a welding robot, and may be a movable device such as another robot such as a transfer robot.

  The robot R is surrounded by a safety fence 50 fixed to the floor of the building. The safety fence 50 corresponds to a fixing member to which a directional antenna described later is attached and fixed. In the present embodiment, the safety fence 50 is formed in a square frame shape in a plan view and has a height higher than the height of the robot R. Further, the shape of the safety fence 50 in a plan view is not limited to a square frame, and may be other shapes such as a circular shape and an elliptical shape. The safety fence 50 is provided with an entrance door 92. By opening the entrance door 92, the worker M can enter through the entrance provided in the safety fence 50. The door 92 can be locked when the door 92 is positioned to close the door.

(1. Teaching operation device 10)
The teaching operation device 10 will be described. As shown in FIG. 2B, the teaching operation device 10 includes a CPU (central processing unit) 11, a ROM 12, a RAM 13, a hard disk 14, a wireless LAN I / F (interface) 15, a keyboard 16, and a display device 17. Each part is connected via a bus 19. The ROM 12 stores a program for executing operation and communication of the robot R from the teaching operation device 10. Further, the program includes, for example, a GUI display processing program for controlling display of the display device 17 and various programs for causing the CPU 11 to function as a personal computer. The RAM 13 is used as a working area for the CPU 11 and temporarily stores data being calculated. The hard disk 14 stores execution variables of the control program.

  The wireless LAN I / F 15 is a communication device used for wireless connection with the robot control device 20, and includes a transmission / reception unit 15a. The transmission / reception unit 15a performs wireless communication with the transmission / reception devices 40A to 40E of the robot control device 20. For example, it is performed every several tens to several hundreds msec. This wireless communication is performed in the form of a data packet, which will be described later, generated by the CPU 11 using a predetermined communication protocol.

(2. Radio transmitter 30)
Next, the radio transmitter 30 will be described. The wireless transmitter 30 is attached to a clothes, an arm band, a belt, or the like of the worker M (including the operator of the teaching operation device 10, the same applies hereinafter), or is moved with the worker M by moving with the worker M. It can be transported by.

  As shown in FIG. 2 (c), the wireless transmitter 30 includes a CPU (Central Processing Unit) 31, a ROM 32, and a wireless LAN I / F (interface) 33 and each part is connected via a bus 34. Yes. The radio transmitter 30 includes a battery (not shown) as a power source for supplying power to the circuits of each unit. The ROM 32 stores a program for executing communication. The wireless LAN I / F 33 is a communication device used for wireless connection with the robot control device 20, and includes a transmission / reception unit 33a. By the transmission / reception unit 33a, the transmission / reception devices 40A to 40E of the robot control device 20 are regularly connected. For example, wireless communication is possible every tens to hundreds of milliseconds. This wireless communication is performed in the form of a data packet (described later) generated by the CPU 31 using a predetermined communication protocol. The wireless transmitter 30 corresponds to a wireless transmitter and a second wireless transmitter. Further, a part where the wireless transmitter 30 is gripped by the worker M, or a clothing, an arm band, a belt, or the like (hereinafter referred to as clothing) is a position monitoring target part of the moving object and the second moving object. Equivalent to.

(3. Radio transmitters 30A and 30B)
Next, the radio transmitters 30A and 30B will be described. The radio transmitters 30A and 30B are, among a plurality of arms constituting the robot R, peripheral devices, jigs, parts of arms that easily interfere with building structures, or tools. (Hereinafter referred to as a robot part). The part of the radio transmitters 30A, 30B attached to the robot R is not limited, but it is preferably attached to a part that easily interferes with surrounding objects as described above.

  Since the electrical configurations of the radio transmitters 30A and 30B are the same as those of the radio transmitter 30, description thereof is omitted, and the same reference numerals are given to the same configurations as those of the radio transmitter 30. The radio transmitters 30A and 30B correspond to a radio transmitter and a first radio transmitter attached to a part that is operated by a drive unit of a movable machine.

  The part of the robot R to which the wireless transmitters 30A and 30B are attached corresponds to the position monitoring target part of the moving object and the second moving object. Similarly to the wireless transmitter 30, the transmitter / receiver 33a can perform wireless communication with the transmitter / receivers 40A to 40E of the robot control device 20 periodically, for example, every tens to hundreds of milliseconds. This wireless communication is performed by the CPU 31 generated in the form of a packet by a predetermined communication protocol. Further, the radio outputs of the radio transmitters 30A and 30B are set to be the same as those of the radio transmitter 30.

(3. Antenna)
The antennas 61 to 65 of the transmission / reception devices 40A to 40E are directional antennas, and are fixed at predetermined positions to be described later in the safety fence 50 as shown in FIG. The directional antenna may be, for example, a Yagi-Uda antenna or a parabolic antenna. In the present embodiment, the combination with the antennas 61 and 62, the combination with the antennas 61 and 63, the combination with the antennas 61 and 64, and the combination with the antennas 61 and 65 are diversity antennas.

The height of the antenna 61 of the transmission / reception device 40A from the floor is, for example, located at a height of 100 to 200 cm, but is not limited thereto.
Further, as shown in FIG. 1, the antenna 61 is arranged so that the receiving direction is directed toward the robot R in the safety fence 50 and the entrance door 92. In FIG. 1, the reception range 61a of the antenna 61 is indicated by a solid line. For this reason, the space area SA0 necessary for the robot R to perform the taught work and the space area where the worker M can move in the space area between the entrance door 92 and the robot R are defined as antennas. 61 at least within the reception range. The work space area SA0 includes an operation permission area SA1 and deceleration operation areas SA2 and SA3 described later (see FIG. 4A). The operation permission area SA1 and the deceleration operation areas SA2 and SA3 correspond to the first area. The deceleration operation areas SA2 and SA3 correspond to limited areas.

  As shown in FIG. 1, the antennas 62 to 65 are arranged in order from the antenna 61 side to the entrance door 92 side so that the robot R is sandwiched between the arrangement position of the antenna 61 and the entrance door 92. The antennas 62 to 65 are arranged so as to be directed downward or obliquely downward, in a direction intersecting with a directivity direction for reception by the antenna 61. In FIG. 2, the directions in which the antennas 62 to 65 are directed are shown sideways for convenience of explanation.

  The receiving ranges 61a to 65a shown in FIGS. 1 and 4A are the receiving ranges of the antennas 61 to 65, respectively. The reception ranges 61a to 65a indicate ranges in which signal strengths greater than or equal to a predetermined value X1 to X5 (%) can be received when the wireless transmitters 30, 30A, and 30B transmit with the same signal output (wireless output).

  In this embodiment, 10 ≦ X1 to X5 ≦ 100, but the value is not limited to this value. Note that the predetermined values X1 to X5 (%) are the maximum that the respective antennas 61 to 65 can receive by changing the position of the radio transmitters 30, 30A, and 30B that transmit signals to the same signal output. This is the value when the signal intensity is 100%. The position of the wireless transmitter 30 is a position when the worker M is holding the wireless transmitter 30A or a position attached to the worker M, and is displaced when the worker moves. The positions of the radio transmitters 30 </ b> A and 30 </ b> B are attachment positions with respect to the robot R, but the attachment positions are displaced when the robot R is operated.

X1 to X5 may be the same value or different values, and may be determined according to various conditions of the installation positions of the antennas 61 to 65.
Further, the overlapping space area of the reception range 61a and the reception range 62a is a deceleration operation area SA2 arranged adjacent to the operation permission area SA1. An overlapping space area of the reception range 61a and the reception range 64a is arranged adjacent to the operation permission area SA1 and becomes a deceleration operation area SA3. As shown in FIG. 1, the deceleration operation region SA3 is located at a position opposite to the deceleration operation region SA2 with the robot R interposed therebetween, and is located closer to the entrance door 92 side than the deceleration operation region SA2.

  Thus, the deceleration operation areas SA2 and SA3 are provided around the operation permission area SA1 by the combination of antennas. Further, the entry permission area SB is located outside the deceleration operation area SA3 (on the opposite side to the operation permission area SA1) by the combination of antennas. Note that the entry permission area SB is an area where the part of the robot R cannot move. The entry permission area SB corresponds to a second area.

  The overlapping space region of the reception range 61a and the reception range 65a is disposed adjacent to the deceleration operation region SA3, is disposed so as to be positioned between the entrance door 92 and the deceleration operation region SA3, and serves as an entry permission region SB. .

Each of the operation permission area SA1, the deceleration operation area SA2, SA3, and the entry permission area SB corresponds to a three-dimensional overlapping space area.
(4. Transmission / reception devices 40A to 40E)
Next, the transmission / reception devices 40A to 40E will be described. In addition, since the transmission / reception apparatuses 40A to 40E have the same configuration, in the following description, the functions of the respective units included in the transmission / reception apparatus 40A will be described, but the functions of the other transmission / reception apparatuses 40B to 40E are the same as the units included in the transmission / reception apparatus 40A. It should be understood that the same configuration has similar functions. In the following, in each part of the transmission / reception devices 40B to 40E, the same configuration as that of the transmission / reception device 40A may be described with the same reference numeral for convenience of description.

  The transmission / reception device 40A includes a transmitter 41, a receiver 42, a signal strength measurement unit 43 (RSSI: Received Signal Strength Indicator), a transmission source ID confirmation unit 44, and a data processing unit 45. The transmitter 41 and the receiver 42 can wirelessly communicate with the wireless LAN I / F 15 (see FIG. 2B) of the plurality of teaching operation devices 10 including the teaching operation device 10. In packet communication between the receiver 42 and the wireless LAN I / F 15, a data packet transmitted from the teaching operation device 10 is generated in the form of a packet by a communication protocol predetermined by the CPU 11 of the teaching operation device 10.

(4-1. Data packet of teaching operation device 10)
Here, the data packet received by the receiver 42 will be described.
FIG. 3A shows an example of a data packet transmitted from the teaching operation device 10 by wireless communication. As shown in the figure, the data packet includes destination data 70 for specifying the robot control device 20 to be transmitted from the teaching operation device 10, transmission source data 80 for specifying the transmission source, teaching data or non-teaching data, and the like. TP (teach pendant) data 90, error detection data 100, and the like are included. The TP data 90 includes data such as various operation commands for causing the robot to operate. The TP data 90 corresponds to teaching information. The transmission source data 80 includes ID information 82 and waypoint information 84. The ID information 82 is information for specifying the transmission source, that is, the teaching operation device 10.

  The waypoint information 84 includes receiving antenna number information 86 and signal strength 88 indicating where the data packet has passed. When the waypoint information 84 is transmitted from the teaching operation apparatus 10, the CPU 11 of the teaching operation apparatus 10 sets an initial value indicating that nowhere is in the receiving antenna number information 86 and a signal strength 88. Is set to the initial value.

(4-2. Data packets of radio transmitters 30, 30A, 30B)
3B is transmitted by radio communication from the radio transmitters 30, 30A, 30B (hereinafter referred to as “radio transmitter 30, etc.” refers to the radio transmitters 30, 30A, 30B unless otherwise specified). An example of a data packet is shown. In addition, since the data packet transmitted by radio | wireless communication from the radio | wireless transmitter 30 grade | etc., Is substantially the same as the data packet transmitted from the teaching operation apparatus 10, the same code | symbol is attached | subjected about the same structure and about different structures explain.

As shown in FIG. 3B, the data packet transmitted by the wireless transmitter 30 or the like includes destination data 70, transmission source data 80, error detection data 100, and the like.
The transmission source data 80 includes ID information 82 that serves as a position confirmation unique ID for position confirmation and waypoint information 84. The ID information 82 serving as the position confirmation unique ID is information for specifying the transmission source, that is, the wireless transmitter 30 and the like.

  As described above, the position confirmation unique ID transmitted from the wireless transmitter 30 or the like is measured by the signal strength measurement unit 43 described later, and any region (in this embodiment, the operation permission regions SA1 to SA3, the entry) This is provided to determine whether the wireless transmitter 30 or the like is present in the permitted area SB). When the transit point information 84 is transmitted from the wireless transmitter 30 or the like, the CPU 31 of the wireless transmitter 30 or the like causes the CPU 31 of the wireless transmitter 30 or the like to indicate that there is no route to the receiving antenna number information 86 and the signal strength. In 88, an initial value is set.

The data packet transmitted from the wireless transmitter 30 or the like and received by the receiver 42 corresponds to the received signal of the position confirmation unique ID.
Then, the receiver 42 periodically receives data packets received from the teaching operation device 10 and the radio transmitter 30 and the like, and for the data packets, as the number information 86, the antenna 61 that has received the data packets. The reception antenna number information 86, which is unique information, is stored. For example, in the transmission / reception apparatus 40A, the receiver 42 indicates that the received data packet is received via the antenna 61 of the transmission / reception apparatus 40A by storing the number information 86. Further, the receiver 42 confirms whether or not there is a garbled communication error based on the error detection data 100.

  In the receiver 42, when there is no communication error based on the error detection data 100, the signal strength measurement unit 43 periodically receives a reception signal (radio signal) related to the data packet in the same manner as the reception control period. The level, i.e. the signal strength, can be detected. The signal intensity measurement unit 43 corresponds to a detection unit. If there is no communication error, the signal strength measuring unit 43 stores the detected reception level (signal strength) of the data packet as the signal strength 88 of the received data packet.

  The transmission source ID confirmation unit 44 confirms the ID information 82 of the transmission source data 80 of the data packet received by the receiver 42, and the teaching operation device 10 requesting wireless communication to the storage unit (not shown) and the wireless transmission ID information such as the machine 30 is stored.

  In this way, the data packet received from the teaching device 10 from the teaching operation device 10, the wireless transmitter 30, and the like is stored in the signal strength measuring unit 43 by waypoint information 84 (number information 86 and signal strength 88). When the transmission source ID confirmation unit 44 confirms the data, the data is transmitted to the robot control device 20 via the data processing unit 45 and the network NL.

  In the transmission / reception devices 40B to 40E, data packets transmitted from the teaching operation device 10, the wireless transmitter 30 and the like and received via the antennas 62 to 65 are processed in the same manner as the transmission / reception device 40A, and the data processing unit 45 is processed. And sent to the robot controller 20 via the network NL.

(5. Robot controller 20)
The robot control device 20 includes a determination unit 22 as a determination unit, a control unit 24 as a control unit, a drive unit 26 as a drive unit, and the like. In the present embodiment, a moving body monitoring device is configured by the determination unit 22 and the signal intensity measurement unit 43 of the transmission / reception devices 40A to 40E.

  The determination unit 22 is connected to each data processing unit 45 of the transmission / reception devices 40A to 40E via the network NL. The determination unit 22 is provided with a CPU, ROM, RAM, hard disk and the like, a readable storage unit 22a, and a warning device 22b as a warning unit, and is sent from each data processing unit 45 of the reception devices 40A to 40E. For the received data packet, the area detection determination described later is performed. The storage means 22a stores in advance position confirmation unique IDs that are permitted to exist in the operation permission area SA1, the deceleration operation area SA2, the deceleration operation area SA3, and the entry permission area SB. In the present embodiment, the unique IDs of the radio transmitters 30A and 30B are stored in advance in the storage unit 22a as the position confirmation unique IDs that are permitted to exist in the operation permission area SA1, the deceleration operation area SA2, and the deceleration operation area SA3. ing. In addition, the unique ID of the wireless transmitter 30 is stored in advance in the storage unit 22a as a position confirmation unique ID that is permitted to exist in the entry permission area SB. These position confirmation unique IDs are read and expanded in the RAM when the determination unit 22 performs area detection determination.

  Although not shown, the control unit 24 includes various units such as a CPU, a ROM, and a RAM, and each unit is connected via a bus (not shown). The ROM stores a control program for controlling the operation of the robot R to be controlled by the robot control device 20, control constants, and the like.

  When the TP data of the data packet is sent according to the determination result of the determination unit 22, the CPU of the control unit 24 operates the robot R based on the TP data when the TP data 90 is an operation command. To do. The drive unit 26 is connected to a motor (not shown) that drives each joint of the robot R, and controls a current supplied from a power supply AC that energizes the motor. Note that a power line LS for supplying power to the motor (not shown) of the robot R is connected from the power source AC to the drive unit 26. The power line LS is provided with electromagnetic switches MS1 to MS3 that can be controlled to be turned on and off by the determination unit 22 and the control unit 24, respectively. When the electromagnetic switches MS1 to MS3 are turned off, the motor of the robot R stops and the operation of the robot R stops.

  Further, as shown in FIG. 2, the entrance / exit door 92 is connected to the safety fence 50 with a door lock checker 94 that detects whether or not the door is locked. The door lock checker 94 is configured to turn on (close) a contact (not shown) when the entrance door 92 is closed, and to input an ON signal to the determination unit 22. That is, when the entrance door 92 is closed, it is assumed that automatic operation of the robot R is performed in the safety fence 50 (that is, teaching operation by the worker M is not performed) and the determination unit 22 is turned on. Input the signal. On the other hand, when the entrance door 92 is open, it is considered that the worker M enters the safety fence 50 and performs a teaching operation, and no ON signal is input to the determination unit 22.

(6. Signal strength and determination of presence / absence of wireless transmission means in overlapping space area)
Next, the concept of the signal strength according to the present embodiment and the determination of the presence / absence of wireless transmission means in the overlapping space area will be described. First, for the convenience of the following description, referring to FIG. 5 to FIG.

  In FIG. 5, it is assumed that a pair of safety fences A and B that are spaced apart from each other are provided, and each of the corners of each of the safety fences A and B that form a square frame in plan view has a water droplet shape. It is assumed that directional antennas A1 and B1 having an area reception range are provided. In this case, the directional antennas A1 and B1 to be used are selected so as not to receive signals arriving from the rear side opposite to the directional direction.

  In addition, as shown in FIG. 6, the antenna B1 receives the signal strength (signal strength) received from the station B located in the safety fence B as Power (B → B1), and the antenna located in the adjacent safety fence A. The intensity (signal intensity) of the signal that A1 receives from the B station is expressed as Power (B → A1). Station A and station B correspond to wireless transmission means such as the wireless transmitter 30 of the embodiment.

  For example, consider the case shown in FIG. 7 after defining the display of signal strength as described above. FIG. 7 is an explanatory diagram when the directional antennas A1 to A4 are provided at each corner of the safety fence A. FIG. Here, it is assumed that the directional antennas A1 to A4 are arranged at the corners of the safety fence A, and the directivity directions of the respective directional antennas are directed inward on the diagonal lines of the corners of the safety fence A. Shall. Further, it is assumed that the directional antennas A2 and A4 are set in such a range that the safety fence A surrounds and a part of the reception range has an overlapping space area as shown in FIG.

  In FIG. 7, the range where the signal intensity of the directional antennas A2 and A4 is 98% or more is surrounded by a waterdrop-shaped line, and a part of the signal intensity range of 98% or more is shown in FIG. The overlapping space region T1. It should be noted that the signal output of the stations A, A ′, and B, which are radio transmission means for transmitting signals, is the same, and the positions of the signals are changed in various ways so that the maximum signal intensity received by the respective antennas A1 to A4. Is 100%.

As shown in FIG. 7, the station A is located in the overlapping space region T1 of the reception range where the signal strengths of the directional antennas A2 and A4 are both 98% or more.
In addition, the station A ′ is a position where the signal intensity of the directional antenna A2 is out of the reception range of 98% or more and becomes the signal intensity of 79%, and the signal intensity of the directional antenna A4 is 98% or more. It is assumed that it is located in the overlapping space area T2 of the reception range.

  In addition, the station B is located away from the safety fence A, and the signal strength of the directional antenna A2 is a reception range of 75%, and the signal strength of the directional antenna A4 is 2% (that is, directivity). Located behind the directional antenna A4.

  In this case, when the diversity antenna composed of the directional antennas A2 and A4 receives the signals transmitted from the respective radio transmission means (A station, A 'station, B station), as shown in FIG. Signal strength.

Signal strength of each station of directional antenna A2 Power (A → A2) = 98%
Power (A '→ A2) = 79%
Power (B → A2) = 75%
Signal strength of each station of directional antenna A4 Power (A ′ → A4) = 98%
Power (A → A4) = 98%
Power (B → A4) = 2%
FIG. 8 shows a case where the station A ″ is added to the case of FIG.

  Note that the maximum signal that each antenna A1 to A4 could receive by changing the position of the signal output of the stations A, A ′, A ″, and B, which are radio transmission means for transmitting signals, is the same. The signal intensity is 100%.

The station A ″ is located in the safety fence A, and is located in the reception range where the signal strength of the directional antennas A2 and A4 is 30%.
In this case, when a diversity antenna composed of the antennas A2 and A4 receives a signal transmitted from the station A ″, the intensity is as shown in FIG.

Signal intensity of A ″ station of directional antenna A2 Power (A ″ → A2) = 30%
Signal intensity of A ″ station of directional antenna A4 Power (A ″ → A4) = 30%
In the example of FIG. 8, when the threshold value for determining whether or not the wireless transmission means is present in any one of the overlapping space areas T1 and T2 is a predetermined value or more, for example, the signal strength is 60% or more, It can be determined that the stations A and A ′ are located in the positions of signal strengths where the reception ranges of the antennas A2 and A4 are equal to or greater than a predetermined threshold (determination threshold), that is, in the overlapping space regions T1 and T2.

  For station A, when the determination threshold is set to a predetermined value or more, for example, 98% or more, it is determined that the signal intensity is located in the overlapping space region T1 where the signal intensity is 98% or more of the directional antennas A2 and A4. It will be. In this case, this determination threshold value is a determination threshold value defining the overlapping space region T1. Further, regarding the station A ′, when the threshold value for determining the signal strength of the directional antenna A2 is within a reception range of 79% to less than 98% and the threshold value for determining the signal strength of the directional antenna A4 is 98% or more, 'The station has been determined to be located in the overlapping space region T2 of the reception range. In this case, this determination threshold value is a determination threshold value defining the overlapping space region T1.

  FIG. 9 differs from the example of FIG. 8 in that the signal intensity range of 98% or more of the directional antennas A2 and A4 exceeds the area surrounded by the safety fence A, and there is an overlapping space area in the safety fence A. In this case, it is assumed that the positions of the wireless transmission means (A station, A ′ station, A ″ station, B station) are the same positions as in the example of FIG.

in this case,
Signal intensity of A ″ station of directional antenna A2 Power (A ″ → A2) = 99%
It is assumed that the signal intensity at the station A ″ of the directional antenna A4 Power (A ″ → A4) = 99%.

  Also in the example of FIG. 9, when the determination threshold is 60% or more of signal strength, the reception range of the 98% line of the directional antennas A2 and A4 is the position of the signal strength that is equal to or greater than the predetermined threshold (determination threshold). Thus, it can be determined that the stations A and A ′ are located in the overlapping space region T3. That is, for station A, it is determined that station A is located in the overlapping space region where the signal strength is 98% or more of directional antennas A2 and A4. As for the station A ′, the station A ′ is located in the overlapping space region of the reception range where the signal strength of the directional antenna A2 is 99% and the reception range where the signal strength of the directional antenna A4 is 99% or more. Can be judged. Each of these determination threshold values defines an overlapping space area.

  In the example of FIG. 10, the signal intensity of the directional antennas A2 and A4 is surrounded by a waterdrop-shaped line in the range where the signal intensity is 98% or more, and as shown in FIG. This is an example when there is no overlapping space area.

  In this case, as shown in FIG. 10, it is assumed that the station A is located in the overlapping space region of the reception range where the signal strengths of the directional antennas A2 and A4 are 30%. Further, it is assumed that the station A 'is located in a reception range where the signal strength of the directional antenna A2 is 20% and the signal strength of the directional antenna A4 is 99%. Further, the station A ″ is located at a position where the signal strength of the directional antenna A2 becomes 10% signal strength and in a reception range where the signal strength of the directional antenna A4 becomes 10%. The station is located away from the safety fence A and has a reception range in which the signal strength of the directional antenna A2 is 3% and the signal strength of the directional antenna A4 is 2% (that is, the directional antenna A4). It is located at the back).

  In the example of FIG. 10, for example, when the signal strength determination threshold value of the directional antennas A2 and A4 is 60% or more, the signal whose reception range of the directional antennas A2 and A4 is equal to or greater than a predetermined threshold value (determination threshold value). It can be determined that the station A, the station A ′, the station A ″, and the station B are not located in the intensity position, that is, in the overlapping space region.

  As described above, a plurality of directional antennas form an overlapping space region of the reception range, and the signal intensity of the signal (reception signal) received by each directional antenna is compared with the determination threshold value defining the overlapping space region. By doing so, it is possible to determine in which overlapping space region of the plurality of overlapping space regions the wireless transmission means that has transmitted the signal is present or not.

  In the present embodiment, it is determined whether or not there is a wireless transmission means in the operation permission area SA1, the deceleration operation areas SA2 and SA3, and the entry permission area SB which are overlapping space areas by the method described above.

(7. Operation of the embodiment)
Now, the operation of the robot control system configured as described above will be described. The determination unit 22 of the robot control device 20 performs the determination of the presence / absence of each region, that is, the determination of the presence / absence of the region in which the wireless transmitter is present at every predetermined control cycle.

  For example, when an operator M (operator) who holds the teaching operation device 10 and attaches the wireless transmitter 30 opens the entrance door 92 and enters the safety fence 50, it is shown in FIGS. Since the entrance / exit door 92 is opened, the determination unit 22 does not receive an ON signal from the door lock checker 94, and therefore the data packet (reception received) from the teaching operation device 10 and the transmission / reception devices 40A to 40E. Signal). Hereinafter, it is assumed that a data packet including TP data for teaching the robot R from the teaching operation device 10 and a data packet sent from the transmission / reception devices 40A to 40E to the determination unit 22 at the predetermined control period are described. The processing at 22 will be mainly described. In the robot control device 20, the robot R performs a teaching operation based on the data packet including the transmitted TP data.

(7.1. Processing of determination unit 22)
The determination unit 22 uses the ID information 82 of the transmission source data 80 of the data packet (received signal) of the antennas 61 to 65 based on the waypoint information 84 stored in each data packet (received signal) of each of the antennas 61 to 65. Decipher. The data packet includes the data packet of the teaching operation device 10.

  When the decoding process is completed, the determination unit 22 reads the signal strength of the signals (reception signals) received by the antennas 61 to 65 from the signal strength 88 of the data packet received by each antenna, and the uniqueness from each data packet. It arranges for every ID information 82 which is ID. This is because when there are one or more wireless transmitters 30 that have transmitted data packets, for example, there may be a plurality of workers including the operator, and for each ID information 82 that is a unique ID of each wireless transmitter 30. The signal strengths of the data packets received by the respective antennas are arranged.

  Next, the determination unit 22 confirms the signal strength 88 between pieces of data (data packets) having the same ID information 82 that is a unique ID. By confirming this signal strength, it is possible to determine in which region the radio transmitter 30 or the like having the respective ID information 82 exists.

  That is, the determination unit 22 determines that the data packets (reception signals) having the same ID information 82 are stored in the radio transmitters 30, 30A, 30B for each of the operation permission area SA1, the deceleration operation area SA2, SA3, and the entry permission area SB. It is determined whether or not a condition for determining presence / absence (hereinafter referred to as presence / absence determination condition) is satisfied.

  In the following description, in order to simplify the description in the description of the “presence / absence determination condition”, the expression “the signal strength of the data packet transmitted by the wireless transmitter” is simply expressed as “the signal of the wireless transmitter”. It is called “strength”. In the following description, the data packet of the radio signal used for determining whether or not the presence / absence determination condition of each area is satisfied in the signal strength of the radio transmitter is other than the data packet of the teaching operation device 10 Data packets of wireless transmitters 30, 30 </ b> A, 30 </ b> B, etc. (that is, including non-regular wireless transmitters described later).

(7.1.1. Presence / absence judgment condition of entry permission area SB)
The presence / absence determination condition in the entry permission area SB is that the signal intensity 88 of the radio transmitter received by the antenna 61 is equal to or higher than X1 (%) of the reception range 61a of the antenna 61 and the radio received by the antenna 65 The signal strength 88 of the transmitter is equal to or greater than X5 (%) of the reception range 65a of the antenna 65.

(In the case of 7.1.1.1. Regular (registered in storage means 22a) wireless transmitter 30)
The signal strength of the radio transmitter 30 further satisfies the presence / absence determination condition in the entry permission area SB, and the ID information 82 of the data packet exists in the entry permission area SB stored in the storage unit 22a. If it is permitted, the determination unit 22 determines that the worker M who is permitted to exist in the entry permission area SB is in the entry permission area SB, and keeps the warning device 22b from operating. . As a result, the presence of the entry permission area SB of the worker M is permitted.

  Further, although the ID information 82 of the data packet of the wireless transmitter is permitted to exist in the entry permission area SB stored in the storage means 22a, it does not satisfy the condition for determining whether the entry permission area SB exists. In this case, it is determined that there is no worker M in the entry permission area SB, and the warning device 22b is not operated.

(7.1.1.2. In the case of a non-regular radio transmitter (that is, unregistered in the storage means 22a, the same applies hereinafter))
If the ID information 82 of the data packet is not stored in the storage means 22a while satisfying the presence / absence determination condition of the entry permission area SB, it is an unauthorized wireless transmitter that is not permitted to exist in the entry permission area SB. Then, the determination unit 22 determines and activates the warning device 22b. As a result, when the warning device 22b is a warning lamp, the warning lamp blinks to warn, and when the warning device 22b is a warning buzzer, it sounds and warns.

(7.1.1.3. For wireless transmitters 30A and 30B)
When the signal strength of the wireless transmitters 30A and 30B satisfies the presence / absence determination condition in the entry permission area SB, the ID information 82 of the wireless transmitters 30A and 30B is stored in the storage unit 22a. Has been. In this case, since the wireless transmitters 30A and 30B cannot originally move within the entry permission area SB, the storage means 22a is assumed to be a radio wave state caused by fluctuations in the radio wave state and the like. Leave 22b unactuated.

(7.2.1. Presence / absence judgment condition of deceleration operation area SA2, SA3)
The presence / absence determination condition in the deceleration operation area SA2 is that the signal strength 88 of the radio transmitter received by the antenna 61 is equal to or higher than X1 (%) of the reception range 61a of the antenna 61 and the radio received by the antenna 62 The signal strength 88 of the transmitter is equal to or greater than X2 (%) of the reception range 62a of the antenna 62. Also, the presence / absence determination condition in the deceleration operation area SA3 is that the signal intensity 88 of the radio transmitter received by the antenna 61 is equal to or higher than X1 (%) of the reception range 61a of the antenna 61, and is received by the antenna 64. The signal intensity 88 of the wireless transmitter is X4 (%) or more of the reception range 64a of the antenna 64.

  The reason for setting this condition is that when the signal strength of the radio transmitters 30A and 30B satisfies the presence / absence determination condition of the deceleration operation areas SA2 and SA3, the radio transmitters 30A and 30B Although it is possible to move within the SB, this area is a peripheral device, jig, building structure, or area close to the entry permission area SB arranged around the robot R. This is because it is a region that easily interferes with objects.

(7.2.1.1. For regular radio transmitter 30)
The ID information 82 whose presence in the deceleration operation areas SA2 and SA3 is recognized and stored in the storage means 22a is only the radio transmitters 30A and 30B.

  Therefore, when the signal strength of the radio transmitter 30 satisfies the presence / absence determination condition of the deceleration operation areas SA2 and SA3, the determination unit 22 determines whether the worker M (not permitted to exist in the deceleration operation areas SA2 and SA3). The wireless transmitter 30) determines that it is in the deceleration operation area SA2, SA3, activates the warning device 22b, and invalidates various operation commands for TP data based on the TP data from the teaching operation device 10. Then, a determination signal is output to the control unit 24, and based on this determination signal, a stop command for the robot R is input from the control unit 24 to the drive unit 26 to stop the robot R. Alternatively, when the robot R is stopped by the control unit 24, the control unit 24 may turn off the electromagnetic switch MS3 of the power line LS. Further, when the robot R is stopped, the determination unit 22 may turn off the electromagnetic switches MS1 and MS2.

A signal for the determination unit 22 to turn off the electromagnetic switches MS1 and MS2 corresponds to a determination signal for stopping driving of the driving unit.
Thus, by stopping the robot R and giving a warning, the worker M is made aware that the wireless transmitter 30 has moved to the deceleration operation areas SA2 and SA3. Note that the determination by the determination unit 22 when the signal strength of the radio transmitter 30A satisfies the presence / absence determination condition of the deceleration operation areas SA2 and SA3 is determined when the radio transmitter 30 does not exist in the entry permission area SB. 22 Ru synonymous der and that it is determined.

(7.2.1.2 Non-regular radio transmitter)
As described above, existence of the deceleration operation areas SA2 and SA3 is recognized, and the ID information 82 stored in the storage means 22a is only the radio transmitters 30A and 30B.

  Therefore, when the signal intensity of the unregistered radio transmitter satisfies the presence / absence determination condition of the deceleration operation areas SA2 and SA3, the determination unit 22 determines that an operator who is not permitted to exist in the entry permission area SB is used. Then, it is determined that the vehicle is in the deceleration operation area SA2, SA3, and the warning device 22b is operated in the same manner as “7.2.1.1.” And the robot R is stopped.

  In this case, for example, the worker M holding the legitimate wireless transmitter 30 is present in the entry permission area SB and does not have the teaching operation device 10 while teaching operation is being performed on the teaching operation device 10. Other workers may enter SA2 and SA3. In such a case, the robot R is stopped and the warning device 22b is operated as a warning. In such a case, a warning can be given to both the worker M having the teaching operation device 10 and the workers who have entered SA2 and SA3 other than the worker M.

(7.2.1.3. In case of wireless transmitters 30A and 30B)
When the signal strength of the registered radio transmitters 30A and 30B satisfies the presence / absence determination condition of the deceleration operation areas SA2 and SA3 that are the limited areas, the determination unit 22 adds the TP data from the teaching operation device 10 to the TP data. A determination signal for decelerating the operation of the robot R based on the speed specified by the teaching and outputting a deceleration command to the control unit 24 is input to the control unit 24. As a result, the control unit 24 inputs a deceleration command to the drive unit 26 to cause the robot R to decelerate.

  By causing the robot R to decelerate in this way, the worker M is made aware that the part where the robot R easily interferes has moved to the decelerating operation areas SA2 and SA3 that are the restriction areas, and the teaching work is carefully performed. Let me do it.

  In addition, the case where the radio transmitters 30A and 30B are located in the deceleration operation areas SA2 and SA3 and the case of “7.2.1.1.” Or “7.2.1.2.” Simultaneously compete. In this case, the determination unit 22 gives priority to the process of “7.2.1.1” or “7.2.1.2”.

(7.3.1. Presence / absence judgment condition of operation permission area SA1)
The presence / absence determination condition in the operation permission area SA1 is that the signal intensity 88 of the radio transmitter received by the antenna 61 is X1 (%) or more of the reception range 61a of the antenna 61, and the radio received by the antenna 63 The signal strength 88 of the transmitter is equal to or greater than X3 (%) of the reception range 63a of the antenna 62.

(7.3.1.1. For regular radio transmitter 30 and non-regular radio transmitter)
The ID information 82 whose existence is recognized in the operation permission area SA1 and stored in the storage means 22a is only the radio transmitters 30A and 30B.

  Therefore, when the signal strength of the wireless transmitter 30 or the non-regular wireless transmitter satisfies the presence / absence determination condition of the operation permission area SA1, the determination unit 22 is not permitted to exist in the entry permission area SB. It is determined that the worker is in the operation permission area SA1, the warning device 22b is operated, and the operation of the robot R is stopped by the same stop method as “7.2.1.1”.

Note that the determination unit 22 determines that the signal strength of the wireless transmitter 30A satisfies the presence / absence determination condition of the operation permission area SA1 when the wireless transmitter 30 does not exist in the entry permission area SB. Ru synonymous der and that decision was.

(7.3.1.2. For radio transmitters 30A and 30B)
When the signal strength of the registered radio transmitters 30A and 30B satisfies the presence / absence determination condition of the operation permission area SA1, the determination unit 22 performs the operation of the robot R based on the TP data from the teaching operation device 10. The TP data transmitted from the teaching operation device 10 is sent to the control unit 24 so as to operate at the speed designated by the teaching. If the wireless transmitters 30A and 30B exist in the operation permission area SA1 and the case of “7.3.1.1.” Competes at the same time, the determination unit 22 determines that “7.3.1” .. 1 ”is prioritized.

(7.4. When signal strength of radio transmitters 30A and 30B is lost)
If the signal strengths of the radio transmitters 30A and 30B do not satisfy the presence / absence condition of the operation permission area SA1 and the presence / absence condition of the deceleration operation areas SA2 and SA3, they are registered in the storage means 22a. The determination unit 22 determines that the signal intensity of the radio transmitters 30A and 30B does not exist in any of the operation permission area SA1 and the deceleration operation areas SA2 and SA2.

In this case, the determination unit 22 does not transmit data packets from the radio transmitters 30A and 30B normally, or a failure occurs in the circuits of the radio transmitters 30A and 30B. It is determined that there is a failure such as when the power of the machines 30A and 30B is not supplied, the determination signal is output to the control unit 24, the stop command is output to the control unit 24, and the robot R is operated by the control unit 24. Stop. Note that the robot R may be stopped by the same stop method as “7.2.1.1”. Here, the determination unit 22, when turns off the electromagnetic switch MS1, MS2, the OFF signal, it corresponds to the determination signal for driving stops driving means.

  As described above, in each of the areas scheduled to exist in each area (operation permission area SA1, deceleration operation area SA2, SA3), the data packet related to the ID information 82 of the radio transmitters 30A, 30B is included. If the ID information 82 cannot be acquired satisfactorily, the robot R is stopped.

Now, according to this embodiment, there are the following features.
(1) The robot control system (movable machine system) of the present embodiment is provided in a part held by the worker M and the part of the robot R (part for monitoring the position of the moving object), and ID information 82 Three wireless transmitters 30 and the like (wireless transmission means) for wirelessly transmitting (position confirmation unique ID for position confirmation) and operation permission areas SA1, deceleration operation areas SA2, SA3 in which reception ranges partially overlap each other Five antennas 61 to 65 (directional antennas) fixed to a safety fence 50 (fixing member) whose position does not vary so as to have four of the entry permission areas SB (three-dimensional overlapping space areas), and three-dimensional A storage means 22a for storing three pieces of ID information (position confirmation unique ID) of a wireless transmitter 30 or the like (wireless transmission means) allowed to be located in the overlapping space area, and each of the directional antennas A signal strength measuring unit 43 (detection means) for detecting the signal strength of each received signal received, ID information (position confirmation unique ID) stored in the storage means 22a, and ID information 82 (position confirmation unique ID) of each received signal ) Match, based on the detection result of the signal strength of each received signal by the signal strength measurement unit 43, the determination unit 22 (determines whether or not the wireless transmission means is present in the three-dimensional overlapping space region) judgment means) Ru with a.

  As a result, according to the present embodiment, the radio transmitter 30 and the like (radio transmission means) that emit radio waves are provided at the part held by the worker M and the part of the robot R, thereby It is possible to stably monitor whether or not the part held by the person M and the part of the robot R are within the set three-dimensional overlapping space region. In addition, according to the present embodiment, by providing the radio transmitter 30 or the like at the part held by the worker M, or the part of the robot R, the part held by the worker M, etc. It is possible to stably monitor whether or not the part of the robot R is within the set operation permission area SA1, deceleration operation area SA2, SA3, and entry permission area SB.

(2) The robot control system of the present embodiment is controlled by the control unit 24 (control unit), and the robot R (movable machine) driven by the drive unit 26 (drive unit) is an animal body. Further, the robot control system, a radio transmitter 30A, 30B (wireless transmitting means), that is attached to the site of the robot as a site operated by the driving unit 26 of the robot R.

  As a result, according to the present embodiment, by physically installing the radio transmitters 30A and 30B that emit radio waves at the site of the robot R, it is easy to move the site of the robot that is the location monitoring target site of the robot R. Thus, unlike the prior art, each time the part of the robot R, which is the position monitoring target part, is changed, the time and labor for teaching and setting the position of the part of the robot R can be greatly saved. Moreover, not only the person with special skill but installation of the radio transmitters 30A and 30B to the site of the robot R and the work of moving the radio transmitters 30A and 30B to the site of the different robot R are possible.

(3) In the robot control system of the present embodiment, the determination unit 22 (determination means) includes the wireless transmitters 30A and 30B (wireless transmission means) in any of the operation permission area SA1, the deceleration operation area SA2, and SA3. When it is determined that the data does not exist, a determination signal for outputting a stop command for the robot R to the control unit 24 (control unit) is input. Alternatively, the determination unit 22 outputs an off signal (determination signal) that stops driving of the drive unit 26 (drive means). Then, the control section 24 (control means) on the basis of the stop command to stop the robot R, or the drive unit 26 (driving means) to Suspend robot R based on the OFF signal.

  As a result, according to the present embodiment, when it is determined that the wireless transmitters 30A and 30B (wireless transmission means) do not exist in the operation permission area SA1, the deceleration operation areas SA2 and SA3, the robot R can be stopped and safety can be ensured. It can be set as a highly reliable system configuration. Further, in such a case, there may be a problem with the radio-related circuits of the radio transmitters 30A and 30B, so that it can be stopped for safety.

  (4) In the robot control system of the present embodiment, the deceleration operation areas SA2 and SA3 are set as restriction areas where the radio transmitters 30A and 30B are allowed to be located and the movement restriction of the robot R is given. Then, the determination unit 22 (determination unit) of the robot control system, based on the detection result of the signal intensity of each received signal by the signal intensity measurement unit 43 (detection unit), in the deceleration operation area SA2, SA3 (restriction area), When it is determined that the wireless transmitters 30A and 30B (wireless transmission means) provided in the robot R are present, a determination signal for outputting a deceleration command is input to the control unit 24 (control means) of the robot R. .

  As a result, according to the robot control system of the present embodiment, when the radio transmitters 30A and 30B provided in the robot R exist in the deceleration operation areas SA2 and SA3 of the limited area, the speed is reduced in the limited area. In this state, the deceleration operation areas SA2 and SA3 in the limited area can be used as an area for countermeasures against interference with other robots R.

(5) In the present embodiment, as a position monitoring target site in an animal body, it is a radio transmitter 30 person is portable (portable object).
As a result, in the robot control system according to the present embodiment, in addition to the effects (1) and (2) described above, is the thing carried by the person within the set entry permission area SB (three-dimensional overlapping space area)? Whether it can be monitored stably.

(6) In the robot control system of the present embodiment, the determination unit 22 (determination means) does not have the wireless transmitter 30 (wireless transmission means) carried by a person in the entry permission area SB (three-dimensional overlapping space area). when it is determined that the Ru provided with a warning device 22b for generating a warning (warning means).

  As a result, according to the present embodiment, when it is determined that the wireless transmitter 30 does not exist in the entry permission area SB (three-dimensional overlapping space area), a warning is generated, so that the operator enters the entry permission area SB. It can be known that the wireless transmitter 30 does not exist.

  (7) In the robot control system of the present embodiment, the wireless transmitters 30A and 30B are provided in a part (position monitoring target part) of the robot R (first moving body) and wirelessly transmit a unique ID (position confirmation unique ID). Is the first wireless transmission means, and the wireless transmitter 30 provided in the clothes (position monitoring target part) carried by the worker M (second moving body) is the second wireless transmission means. In addition, the robot control system has four positions, namely, an entry permission area SB, an operation permission area SA1, and a deceleration operation area SA2, SA3 as a three-dimensional overlapping space area in which a part of the reception range overlaps each other. It has five antennas 61 to 65 (directional antennas) fixed to a safety fence 50 (fixing member) that does not change. In the robot control system, among the three-dimensional overlapping space areas, the operation permission area SA1, the deceleration operation area SA2, and SA3 are the first areas in which the wireless transmitters 30A and 30B (first wireless transmission means) are allowed to exist. The entry permission area SB is a second area in which the presence of the wireless transmitter 30 (second wireless transmission means) is allowed.

The robot control system also has a unique ID (position) of the radio transmitters 30A and 30B (first radio transmission means) that are allowed to be located in the operation permission area SA1, the deceleration operation area SA2 and SA3 (first area). A storage unit for storing a confirmation unique ID) and a unique ID (position confirmation unique ID) of the wireless transmitter 30 (second wireless transmission unit) allowed to be located in the entry permission region SB (second region). 22a, a signal intensity measuring unit 43 (detection means) for detecting the signal intensity of each received signal received by each of the directional antennas, each unique ID (position confirmation unique ID) stored in the storage means 22a, and Based on the presence / absence of coincidence of ID information 82 (position confirmation unique ID) of each received signal and the detection result of the signal strength of each received signal by the signal strength measuring unit 43 (detection means) A determination unit 22 (determination unit) that determines whether or not the radio transmitters 30A and 30B (first radio transmission unit) and the radio transmitter 30 exist in the A1, deceleration operation regions SA2 and SA3 (first region). ). When the determination unit 22 determines that the radio transmitters 30A, 30B, and 30 exist in the operation permission area SA1, the deceleration operation area SA2, SA3 (first area), the control unit 24 (control A stop command signal for the robot R or a determination signal for stopping the driving means. Then, the control unit 24 based on the stop command, stops the robot R, or the drive unit 26 (driving means) to Suspend robot R based on the determination signal to stop driving.

As a result, according to the present embodiment, it is possible to prevent interference between the robot R and the worker M located in the operation permission area SA1, the deceleration operation areas SA2 and SA3 (first area).
(Second Embodiment)
Next, a robot control system according to a second embodiment will be described with reference to FIGS. 4B, 11 and 12. FIG. In addition, about the same structure as 1st Embodiment, the same code | symbol is attached | subjected and it demonstrates centering on a different structure.

  The robot control system of the present embodiment is further provided with a transmission / reception device 40F in the configuration of the first embodiment, the teaching operation device 10, the robot control device 20 for controlling the operation of the robot R, and the wireless transmitter 30 as a portable object. And transmission / reception devices 40A to 40F that wirelessly connect the teaching operation device 10, the wireless transmitters 30, 30A, 30B and the robot control device 20 via a wireless LAN (local area network) as a network means. .

  The antenna 66 of the transmission / reception device 40F is a directional antenna similar to the antenna 61 of the first embodiment, and is fixed to the safety fence 50 between the antenna 64 and the antenna 65 as shown in FIG.

  A combination with the antennas 61 and 62, a combination with the antennas 61 and 63, a combination with the antennas 61 and 64, a combination with the antennas 61 and 65, and a combination with the antenna 61 and the antenna 66 are diversity antennas. The directivity direction of the antenna 66 is a direction that intersects the directivity direction for reception of the antenna 61, and is disposed so as to be directed downward or obliquely downward. Reception ranges 61a to 66a shown in FIGS. 11 and 4B are the reception ranges of the antennas 61 to 66, respectively. The reception ranges 61a to 66a indicate ranges in which signal strengths greater than or equal to a predetermined value X1 to X6 (%) can be received when the wireless transmitters 30, 30A, and 30B transmit with the same signal output (wireless output). In this embodiment, 10 ≦ X1 to X6 ≦ 100, but the value is not limited to this value. Note that the predetermined values X1 to X6 (%) are the maximum that each antenna 61 to 66 can receive by changing the position of the radio transmitters 30, 30A, and 30B that transmit signals to the same signal output. This is the value when the signal intensity is 100%. X1 to X6 may be the same value or different values, and may be determined according to various conditions of the installation positions of the antennas 61 to 66.

  In the present embodiment, the operation permission area SA1, the deceleration operation areas SA2 and SA3, and the entry permission area SB that is an overlapping space area of the reception range 61a and the reception range 65a are the same as in the first embodiment. Furthermore, in this embodiment, in the entry permission area SB, an overlap space area of the reception range 61a and the reception range 66a is provided, the overlap space area is set as the first worker entry permission area SB1, and the remaining area is set as the second work area. Person entry permission area SB2. That is, the first worker entry permission area SB1 is disposed closer to the robot R than the second worker entry permission area SB2. The first worker entry permission area SB1 is a range in which a high-level teaching operation can be performed, and the second worker entry permission area SB2 is a range in which a low-level teaching operation can be performed.

  The storage unit 22a of the robot control device 20 stores a unique ID corresponding to a grade within a range in which the worker M can perform a teaching operation. In this embodiment, in both the first worker entry permission area SB1 and the second worker entry permission area SB2, the first unique ID that can be taught and the second worker entry permission area SB2 that can be taught and operated only. 2 unique IDs are stored.

  The worker M attaches the radio transmitter 30 that transmits the first unique ID or the radio transmitter 30 that transmits the second unique ID to clothes or the like according to the grade within the range in which the operator M can perform the teaching operation. To do.

  In a state in which the worker attaches the wireless transmitter 30 that transmits either the first or second unique ID to clothes or the like, the second worker entry permission area SB2 is also located in the first worker entry permission area SB1. In such a case, the determination unit 22 performs the following processes. The determination unit 22 corresponds to a restriction / permission grant unit.

(1. When worker M exists in second worker entry permission area SB2)
The determination unit 22 has signal strengths of the received signals detected by the signal strength measuring units 43 of the transmission / reception devices 40A and 40E that are X1 (%) or more and X5 (%) or more, respectively, and the transmission / reception devices 40A and 40F. When the signal strength of the received signal detected by the signal strength measuring unit 43 is not less than X1 (%) and less than X6 (%), respectively, it is determined that the radio transmitter 30 exists in the second worker entry permission area SB2. .

  In this case, the determination unit 22 has a unique ID that allows the ID information 82 (position confirmation unique ID) of the received data packet to exist in either the first or second worker entry permission region SB2. Is determined by collation with the first unique ID and the second unique ID stored in the storage means 22a. If the ID information 82 of the received data packet is the second unique ID as a result of the collation, teaching of the robot R based on the teaching data from the teaching operating device 10 possessed by the worker M is permitted. That is, thereafter, the determination unit 22 uses only the teaching data in a low range in which the worker M with the second unique ID can perform the teaching operation, that is, restricts the teaching operation and controls the control unit 24 based on the teaching data. Is acceptable.

  When the ID information 82 (position confirmation unique ID) of the received data packet is the ID information 82 not stored in the storage means 22a, the worker M performs the teaching work based on the teaching data transmitted from the teaching operation device 10. A command is sent to display that fact on a display device (not shown) of the teaching operation device 10 without permission. The teaching operation device 10 displays a display corresponding to the command on a display device (not shown), that is, a teaching operation cannot be performed.

(2. When worker M is present in first worker entry permission area SB1)
The determination unit 22 has signal strengths of the received signals detected by the signal strength measuring units 43 of the transmission / reception devices 40A and 40E that are X1 (%) or more and X5 (%) or more, respectively, and the transmission / reception devices 40A and 40F. When the signal strength of the received signal detected by the signal strength measuring unit 43 is X1 (%) or more and X6 (%) or more, respectively, it is determined that the radio transmitter 30 exists in the first worker entry permission area SB1. .

  In this case, the determination unit 22 has a unique ID that allows the ID information 82 (position confirmation unique ID) of the received data packet to exist in either the first or second worker entry permission region SB2. Is determined by collation with the first unique ID and the second unique ID stored in the storage means 22a. If the ID information 82 of the received data packet is the first unique ID as a result of the collation, teaching of the robot R based on the teaching data from the teaching operating device 10 possessed by the worker M is permitted. That is, the teaching operation is permitted to the control unit 24 based on the teaching data.

  That is, thereafter, the determination unit 22 permits the teaching operation based on teaching data in a high range where the worker M with the first unique ID can perform the teaching operation. The altitude range teaching data includes teaching data in a lower range that can be taught by the worker M in the second unique ID, and teaching data that is more difficult to teach than in this lower range. Is included.

  If the ID information 82 (position confirmation unique ID) of the received data packet is the second unique ID or the ID information 82 not stored in the storage means 22a, the operator M can use the teaching operation device 10 to A teaching operation based on the teaching data to be transmitted is not permitted, and a command for displaying that fact on a display device (not shown) of the teaching operation device 10 is sent. The teaching operation device 10 displays a display corresponding to the command on a display device (not shown), that is, a teaching operation cannot be performed.

The second embodiment has the following features.
(8) The robot control system according to the present embodiment performs signal strength measurement when the unique ID (position confirmation unique ID) stored in the storage unit 22a matches the ID information 82 (position confirmation unique ID) of each received signal. Based on the detection result of the signal strength of each received signal by the unit 43 (detection means), the radio transmitter 30 that has transmitted into any of the first worker entry permission area SB1 and the second worker entry permission area SB2 A determination unit 22 (determination means) that determines whether or not (wireless transmission means) exists, and a first worker entry permission area SB1 and a second worker entry permission area SB2 in which the determined wireless transmitter 30 exists. The determination unit 22 (restriction / permission granting unit) that gives a restriction or permission to the control unit 24 (control unit) to the operation content of the teaching operation device 10 held by the worker M (operator) according to any of the above areas. Is provided.

  As a result, according to the robot control system of the present embodiment, a grade can be provided in the range where the teaching operation can be performed according to the position operated by the teaching operation device 10, that is, the place where the operator is positioned. Moreover, if the grade of the range of teaching operation is set in accordance with, for example, the experience of teaching work by a beginner or intermediate and expert, the operator (beginner, intermediate or expert) for the robot R of the beginner. The operation position can be specified.

In addition, you may change embodiment of this invention as follows.
In the first embodiment, each of the radio transmitters 30A and 30B is provided for each part (arm part, tool) of the robot R that is a position monitoring target part. A machine may be provided. For example, a pair of wireless transmitters 30A and a pair of wireless transmitters 30B may be provided. In this case, it is preferable that the plurality of radio transmitters provided in each part have different radio frequencies so that signals transmitted from each other do not overlap. Also, in this case, each of the transmitters / receivers 40A to 40E for transmitting and receiving is also a plurality (for example, a pair) as shown by the two-dot chain line in FIG. The signals having different frequencies can be communicated by a plurality of transmission / reception devices. Then, the signal intensity measuring unit 43 (detection unit) of each of the transmission / reception devices 40A to 40E detects the signal intensity of the received signal, and the determination unit 22 (determination unit) of the robot control device 20 detects each of the transmission / reception devices 40A to 40E. Whether the radio transmitters 30A, 30B, 30 (radio transmission means) exist in the operation permission area SA1, the deceleration operation area SA2, SA3, and the entry permission area SB based on the detection result of the signal intensity of the signal intensity measuring unit 43. Determine whether or not.

  By making the radio transmitter and the transmission / reception device redundant in this way, even when one transmission / reception cannot be performed due to a failure, at least one signal can be received by the remaining devices, which is safe. Can increase the sex.

  -In 1st Embodiment, although the fixing member was the safety fence 50, a fixing member is not limited, A directional antenna is attached with respect to fixed structures, such as a building (for example, ceiling, floor), or the earth. Anything is possible.

  In the first embodiment, the antenna 61 is necessary to direct the reception direction toward the robot R in the safety fence 50 and the entrance door 92, that is, the robot R is necessary for performing the taught work. Although both the work space area and the space area between the entrance door 92 and the robot and the space area where the worker M can move are arranged to include at least the reception range of the antenna 61, the directional antenna The arrangement of is not limited to the arrangement of the first embodiment. It is also possible to set the overlapping space region of the reception range by combining the antennas by increasing or decreasing the number of each antenna.

  The wireless transmission means may be a wireless IC tag (including a passive type and an active type) instead of the wireless transmitter 30 or the like. In particular, in the case of a passive type wireless IC tag, since a battery is not necessary, there is an advantage that there is no need to replace the battery due to battery consumption.

  -In 1st Embodiment, it formed so that it might have four three-dimensional overlapping space area | regions where a part of receiving range overlapped each other like operation | movement permission area | region SA1, deceleration operation | movement area | region SA2, SA3, and approach permission area | region SB. The number of three-dimensional overlapping space regions is not limited to four, and may be one, two, three, five or more. For example, when there is one overlap in the three-dimensional overlapping space region, two directional antennas may be used, and in the overlapping of two three-dimensional overlapping space regions, there may be three directional antennas.

  In the first embodiment, two pieces of ID information 82 (position confirmation unique ID) of the wireless transmitter 30 and the like (wireless transmission means) that are allowed to be located in the three-dimensional overlapping space area are stored in the storage means 22a. However, it may be one or more depending on the number of position monitoring target parts.

  In the first embodiment, when the determination unit 22 (determination means) determines that the radio transmitters 30A and 30B (radio transmission means) do not exist in the operation permission area SA1, the deceleration operation areas SA2 and SA3, the control A determination signal for outputting a stop command for the robot R is input to the unit 24 (control means). Instead, when the determination unit 22 (determination means) determines that the radio transmitters 30A and 30B (radio transmission means) do not exist in the operation permission area SA1, the deceleration operation areas SA2 and SA3, the control section 24 ( A determination signal for outputting a deceleration command for the robot R may be input to the control means). In this case, the control unit 24 can operate the robot R through the driving unit 26 at a speed decelerated from the TP data or a preset speed.

  In the first embodiment, the wireless transmitter 30 is provided on the clothes of the worker M. However, the teaching operation device 10 is a portable object that can be carried by a person, and the transmission / reception unit that performs wireless communication of the teaching operation device 10 15a may be substituted for the wireless transmitter 30.

  In the first embodiment, five antennas are provided. However, when the first region and the second region are formed, the antenna has at least two three-dimensional overlapping space regions in which a part of the reception range overlaps each other. The number may be three or more.

  In the first embodiment, for confirmation of the position of the wireless transmitter, in the first embodiment, the antenna is omitted so as to omit the entry permission area SB and the deceleration operation areas SA2 and SA3, and the antenna 61, Only 63 may be the operation permission area SA1.

  Alternatively, the antenna may be omitted so as to omit the operation permission area SA1, the deceleration operation areas SA2 and SA3, and only the antennas 61 and 65 may be left to leave the entry permission area SB. In this way, it is only necessary to have at least two or more directional antennas fixed to the fixing member whose position does not change so that at least one three-dimensional overlapping space region in which a part of the reception range overlaps each other is provided.

  In the second embodiment, the first worker entry permission area SB1 and the second worker entry permission area SB2 are two, but there are three entry permission areas SB depending on the grade of the range where the operator can perform the teaching operation. You may provide above.

  In the second embodiment, six antennas are provided, but at least two three-dimensional overlapping space regions in which a part of the reception range overlaps each other may be provided, and three or more antennas may be provided.

  -In 2nd Embodiment, although entry permission area | region SB was divided according to the grade of the range which an operator can perform teaching operation, although the determination part 22 is not shown in figure, it is equipped with CPU, ROM, RAM, The said determination part If TP data other than the operation command of the data packet is sent according to the determination result of 22, the robot motion out-of-process unrelated to the robot control may be performed based on the TP data 90. Examples of the robot out-of-motion processing include processing such as data creation for managing the robot R, totalization of maintenance information, and reporting, but are not limited to these processing.

22: determination unit (determination unit), 22a: storage unit,
22b ... warning device (warning means), 24 ... control unit (control means),
26: Driving unit (driving means),
30 ... Wireless transmitter (wireless transmitter, portable object, second wireless transmitter),
30A, 30B ... wireless transmitter (wireless transmitter attached to a part operated by a drive unit of a movable machine, first wireless transmitter),
43 ... Signal intensity measurement unit (detection means), 50 ... Safety fence (fixing member),
M ... worker (animal body), R ... robot (movable machine as an animal body).

Claims (5)

Of the movable machines that are installed at predetermined positions and controlled by the control means, the first wireless transmission means provided in the movable part driven by the drive means,
A second wireless transmission means provided in a portion that can be carried by a person ;
At least three or more directional antennas fixed to a fixed member whose position does not vary so that at least two three-dimensional overlapping space regions in which a part of the reception range overlaps each other;
Of the three-dimensional overlapping space area , one is a first area where the existence of the first wireless transmission means is allowed , and one is a second area where the existence of the second wireless transmission means is allowed. ,
The position confirmation unique ID of the first wireless transmission means allowed to be located in the first area and the position confirmation unique ID of the second wireless transmission means allowed to be located in the second area, respectively Storage means for storing;
Detecting means for detecting the signal strength of each received signal received by each directional antenna;
Based on the presence / absence of a match between each location confirmation unique ID stored in the storage means and the location confirmation unique ID of each received signal, and the detection result of the signal strength of each received signal by the detection means, the first radio Determination means for determining whether the transmission means and the second wireless transmission means exist in either the first area or the second area;
Said determining means, said first region, when it is determined that the second wireless transmitting means are present, said movable machine stop command signal to the control means, or driving the drive means When a determination signal to stop is output and it is determined that the first wireless transmission means is present in the second area, the stop command signal and the determination signal are not output,
The moving body monitoring apparatus, wherein the control means stops the movable machine based on the stop command signal , or the drive means stops the movable machine based on a determination signal for stopping driving. The first area includes a restriction area to which an operation restriction of the movable machine is given,
When the determination unit determines that the first wireless transmission unit exists in the restricted area based on the detection result of the signal strength of each received signal by the detection unit, the control unit of the movable machine The moving body monitoring apparatus according to claim 1 , wherein a determination signal for outputting a deceleration command is input. A plurality of the first wireless transmission means are attached to the movable part , the plurality of first wireless transmission means wirelessly transmit at different transmission frequencies,
The detection means receives at least one of the reception signals transmitted by the first wireless transmission means, detects the signal strength of the reception signals,
The determination unit determines whether the first wireless transmission unit exists in the first region or the second region based on a detection result of the signal strength of the detection unit. The animal body monitoring device according to claim 1 or 2 . Any one of claims 1 to 3, characterized in that it comprises alarm means for generating an alarm when said determination means determines that the second wireless transmitting means to the first region is present 1 The animal body monitoring device according to Item. The part that can be carried by the person is a position monitoring target part that is carried by an operator having a portable teaching operation device that teaches the control means that controls the operation of the movable machine ,
The determination means determines the signal strength of each reception signal by the detection means when the position confirmation unique ID of the second wireless transmission means stored in the storage means matches the position confirmation unique ID of each reception signal. Based on the detection result, it is determined whether the second wireless transmission means is present in any three-dimensional overlapping space region ,
In accordance with the three-dimensional overlapping space area where the second wireless transmission means determined by the determination means is present, the control means is limited or permitted to operate the portable teaching operation device. The monitoring apparatus for moving objects according to any one of claims 1 to 4, further comprising a restriction / permission granting unit.

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