JP6766689B2 - Relocation detection device, relocation detection system and relocation detection method - Google Patents

Description

The present invention relates to a relocation detection device, a relocation detection system, and a relocation detection method.

When the vibration detecting means detects the vibration of the machine, the relocation detecting device determines that the relocation is performed and prohibits the start of the machine. The relocation detection device described in Patent Document 1 does not determine relocation when the vibration detecting means detects vibration at the same time as other vibration detecting means in order to avoid false detection due to an earthquake, and permits the start of the machine. ..

Japanese Patent No. 5948834

Due to the difference in the location where the machine is installed, there is a possibility that the time when the machine resonates with the vibration caused by the earthquake may be different. In this case, among the plurality of vibration detecting means, one that detects vibration and one that does not detect vibration may appear, and the relocation detection device may determine that the relocation is due to an earthquake.

An object of the present invention is to provide a relocation detection device, a relocation detection system, and a relocation detection method capable of preventing false detection due to an earthquake.

The relocation detection device according to claim 1 is provided corresponding to each of a plurality of machines installed at different points, and when the vibration detecting means for detecting the vibration of the corresponding machine detects the vibration of the machine. In the relocation detection device provided with the control means for prohibiting the start of the corresponding machine, when the vibration detection means detects the vibration, the vibration detection means corresponding to the machine installed at its own point causes the control means. The first acquisition means for acquiring the vibration information which is the detected vibration information and the vibration information which is the vibration information detected by the other vibration detection means corresponding to the machine installed at another point are transferred to another relocation detection device. A second acquisition means acquired from the above via a communication means, a determination means for determining whether or not vibration was detected at the same time based on the vibration information acquired by the first acquisition means and the second acquisition means, respectively. Based on the transmission / reception means for transmitting / receiving the determination result information, which is the information of the determination result of the determination means, to / from the other relocation detection device via the communication means and the determination result information transmitted / received by the transmission / reception means. Among the plurality of vibration detecting means corresponding to each of the plurality of machines, a determining means for determining whether the vibration detecting means for detecting vibration at the same time is equal to or higher than a predetermined ratio, and an abnormality detection for detecting an abnormality of dead battery. The means and an abnormality determination means for determining whether or not there is the relocation detection device for which the abnormality detection means has detected an abnormality among a plurality of the relocation detection devices communicating via the communication means are provided , and the determination means includes the means. When the abnormality determination means determines that there is the relocation detection device that has caused an abnormality among the plurality of the relocation detection devices, it corresponds to each of the plurality of machines based on the plurality of determination result information transmitted and received by the transmission / reception means. After subtracting the number of the relocation detecting devices that have caused an abnormality from the number of the plurality of the vibration detecting means, it is determined whether the vibration detecting means that detects the vibration at the same time is equal to or more than the predetermined ratio, and the control means. is pre SL determining means, when the said vibration detecting means detects the vibration at the same time it is determined that the predetermined ratio or more, without disabling the activation of the corresponding machine, the abnormality detecting means detects an abnormality In this case, the start of the corresponding machine is prohibited . When the vibration detecting means detects the vibration of the machine, the relocation detecting device determines that the relocation is performed and prohibits the start of the machine. When an earthquake occurs, vibrations should be detected at the same time by a plurality of vibration detecting means corresponding to a plurality of machines. However, the resonance time with respect to the vibration of the earthquake may deviate depending on the place where the machine is installed, and the time for detecting the vibration of the machine may deviate. Therefore, even if the vibration is caused by an earthquake, the vibration information may not match other vibration information depending on the place where the machine is installed. In this embodiment, when a predetermined ratio or more of the plurality of vibration detecting means detects vibration at the same time, it is determined that the vibration is erroneously detected due to an earthquake, and the start of the machine is not prohibited. Therefore, this aspect can effectively prevent false detection due to an earthquake. The communication method of the communication means may be either wired or wireless. The larger the number of machines, the better. This is because if the number of machines is large, the ratio of vibrations detected at the same time can be calculated accurately. The vibration detecting means may detect the vibration generated in the machine by using, for example, an acceleration sensor.
If the relocation detection device fails and an abnormality occurs, the relocation detection device cannot correctly detect the vibration of the machine by the vibration detecting means. In this embodiment, when there is a relocation detection device that has an abnormality among a plurality of relocation detection devices, the number of a plurality of vibration detection means corresponding to each of the plurality of machines is based on a plurality of determination result information transmitted / received by the transmission / reception means. After subtracting the number of relocation detection devices that have caused an abnormality from, it is determined whether or not the vibration detecting means that detects vibration at the same time has a predetermined ratio or more. Therefore, in this embodiment, the ratio of the vibration detecting means that detects the vibration at the same time can be calculated among the vibration detecting means of the relocation detecting device that operates normally, so that it is possible to accurately determine whether or not the vibration is caused by an earthquake. Therefore, this aspect can effectively prevent false detection due to an earthquake. In this embodiment, even if an abnormality occurs in some of the relocation detection devices of the plurality of relocation detection devices, the vibration detection means that detects the vibration at the same time by using the judgment result information of the other relocation detection devices has a predetermined ratio or more. Therefore, it is possible to improve the fault tolerant. The "abnormality" may mean, for example, if the relocation detection device is driven by a battery, a state in which the battery voltage is below the threshold value may be regarded as an abnormality, and a part or all of the function of detecting the vibration of the vibration detecting means. The state (failure) in which is impossible may be regarded as an abnormality.

The vibration detecting means of the relocation detection device according to claim 2 is fixed to the machine, the control means is an operation determining means for determining whether the machine is operating, and the operation determining means is operating the machine. When a determination is made, the determination means includes an invalidation means for invalidating the determination result information, and the determination means uses the determination result information invalidated by the invalidation means among the determination result information transmitted / received by the transmission / reception means. It is better not to consider it. Since the vibration detecting means is fixed to the machine, the machine may vibrate when a machine such as a machine tool is operated to process the work material. When the machine vibrates due to machining, the vibration detecting means cannot correctly detect the vibration of the machine. Machine relocation occurs when the machine is not in operation. In this embodiment, the determination result information is invalidated when the machine is in operation, and the invalidated determination result information is taken into consideration among the plurality of determination result information transmitted / received to / from the other relocation detection device via the communication means. do not do. Therefore, in this embodiment, it is possible to accurately determine whether or not the vibration is caused by an earthquake, so that false detection due to an earthquake can be effectively prevented. Note that "operation" may mean, for example, that the power of the machine is on, that the machine is operating, that the work material is being cut with a tool, and the like. "Not considered" means not included in the calculation of the predetermined ratio performed by the judgment means.

The relocation detection system according to claim 3 is provided corresponding to each of a plurality of machines installed at different points, and corresponds to a case where the vibration detecting means for detecting the vibration generated in the corresponding machine detects the vibration. A relocation detection system including a plurality of relocation detection devices for prohibiting the start-up of the machine, and a master device capable of communicating with the plurality of relocation detection devices via a communication means and having a vibration detection means for detecting vibration. In each of the plurality of relocation detection devices, the first acquisition means for acquiring the first vibration information which is the vibration information detected by the vibration detection means when the vibration detection means detects the vibration, and the first acquisition means. The second acquisition means that acquires the second vibration information, which is the vibration information detected by the vibration detection means of the master device, via the communication means, and the first acquisition means and the second acquisition means acquired by the second acquisition means. Based on the first vibration information and the second vibration information, a determination means for determining whether vibration is detected at the same time and a determination result information which is information on the determination result of the determination means are transmitted to the master device. The master device includes means and an abnormality detecting means for detecting an abnormality of running out of battery, and the master device includes a receiving means for receiving the determination result information transmitted by each of the transmitting means of the plurality of relocation detecting devices, and the receiving means. Based on the plurality of determination result information received by the means, it is determined whether or not the vibration detecting means that has detected the vibration at the same time out of the plurality of the vibration detecting means corresponding to the plurality of relocation detecting devices has a predetermined ratio or more. When the determination means and the determination means determine that the vibration detection means that detects vibration at the same time is equal to or greater than the predetermined ratio, the plurality of relocation detection devices are controlled so as not to prohibit the activation of the plurality of machines. The determination means is provided with an activation control means for determining whether or not there is a relocation detection device for which the abnormality detection means has detected an abnormality among the plurality of relocation detection devices communicating via the communication means. When the abnormality determination means determines that there is the relocation detection device that has detected an abnormality among the plurality of relocation detection devices, the plurality of machines of the plurality of machines are based on the plurality of determination result information received by the reception means. After subtracting the number of the relocation detecting devices that have detected an abnormality from the number of the plurality of vibration detecting means corresponding to each, it is determined whether or not the vibration detecting means that detected the vibration at the same time is the predetermined ratio or more. When the determination means determines that the vibration detecting means that detects the vibration at the same time is equal to or more than the predetermined ratio, the activation control means may perform the plurality of vibrations. When the plurality of relocation detection devices are controlled so as not to prohibit the start of the machine and the abnormality determination means determines that there is the relocation detection device that has detected the abnormality, the relocation detection device corresponding to the relocation detection device that has detected the abnormality. It is characterized in that the plurality of relocation detection devices are controlled so as to prohibit the start-up of the machine . In the relocation detection system, the relocation detection device determines that the relocation is when the vibration detecting means detects the vibration of the machine, and prohibits the start of the machine. When an earthquake occurs, vibrations should be detected at the same time by a plurality of vibration detecting means corresponding to a plurality of machines. However, the resonance time with respect to the vibration of the earthquake may deviate depending on the place where the machine is installed, and the time for detecting the vibration of the machine may deviate. Therefore, even if the vibration is caused by an earthquake, the vibration information may not match other vibration information depending on the place where the machine is installed. The relocation detection device determines whether or not vibration is detected at the same time based on the first vibration information of the vibration detected by its own vibration detection means and the second vibration information acquired from the first master device, and the determination is made. Send the result information to the master device. In the master device, among the plurality of vibration detecting means corresponding to the plurality of relocation detecting devices, the vibration detecting means that detects the vibration at the same time is a predetermined ratio or more based on the plurality of determination result information received from the plurality of relocation detecting devices. To judge. When the vibration detecting means that detects vibration at the same time is equal to or more than a predetermined ratio, the master device controls a plurality of relocation detecting devices so as not to prohibit the activation of the plurality of machines. Therefore, this aspect can effectively prevent false detection due to an earthquake. The communication method of the communication means may be either wired or wireless. The larger the number of machines, the better. This is because if the number of machines is large, the ratio of vibrations detected at the same time can be calculated accurately. The vibration detecting means may detect the vibration generated in the machine by using, for example, an acceleration sensor.

When shifting設検known devices occurs an abnormality has failed, the relocation detector can not correctly detect the vibration of the mechanical vibration detecting means. When there is a relocation detection device that has caused an abnormality among a plurality of relocation detection devices, the master device of this embodiment is the number of relocation detection devices that have caused an abnormality from the number of a plurality of vibration detection means corresponding to each of the plurality of machines. After subtracting, it is determined whether or not the vibration detecting means that detects the vibration at the same time has a predetermined ratio or more. Therefore, in this embodiment, the ratio of the vibration detecting means that detects the vibration at the same time can be calculated among the vibration detecting means of the relocation detecting device that operates normally, so that it is possible to accurately determine whether or not the vibration is caused by an earthquake. Therefore, this aspect can effectively prevent false detection due to an earthquake. In this embodiment, even if an abnormality occurs in some of the relocation detection devices of the plurality of relocation detection devices, the vibration detection means that detects the vibration at the same time by using the judgment result information of the other relocation detection devices has a predetermined ratio or more. Therefore, it is possible to improve the fault tolerant. The "abnormality" may mean, for example, if the relocation detection device is driven by a battery, a state in which the battery voltage is below the threshold value may be regarded as an abnormality, and a part or all of the function of detecting the vibration of the vibration detecting means. The state (failure) in which is impossible may be regarded as an abnormality.

The vibration detection means of the relocation detection system according to claim 4 is fixed to the machine, and each of the plurality of relocation detection devices is an operation determination means for determining whether the machine is in operation, and the operation determination means is the operation determination means. When the machine is determined to be in operation, the determination means for invalidating the determination result information is provided, and the determination means of the master device invalidates the determination result information received by the receiving means. It is preferable not to consider the determination result information invalidated by the means. Since the vibration detecting means is fixed to the machine, the machine may vibrate when a machine such as a machine tool is operated to process the work material. When the machine vibrates due to machining, the vibration detecting means cannot correctly detect the vibration of the machine. Machine relocation occurs when the machine is not in operation. The relocation detection device of this aspect invalidates the determination result information when the machine is in operation. The master device does not consider the invalidated determination result information among the plurality of determination result information received via the communication means with the plurality of relocation detection devices. Therefore, in this embodiment, it is possible to accurately determine whether or not the vibration is caused by an earthquake, so that false detection due to an earthquake can be effectively prevented. Note that "operation" may mean, for example, that the power of the machine is on, that the machine is operating, that the work material is being cut with a tool, and the like. "Not considered" means not included in the calculation of the predetermined ratio performed by the judgment means.

The relocation detection method of the relocation detection device according to claim 5 is provided corresponding to each of a plurality of machines installed at different points, and the vibration detecting means for detecting the vibration of the corresponding machine detects the vibration of the machine. In the relocation detection method of the relocation detection device that performs the control step of prohibiting the start of the corresponding machine, the control step is performed on the machine installed at the own point when the vibration detection means detects the vibration. The first acquisition step of acquiring vibration information which is the information of the vibration detected by the corresponding vibration detecting means, and the vibration information which is the information of the vibration detected by the other vibration detecting means corresponding to the machine installed at another point. Was detected at the same time based on the second acquisition process acquired from another relocation detection device via the communication means and the vibration information acquired in each of the first acquisition process and the second acquisition process. A transmission / reception step of transmitting / receiving the determination result information, which is information on the determination result of the determination process, to / from the other relocation detection device via the communication means, and a transmission / reception process of the transmission / reception process. Based on the determination result information, a determination step of determining whether or not the vibration detection means that detects vibration at the same time among the plurality of vibration detection means corresponding to each of the plurality of machines is at least a predetermined ratio, and a battery exhaustion. There is an abnormality detection determination step for determining whether or not an abnormality has been detected, and the relocation detection device for determining that an abnormality has been detected in the abnormality detection determination step among a plurality of the relocation detection devices communicating via the communication means. In the determination step, when it is determined that there is a relocation detection device that has caused an abnormality among a plurality of the relocation detection devices in the abnormality determination step, transmission / reception is performed in the transmission / reception step. Based on the plurality of determination result information, the number of the relocation detecting devices having an abnormality is subtracted from the number of the plurality of vibration detecting means corresponding to each of the plurality of machines, and then the vibration is generated at the same time. detected the vibration detecting means determines whether the predetermined ratio or more, and in the control step, at pre-Symbol decision step, when the said vibration detecting means detects the vibration at the same time it is determined that the predetermined ratio or more, the corresponding When it is determined that there is a relocation detection device that has caused an abnormality in the abnormality determination step without prohibiting the start-up of the machine, the start-up of the corresponding machine is prohibited . Therefore, the relocation detection device can obtain the effect according to claim 1 by performing each of the above steps.

The relocation detection method of the relocation detection system according to claim 6 is provided for each of a plurality of machines installed at different points, and the vibration detecting means for detecting the vibration generated in the corresponding machines detects the vibration. In addition, a plurality of relocation detection devices for prohibiting the start-up of the corresponding machine, and a master device capable of communicating with the plurality of relocation detection devices via communication means and having a vibration detection means for detecting vibration are provided. The relocation detection method of the relocation detection system includes a device-side process performed by each of the plurality of relocation detection devices and a master-side process performed by the master device. In the device-side process, the vibration detecting means generates vibration. When detected, the first acquisition step of acquiring the first vibration information which is the information of the vibration detected by the vibration detecting means and the second vibration information which is the information of the vibration detected by the vibration detecting means of the master device. Is generated at the same time based on the second acquisition step acquired via the communication means, the first acquisition step, and the first vibration information and the second vibration information acquired in the second acquisition step. The master includes a determination step of determining whether or not it has been detected, a transmission step of transmitting determination result information which is information on the determination result of the determination step to the master device, and an abnormality detection step of detecting an abnormality of dead battery. The side process is a receiving step of receiving the determination result information transmitted in each of the transmitting steps of the plurality of relocation detection devices, and the plurality of relocation detections based on the plurality of determination result information received in the receiving step. Among the plurality of vibration detecting means corresponding to the apparatus, the determination step of determining whether the vibration detecting means that has detected the vibration at the same time is equal to or higher than a predetermined ratio, and the determination step of detecting the vibration at the same time. When the vibration detecting means determines that the ratio is equal to or greater than the predetermined ratio, the activation control step of controlling the plurality of relocation detection devices so as not to prohibit the activation of the plurality of machines, and the plurality of relocations communicating via the communication means. Among the detection devices, the abnormality determination step of determining whether or not the relocation detection device that has detected the abnormality in the abnormality detection step is provided , and in the determination step, the abnormality among the plurality of relocation detection devices is determined in the abnormality determination step. When it is determined that there is the relocation detection device that has detected the above, an abnormality is detected from the number of the plurality of vibration detection means corresponding to each of the plurality of machines based on the plurality of determination result information received in the reception process. After subtracting the number of the relocation detection devices, it is determined whether the vibration detection means that detects the vibration at the same time is equal to or more than the predetermined ratio, and the start-up is performed. In the motion control step, when the vibration detecting means that detects vibration at the same time determines in the determination step that the ratio is equal to or greater than the predetermined ratio, the plurality of relocation detection devices are not prohibited from starting the plurality of machines. When it is determined that there is the relocation detection device that has detected the abnormality in the abnormality determination step, the plurality of relocation detections are prohibited so as to prohibit the activation of the machine corresponding to the relocation detection device that has detected the abnormality. It is characterized by controlling the device . Therefore, the relocation detection device and the master device of the relocation detection system can obtain the effect according to claim 3 by performing the device-side process and the master-side process, respectively.

The block diagram of the relocation detection system 100, 200. The block diagram which shows the electrical structure of the relocation detection system 100, 200. The conceptual diagram which shows the storage area of a flash memory 24. The flow chart of the relocation detection control process (first embodiment). The conceptual diagram of the determination result information 2441. The conceptual diagram of the judgment result information 2442 and the aggregate information 2542. The conceptual diagram of the determination result information 2443 and the aggregate information 2543. The conceptual diagram of the determination result information 2444 and the aggregate information 2544. A flow chart of the judgment result information transmission process. Flow chart of flag information transmission processing. Flow chart of start judgment process. The flow chart of the relocation detection control process (second embodiment). The conceptual diagram of the judgment result information 2445 and the aggregate information 2545. The block diagram of the relocation detection system 300, 400. The block diagram which shows the electrical structure of the relocation detection system 300, 400. The conceptual diagram which shows the storage area of the flash memory 240. The conceptual diagram which shows the storage area of a flash memory 74. The flow chart of the master side control process (third embodiment). The flow chart of the slave side control processing (third embodiment). The conceptual diagram which shows the storage area of the flash memory 740. The flow chart of the master side control processing (fourth embodiment). The flow chart which shows the continuation of FIG. 21. The flow chart of the slave side control processing (fourth embodiment).

The first embodiment of the present invention will be described with reference to FIGS. 1 to 11. The configuration of the relocation detection system 1 will be described with reference to FIG. The relocation detection system 1 includes, for example, three machines M1 to M3. Machines M1 to M3 are machine tools that process work materials with tools mounted on the spindle, for example. Machine M1 is at point A, machine M2 is at point B, and machine M3 is at point C on the same floor of the factory. Install. The machine M1 includes a relocation detection device 20, the machine M2 includes a relocation detection device 40, and the machine M3 includes a relocation detection device 60. The relocation detection devices 20, 40, and 60 detect the vibration generated in the machines M1, M2, and M3, and detect the relocation of the machines M1, M2, and M3, respectively. The method of detecting the relocation may be other than vibration, and for example, the relocation may be detected by detecting acceleration, inclination, or the like. When the relocation detection device 20 detects the relocation of the machine M1, the start of the machine M1 is restricted, the relocation detection device 40 limits the start of the machine M2 when the relocation of the machine M2 is detected, and the relocation detection device 60 limits the start of the machine. When the relocation of the M3 is detected, the start of the machine M3 is restricted. The relocation detection devices 20, 40, and 60 can communicate with each other.

The electrical configuration of the machine M1 will be described with reference to FIG. The machine M1 includes a numerical control device 10, an axis control unit 17, a motor 18, and the like. The numerical control device 10 includes a CPU 11, a ROM 12, a RAM 13, a machine I / F 14, an input / output unit 15, and the like. The ROM 12, the RAM 13, the machine I / F 14, and the input / output unit 15 are connected to the CPU 11 by, for example, a high-speed bus. The CPU 11 comprehensively controls the operation of the machine M1. The ROM 12 stores various programs and the like. The RAM 13 temporarily stores various types of information. The shaft control unit 17 controls the drive of the motor 18. The motor 18 is, for example, a spindle motor that rotates the spindle of the machine M1, an X-axis motor that relatively moves a work table for fixing the spindle and a work material, a Y-axis motor, a Z-axis motor, and the like. The shaft control unit 17 is connected to the machine I / F14. Therefore, the axis control unit 17 controls the drive of the motor 18 based on the control command from the CPU 11.

The electrical configuration of the relocation detection device 20 will be described. The relocation detection device 20 includes a CPU 21, a vibration detection unit 22, a real-time clock 23, a flash memory 24, a communication I / F 25, a built-in battery 27, and the like. The vibration detection unit 22, the real-time clock 23, the flash memory 24, and the communication I / F 25 are connected to the CPU 21 by, for example, a high-speed bus. The CPU 21 comprehensively controls the operation of the relocation detection device 20. The CPU 21 is connected to the input / output unit 15 of the numerical control device 10. The vibration detection unit 22 detects the vibration generated in the machine M1. The vibration detection unit 22 may be fixed to the machine M1. The vibration detection unit 22 can use, for example, an acceleration sensor or the like. The real-time clock 23 is an integrated circuit that keeps track of the current time even when the computer is turned off, for example. The real-time clock 23 is driven by, for example, the built-in battery 27. The flash memory 24 includes various storage areas (see FIG. 3) described later. The communication I / F 25 is connected to the bus 5 via the wiring L1. The relocation detection device 20 is driven by the built-in battery 27.

The electrical configuration of each of the machines M2 and M3 is the same as that of the machine M1. The machine M2 includes a numerical control device 30 and a relocation detection device 40. The machine M3 includes a numerical control device 50 and a relocation detection device 60. The communication I / F (not shown) of the relocation detection device 40 of the machine M2 is connected to the bus 5 via the wiring L2. The communication I / F (not shown) of the relocation detection device 60 of the machine M3 is connected to the bus 5 via the wiring L3. Therefore, the relocation detection devices 20, 40, and 60 can communicate with each other via the bus 5.

The storage area of the flash memory 24 will be described with reference to FIG. The flash memory 24 includes a vibration history information storage area 241, a flag storage area 242, a clock value storage area 243, a determination result information storage area 244, and the like. The vibration history information storage area 241 stores vibration history information. The vibration history information is, for example, information regarding the date and time when the vibration detection unit 22 detects vibration. The flag storage area 242 stores the activation restriction flag and the like. The activation restriction flag is, for example, 1 or 0. When the machine M1 is restricted from starting, the CPU 21 stores 1 in the flag storage area 242. The activation restriction flag is turned on. When the start restriction of the machine M1 is released, the CPU 21 stores 0 in the flag storage area 242. The startup restriction flag is turned off. The clock value storage area 243 stores, for example, the clock value of the real-time clock 23 when the vibration detection unit 22 detects vibration. The determination result information storage area 244 stores the determination result information. The determination result information is, for example, information that determines whether or not the vibration detected by the relocation detection device 40 is the same time as the vibration of the machine M2 detected by the relocation detection device 40 when the relocation detection device 20 detects the vibration of the machine M1. is there.

The relocation detection control process will be described with reference to FIG. This process is a process executed by the CPU 21 of the relocation detection device 20. The CPUs of the relocation detection devices 40 and 60 are also executed in the same manner. When the relocation detection device 20 is activated, the CPU 21 calls the relocation detection control program stored in the flash memory 24 and executes this process.

The CPU 21 starts the operation of the real-time clock 33 (S1). The CPU 21 determines whether or not the vibration is detected (S2). The vibration detection unit 22 detects the vibration generated in the machine M1. The vibration generated in the machine M1 when the power is turned off includes the vibration generated when the machine M1 is relocated and the vibration caused by an earthquake. The vibration detection unit 22 detects these vibrations in the same manner without distinction. The CPU 21 returns to S2 and repeats the process until the vibration detection unit 22 detects the vibration (S2: NO).

When vibration is detected (S2: YES), the CPU 21 stores 1 in the flag storage area 242 of the flash memory 34 and turns on the activation restriction flag (S3). The CPU 21 stores the current clock value X1 of the real-time clock 23 in the clock value storage area 243 of the flash memory 34 (S4). The CPU 21 stores the vibration date and time in the vibration history information storage area 241 of the flash memory 24.

The CPU 21 determines whether or not it is possible to communicate with the other relocation detection devices 40 and 60 (S5). As a method for determining whether or not communication is possible, for example, the CPU 21 may transmit a response request signal to the relocation detection device 40. When the CPU of the relocation detection device 40 receives the response request signal, it returns the response signal to the relocation detection device 20. The CPU 21 returns to S5 and enters a standby state until it receives a response signal (S5: NO). When the CPU 21 receives the response signal, it determines that communication is possible (S5: YES), and further acquires the current clock value Y1 of the real-time clock 33 (S6). The CPU 21 transmits vibration information to the relocation detection devices 40 and 60 (S7). The vibration information is information including the clock value X1 stored in the flash memory 24 and the acquired clock value Y1.

The CPU 21 determines whether or not the relocation detection device 40, which is a partner device of the relocation detection device 20, has vibration information of the machine M2 (S9). The other device of the relocation detection device 40 is the relocation detection device 60. The other device of the relocation detection device 60 is the relocation detection device 20. Information on the other device of each relocation detection device is stored in advance in, for example, a flash memory. The vibration information of the machine M2 is information including, for example, clock values X2 and Y2. The clock value X2 is the clock value of the real-time clock when the vibration detection unit of the relocation detection device 40 detects the vibration. The clock value Y2 is the clock value of the real-time clock currently acquired by the relocation detection device 40. When the relocation detection device 40 does not detect the vibration of the machine M2, the clock value X2 is not stored in the flash memory, so that there is no vibration information of the machine M2. In order to confirm the presence or absence of vibration information to the relocation detection device 40, the CPU 21 may transmit a confirmation signal to, for example, the relocation detection device 40. The confirmation signal is a signal instructing confirmation of the presence or absence of vibration information. When the CPU of the relocation detection device 40 receives the confirmation signal, it returns a response signal indicating the presence or absence of vibration information to the relocation detection device 20 that has transmitted the confirmation signal. The CPU 21 receives the response signal and recognizes the presence or absence of vibration information.

When the relocation detection device 40 does not store the vibration information of the machine M2 (S9: NO), the relocation detection device 40 does not detect the vibration of the machine M2. The CPU 21 determines that the machine M1 does not detect the vibration and the machine M2 does not detect the vibration, and determines that the vibration is not simultaneous. The CPU 21 creates the determination result information and stores it in the determination result information storage area 244 of the flash memory 24 (S13).

When the relocation detection device 40 has vibration information of the machine M2 (S9: YES), the vibration information of the machine M2 is acquired from the relocation detection device 40 (S10). The vibration information of the machine M2 is information including, for example, clock values X2 and Y2. The CPU 21 calculates the elapsed clock numbers K1 and K2 (S11). The elapsed clock number K1 is the number of clocks corresponding to the elapsed time from the vibration detection unit 22 detecting the vibration to the present. The elapsed clock number K1 is X1-Y1. The elapsed clock number K2 is X2-Y2.

The CPU 21 determines the simultaneous vibration (S12). The simultaneous vibration is determined based on whether or not the error between K1 and K2 is within the allowable range. The tolerance of the error can be set in advance by the operator. When the error between K1 and K2 is within the permissible range, the vibration detected by the machine M1 and the vibration detected by the machine M2 can be determined to be simultaneous vibrations. When the error between K1 and K2 is out of the permissible range, the vibration detected by the machine M1 and the vibration detected by the machine M2 are not simultaneous vibrations, and therefore can be determined to be vibrations that have occurred individually. The CPU 21 creates the determination result information and stores it in the determination result information storage area 244 of the flash memory 24 (S13). For example, the determination result information 2441 shown in FIG. 5 indicates that the machine M1 detects the vibration, the machine M2 also detects the vibration, and the machines M1 and M2 generate simultaneous vibration.

The CPU 21 transmits a determination result information request signal to the other relocation detection devices 40 and 60 (S14). The determination result information request signal is a signal that requests the relocation detection devices 40 and 60 to transmit the determination result information. In the determination result information transmission process (see FIG. 9), which will be described later, when the CPUs of the relocation detection devices 40 and 60 receive the determination result request signal, they transmit the determination result information to the relocation detection device 20. The CPU 21 determines whether or not the determination result information has been received from the other relocation detection devices 40 and 60 (S15). The CPU 21 returns to S15 and waits until the determination result information is received (S15: NO). When the determination result information is received (S15: YES), the CPU 21 aggregates all the determination result information of the machines M1 to M3 (S16).

The determination result information 2442 shown in FIG. 6 is a compilation of the determination result information of each of the machines M1, M2, and M3. Looking at the determination result information 2442, the machine M1 detects the vibration, the machine M2 does not detect the vibration, and the machine M3 detects the vibration, and it is determined that the machines M3 and M1 are simultaneously vibrating. Since the machine M2 does not detect the vibration, the determination result information received from the relocation detection device 40 of the machine M2 is only the information indicating that the machine M2 does not detect the vibration.

The CPU 21 aggregates the determination result information 2442 and calculates the simultaneous vibration detection rate (%). The simultaneous vibration detection ratio is the ratio of the relocation detection devices that have detected the simultaneous vibration among the plurality of relocation detection devices 20, 40, and 60 constituting the relocation detection system 100. The CPU 21 creates, for example, aggregated information 2542 based on the determination result information 2442. According to the aggregated information 2542, the parameter of the calculation formula of the simultaneous vibration detection ratio is 3 because the machines M1 to M3, and the number of simultaneous vibration detections is 2 because the machines M1 and M3. Therefore, the simultaneous vibration detection ratio is 2/3 × 100 = 67. (%). The CPU 21 stores the aggregated information 2542 in the flash memory 24.

In the determination result information 2443 shown in FIG. 7, vibration is detected in all of the machines M1 to M3, but the simultaneous vibration is determined only between the machines M1 and M2. Therefore, according to the aggregated information 2543 that aggregates the determination result information 2443, the parameter of the calculation formula is 3, the number of simultaneous vibration detections is 2, and the simultaneous vibration detection ratio is 2/3 × 100 = 67 (%). In the determination result information 2444 shown in FIG. 8, the machine M1 detects the vibration, the machine M2 does not detect the vibration, and the machine M3 detects the vibration, but none of them is determined to be simultaneous vibration. Therefore, according to the aggregated information 2544 that aggregates the determination result information 2443, the parameter of the calculation formula is 3, the number of simultaneous vibration detections is 0, and the simultaneous vibration detection ratio is 0/3 × 100 = 0 (%).

Returning to FIG. 4, the CPU 21 determines whether or not the simultaneous vibration detection ratio is equal to or higher than a certain ratio (S17). The constant ratio may be set to a value larger than, for example, 50%. In the aggregated information 2542 shown in FIG. 6, since the simultaneous vibration detection ratio is 67% (S17: YES), the vibration detected by the machine M1 has a high possibility of vibration due to an earthquake, and the possibility of vibration due to relocation is low. .. Therefore, the CPU 21 stores 0 in the flag storage area 242 and turns off the start restriction flag (S18). Therefore, the CPU 11 of the numerical control device 10 can start the machine M1 by the start determination process (see FIG. 11) described later. The CPU 21 returns to S2 and continues to monitor the relocation of the machine M1.

In the aggregated information 2544 shown in FIG. 8, since the simultaneous vibration detection ratio is 0% (S17: NO), the vibration detected by the machine M1 is unlikely to be due to an earthquake, and there is a possibility of vibration due to relocation. high. Therefore, the CPU 21 ends this process with the start restriction flag turned on. Therefore, the CPU 11 of the numerical control device 10 can limit the activation of the machine M1 by the activation determination process (see FIG. 11) described later.

The determination result information transmission process will be described with reference to FIG. This process is a process executed by the CPU 21 of the relocation detection device 20. The CPUs of the relocation detection devices 40 and 60 are also executed in the same manner. When communication is started between the relocation detection device 20 and the other relocation detection devices 40 and 60, the CPU 21 calls a determination result information transmission program stored in the flash memory 24 and periodically executes this process.

The CPU 21 determines whether or not the determination result information request signal has been received from the other relocation detection devices 40 and 60 (S21). When the determination result information request signal is not received (S21: NO), the CPU 21 ends this process. When the determination result information request signal is received (S21: YES), the CPU 21 determines whether or not the determination result information is stored in the determination result information storage area 244 of the flash memory 24 (S22). When the determination result information is stored (S22: YES), the CPU 21 transmits the determination result information stored in the flash memory 24 to the relocation detection device that has transmitted the determination result information request signal (S23), and this process is performed. To finish. When the determination result information is not stored (S22: NO), the machine M1 does not detect the vibration. Therefore, the CPU 21 creates the determination result information in which the vibration of the machine M1 is not detected, and the determination result information request signal. Is transmitted to the relocation detection device that transmitted the above (S24). The CPU 21 ends this process.

The flag information transmission process will be described with reference to FIG. This process is a process executed by the CPU 21 of the relocation detection device 20. The CPUs of the relocation detection devices 40 and 60 are also executed in the same manner. When the relocation detection device 20 is activated, the CPU 21 calls the flag information transmission program stored in the flash memory 24 and periodically executes this process.

The CPU 21 determines whether or not the flag information request signal has been received from the CPU 11 of the numerical control device 10 (S31). When the power of the machine M1 is turned on, the CPU 11 of the numerical control device 10 transmits a flag information request signal to the relocation detection device 20 in the activation determination process (see FIG. 11) described later. The flag information request signal is a signal requesting information regarding the activation restriction flag. When the flag information request signal is not received (S31: NO), the CPU 21 ends this process. When the flag information request signal is received (S31: YES), the CPU 21 transmits the flag information of the start restriction flag to the CPU 11 of the numerical control device 10 (S32). The flag information of the activation restriction flag is, for example, information indicating on or off (1 or 0). The CPU 21 ends this process.

The activation determination process will be described with reference to FIG. This process is a process executed by the CPU 11 of the numerical control device 10 of the machine M1. The CPUs of the numerical control devices 30 and 50 of the machines M2 and M3 are also executed in the same manner. When the power of the machine M1 is turned on, the CPU 11 calls the start determination program stored in the ROM 12 to execute this process.

The CPU 11 transmits a flag information request signal to the CPU 21 of the relocation detection device 20 (S41). The CPU 21 of the relocation detection device 20 returns the flag information in the above-mentioned flag information transmission process (see FIG. 10) (see S32 in FIG. 10). The CPU 11 determines whether or not the flag information has been received (S42). The CPU 11 returns to S42 and waits until it receives the flag information (S42: NO). When the flag information is received (S42: YES), the CPU 11 determines whether or not the start restriction flag is on based on the received flag information (S43). When the start restriction flag is on (S43: YES), the machine M1 is likely to be relocated, so the CPU 11 prohibits the start of the machine M1 (S44). Therefore, when the machine M1 is relocated, the numerical control device 10 can prohibit the start of the machine M1.

When the start restriction flag is off (S43: NO), the machine M1 is unlikely to be relocated, or the vibration generated in the machine M1 is likely to be caused by an earthquake, so that the CPU 11 normally starts the machine M1. (S45). Therefore, even if the machine M1 vibrates while the power is off, the numerical control device 10 can normally start the machine M1 if the vibration is due to an earthquake.

As described above, the relocation detection system 100 of the first embodiment includes machines M1, M2, and M3. The relocation detection devices 20, 40, and 60 are provided corresponding to the machines M1 to M3, respectively. When the vibration detection unit 22 detects the vibration of the machine M1, the CPU 21 of the relocation detection device 20 turns on the start prohibition flag and prohibits the start of the corresponding machine M1. The relocation detection devices 20, 40, and 60 can communicate with each other via the wirings L1 to L3 and the bus 5. When the vibration detection unit 22 detects the vibration of the machine M1, the CPU 21 acquires vibration information (clock values X1, Y1) related to the vibration. The CPU 21 transmits the acquired vibration information to another predetermined relocation detection device 40. The CPU 21 acquires vibration information (clock values X2, Y2) from another relocation detection device 40.

The CPU 21 determines the simultaneous vibration of the machines M1 and M2 based on the acquired vibration information (clock values X1, Y1, X2, Y2). The CPU 21 creates the determination result information and transmits it to the other relocation detection devices 40 and 60, and also receives the determination result information from the other relocation detection devices 40 and 60. The CPU 21 aggregates the determination result information of each of the relocation detection devices 20, 40, and 60, and among the relocation detection devices 20, 40, and 60, the ratio of the relocation detection devices that detect vibration at the same time (simultaneous vibration detection ratio). Is more than a certain percentage. The machines M1 to M3 vibrate according to the vibration caused by the earthquake, but since the places where the machines M1 to M3 are installed are different from each other, for example, the hardness of the installation floor surface, the difference in the structure of the machines M1 to M3, the magnitude of the earthquake, etc. Depending on the direction of the shaking of the earthquake, the time when the machines M1 to M3 resonate and the magnitude of the vibration may deviate. When the simultaneous vibration detection ratio is a certain ratio or more, there is a high possibility of vibration due to an earthquake even if some relocation detection devices do not detect vibration at the same time. Therefore, the relocation detection device 20 cancels the start prohibition of the corresponding machine M1 by turning off the start prohibition flag that was turned on earlier at the time of vibration detection. Therefore, the CPU 11 of the numerical control device 10 can normally start the machine M1. Therefore, the relocation detection device 20 can effectively prevent erroneous detection of relocation of the machine M1 due to an earthquake.

If the simultaneous vibration detection rate is less than a certain rate, the possibility of vibration due to an earthquake is low. Therefore, the relocation detection device 20 considers that the machine M1 has been relocated, and prohibits the start of the machine M1 while keeping the start prohibition flag on. Therefore, the CPU 11 of the numerical control device 10 can limit the activation of the machine M1. Therefore, the relocation detection device 20 can accurately detect the relocation of the machine M1 by distinguishing it from an earthquake.

In the description of the first embodiment, the vibration detection unit 22 is an example of the vibration detection means of the present invention. Wiring L1 to L3 and bus 5 are examples of the communication means of the present invention. The CPU 21 is an example of the control means of the present invention. The CPU 21 that executes the processes of S4 and S6 of FIG. 4 is an example of the first acquisition means of the present invention. The CPU 21 that executes the process of S10 is an example of the second acquisition means of the present invention. The CPU 21 that executes the processes of S11 and S12 is an example of the determination means of the present invention. The CPU 21 that executes the processes of S13 and S15 is an example of the transmission / reception means of the present invention. The CPU 21 that executes the processes of S16 and S17 is an example of the determination means of the present invention.

A second embodiment of the present invention will be described with reference to FIGS. 1, 2, 12, and 13. As shown in FIGS. 1 and 2, the configuration of the relocation detection system 200 of the second embodiment is the same as the configuration of the relocation detection system 100 of the first embodiment. Since the relocation detection device 20 is attached to the machine M1, the relocation detection device 20 cannot correctly detect the vibration of the machine M1 or detects the vibration due to the influence of the vibration generated when the machine M1 is in operation, for example, when the work material is cut with a tool. It may not be detected. Further, since the relocation of the machine M1 occurs within the main power supply of the machine M1 during the off period, the relocation of the machine does not occur while the main power supply is on. Therefore, the relocation detection device 20 of the second embodiment determines whether the main power supply of the machine M1 is on or off at the beginning of the relocation detection control process (see FIG. 12) described later, and if it is on, the machine M1 is relocated. It is determined that this is not the case, and control is performed to invalidate the determination result information of the machine M1.

The relocation detection control process of the second embodiment shown in FIG. 12 is a case where the determination process of S50 is added between S1 and S2 of the relocation detection control process (see FIG. 4) of the first embodiment and the main power is on. The processing of S51 to be performed in 1 is further added. Since the processes other than S50 and S51 are common to the first embodiment, the second embodiment will be described focusing on the added process. The parts common to the first embodiment and the common processes will be described with the same reference numerals and the same step numbers.

After starting the operation of the real-time clock 33 (S1), the CPU 21 of the relocation detection device 20 determines whether or not the main power supply of the machine M1 is on (S50). When the main power supply is off (S50: NO), the CPU 21 monitors the vibration of the machine M1 (S2), and when the vibration is detected (S2: YES), the processing after S3 is performed as in the first embodiment. Are executed sequentially.

When the main power supply is on (S50: YES), the machine M1 is in operation and the machine M1 vibrates, so that the vibration generated in the machine M1 due to the earthquake cannot be detected correctly. Therefore, the CPU 21 stores the status information that the CPU 21 is in operation as the determination result information in the determination result information storage area 244 of the flash memory 24 (S51), and ends this process. Therefore, when the CPU 21 receives the determination result information request signal from the respective CPUs of the relocation detection devices 40 and 60 in the process of S21 of the determination result information transmission process (see FIG. 9) (S21: YES), the CPU 21 stores the determination result information in the flash memory 24. The determined determination result information is transmitted to the relocation detection devices 40 and 60 (S23 or S24).

For example, the CPU of the relocation detection device 40 receives the determination result information from the CPU 21 of the relocation detection device 20 in the relocation detection control process shown in FIG. 12 (S15: YES). The CPU aggregates all the determination result information of the relocation detection devices 20, 40, and 60 (S16). For example, looking at the determination result information 2445 shown in FIG. 13, the machine M1 stores only the status of being in operation, the machine M2 detects vibration, the machine M3 detects vibration, and the space between the machines M2 and M3. Is judged to be simultaneous vibration. According to the aggregated information 2545 that aggregates the determination result information 2445, the determination result information of the machine M1 is invalidated because the determination result information of the machine M1 is only the status of being in operation. Therefore, the parameter of the calculation formula is 2 obtained by subtracting 1 from 3. The number of simultaneous vibrations detected is 2, and the ratio of simultaneous vibrations detected is 2/2 × 100 = 100 (%). Therefore, since the CPU does not consider the relocation detection device in which the machine is operating in the calculation of the simultaneous vibration detection ratio in S17, it is possible to accurately distinguish whether the detected vibration is due to an earthquake or vibration due to relocation.

As described above, the relocation detection system 200 of the second embodiment has the same configuration as that of the first embodiment. The relocation detection devices 20, 40, and 60 are attached to the machines M1 to M3. The CPU 21 of the relocation detection device 20 determines whether the machine M1 is in operation. When the machine M1 is in operation, the CPU 21 transmits information only in the status of being in operation to the other relocation detection devices 40 and 60 as determination result information. The judgment result information of only the status of being in operation is invalidated. The CPUs of the relocation detection devices 40 and 60 do not consider the invalidated determination result information of the invalidated machine M1 among the determination result information of the relocation detection devices 20, 40 and 60, respectively. Therefore, the relocation detection devices 20, 40, and 60 can prevent erroneous detection of vibrations that occur during operation of the machines M1 to M3, and can accurately distinguish between vibrations due to an earthquake and vibrations due to relocation.

In the description of the second embodiment, the CPU 21 that executes the process of S50 of FIG. 12 is an example of the operation determination means of the present invention. The CPU 21 that executes the process of S51 is an example of the invalidation means of the present invention.

A third embodiment will be described with reference to FIGS. 14 to 19. As shown in FIG. 14, the relocation detection system 300 of the third embodiment includes three machines M1 to M3 and one master device 70. Similar to the first embodiment, the machine M1 includes a relocation detection device 20. The machine M2 includes a relocation detection device 40. The machine M3 includes a relocation detection device 60. The relocation detection devices 20, 40, and 60 function as slaves of the master device 70. The master device 70 is individually communicably connected to the relocation detection devices 20, 40, and 60. The parts common to the first embodiment and the common processes will be described with the same reference numerals and the same step numbers.

The electrical configurations of the machines M1 to M3 and the master device 70 will be described with reference to FIGS. 15 to 17. As shown in FIG. 15, each electrical configuration of the machines M1 to M3 is the same as that of the first embodiment (see FIG. 2). As shown in FIG. 16, the flash memory 240 of the relocation detection device 20 includes a vibration history information storage area 241, a flag storage area 242, a clock value storage area 243, and the like. The flash memories of the other relocation detection devices 40 and 60 also have the same storage area. The master device 70 has the same configuration as the relocation detection device 20. The master device 70 includes a CPU 71, a vibration detection unit 72, a real-time clock 73, a flash memory 74, a communication I / F75, a built-in battery 77, and the like. The communication I / F 25 of the relocation detection device 20 is communicably connected to the communication I / F 75 of the master device 70 via the wiring L1. The communication I / F of the relocation detection device 40 is communicably connected to the communication I / F 75 of the master device 70 via the wiring L2. The communication I / F 25 of the relocation detection device 60 is communicably connected to the communication I / F 75 of the master device 70 via the wiring L3. As shown in FIG. 17, the flash memory 74 of the master device 70 includes a determination result information storage area 741, a clock value storage area 742, and the like.

The master side control process will be described with reference to FIG. This process is a process executed by the CPU 71 of the master device 70. When the master device 70 is started, the CPU 71 calls the master control program stored in the flash memory 74 and executes this process.

The CPU 71 starts the operation of the real-time clock 73 (S61). The CPU 71 determines whether or not vibration has been detected (S62). When the vibration detection unit 72 detects vibration (S62: YES), the CPU 71 stores the current clock value X2 of the real-time clock 73 in the clock value storage area 742 of the flash memory 74 (S63).

The CPU 71 determines whether or not there is a communication request from any of the slave relocation detection devices 20, 40, and 60 (S64). The CPU 71 waits until there is a communication request from the slave (S64: NO). When there is a communication request from the slave (S64: YES), the CPU 71 returns a response signal to the slave that requested the communication, and further acquires the current clock value Y2 of the real-time clock 73 (S65), and the flash memory. It is stored in the clock value storage area 742 of 74. The CPU 71 transmits the clock values X2 and Y2 to the slave that requested the communication (S66).

The CPU 71 determines whether or not there is a communication request from another slave (S67). When there is a communication request from another slave (S67: YES), the CPU 71 returns to S65 and repeats the above processing for the slave for which the communication request has been made (S65 to S67). When there is no communication request from the other slave (S67: NO), the CPU 71 receives the determination result information similar to that of the above embodiment from the slave during communication (S68). The CPU 71 stores the received determination result information in the determination result information storage area 741 of the flash memory 74. The CPU 71 aggregates all the determination result information of the relocation detection devices 20, 40, and 60 (S69).

Similar to the first embodiment, the CPU 71 creates aggregated information based on the determination result information and calculates the simultaneous vibration detection ratio. The CPU 71 determines whether or not the simultaneous vibration detection ratio is a certain ratio or more (S70). When the simultaneous vibration detection ratio is a certain ratio or more (S70: YES), there is a high possibility of vibration due to an earthquake, so the CPU 71 transmits a start restriction flag-off signal to the relocation detection devices 20, 40, 60 (S71). The activation restriction flag off signal is a signal for turning off the activation restriction flag stored in the flash memories of the relocation detection devices 20, 40, and 60, respectively. After transmitting the start restriction flag off signal, the CPU 71 returns to S62 and repeats the process. When the simultaneous vibration detection ratio is less than a certain ratio (S70: NO), the possibility of vibration due to an earthquake is low, so the CPU 71 ends this process as it is.

When the vibration detection unit 72 does not detect vibration (S62: NO), the CPU 71 determines whether or not the determination result information has been received from another slave (S74). When the determination result information is not received from the other slave (S74: NO), the CPU 71 returns to S62 and repeats the process. When the determination result information is received from the other slave (S74: YES), the CPU 71 stores the determination result information received from the other slave in the determination result information storage area 741 of the flash memory 74. The CPU 71 aggregates all the determination result information stored in the flash memory 74 (S69). Similar to the second embodiment, when the simultaneous vibration detection ratio is a certain ratio or more (S70: YES), there is a high possibility of vibration due to an earthquake, so that the CPU 71 sends a start restriction flag-off signal to the relocation detection devices 20, 40, It is transmitted to 60 (S71). The CPU 71 returns to S62 and repeats the process. When the simultaneous vibration detection ratio is less than a certain ratio (S70: NO), the possibility of vibration due to an earthquake is low, so the CPU 71 ends this process without doing anything.

The slave side control process will be described with reference to FIG. This process is a process executed by the CPUs of the slave relocation detection devices 20, 40, and 60. This embodiment will be described by taking the case where the CPU 21 of the relocation detection device 20 executes as an example. When the relocation detection device 20 is activated, the CPU 21 calls the slave-side control program stored in the flash memory 24 and executes this process.

The CPU 21 starts the operation of the real-time clock 23 (S81). The CPU 21 determines whether or not vibration has been detected (S82). When the vibration detection unit 22 detects vibration (S82: YES), the CPU 21 turns on the start limit flag stored in the flag storage area 242 of the flash memory 240 (S83). The CPU 21 stores the current clock value X1 of the real-time clock 23 in the clock value storage area 243 of the flash memory 240 (S84). The CPU 21 determines whether or not communication with the master device 70 is possible (S85). The CPU 71 waits until communication with the master device 70 becomes possible (S85: NO). When communication with the master device 70 becomes possible (S85: YES), the CPU 71 further acquires the current clock value Y1 of the real-time clock 23 and stores it in the clock value storage area 243 of the flash memory 240 (S86).

The CPU 21 determines whether or not the master device 70 has vibration information (clock values X2, Y2) (S87). When the master device 70 has vibration information (S87: YES), the CPU 21 acquires the vibration information from the master device 70 (S88). The CPU 21 calculates the elapsed clock numbers K1 and K2 based on the vibration information (clock values X1, Y1, X2, Y2) as in the first embodiment (S89).

The CPU 21 determines the simultaneous vibration (S90). Similar to the first embodiment, when the error between K1 and K2 is within the allowable range, the vibration detected by the machine M1 and the vibration detected by the master device 70 can be determined to be simultaneous vibrations. When the error between K1 and K2 is out of the permissible range, the vibration detected by the machine M1 and the vibration detected by the master device 70 are not simultaneous vibrations, and therefore can be determined to be vibrations that have occurred individually. The CPU 21 creates determination result information and transmits it to the master device 70 (S92). When there is no vibration information in the master device 70 (S87: NO), the CPU 71 creates determination result information for determining itself as vibration (S91) and transmits the determination result information to the master device 70 (S92).

The CPU 21 determines whether or not a start restriction flag off signal has been received from the master device 70 (S93). When the start limit flag off signal is received (S93: YES), the CPU 21 turns off the start limit flag stored in the flag storage area 242 of the flash memory 240 (S94). Since the start restriction flag is off (S43: NO) in the above-mentioned start determination process (see FIG. 11), the CPU 11 of the numerical control device 10 normally starts the machine M1 (S45). Similarly, the CPUs of the numerical control devices 30 and 50 corresponding to the machines M2 and M3 also normally start the machines M2 and M3. Therefore, the relocation detection system 300 can allow all the activation of the machines M1 to M3 when there is a high possibility of vibration due to an earthquake. Therefore, even if the time at which any of the relocation detection devices 20, 40, and 60 detects vibration is different from that of the other relocation detection devices for some reason, the ratio of detecting vibration at the same time is high. In this case, it is determined that the vibration is caused by an earthquake, so that it is possible to prevent erroneous detection of vibration caused by an earthquake.

When the start restriction flag off signal is not received from the master device 70 (S93: NO), the CPU 21 ends this process without doing anything. If vibration is detected in the relocation detection device 20 (S82: YES), the activation restriction flag stored in the flash memory 240 is ON (S83). In the above-mentioned start determination process (see FIG. 11), the CPU 11 of the numerical control device 10 limits the start of the machine M1 if the start limit flag is ON (S43: YES) (S44). Since the relocation detection device 20 turns on the start limit flag when the vibration is detected and holds the state, the CPU of the numerical control device 10 can limit the start of the corresponding machine M1. The relocation detection devices 40 and 60 are also the same as the relocation detection devices 20.

As described above, the relocation detection system 300 of the third embodiment includes three machines M1, M2, M3 and one master device 70. The relocation detection devices 20, 40, and 60 are provided corresponding to the machines M1 to M3, respectively. When each of the vibration detection units 22 detects vibration, the relocation detection devices 20, 40, and 60 turn on the start prohibition flag and prohibit the start of the corresponding machines M1 to M3. The master device 70 has a vibration detection unit 72 and can communicate with the relocation detection devices 20, 40, and 60 individually.

When the vibration detection unit 22 detects the vibration of the machine M1, the CPU 21 of the relocation detection device 20 acquires vibration information (clock values X1, Y1) related to the vibration. The relocation detection device 20 transmits the acquired vibration information to the master device 70 via the wiring L1. The CPU 21 acquires vibration information (clock values X2, Y2) detected by the vibration detection unit 72 of the master device 70 from the master device 70 via the wiring L1. The CPU 21 determines whether or not the vibration is detected at the same time based on the vibration information (corresponding to the first vibration information) acquired by itself and the vibration information (corresponding to the second vibration information) acquired from the master device 70. The CPU 21 creates determination result information and transmits it to the master device 70.

The CPU 71 of the master device 70 receives the determination result information transmitted by the CPUs of the relocation detection devices 20, 40, and 60. Based on the received plurality of determination result information, the CPU 71 determines whether the ratio of the relocation detection devices 20, 40, and 60 that have detected vibration at the same time is a certain ratio or more. If the ratio of the relocation detection devices that detect vibration at the same time is a certain percentage or more, the time when any of the relocation detection devices 20, 40, and 60 detects vibration for some reason is the other relocation. Even if it deviates from the detection device, the rate of detecting vibration at the same time is high, so it can be determined that the vibration is due to an earthquake. Therefore, the CPU 71 transmits a start restriction flag off signal to the relocation detection devices 20, 40, and 60. The relocation detection devices 20, 40, and 60 that have received the activation restriction flag off signal turn off the activation restriction flag stored in their respective flash memories. Therefore, the CPUs of the numerical control devices 10, 30, and 50 that control the machines M1 to M3 can be normally started without limiting the start of the machines M1 to M3.

In the description of the third embodiment, the CPU 21 that executes the processes of S84 and S86 of FIG. 19 is an example of the first acquisition means of the present invention. The CPU 21 that executes the process of S88 is an example of the second acquisition means of the present invention. The CPU 21 that executes the processes of S89 and S90 is an example of the determination means of the present invention. The CPU 21 that executes the processes of S92 is an example of the transmission means of the present invention. The CPU 71 that executes the processes of S68 and S74 of FIG. 20 is an example of the receiving means of the present invention. The CPU 71 that executes the processes of S69 and S70 is an example of the determination means of the present invention. The CPU 71 that executes the process of S71 is an example of the activation control means of the present invention.

A fourth embodiment of the present invention will be described with reference to FIGS. 14, 15, and 20 to 23. The configuration and electrical configuration of the relocation detection system 400 of the fourth embodiment are the same as the configuration and electrical configuration of the relocation detection system 300 of the third embodiment shown in FIGS. 14 and 15. The parts common to the third embodiment and the common processes will be described with the same reference numerals and the same step numbers. In the fourth embodiment, when an abnormality occurs in any of the relocation detection devices 20, 40, and 60, the start of the machine corresponding to the relocation detection device in which the abnormality occurs is restricted, and among the other relocation detection devices. If vibration is detected at the same time at a certain rate or higher, it is judged to be a false detection due to an earthquake. The abnormality of the relocation detection device is, for example, a dead battery of the built-in battery, a failure of the vibration detection unit 72, or the like. As shown in FIG. 20, the flash memory 740 of the master device 70 includes a determination result information storage area 741, a clock value storage area 742, an abnormality information storage area 743, and the like.

The master side control process will be described with reference to FIGS. 21 and 22. This process is a process executed by the CPU 71 of the master device 70. When the master device 70 is activated, the CPU 71 calls the master control program stored in the flash memory 740 and executes this process. Since the master-side control process of the fourth embodiment is a partial modification of the master-side control process of the third embodiment shown in FIG. 18, the common parts are given the same step numbers and the description is simplified or omitted. The explanation will focus on the different parts.

The CPU 71 starts the operation of the real-time clock 73 (S101). The CPU 71 starts communication with the relocation detection devices 20, 40, and 60, which are slaves (S102). The CPU 71 determines whether or not there is a relocation detection device that has detected an abnormality among the relocation detection devices 20, 40, and 60 (S103). For example, when the built-in battery of the relocation detection device 40 runs out of battery, the relocation detection device 40 is abnormal. The CPU of the relocation detection device 40 transmits an abnormality signal to the master device 70. When the CPU 71 of the master device 70 receives the abnormality signal from the relocation detection device 40 (S103: YES), the CPU 71 stores the abnormality information in the abnormality information storage area 743 of the flash memory 740 (S104). The abnormality information is, for example, information about a relocation detection device that has caused an abnormality. If the relocation detection device 40 is abnormal, the relocation detection device 40 may not be able to correctly detect the relocation of the machine M2, so it is desirable to limit the start-up of the machine M2. Therefore, based on the abnormality information stored in the flash memory 740, the CPU 71 transmits a start restriction flag-on signal only to the relocation detection device 40 in which the abnormality has occurred (S105), and ends this process.

When there is no relocation detection device that has detected an abnormality among the relocation detection devices 20, 40, and 60 (S103: NO), the CPU 71 determines whether or not the vibration detection unit 72 has detected vibration (S62), as shown in FIG. 22. ). When the vibration is detected (S62: YES), the CPU 71 executes the processes S63 to S68 as in the third embodiment. After receiving the determination result information from the slave (S68), the CPU 71 determines whether or not there is a relocation detection device that has caused an abnormality (S111). If the abnormality information is not stored in the abnormality information storage area 743 of the flash memory 740 (S111: NO), the CPU 71 has the determination result information of all the relocation detection devices 20, 40, and 60 as in the third embodiment. (S69), and it is determined whether or not the simultaneous vibration detection ratio is a certain ratio or more (S70).

When there is a relocation detection device that has caused an abnormality (S111: YES), the CPU 71 is a relocation detection device that has caused an abnormality from the numbers of the relocation detection devices 20, 40, and 60 when aggregating the judgment result information based on the judgment result information. After subtracting the number of, the simultaneous vibration detection ratio is calculated (S113). Therefore, since the CPU 71 can calculate the simultaneous vibration detection ratio after excluding the relocation detection device in which the abnormality has occurred, the CPU 71 can accurately determine whether or not the vibration is due to an earthquake. Similar to the third embodiment, the CPU 71 determines whether or not the calculated simultaneous vibration detection ratio is equal to or higher than a certain ratio (S70). Subsequent processing is the same as in the third embodiment.

The slave side control process will be described with reference to FIG. 23. This process is a process executed by the CPUs of the slave relocation detection devices 20, 40, and 60. When the relocation detection device 20 is activated, the CPU 21 calls the slave-side control program stored in the flash memory 240 and executes this process. Since the master-side control process of the fourth embodiment is a partial modification of the slave-side control process of the third embodiment shown in FIG. 19, the common parts are given the same step numbers and the description is simplified or omitted. However, the explanation will focus on the different parts.

The CPU 21 starts the operation of the real-time clock 23 (S81), and determines whether or not vibration has been detected (S82). When the vibration detection unit 22 detects vibration (S82: YES), the CPU 21 executes the processes after S83 as in the third embodiment. When the vibration detection unit 22 does not detect the vibration (S82: NO), the CPU 21 determines whether or not the start restriction flag-on signal has been received from the master device 70 (S201). When the start restriction flag on signal is not received (S201: NO), the CPU 71 returns to S82 and repeats the process.

When the start restriction flag-on signal is received (S201 :: YES), the relocation detection device 20 has an abnormality and may not be able to detect the relocation of the machine M1 normally. Therefore, the CPU 71 has a flag storage area of the flash memory 240. 1 is stored in 242, and the activation restriction flag is turned on (S202). Therefore, since the start restriction flag is turned on in the start determination process (see FIG. 11) described above in the CPU 11 of the numerical control device 10 (S43: YES), the start of the machine M1 can be restricted (S44). For example, when the battery of the relocation detection device 20 runs out, the relocation detection device 20 can limit the start-up of the machine M1, so that it is possible to prevent the machine M1 from operating in a state where the relocation cannot be detected normally.

As described above, the relocation detection system 400 of the fourth embodiment includes three machines M1, M2, M3 and one master device 70, as in the third embodiment. The CPU 71 of the master device 70 determines whether any of the relocation detection devices 20, 40, and 60 that communicate via the wirings L1, L2, and L3 has a relocation detection device that has caused an abnormality such as a dead battery. When there is a relocation detection device that has caused an abnormality, the CPU 71 calculates the simultaneous vibration detection ratio based on the plurality of determination result information received from the relocation detection devices 20, 40, and 60, as in the third embodiment. When calculating the simultaneous vibration detection ratio, the CPU 71 of the fourth embodiment subtracts the number of the relocation detection devices having an abnormality from the population parameter corresponding to the number of the relocation detection devices 20, 40, 60, and then simultaneously. Calculate the vibration detection rate. That is, since the CPU 71 can calculate the ratio of the vibration detecting means that detected the vibration at the same time in the vibration detecting unit of the relocation detecting device that operates normally, it is possible to accurately determine whether or not the vibration is caused by an earthquake.

In the description of the fourth embodiment, the CPU 71 that executes the process of S103 of FIG. 21 is an example of the abnormality determination means of the present invention. The CPU 71 that executes the processes of S111, S113, and S70 of FIG. 22 is an example of the determination means of the present invention.

Needless to say, the present invention is not limited to the above embodiment and can be modified in various ways. The number of machines in the first to fourth embodiments is three, but it may be a plurality. Since the on / off of the start limit flag is determined by whether or not the simultaneous vibration detection ratio is a certain ratio or more, it is preferable that the number of machines is large. The machines M1 to M3 are machine tools for cutting a work material, but the present invention is also applicable to other types of machines. The relocation detection devices 20, 40, and 60 are driven by the built-in battery, but may be driven by, for example, an external power source. For example, when the main power of the machine is on, the power of the machine may be used, and when the main power is off, the built-in battery may be used.

The vibration detection unit 22 (see FIG. 2) of the relocation detection device 20 and the vibration detection unit 72 (see FIG. 15) of the master device 70 are acceleration sensors, but any device that detects vibration may be used, for example, tilting. It may be detected.

The CPU 21 of the relocation detection device 20 of the first and second embodiments detects, for example, an abnormality (for example, dead battery) in the relocation detection device 20 itself, as in the fourth embodiment, and another relocation detection device. The abnormality information may be transmitted to. When the CPU 21 receives the abnormality information from another relocation detection device, the number of the relocation detection devices 20, 40, 60 is calculated when the determination result information received from the device other than the device that transmitted the abnormality information is aggregated. The simultaneous vibration detection ratio may be calculated after subtracting the number of the relocation detection devices that have caused an abnormality from. Therefore, the first embodiment can obtain the same effect as the fourth embodiment.

As in the second embodiment, the CPU 71 of the master device 70 in the relocation detection systems 300 and 400 of the third and fourth embodiments determines whether or not the machines M1 to M3 are in operation, and corresponds to the operating machines. The determination result information received from the relocation detection device may be invalidated. Since the CPU 71 does not consider the invalidated judgment result information among the judgment result information received from the relocation detection device, it can accurately determine whether or not the detected vibration is due to an earthquake, effectively preventing false detection due to an earthquake. it can.

In this embodiment, instead of the CPU, a microcomputer, an ASIC (Application Specific Integrated Circuits), an FPGA (Field Programmable Gate Array), or the like may be used as a processor. The movement control process may be distributed by a plurality of processors. The flash memory for storing the program may be composed of, for example, an HDD and / or other non-temporary storage medium such as a storage device. The non-temporary storage medium may be any storage medium capable of storing information regardless of the period for storing the information. The non-temporary storage medium may not include a temporary storage medium (eg, a signal to be transmitted). The mobile control program may be downloaded from, for example, a server connected to a network (not shown) (that is, transmitted as a transmission signal) and stored in a storage device such as a flash memory. In this case, the program may be stored in a non-temporary storage medium such as an HDD provided in the server.

5 Bus 20, 40, 60 Relocation detection device 21 CPU
22 Vibration detector 70 Master device 71 CPU
72 Vibration detection unit 300, 400 Relocation detection system L1 to L3 Wiring M1 to M3 Machine X1, X2 Clock value Y1, Y2 Clock value

Claims (6)

Control that is provided corresponding to each of a plurality of machines installed at different points and prohibits the start of the corresponding machine when the vibration detecting means for detecting the vibration of the corresponding machine detects the vibration of the machine. In a relocation detection device equipped with means
The control means
When the vibration detecting means detects vibration, the first acquiring means for acquiring the vibration information which is the vibration information detected by the vibration detecting means corresponding to the machine installed at the own point, and
A second acquisition means for acquiring vibration information, which is vibration information detected by another vibration detection means corresponding to the machine installed at another point, from another relocation detection device via a communication means.
A determination means for determining whether or not vibration was detected at the same time based on the vibration information acquired by the first acquisition means and the second acquisition means, respectively.
A transmission / reception means for transmitting / receiving determination result information, which is information on the determination result of the determination means, to / from the other relocation detection device via the communication means.
Based on the determination result information transmitted / received by the transmission / reception means, it is determined whether or not the vibration detection means that detects vibration at the same time is equal to or more than a predetermined ratio among the plurality of vibration detection means corresponding to each of the plurality of machines. and the judgment means,
Anomaly detection means for detecting abnormal battery exhaustion,
It is provided with an abnormality determining means for determining whether or not there is the relocation detecting device for which the abnormality detecting means has detected an abnormality among the plurality of the relocation detecting devices communicating via the communication means .
The judgment means is
When the abnormality determination means determines that there is the relocation detection device that has caused an abnormality among the plurality of the relocation detection devices, the plurality of machines are subjected to each of the plurality of determination result information transmitted and received by the transmission / reception means. After subtracting the number of the relocation detecting devices that have caused an abnormality from the number of the corresponding plurality of the vibration detecting means, it is determined whether the vibration detecting means that detects the vibration at the same time is equal to or more than the predetermined ratio.
The control means
Before SL determining means, the case where the vibration detecting means detects the vibration at the same time determines that the predetermined ratio or more, without disabling the activation of the corresponding machine,
A relocation detection device characterized in that when the abnormality detecting means detects an abnormality, the start of the corresponding machine is prohibited . The vibration detecting means is fixed to the machine and
The control means
An operation determination means for determining whether the machine is in operation,
When the operation determination means determines that the machine is in operation, the operation determination means includes an invalidation means for invalidating the determination result information.
The relocation detection device according to claim 1, wherein the determination means does not consider the determination result information invalidated by the invalidation means among the determination result information transmitted / received by the transmission / reception means. A plurality of relocations that are provided corresponding to each of a plurality of machines installed at different points and prohibit the start of the corresponding machine when the vibration detecting means for detecting the vibration generated in the corresponding machine detects the vibration. In a relocation detection system including a detection device and a master device capable of communicating with the plurality of relocation detection devices via communication means and having a vibration detection means for detecting vibration.
Each of the plurality of relocation detection devices
When the vibration detecting means detects vibration, the first acquiring means for acquiring the first vibration information which is the vibration information detected by the vibration detecting means, and
A second acquisition means that acquires second vibration information, which is vibration information detected by the vibration detection means of the master device, via the communication means.
A determination means for determining whether or not vibration was detected at the same time based on the first acquisition means, the first vibration information acquired by the second acquisition means, and the second vibration information.
And transmitting means for transmitting the determination result information which is information of the determination result of said determining means, said master device,
Equipped with an abnormality detection means to detect an abnormality of dead battery ,
The master device
A receiving means for receiving the determination result information transmitted by the transmitting means of each of the plurality of relocation detection devices, and a receiving means for receiving the determination result information.
Among the plurality of vibration detecting means corresponding to the plurality of relocation detection devices based on the plurality of determination result information received by the receiving means, is the vibration detecting means that detects vibration at the same time a predetermined ratio or more? Judgment means to judge and
When the determination means determines that the vibration detection means that detects vibration at the same time is equal to or greater than the predetermined ratio, the activation control means that controls the plurality of relocation detection devices so as not to prohibit the activation of the plurality of machines. and,
It is provided with an abnormality determining means for determining whether or not there is the relocation detecting device for which the abnormality detecting means has detected an abnormality among the plurality of relocation detecting devices communicating via the communication means .
The judgment means is
When the abnormality determining means determines that there is the relocation detecting device that has detected an abnormality among the plurality of relocation detecting devices, the plurality of machines are subjected to each of the plurality of determination result information received by the receiving means. After subtracting the number of the relocation detecting devices that have detected an abnormality from the number of the corresponding plurality of the vibration detecting means, it is determined whether the vibration detecting means that has detected the vibration at the same time is equal to or more than the predetermined ratio.
The activation control means
When the determination means determines that the vibration detection means that detects the vibration at the same time is equal to or greater than the predetermined ratio, the plurality of relocation detection devices are controlled so as not to prohibit the activation of the plurality of machines.
When the abnormality determination means determines that there is the relocation detection device that has detected the abnormality, the plurality of relocation detection devices are controlled so as to prohibit the start of the machine corresponding to the relocation detection device that has detected the abnormality. A relocation detection system featuring. The vibration detecting means is fixed to the machine and
Each of the plurality of relocation detection devices
An operation determination means for determining whether the machine is in operation,
When the operation determination means determines that the machine is in operation, the operation determination means includes an invalidation means for invalidating the determination result information.
The relocation detection according to claim 3 , wherein the determination means of the master device does not consider the determination result information invalidated by the invalidation means among the determination result information received by the receiving means. system. Control that is provided corresponding to each of a plurality of machines installed at different points and prohibits the start of the corresponding machine when the vibration detecting means for detecting the vibration of the corresponding machine detects the vibration of the machine. In the relocation detection method of the relocation detection device that performs the process,
The control step is
When the vibration detecting means detects vibration, the first acquisition step of acquiring vibration information which is the vibration information detected by the vibration detecting means corresponding to the machine installed at the own point, and
A second acquisition step of acquiring vibration information, which is vibration information detected by another vibration detecting means corresponding to the machine installed at another point, from another relocation detecting device via a communication means.
A determination step of determining whether vibration was detected at the same time based on the vibration information acquired in the first acquisition step and the second acquisition step, respectively.
A transmission / reception step of transmitting / receiving determination result information, which is information on the determination result of the determination process, to / from the other relocation detection device via the communication means.
Based on the determination result information transmitted / received by the transmission / reception step, it is determined whether or not the vibration detection means that detects vibration at the same time is equal to or more than a predetermined ratio among the plurality of vibration detection means corresponding to each of the plurality of machines. and the determining step,
Anomaly detection judgment process to determine whether an abnormality of dead battery has been detected,
It is provided with an abnormality determination step of determining whether or not there is the relocation detection device that has been determined to have detected an abnormality in the abnormality detection determination step among the plurality of relocation detection devices that communicate via the communication means .
In the judgment process,
When it is determined in the abnormality determination step that there is the relocation detection device that has caused an abnormality among the plurality of relocation detection devices, the plurality of machines are subjected to the determination result information transmitted / received in the transmission / reception process. After subtracting the number of the relocation detecting devices that have caused an abnormality from the number of the plurality of vibration detecting means corresponding to each, it is determined whether or not the vibration detecting means that detected the vibration at the same time is the predetermined ratio or more.
In the control step ,
In front SL determination step, when the said vibration detecting means detects the vibration at the same time it is determined that the predetermined ratio or more, without disabling the activation of the corresponding machine,
A relocation detection method, characterized in that when it is determined that there is a relocation detection device in which an abnormality has occurred in the abnormality determination step, the start of the corresponding machine is prohibited . A plurality of relocations that are provided corresponding to each of a plurality of machines installed at different points and prohibit the start of the corresponding machine when the vibration detecting means for detecting the vibration generated in the corresponding machine detects the vibration. In a relocation detection method of a relocation detection system including a detection device and a master device capable of communicating with the plurality of relocation detection devices via a communication means and having a vibration detection means for detecting vibration.
The device-side process performed by each of the plurality of relocation detection devices,
It is provided with a master-side process performed by the master device.
The device-side process
When the vibration detecting means detects vibration, the first acquisition step of acquiring the first vibration information which is the vibration information detected by the vibration detecting means, and the first acquisition step.
A second acquisition step of acquiring second vibration information, which is vibration information detected by the vibration detecting means of the master device, via the communication means.
A determination step of determining whether or not vibration was detected at the same time based on the first acquisition step, the first vibration information acquired in the second acquisition step, and the second vibration information.
A transmission step of transmitting the determination judgment result information is information determination result of the step, the master device,
It is equipped with an abnormality detection process that detects abnormalities in dead batteries .
The master side process is
A receiving step of receiving the determination result information transmitted in each of the transmitting steps of the plurality of relocation detection devices, and a receiving step of receiving the determination result information.
Among the plurality of vibration detecting means corresponding to the plurality of relocation detection devices based on the plurality of determination result information received in the receiving step, is the vibration detecting means that detects vibration at the same time a predetermined ratio or more? Judgment process to judge and
In the determination step, when the vibration detecting means that detects vibration at the same time determines that the ratio is equal to or greater than the predetermined ratio, the activation control step of controlling the plurality of relocation detection devices so as not to prohibit the activation of the plurality of machines. and,
It is provided with an abnormality determination step of determining whether or not there is the relocation detection device that has detected an abnormality in the abnormality detection step among the plurality of relocation detection devices that communicate via the communication means .
In the judgment process,
When it is determined that there is the relocation detection device that has detected an abnormality among the plurality of relocation detection devices in the abnormality determination step, each of the plurality of machines is based on the plurality of determination result information received in the reception step. After subtracting the number of the relocation detecting devices that detected the abnormality from the number of the plurality of the vibration detecting means corresponding to the above, it is determined whether the vibration detecting means that detected the vibration at the same time is equal to or more than the predetermined ratio.
In the start control step,
In the determination step, when the vibration detection means that detects vibration at the same time determines that the ratio is equal to or greater than the predetermined ratio, the plurality of relocation detection devices are controlled so as not to prohibit the activation of the plurality of machines.
When it is determined that there is the relocation detection device that has detected the abnormality in the abnormality determination step, the plurality of relocation detection devices are controlled so as to prohibit the activation of the machine corresponding to the relocation detection device that has detected the abnormality. A relocation detection method characterized by this.

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