JP7204301B2 - Remote control system and remote control method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a remote control system and remote control method for a device having operation switches.

In general, an emergency stop switch (operating switch) has a push button that can be operated by an operator, an operating shaft that slides when the push button is pressed, and a contact that is opened and closed according to the movement of the operating shaft. (See FIG. 1 of JP-A-2001-35302). When the emergency stop switch is operated, the contact is turned off by the movement of the operating shaft, so that the device is brought to an emergency stop (stop by stop category 0 or 1).

Conventional emergency stop switches require that the operator be very close to the emergency stop switch when operating the push button, and cannot be operated from a distance from the emergency stop switch. Therefore, there has been a demand for an emergency stop switch with a remote control function that can be operated from a remote location.

On the other hand, in a stop by stop category 0 or 1, the power supply to the device is cut off, but the device is stopped while the power supply is maintained, a so-called soft stop (stop by stop category 2). A stop switch is installed for This stop switch also requires the operator to be very close to the stop switch when operating the switch, and cannot be operated from a place away from the stop switch. Therefore, there is a demand to be able to stop the device even from a place away from the stop switch.

The present invention has been made in view of such a conventional situation, and the problem to be solved by the present invention is that by using a remote control terminal, it is possible to remotely control a device by remote operation of an operation switch, To provide a remote control system and a remote control method capable of remotely controlling a device according to activation/inactivation of remote operation. Another object of the present invention is to enable not only an emergency stop of a device but also a soft stop of the device by remote control from a remote control terminal.

The present invention is a remote control system for a device having an operation switch, comprising a remote operation terminal, a detection unit for detecting remote operation by the remote operation terminal, and operating the operation switch based on the remote operation detected by the detection unit. enable/disable the remote operation to the operation switch according to the judgment of whether the remote operation should be enabled/disabled when the remote operation is detected by the detection unit. a control means for judging whether remote operation is valid or invalid according to the degree of danger, and for controlling the operating part to operate the operation switch when the remote operation is validated by the validating/invalidating means; It has

In the present invention, when the detection unit detects remote operation by the remote control terminal, the enabling/disabling means determines whether the remote operation should be enabled or disabled according to the degree of danger. Enables/disables remote operation to the operation switch according to The control means causes the operating section to operate the operation switch when the enabling/disabling means enables the remote control.

In this way, by using the remote control terminal, the device can be remotely controlled by remote control of the operation switch. In addition, since the device can be remotely controlled according to whether the remote control is enabled/disabled, it is possible to remotely control the device by an operation different from the operation by remote control.

According to the present invention, the device is directly controlled by remote control by the remote control terminal without intervention of the control switch.

In the present invention, when the enabling/disabling means disables the remote operation, the control means controls the apparatus by an operation different from the operation by the remote operation of the operation switch.

In the present invention, the operation switch is the emergency stop switch, and the remote control is the emergency stop. Further, in the present invention, a soft stop is an operation different from remote operation. In this case, the operating section actuates the emergency stop switch to bring the device to an emergency stop when the emergency stop is validated, and softly stops the device when the emergency stop is invalidated. Here, "soft stop" as used in this specification means a stop according to stop category 2 defined in International Machine Safety Standard IEC 60204-1 (Japanese Industrial Standard JIS B 9960-1). On the other hand, an emergency stop is a stop according to stop category 0 or 1.

The present invention also provides a remote control method for a device having an operation switch, which comprises transmitting a remote control signal from a remote control terminal, receiving the transmitted remote control signal, and determining the degree of danger after receiving the remote control signal. Based on the judgment, enable or disable remote operation to the operation switch, and operate the operation switch when remote operation is enabled. do.

According to the present invention, a remote control signal can be transmitted from the remote control terminal to remotely control the device. In addition, since the device can be remotely controlled according to whether the remote control is enabled/disabled, it is possible to remotely control the device by an operation different from the operation by remote control.

As described above, according to the present invention, when remote operation by the remote control terminal is detected by the detection unit, the enabling/disabling means determines whether the remote operation should be enabled or disabled. The control means validates/invalidates the remote operation according to the degree of danger, and when the validation/invalidation means validates the remote operation, Activate the operating switch. As a result, not only can the device be remotely controlled by remote operation of the operation switch, but also the device can be remotely controlled according to whether the remote operation is enabled/disabled. is also possible.

1 is an overall perspective view showing an example of a manufacturing line controlled by a remote control system according to one embodiment of the present invention; FIG. FIG. 2 is a schematic front view of a portable radio terminal that constitutes the remote control system; FIG. 2 is a schematic vertical cross-sectional view of an emergency stop switch unit that constitutes the remote control system, showing a state when the emergency stop switch is not operated. FIG. 2 is a schematic vertical cross-sectional view of an emergency stop switch unit that constitutes the remote control system, showing a state when the emergency stop switch is operated (remotely operated/manually operated). 2 is a schematic block diagram of the remote control system; FIG. It is a flowchart which shows an example of the control flow of the said remote control system.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
1 to 6 are diagrams for explaining a remote control system according to one embodiment of the present invention. FIG. 1 shows the overall configuration of a manufacturing line controlled by the remote control system according to this embodiment. 2 shows a portable (wearable) wireless terminal worn by an operator, FIGS. 3 and 4 show an emergency stop switch unit operated by a remote control system, FIG. 5 shows a schematic block configuration of the remote control system, FIG. 6 shows an example of the control flow of the remote control system. 3 and 4, hatching is omitted for convenience of illustration.

FIG. 1 shows a manufacturing line including a robot R as a device remotely controlled by the remote control system according to this embodiment. As shown in the figure, this manufacturing line includes a conveyor C for transporting a work W, and a work W placed on a table T by a worker (operator) who grips the work W and places the work W on the conveyor C. and a robot controller RC that stores a control program for the robot R and performs various settings for the robot R.

A plurality of emergency stop switch units (operation switches) 2 are provided on the side surface of the conveyor C. As shown in FIG. The emergency stop switch unit 2 is also attached to the front panel of the robot controller RC. The robot controller RC has a display unit 12 for displaying various displays, and a stop switch 16 is attached to the front panel in addition to the emergency stop switch 2 . A laser scanner 13 is arranged near the robot R. As shown in FIG. The laser scanner 13 is for detecting the approach of a person, a work W, etc., and around the laser scanner 13 is a warning area E1 in which a warning sound or the like calls attention when a person enters, and a warning area E1 inside the area. A protection area E2 is set, which is arranged and judged to be dangerous when a person approaches.

A portable radio terminal (remote control terminal) 4 as shown in FIG. 2 is attached to one wrist of the operator. The wireless terminal 4 is for remotely controlling the emergency stop switch unit 2 and the robot R, and as shown in the figure, has a push button 40 that can be operated by the operator with the other finger or hand, and a display. It has a (display unit) 43 and a pair of left and right bands 45 wound around the operator's wrist. , and the other band 45 is provided with a rod-like member (not shown) that is inserted into these eyelets 45a and corresponds to a rod attached to a wristwatch band. Both bands 45 may be configured to be freely engageable and detachable by hook-and-loop fasteners or other engaging and detaching means.

As shown in FIGS. 3 and 4, the emergency stop switch unit 2 is provided with a case (housing) 20 and one end side of the case 20, is supported by the case 20 so as to be slidable in the axial direction, and is manually operated by the operator. An emergency stop button 21 having a pressing surface 21a for pushing (manually operating) the emergency stop button 21, and an operation shaft 22 connected to the back surface of the emergency stop button 21 opposite to the pressing surface 21a and extending in the axial direction inside the case 20. a movable contact 23 attached to the tip of the operating shaft 22 and moving together with the operating shaft 22; A fixed contact 24 is provided. In this example, the emergency stop button 21 is arranged on one end side of the emergency stop switch unit 2 and the contact is arranged on the other end side of the emergency stop switch unit 2 .

The emergency stop switch unit 2 is further provided inside the case 20 and has an electromagnetic solenoid (actuating part) 3 for operating the emergency stop button 21 , and is attached to the outer wall surface of the case 20 , and is connected to the wireless terminal 4 . It includes a receiver (detector) 32 that receives signals, and a control circuit 33 that controls driving of the solenoid 3 based on the wireless signal received (detected) by the receiver 32 . A solenoid 3 is arranged between the contact and the emergency stop button 21 . The solenoid 3 has a solenoid body (electromagnetic coil portion) 30, and the solenoid body 30 holds the operation shaft 22 so as to be slidable in the axial direction. The solenoid body 30 acts to move the operating shaft 22 in the axial direction. A control circuit 33 is connected to the solenoid 3 by a lead wire 34 .

The operating shaft 22 has a flange portion 22a that protrudes outward from its approximate center. On the other hand, the inner wall surface of the case 20 is provided with a protruding portion 20a that protrudes toward the inner periphery. The protruding portion 20a is arranged to face the flange portion 22a at a predetermined distance in the axial direction. A coil spring 25 is arranged in a compressed state between the flange portion 22a and the projecting portion 20a. One end of the coil spring 25 is adapted to move with the movement of the shaft portion 22 by contacting and being locked to the flange portion 22a. The other end of the coil spring 25 is locked to the case 20 side by coming into contact with and being locked to the projecting portion 20a. The coil spring 25 applies an elastic repulsive force to the flange portion 22a and the projecting portion 20a. Due to this elastic repulsive force, the movable contact 23 is urged in the direction away from the fixed contact 24 (contact separating direction (right side in FIG. 4), that is, the emergency stop button 21 from the ON state to the OFF state).

When the emergency stop switch 2 shown in FIG. 3 is not operated (before operation), the coil spring 25 is in a state of maximum compression between the overhanging portion 20a and the flange portion 22a. is the largest and possesses the greatest elastic energy. On the other hand, when the emergency stop switch 2 shown in FIG. 4 is operated, the coil spring 25 extends in the axial direction from the state shown in FIG. The elastic energy possessed by 25 is also reduced.

The operating shaft 22 has a protrusion 22b that protrudes outward near the emergency stop button 21 . The protrusion 22b has a trapezoidal longitudinal section and a pair of inclined surfaces. On the other hand, a pair of engaging members 26 are provided inside the case 20 . Each engaging member 26 has a pair of slanted surfaces that can be engaged with each slanted surface of the protrusion 22b. Each engaging member 26 is urged toward the corresponding projection 22b by the elastic repulsive force of a spring 27 arranged inside the case 20 . In the non-operating state shown in FIG. 3, the left inclined surface of the engaging member 26 is engaged with the right inclined surface of the protrusion 22b, and in the operated state shown in FIG. The inclined surface of the engaging member 26 on the right side in the figure engages with the inclined surface on the left side in the figure of 22b.

In the case 20, the portion in which the solenoid 3, the coil spring 25, the projection 22b of the operating shaft 22, and the engaging member 26 are accommodated corresponds to the operating portion 20A, and the contacts consisting of the movable contact 23 and the fixed contact 24 are accommodated. The cut portion corresponds to the contact portion (contact portion) 20B. An emergency stop button 21 is arranged on one end side of the operating portion 20A, and a contact portion 20B is arranged on the other end side.

Next, a schematic block configuration of the remote control system will be described with reference to FIG.
As shown in the figure, the remote control system 1 has a robot controller RC. The robot controller RC includes an input/output unit 11 for performing various settings for the robot R, a display unit 12 for displaying various displays, a laser scanner 13, and a device for transmitting and receiving data to and from other devices. A transmitting/receiving unit 14, a robot driving unit 15 for driving the arm of the robot R, an end effector, etc., a stop switch 16 for softly stopping the arm of the robot R, etc., and a monitoring camera (not shown) for monitoring the surroundings of the robot R. ) or a sensor (not shown) attached to the robot R, a transmitter/receiver 18 for performing transmission/reception with other devices, and an emergency stop for the arm of the robot R. An emergency stop switch unit 2 is connected. Wireless terminals 4 ₁ and 4 ₂ are provided to the emergency stop switch unit 2 so as to be able to transmit and receive.

The wireless terminal 41 has _a control circuit 44 for performing various controls, as shown in FIG. The control circuit 44 includes a push button 40 for remotely operating the emergency stop switch unit 2, a transmitter 41 for transmitting an emergency stop signal when the push button 40 is pushed, and a receiver for receiving signals from other devices. 42 and a display unit 43 are connected. _The wireless terminal _4-2 has almost the same configuration as the wireless terminal 4-1, but the wireless terminal _4-2 has an ES switch (emergency stop switch) and an SS switch (soft stop switch) (both not shown). is further provided.

The control circuit 33 of the emergency stop switch unit ₂ includes, as shown in FIG. A transmitter 35 that transmits signals to other devices and the solenoid 3 are connected.

Communication between the transmitting unit 41 and the receiving unit 32 (the same applies to communication with other devices) is, for example, Wi-Fi (registered trademark) communication, BLUETOOTH (registered trademark) communication, or ZIGBEE (registered trademark) communication. , BLE (Bluetooth (registered trademark) Low Energy) communication, WiMAX (registered trademark) communication, infrared communication, and the like are used.

Next, an example of the control flow of the remote control system 1 according to this embodiment will be described using the flow chart of FIG. 6 while referring to FIGS. 1 to 5. FIG.
At step T1 of the wireless terminal 1, an emergency stop signal (remote control signal) is transmitted. That is, when the operator _presses the push button 40 of the wireless terminal 41, the emergency stop signal is wirelessly transmitted from the transmitter 41. FIG.

The transmitted emergency stop signal is received by the receiver 32 of the emergency stop switch unit 2 in step S1 of the emergency stop switch unit, and after the reception, the process proceeds to step S2. At step S2, a timer is started. Next, in step S3, a confirmation signal is transmitted from the transmitter 35. FIG. The transmitted confirmation signal is received by the wireless terminal 2 and/or the sensing device 17 in step C1 of the wireless terminal 2/sensing device (including the laser scanner).

Here, the wireless terminal 1 is carried by the operator, while the wireless terminal 2 is carried by the operator's supervisor or site manager. When the supervisor or the like recognizes, through the wireless terminal 2, the confirmation signal that the emergency stop signal has been transmitted from the operator's wireless terminal 1, the supervisor or the like recognizes, for example, that the operator is the robot R that is the source of danger in the actual production line. Based on how far away the robot R is from the wireless terminal 2 ES switch is turned on. Then, the ES signal is transmitted from the transmitter of the wireless terminal 2 (step C3). On the other hand, if the supervisor or the like decides that the emergency stop is not necessary, the SS switch of the wireless terminal 2 is turned on. Then, an invalidation signal is transmitted from the transmitter of the wireless terminal 2 (step C4). Therefore, in these cases, in step C2, it can be said that the wireless terminal 2 is in a standby state waiting for the switch operation of the wireless terminal 2 by the supervisor or the like.

On the other hand, when the confirmation signal transmitted from the transmitter 35 of the emergency stop switch unit 2 is received by the sensing device 17 in step C1, the process proceeds to step C2. In step C2, it is determined whether or not the emergency stop (remote control) performed by the wireless terminal 1 is valid (that is, whether the emergency stop should be validated or invalidated). At this time, if the sensing device 17 is a surveillance camera, the image captured by the surveillance camera is analyzed to determine whether or not the operator has entered the movable range of the robot R. If the sensor is attached to the robot R, the determination is made based on whether or not the operator has entered the sensing area of the sensor. A determination is made based on whether or not the operator has entered the protection area E2.

If the operator has entered the movable range of the robot R, the sensing area of the sensor, or the protection area E2 of the laser scanner 13, it is determined in step C2 that the emergency stop should be activated, and the process proceeds to step C3. An ES signal is sent. On the other hand, if the operator has not entered the movable range of the robot R, the sensing area of the sensor, or the protective area E2 of the laser scanner 13, it is determined in step C2 that the emergency stop should be invalidated. C4 is entered and an invalidation signal is sent.

When the ES signal is transmitted in step C3, the process proceeds to step S6 of the emergency stop switch unit. In step S6, a current is supplied from the control circuit 33 of the emergency stop switch unit 2 to the solenoid body 30 of the solenoid 3 to turn on the solenoid, thereby pulling the plunger 31 of the solenoid 3 as shown in FIG. Move to the right as shown. As a result, the operating shaft 22 connected to the plunger 31 similarly moves to the right in the drawing, the movable contact 23 is separated from the fixed contact 24, the contacts are turned off, and the emergency stop button 21 is locked in a pushed state. . During such remote operation, the operator is placed in exactly the same state as when the operator manually pushes the emergency stop button 21 . When the contact is turned off in step S6, the arm of the robot R and the like are brought to an emergency stop in step R5 of the robot controller.

When the invalidation signal is transmitted in step C4, the process proceeds to step S4 of the emergency stop switch unit. Then, the determination in step S4 becomes "Yes". In step R2 of the robot controller, an SS (soft stop) signal is generated in response to the invalidation signal being received in step S4 of the emergency stop switch unit, and in step R3, the SS signal is transmitted. Then, in step R4, the arm of the robot R and the like come to a soft stop.

Here, the "soft stop" is, as described above, a stop according to stop category 2 specified in the international machine safety standard IEC 60204-1 (Japanese Industrial Standard JIS B 9960-1). At times, the robot R stops while the arm or the like decelerates, for example, by a control program, a sequencer, a logic circuit, or the like, while power is still being supplied to the robot driving section 15 . As described above, the "emergency stop" is a stop according to the stop category 0 or 1 specified in the above standards. The robot R stops in this state.

Also, if the invalidation signal is not transmitted from step C4, the judgment in step S4 becomes "No", and the process proceeds to step S5. judge whether or not If the timeout has not yet occurred, the process returns to step S4 and waits for the invalidation signal to be received. If timeout occurs in step S5, the process proceeds to step S6. In step S6, the solenoid 3 of the emergency stop switch unit 2 is turned on to bring the robot R to an emergency stop (see step R5).

On the other hand, when an emergency stop signal (remote control signal) is transmitted in step T1 of the wireless terminal 1, the transmitted emergency stop signal is received in step R1 of the robot controller. After receiving the signal, the process proceeds to step R2 to generate an SS (soft stop) signal, and the SS signal is transmitted in step R3. As a result, the arm of the robot R and the like are softly stopped in step R4. That is, in this case, the robot R is directly controlled without going through the emergency stop switch unit 2, and if an emergency stop signal is transmitted from the wireless terminal 1, it is directly received and softly stopped without fail. It's becoming

Even if the robot controller does not receive the emergency stop signal wirelessly due to a communication failure with the wireless terminal 1, the invalidation signal received in step S4 of the emergency stop switch unit will be sent to the robot controller. , the robot controller can perform the processing of steps R2 to R4 to bring the robot R to a soft stop. In addition, in the processing circuit on the robot controller side, the emergency stop signal and invalidation signal from the emergency stop switch unit 2 are duplicated and connected by a logical sum (OR) circuit. Then, the robot R is soft-stopped. Even in that case, if the solenoid of the emergency stop switch unit is turned on in step S6 in response to the validation determination in step C2, the robot R will be brought to an emergency stop (see step R5).

According to this embodiment, when the emergency stop signal transmitted from the wireless terminal 4 (4 ₁ ) is received by the receiver 32 of the emergency stop switch unit 2, the enabling/disabling means enables the emergency stop. / Invalidation, specifically, according to the judgment criteria such as whether the operator carrying the wireless terminal 4 (4 ₁ ) is in the protection area or the warning area of the robot R ( That is, the emergency stop (remote control) to the emergency stop switch unit 2 is enabled/disabled according to the degree of danger). When the emergency stop is activated, the solenoid 3 activates the emergency stop button 21 to bring the robot R to an emergency stop.

In this way, by using the wireless terminal 4 (4 ₁ ), it is possible not only to remotely control the device by remote operation of the emergency stop switch unit 2 (i.e., emergency stop), but also to activate/deactivate the remote operation. remote control of the device. As a result, the device can be remotely controlled (soft stop) by an operation different from the remote operation (emergency stop) of the emergency stop switch unit 2 . Therefore, even when the user is away from the stop switch 16, the robot R can be stopped softly by operating the wireless terminal 4 (4 ₁ ). In this case, the wireless terminal 4 (4 ₁ ) functions as an emergency stop switch when the distance from the robot R, which is the source of danger, is short, and functions as a soft stop switch when the distance from the device, which is the source of danger, is far. Become.

[First Modification]
In the above embodiment, as shown in step R1 of the flowchart of FIG. 6, an example is shown in which the emergency stop signal (remote control signal) transmitted in step T1 of the wireless terminal 1 is received by the robot controller. However, this step R1 may be omitted. In this case, the robot R will softly stop after receiving the invalidation signal from the emergency stop switch unit 2 .

[Second modification]
In the above embodiment, as shown in the flowchart of FIG. 6, after receiving the emergency stop signal in step S1 of the emergency stop switch unit, the process proceeds to step S2 to start the timer. Between S1 and step S2, a step of determining the strength of the received emergency stop signal may be provided.

In general, the radio wave intensity has _a property of attenuating in inverse proportion to the square of the distance. Since the robot is at a position close to the stop switch unit 2, in this case, steps S2 to S5 are skipped and the process proceeds to step S6 to turn on the solenoid 3 to stop the robot R. On the other hand, if the radio wave intensity of the received emergency stop signal has not reached a certain level, it means that the operator carrying the wireless terminal 1 is away from the emergency stop switch unit 2. Steps S2 to S6 are performed in the same manner as in the example.

[Third Modification]
In the above _- described embodiment, the sensing device 17 connected to the robot controller RC is explained by taking a surveillance camera or _a sensor as an example. ) and the robot R, the distance between them may be calculated from the respective coordinate positions of the operator and the robot R, and the determination in step C2 may be made based on the calculated distance.

[Fourth Modification]
In the above embodiment, the wireless terminal 4 (4 ₁ , 4 ₂ ) was described as an example of a wristwatch (or wristband) type that the operator can wear on his/her wrist. The location is not limited to the wrist, but may be a finger (that is, a ring type) or a type worn on the palm. Also, it may have a built-in acceleration sensor so that it can be operated by a snap motion of the wrist. Furthermore, the wireless terminals 4 (4 ₁ , 4 ₂ ) are not limited to these portable (wearable) types. It may be one that does not have a mounting portion such as a band 45 for mounting on the operator's body. In this case, the wireless terminals 4 (4 ₁ , 4 ₂ ) are stored, for example, in a pocket of working clothes. Alternatively, the wireless terminals 4 (4 ₁ , 4 ₂ ) may be pendant type operation terminals.

[Fifth Modification]
In the above embodiment, an example was shown in which the wireless terminal 4 (4 ₁ ) was composed of a single wireless terminal, but the application of the present invention is not limited to this. The wireless terminal 4 (4 ₁ ) may be composed of two or more wireless terminals, and may be linked with a tablet, a smart phone, or the like. This enables communication with other wireless terminals, tablets, etc., and further improves the certainty of operation support.

[Sixth Modification]
In the above embodiment, the push button 40 of the wireless terminal 4 (4 ₁ , 4 ₂ ) remains in the ON state only while the button is being pressed even in the alternate operation method in which the ON state is maintained even if the button is released after being pressed. Either momentary operation method may be used. In the alternate operation method, the transmission signal may not be continuously transmitted when the button is pressed, but may be of the type in which the transmission signal is transmitted intermittently.

[Other application examples]
In the above embodiment, an example in which the present invention is applied to FA (Factory Automation) has been shown, but the present invention can be applied not only to production/assembly lines automated only by devices, but also to human-robot cooperation. It can also be applied to lines that include collaborative robots that perform work, and it can also be applied to automated guided vehicles (AGVs) that move within factories and warehouses. Moreover, the present invention is applicable not only to the fields of manufacturing and distribution, but also to the fields of food and beverage industry, food industry, medicine, construction, and civil engineering.

[Other Modifications]
The above-described embodiments and modifications are to be considered in all respects only as illustrations of the present invention and are not limiting. One of ordinary skill in the art to which the present invention pertains will be able to implement the present invention without departing from its spirit or essential characteristics when considering the above teachings, even though not expressly described herein. Various modifications and other embodiments may be constructed that employ the principles of.

INDUSTRIAL APPLICABILITY The present invention is useful for a remote control system and a remote control method capable of remotely controlling an apparatus by remotely operating an operation switch using a remote control terminal.

1: Remote control system

2: Emergency stop switch unit (operation switch)
3: Electromagnetic solenoid (actuating part)
32: Receiving unit (detecting unit)

4 (4 ₁ ): Portable wireless terminal (remote control terminal)

Step C3: Validation means Step C4: Invalidation means Step R1: SS signal generation (operation signal generation) means

Japanese Patent Application Laid-Open No. 2001-35302 (see FIG. 1)

Claims (7)

A remote control system for a device having an operation switch,
a remote control terminal;
a detection unit that detects remote operation by the remote control terminal;
an actuation unit that operates the operation switch based on the remote operation detected by the detection unit;
Validation/invalidation of validating/invalidating the remote operation to the operation switch according to a determination as to whether the remote operation should be validated/invalidated when the remote operation is detected by the detection unit. and
Control for judging whether the remote operation is valid or invalid according to the degree of danger, and for controlling the operating unit to operate the operation switch when the remote operation is validated by the validating/invalidating means. means and
remote control system with In claim 1,
wherein the device is directly controlled by the remote control by the remote control terminal without going through the operation switch;
A remote control system characterized by: In claim 1,
When the enabling/disabling means disables the remote operation, the control means controls the device by an operation different from the operation of the operation switch by the remote operation .
A remote control system characterized by: In claim 3 ,
The operation switch is an emergency stop switch, the remote operation is an emergency stop, and the different operation is a soft stop .
A remote control system characterized by: In claim 1 ,
wherein the operation switch is an emergency stop switch and the remote control is an emergency stop ;
A remote control system characterized by: A remote control method for a device having an operation switch, comprising:
Send a remote control signal from the remote control terminal,
receiving the transmitted remote control signal;
After receiving the remote operation signal, it determines whether the remote operation is valid or invalid according to the degree of danger, and according to the determination, validates or invalidates the remote operation to the operation switch, and The operation switch is activated when the is activated,
A remote control method characterized by: In claim 6,
wherein the operation switch is an emergency stop switch and the remote control is an emergency stop;
A remote control method characterized by:

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