KR102126888B1 - Workplace Safety Management System Using Ultrasound - Google Patents

Abstract

The present invention relates to a workplace safety management system using ultrasonic waves. According to the present invention, the workplace safety management system includes: a plurality of tags individually attached to a body part of a worker, and periodically transmitting ultrasonic waves; a plurality of readers installed in a workplace, receiving the ultrasonic waves generated from each of the tags attached on a plurality of workers, and delivering time information about a moment when receiving the ultrasonic waves and ID information of a corresponding tag to a safety management device; and a control device extracting position information about the workers for the present moment based on the ID information and the time information received from the plurality of readers, determining whether a worker exists in the workplace based on the extracted position information, and transmitting a control signal for operating or stopping a production line installed in the workplace in accordance with a result of the determination. According to the present invention, ultrasonic waves are transmitted on a predetermined cycle from a tag attached on a body part of a worker, and position information of the worker can be obtained based on the transmitted ultrasonic waves. Therefore, the safety of the worker can be secured by actively and instantly stopping a production line in accordance with a movement of the worker in a workplace.

Description

Workplace Safety Management System Using Ultrasound

The present invention relates to a workplace safety management system using ultrasonic waves, and more specifically, to obtain location information of an operator using ultrasonic waves transmitted from a tag worn by an operator, and to locate a worker within the workplace using the acquired location information If present, it relates to a workplace safety management system that shuts down the production line.

The first robot in the industrial field was an industrial robot called ``Unimtate'' by Unimation Inc., which was used by the American automaker GM in 1962. It was used for welding, assembly and inspection. In particular, in the mass production die-casting process environment, where it is difficult for workers to get close to each other due to heat and smoke emitted during the process, the first robot performed simple and repetitive tasks while exerting huge risks at the risk of the workers.

As described above, the first purpose of putting the industrial robot into the field was to perform the work on behalf of the worker where the risk factor is high or the worker is difficult to approach.

However, recently, an industrial robot has been adopted in that it is possible to perform a fast and accurate repetitive operation using an industrial robot rather than a manual operation of an operator. Therefore, conventionally, industrial robots have been used in the fields of press, engine, painting, sealing, plate work, automobile, electronics, vacuum, welding, assembly line, etc., but the range has been recently diversified.

Even if an industrial robot is produced as an alternative human resource to an industrial site, if an industrial robot is to be controlled or a malfunction or a part needs to be replaced, the worker is still put in the field.

When it is put into the field, in order to prevent accidents that will occur to the worker, the production line is stopped before the worker is put into the work place, and the production line is restarted when it is judged that the worker is out of the work place. However, in the related art, since it is determined by a person whether or not the worker is located in the work place, there has been a case in which an industrial accident occurs by operating the production line while the worker is located in the work place.

The background technology of the present invention is disclosed in Republic of Korea Utility Model Publication No. 20-1999-012747 (published on April 15, 1999).

The technical problem to be achieved by the present invention is to obtain the location information of the worker using ultrasonic waves transmitted from the tag worn by the worker, and stop the operation of the production line when the worker is located in the workplace using the acquired location information. This is to provide a workplace safety management system.

According to an embodiment of the present invention for achieving such a technical problem, in a workplace safety management system using ultrasonic waves, a plurality of tags, which are respectively attached to a part of the operator's body and periodically transmit ultrasonic waves, installed inside the workplace A plurality of readers receiving ultrasonic waves generated from respective tags attached to a plurality of workers, and transmitting time information and ID information of corresponding tags to the safety management device when the ultrasonic waves are received, and the plurality of Using the time information and ID information received from the reader, the location information for the worker at the present time is extracted, and the location information of the extracted worker is used to determine the presence of the worker in the workplace, and to the determined result. Accordingly, it includes a control device for transmitting a control signal to drive or stop the production line installed in the workshop.

A PLC (Programmable Logic Control) for driving the production line according to the control signal received from the control device may be further included.

The plurality of tags may simultaneously emit ultrasonic signals at a synchronized time point.

The control device, using a mapping unit for mapping the inside of the workplace in the form of coordinate values, a data collection unit for collecting each piece of time information received from the plurality of readers and the ID information of the corresponding tag, using the collected time information The location information extraction unit calculates the distance value between each reader and the tag and extracts the coordinate value of the tag using the calculated distance value, and uses the coordinate value of the extracted tag and the mapped internal coordinate value of the workplace. It may include a control unit for determining whether the tag is located inside the workshop, and when a tag is located inside the workshop, transmits a control signal to the PLC to drive or stop a plurality of production lines installed in the workshop. .

The data collection unit may remove noise included in the ultrasound signal transmitted through the reader, and correct a delay time generated by reflection or diffraction of the ultrasound to extract the final time at which the ultrasound was received.

The location information extracting unit may calculate the distance value between the reader and the tag using the extracted final time, and extract the coordinate value of the tag by triangulation.

The control unit generates a control signal for stopping the operation of the production line when the tag is located in the workplace according to the coordinate values of the extracted tag, and the tag is repeatedly detected at the same location for the first reference time When the distance value is calculated using the coordinate value of the tag and the coordinate value of the production line, a control signal for driving a part of the production line located farthest from the tag may be generated according to the calculated distance value.

The controller, after driving some of the production lines located farthest from the tag, re-detects the position values for the tags, and when the position values of the detected tags are the same, step through all the production lines installed in the workshop. It is possible to generate a control signal to be driven.

As described above, according to an embodiment of the present invention, since a tag attached to a part of the body of the worker transmits ultrasonic waves at regular intervals and acquires location information of the worker using the transmitted ultrasonic waves, it is possible to immediately respond to the movement of the worker in the workshop. , And can actively stop the production line to ensure worker safety.

In addition, according to an embodiment of the present invention, the location information of the tag is repeatedly extracted in real time, and when the tag is repeatedly detected at the same location for a period of time according to the extracted location information, a part of the farthest position from the tag Starting from the production line in stages, losses that can occur due to the interruption of the production line are minimized.

1 is a configuration diagram of a workplace safety management system according to an embodiment of the present invention.
FIG. 2 is a configuration diagram for describing the control device illustrated in FIG. 1.
3 is a view for explaining a production line.
4 is a flowchart illustrating a method for managing safety of a workplace using a workplace safety management system according to an embodiment of the present invention.
5 is a view showing a method for calculating the position value of the tag in step S420.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience.

In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition of these terms should be made based on the contents throughout the specification.

Hereinafter, a workplace safety management system according to an embodiment of the present invention will be described in more detail with reference to FIG. 1.

1 is a configuration diagram of a workplace safety management system according to an embodiment of the present invention.

As shown in FIG. 1, a workplace safety management system according to an embodiment of the present invention includes a tag 100, a reader 200, a control device 300 and a PLC 400.

First, the tag (tag, 100) is attached to the worker's work clothes or helmet, and periodically transmits ultrasonic waves. The tag 100 includes a unique ID. Accordingly, the tag 100 transmits ID information and ultrasound using a radio frequency.

A plurality of readers 200 are installed inside the worker, and receive ultrasonic waves from the tag 100. That is, the plurality of readers 200-1, 200-2, 200-3, ... 200-n transmits time information on a time point at which ultrasound is received and ID information of a corresponding tag to the control device 300.

The control device 300 extracts the location information of the tag 100 at the current time point using the time information and ID information received from the reader 200. Then, it is determined whether the worker is located in the workplace using the extracted location information of the tag 100. Then, according to the determination result, the control device 300 transmits a control signal to stop or drive the production line to the PLC 400 to be described later.

Finally, a programmable logic control (PLC) 400 drives or stops the production line according to the control signal received from the control device 300.

Hereinafter, a control device 300 according to an embodiment of the present invention will be described in more detail with reference to FIG. 2.

2 is a configuration diagram for explaining the control device shown in Figure 1, Figure 3 is a view for explaining the production line.

As shown in FIG. 2, the control device 300 according to an embodiment of the present invention includes a mapping unit 310, a data collection unit 320, a location information extraction unit 330, and a control unit 340.

First, the mapping unit 310 maps the interior of the workplace in the form of coordinate values. 3, a plurality of production lines are installed in the workshop, and industrial robots are installed in each production line. The worker approaches the industrial robot and performs the work. The control device 300 according to an embodiment of the present invention extracts the position of the tag attached to the worker as a coordinate value to determine whether the worker is located in the workplace. Accordingly, the mapping unit 310 maps the positions of the production lines, industrial robots, and readers 200 installed inside the workshop in the form of coordinate values. Meanwhile, the reader 200 is installed on the upper side of the production line.

The data collection unit 320 collects time information and tag ID information from the reader 200. The tag 100 transmits ultrasonic signals and ID information at a synchronized time point. The transmitted ultrasound signal and ID information are transmitted to the control device 300 through the reader 200. On the other hand, the received ultrasonic signal may include noise and errors. Therefore, the data collection unit 320 extracts the final time by correcting noise removal and errors included in the received ultrasonic signal.

The location information extraction unit 330 extracts location information of the tag 100 by using the final time received from the data collection unit 320 and ID information of the corresponding tag 100. In other words, the location information extracting unit 330 extracts time information measured by a plurality of readers 200 receiving ultrasound generated from the same tag 100 using the ID information of the tag 100. Here, the time information represents the final time extracted through the data collection unit 320. Then, the location information extracting unit 330 calculates the distance value between the reader 200 and the tag, and extracts the coordinate value of the tag 100 by applying a triangulation method to the calculated distance value.

The control unit 340 transmits to the PLC 400 control signals for driving or stopping a plurality of production lines installed in the workshop using the coordinate values of the extracted tag 100.

In other words, the control unit 340 determines whether the tag 100 is located in the workplace by substituting the coordinate values of the tag 100 inside the workplace mapped in the form of coordinate values. In addition, when it is determined that the tag 100 is located in the workplace, the control unit 340 generates a control signal for driving the production line, while the control unit 340 repeatedly extracts location information for the tag 100. .

The control device 300 according to an embodiment of the present invention generates a control signal to automatically stop the production line when the tag 100 is detected in the workplace and transmits it to the PLC 400. However, the suspension of unnecessary production lines will cause the company to suffer huge losses. For example, when the worker leaves the workplace by placing a helmet or protective equipment with the tag 100 on the production line, the tag 100 periodically transmits ultrasonic waves regardless of the position of the operator. Then, the control device 300 determines that the operator is located in the workplace according to the location information of the tag 100 and stops the operation of the production line.

Accordingly, when the same tag 100 is repeatedly detected for a certain period of time at the same location to prevent loss due to the suspension of the production line, the control unit 340 calculates a distance value between the tag 100 and the production line and , According to the calculated distance value to generate a control signal for driving a part of the production line that is located farthest from the tag (100).

Then, the control unit 340 re-detects the position value for the corresponding tag 100 and, if the detected tag 100 has the same position value, drives all the production lines installed in the workshop in stages.

Hereinafter, a method of managing safety of a workplace using a workplace safety management system according to an embodiment of the present invention will be described in more detail with reference to FIG. 4.

4 is a flowchart for explaining a method for managing safety of a workplace using a workplace safety management system according to an embodiment of the present invention, and FIG. 5 is a diagram showing a method of calculating a position value of a tag in step S420.

First, the workshop includes a plurality of production lines, and the production lines are constituted by a plurality of industrial robots. In addition, a reader 200 is installed above the plurality of production lines. Accordingly, the mapping unit 310 maps the overall size of the workplace, the position of the reader 200 installed in the workplace, industrial robots, and devices in the form of coordinate values.

Next, as shown in FIG. 4, the data collection unit 320 collects ultrasonic signals received from the plurality of readers 200 and ID information of the corresponding tag (S410 ).

In other words, the worker enters the workplace while the tag 100 is attached to a part of work clothes, helmet, or protective equipment. When the worker enters the workplace, the plurality of tags 100 periodically transmits ultrasonic signals and ID information while being synchronized with the plurality of readers 200. The ultrasonic signal and ID information transmitted from the tag 100 are transmitted to the control device 300 through the reader 200.

Then, the data collection unit 320 removes noise included in the received ultrasound signal, corrects a delay time generated by reflection or diffraction of the ultrasound, and extracts the final time at which the ultrasound was received.

In other words, the received ultrasound may include noise that may occur in everyday life. Therefore, the data collection unit 320 generates a unique head sound wave to distinguish the ultrasound waves generated from the tag 100 among the sound waves in the corresponding area, and uses the generated header sound waves to include noise included in the ultrasound waves. Remove it.

In other words, the tag 100 transmits an ultrasonic signal at a constant cycle from the ON point. At this time, when the frequency band of ultrasonic waves generated by the tag 100 is very high or low, the reader 200 generates head sound waves by gradually increasing or decreasing the frequency band of the ultrasonic waves transmitted for each tag 100. Then, the reader 200 transmits the generated head sound wave and the ID of the tag 100 to the control device 300 in a mapped state. Then, the control device 300 removes noise included in the ultrasound using the head sound waves mapped for each received tag 100.

Next, the data collection unit 320 compares the ultrasonic signal transmitted from the other reader 200 using a multi-dimensional extraction method, and verifies whether reflection or diffraction is generated in the received ultrasonic wave according to the compared result. . In other words, when the tag 100 is moved, the data collection unit 320 transmits ultrasonic signals transmitted from the reader 200 close to the tag 100 and transmitted from the reader 200 away from the tag 100. Each ultrasonic signal is extracted. Then, when the difference between the ultrasonic signal transmitted from the reader 200 close to the tag 100 and the ultrasonic signal transmitted from the reader 200 away from the tag 100 is greater than within an error range, the data collection unit 320 It is determined that reflection or diffraction has occurred on the received ultrasound. Then, when it is determined that an error has occurred, the data collection unit 320 corrects the delay time generated by reflection or diffraction, and extracts the final time at which the ultrasonic wave was received. Then, the data collection unit 320 transmits the extracted final time and ID information of the corresponding tag 100 to the location information extraction unit 330.

Then, the location information extracting unit 330 extracts the coordinate values for the corresponding tag 100 using the last time received (S420).

In other words, the location information extraction unit 330 extracts time information obtained from each of the plurality of readers 200 using the ID information of the tag 100. That is, the plurality of readers 200 have different times for receiving ultrasound according to the distance from the tag 100. Therefore, the location information extracting unit 330 calculates a difference between the time at which the ultrasound is emitted from the tag 100 and the time at which the ultrasound is received at the reader 200, and applies the calculated time to the following equation to tag The distance value between the 100 and the reader 200 is calculated.

Here, Δt represents the difference value between the time the ultrasound was received by the reader and the time the ultrasound was emitted from the tag.

Then, the location information extracting unit 330 extracts the coordinate values of the tag 100 by applying the calculated distance value to the triangulation method. As shown in FIG. 5, the plurality of readers 200-1, 200-2, and 200-3 are mapped in a coordinate value form by the mapping unit 310. Accordingly, the location information extraction unit 330 sets the location values of the plurality of readers 200-1, 200-2, 200-3 as a reference point, and the plurality of readers 200-1, 200-2, 200-3. ) And the current position of the tag 100 is extracted as a coordinate value using the distance value between the tag 100.

Then, the control unit 340 determines whether the tag 100 is located inside the workplace using the extracted coordinate values (S430).

That is, the control unit 340 maps the coordinate values of the extracted tag 100 and the coordinate values of the entire workplace to determine whether the tag 100 is located inside the workplace.

If it is determined in step S430 that the tag 100 is located inside the workshop, the control unit 340 transmits a control signal to stop the production line to the PLC 400 (S440).

The control unit 340 repeatedly detects the position value for the tag 100 even after the production line is stopped. Then, the control unit 340 determines whether or not a plurality of workers who are put into the workplace are exited using the position value of the tag 100 (S450).

If it is determined in step S450 that all are left, the control unit 340 transmits a control signal to restart the production line to the PLC 400 (S460).

On the other hand, if a specific tag 100 is repeatedly detected at the same location for a first reference time from the time when the worker leaves, the control unit 340 uses the coordinate value of the specific tag 100 and the coordinate value of the production line. Calculate the value.

Then, the control unit 340 generates a control signal for driving a part of the production line located farthest from the specific tag 100 according to the calculated distance value and transmits it to the PLC 400.

After driving some of the production lines located farthest from the specific tag 100, the control unit 340 re-detects the position value for the specific tag 100. Then, when the detected position values of the specific tags 100 are the same, the control unit 340 generates control signals to drive all the production lines installed in the workshop step by step and transmits them to the PLC 400.

As described above, according to an embodiment of the present invention, since a tag attached to a part of the body of the worker transmits ultrasonic waves at regular intervals and acquires location information of the worker using the transmitted ultrasonic waves, it is possible to immediately respond to the movement of the worker in the workshop. , And can actively stop the production line to ensure worker safety.

In addition, according to an embodiment of the present invention, the location information of the tag is repeatedly extracted in real time, and when the tag is repeatedly detected at the same location for a period of time according to the extracted location information, a part of the farthest position from the tag Starting from the production line in stages, losses that can occur due to the interruption of the production line are minimized.

The present invention has been described with reference to the embodiment shown in the drawings, but this is only exemplary, and those skilled in the art to which the art belongs understand that various modifications and other equivalent embodiments are possible therefrom. will be. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the claims below.

100: tag
200: reader
300: control device
310: mapping unit
320: data collection unit
330: location information extraction unit
340: control unit
400: PLC

Claims (8)

In the workplace safety management system using ultrasound,
Each tag is attached to a part of the body of the worker, and periodically transmits ultrasonic waves, but simultaneously emits ultrasonic signals at a synchronized point in time.
A plurality of readers installed inside the workplace, receiving ultrasound generated from each tag attached to a plurality of workers, and transmitting time information on the time when the ultrasound is received and ID information of a corresponding tag to a safety management device , And
Using the time information and ID information received from the plurality of readers to extract the location information for the worker at the current time, and using the extracted worker's location information to determine the presence of workers in the workplace, determined It includes a control device that transmits a control signal to drive or stop the production line installed in the workshop according to the results,
The control device,
Mapping unit that maps the interior of the workplace to coordinate values,
Data collection unit for collecting each time information received from the plurality of readers and ID information of the corresponding tag,
A location information extracting unit that calculates a distance value between each reader and a tag using the collected time information, and extracts a coordinate value of the tag using the calculated distance value, and
Using the extracted coordinate values of the tag and the mapped coordinates inside the workplace, it is determined whether the tag is located inside the workplace, and when a tag is located inside the workplace, a plurality of production lines installed in the workplace are displayed. It includes a control unit for transmitting a control signal to drive or stop to the PLC,
The control unit
When it is said that the tag is located in the workplace according to the coordinate values of the extracted tag, a control signal for stopping the operation of the production line is generated,
When the tag is repeatedly detected at the same location for the first reference time, a distance value is calculated using the coordinate value of the tag and the coordinate value of the production line, and a part located farthest from the tag according to the calculated distance value Workplace safety management system that generates control signals that drive the production line of the company. According to claim 1,
A workplace safety management system further comprising a programmable logic control (PLC) for driving the production line according to the control signal received from the control device. delete delete According to claim 1,
The data collection unit,
A workplace safety management system that removes noise included in an ultrasonic signal received through the reader, and corrects a delay time generated by reflection or diffraction of ultrasonic waves to extract the final time at which ultrasonic waves are received. The method of claim 5,
The location information extraction unit,
A workplace safety management system that calculates the distance value between the reader and the tag using the extracted final time, and extracts the coordinate values of the tag by triangulation. delete According to claim 1,
The control unit,
After driving some production lines located farthest from the tag, the position value for the tag is re-detected, and if the detected tag has the same position value, control to step-by-step all production lines installed in the workshop A workplace safety management system that generates signals.

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