WO2021201331A1 - Omnidirectional non-rotating lidar-based safety system for work safety of smart factory - Google Patents

Abstract

The present invention relates to an omnidirectional non-rotating lidar-based safety system for work safety of a smart factory, which, in particular, is implemented so that the operation of a high-risk industrial facility can be controlled so as to avoid collisions of the high-risk industrial facility with objects to be sensed by sensing the location of the objects to be sensed approaching the high-risk industrial facility by using the non-rotating lidar sensor.

Description

All-round non-rotating lidar-based safety system for work safety in smart factories

The present invention relates to an omnidirectional non-rotation lidar-based safety system for work safety in a smart factory, and more particularly, high-risk industrial equipment by sensing the position of a sensing object approaching high-risk industrial equipment using a non-rotating lidar sensor It relates to an omnidirectional non-rotating lidar-based safety system for work safety in a smart factory that is implemented to control the operation of the high-risk industrial equipment so as to avoid collisions with sensing objects. The present invention claims the benefit of the filing date of Korean Patent Application No. 10-2020-0039604 filed on April 1, 2020, the entire contents of which are incorporated herein by reference.

In the last 5 years (2011-2015), the total number of industrial robots (2,525 workplaces, 34,870 units) in the manufacturing industry was 207 (15 deaths), with an average of 41.4 people (53.6% of manufacturing accidents) per year. The need for equipment is emerging.

The safety inspection was decided at a meeting of related organizations on the safety inspection system hosted by the State Council (March 15, 2016), and industrial robots became compulsory safety inspections as dangerous machines (2017).

Article 35 of the Occupational Safety and Health Act is being promoted as compulsory safety equipment as a safety certification and disaster prevention system as a voluntary safety check and safety inspection system.

In addition, as safety requirements for industrial robots (ISO 10218-1:2011, ISO 10218-2:2011) and collaborative robots (ISO 15066:2016), safety devices are being made mandatory.

Accordingly, in order to secure a safe environment in a smart factory, we overcome the limitations of fences, light curtains, and safety mats, and in accordance with the need for imported replacement products for existing products imported from abroad, the safe environment of the smart factory There is an urgent need to develop a non-rotating lidar system for securing.

On the other hand, the above-mentioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired in the process of derivation of the present invention, and it cannot be said that it is necessarily a known technique disclosed to the general public before the filing of the present invention. .

One aspect of the present invention can control the driving of high-risk industrial equipment to avoid collision of high-risk industrial equipment and sensing objects by sensing the position of a sensing object approaching high-risk industrial equipment using a non-rotating lidar sensor. It provides an all-round non-rotating lidar-based safety system for work safety in smart factories.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

An omnidirectional non-rotating lidar-based safety system for work safety in a smart factory according to an embodiment of the present invention is provided in a smart factory and when a sensing object (worker, etc.) approaches, it is located in the vicinity of a dangerous high-risk industrial facility or in a high-risk industrial facility In the omnidirectional non-rotational lidar-based safety system for work safety of a smart factory for controlling the operation of the high-risk industrial facility through position sensing of a sensing object that is installed and approaches the high-risk industrial facility, the perimeter of the high-risk industrial facility or a case part installed in a high-risk industrial facility and forming a columnar upper structure; a sensor unit installed on the upper part of the case unit and sensing a position of a sensing object approaching the high-risk industrial facility using a non-rotating lidar sensor; It is installed in the inner space of the case part, and stores the risk map generated by dividing the peripheral area of the case part by grade according to the high and low risk, and after reading the position of the sensing object transmitted from the sensor part, in the risk map a control unit for stopping the operation of the high-risk industrial equipment when a sensing object enters an area corresponding to a degree of risk above a preset level; and a power supply unit installed in the inner space of the case unit and supplying electricity necessary for driving the sensor unit and the control unit.

In one embodiment, the case unit, forming a cylindrical structure, the upper body case in which the sensor unit is installed in the inner space; and a lower case formed in the form of a hexahedral box that forms an inner space for installing the control unit and the power unit, and installed in close contact with the lower side of the upper case to seal the inner space.

In one embodiment, the sensor unit, the base plate is formed in the form of a disc and installed in the inner space of the upper body case; and 14 vertical resonance surface-emitting lasers installed at equal intervals along the edge of the base plate so that the sensing region faces the outside of the upper case so as to sense 360° omnidirectional sensing along the periphery of the case portion ( Vertical Cavity Surface-Emitting Laser); may include.

In one embodiment, the sensor unit, the base plate is formed in the form of a disc and installed in the inner space of the upper body case; and a portion corresponding to 90° of the circumference of the case portion along the edge of the base plate so that the sensing portion faces the outside of the upper body case so as to sense a partial range corresponding to 270° along the circumference of the case portion. and 10 vertical resonant surface-emitting lasers that are spaced apart from each other and installed at equal intervals.

In an embodiment, in the vertical resonance surface-emitting laser, an irradiation angle of a laser beam for position sensing may be formed at an angle of 27°.

In one embodiment, the control unit, a risk mapping unit for storing the generated risk map by dividing the peripheral area of the case part installed in the vicinity of the high-risk industrial equipment or high-risk industrial equipment in a grade according to the high and low risk; a position reading unit for reading a position of a sensing object approaching the high-risk industrial facility by using the sensing data transmitted from the sensor unit; an entry reading unit that analyzes the position of the sensing object read by the position reading unit and reads which area is included in the area of the risk map stored in the risk mapping unit; an industrial facility control unit for generating a warning signal or generating a driving control signal for controlling the driving of the high-risk industrial facility in response to the location on the risk map of the sensing object approaching the high-risk industrial facility; and a communication unit that transmits and receives data through the MES system and network of the smart factory, and transmits a driving control signal transmitted from the industrial facility control unit to the high-risk industrial facility through the network.

In an embodiment, the risk mapping unit does not affect the driving of the high-risk industrial equipment even if the sensing object is located in an undetected area, which is an area in which the sensing by the sensor unit is not performed, in the peripheral area of the case unit 4 of the stable area, which is an area, a warning area, which is an area that generates a warning signal when a sensing object is located, and a danger area, which is an area that generates a drive control signal for controlling the driving of the high-risk industrial equipment when a sensing object is located can be divided into areas.

In an embodiment, the entry reading unit may read a case where the high-risk industrial facility approaches the sensing target and a case where the sensing target approaches the high-risk industrial facility with the same approach.

In an embodiment, the power supply unit may receive electricity from an external power source using a waterproof connector.

In one embodiment, the omnidirectional non-rotating lidar-based safety system for work safety in a smart factory according to an embodiment of the present invention, the case unit, the sensor unit, the control unit, and the power supply unit are all formed in a module form and may be formed to be detachable from each other.

According to the above-described aspect of the present invention, it is possible to provide an effect of realizing the minimization of the sensing shadow area by realizing a high-resolution sensing area (horizontal FoV 360°, vertical FoV 27°).

16 Channel SPAD scanning rate of 200 Hz digital signal processing circuit (682,600 points/second) can be implemented, and laser scanning error correction can be provided through software development for 2D map display.

In addition, it can provide the effect of realizing smart factory MES Interface/adaptors development and big dataization and artificial intelligence of scanning data.

The effects of the present invention are not limited to the above-mentioned effects, and various effects may be included within the range apparent to those skilled in the art from the description below.

1 is a diagram showing a schematic configuration of an omnidirectional non-rotating lidar-based safety system for work safety in a smart factory according to an embodiment of the present invention.

FIG. 2 is a view showing detailed configurations of a sensor unit, a control unit, and a power supply unit of FIG. 1 .

3 is a network configuration diagram of an omnidirectional non-rotating lidar-based safety system for work safety in a smart factory according to an embodiment of the present invention.

FIG. 4 is a view showing the case part of FIG. 1 .

FIG. 5 is a view showing an embodiment of the sensor unit of FIG. 1 .

FIG. 6 is a view showing another embodiment of the sensor unit of FIG. 1 .

FIG. 7 is a diagram illustrating a functional block diagram of the control unit of FIG. 1 .

8 and 9 are diagrams for explaining the division of the risk map by the risk mapping unit of FIG. 7 .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0023] Reference is made to the accompanying drawings, which show by way of illustration specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be embodied in other embodiments without departing from the spirit and scope of the invention. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description set forth below is not intended to be taken in a limiting sense, and the scope of the invention, if properly described, is limited only by the appended claims, along with all scope equivalents to those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

1 is a diagram showing a schematic configuration of an omnidirectional non-rotating lidar-based safety system for work safety in a smart factory according to an embodiment of the present invention.

Referring to FIG. 1 , the omnidirectional non-rotating lidar-based safety system 10 for work safety of a smart factory according to an embodiment of the present invention is provided in a smart factory and a high-risk dangerous when a sensing object (operator, etc.) approaches It is installed in the vicinity of industrial equipment (R) or high-risk industrial equipment (R) and is intended to control the operation of high-risk industrial equipment (R) through position sensing of a sensing object approaching high-risk industrial equipment (R), and the case part ( 100 ), a sensor unit 200 , a control unit 300 , and a power supply unit 400 .

In the present invention, the high-risk industrial facility (R) refers to a facility in which access to a specific area is prohibited, such as a robot arm, a press machine, a high voltage machine, a light curtain, a physical fence, and the like.

The case unit 100 is installed in a high-risk industrial facility (R), forms a columnar upper structure (S), and the sensor unit 200, the control unit 300 and the power supply unit 400 are installed in a sealed inner space. do.

The sensor unit 200 is installed on the upper portion of the case unit 100 and is a device for sensing a distance to an external approach, and uses a non-rotating lidar (Lidar, Light detection and ranging) sensor for high-risk industrial equipment (R). ) to sense the position of the sensing object approaching.

In an embodiment, the sensor unit 200 transmits/receives data to and from the control unit 300 through the I2C BUS 330 as shown in FIG. 2 , and may be formed of a lidar sensor having a power regulator.

The control unit 300 is a device for controlling the function of each component of the present invention, and performs functions such as a failure diagnosis test, external communication through TCP/IP, and signal transmission through relay control, and the case unit 100 ) is installed in the internal space of the level, and stores the risk map generated by dividing the peripheral area of the case unit 100 according to the level of risk, and after reading the position of the sensing object transmitted from the sensor unit 200 When a sensing object enters an area corresponding to a level of risk or higher in the risk map, the operation of the high-risk industrial equipment (R) is stopped.

In one embodiment, the controller 300, as shown in FIG. 2, ARM Cortex M SERIES 310, EEPROM 320, I2C BUS 330, RS-485 converter 340, Ethernet controller 350 and a waterproof connector 360 .

The power supply unit 400 generally operates at 24Vdc, is installed in the inner space of the case unit 100 , and supplies electricity necessary for driving the sensor unit 200 and the control unit 300 .

In one embodiment, the power supply unit 400, as shown in FIG. 2, a waterproof connector 410 for receiving external power, two relays 420, and a waterproof connector 430 for supplying power to the power input control. can be provided. In this case, it is preferable that the waterproof connectors 410 and 430 are waterproof of an IP65 rating.

In an embodiment, the power supply unit 400 , that is, the ARM Cortex M SERIES 310 , may receive electricity supplied from the waterproof connector 410 through the power regulator C1 separately provided.

In addition, the sensor unit 200 may also receive electricity through a separately provided power regulator C2.

The omnidirectional non-rotating lidar-based safety system 10 for work safety in a smart factory according to an embodiment of the present invention having the configuration as described above includes the case unit 100 , the sensor unit 200 , and the control unit 300 . ), and the power supply unit 400 may be formed in a module form to be detachable from each other.

A plurality of high-risk industrial facilities (R-1 to RN) as shown in FIG. 3, which is a network configuration diagram of the omnidirectional non-rotating lidar-based safety system 10 for work safety in a smart factory according to an embodiment of the present invention Sensing with high-risk industrial facilities (R-1 to RN) by sensing the position of a sensing object that is installed in (10-1 to 10-N) or installed in the vicinity to each high-risk industrial facility (R-1 to RN) The driving of each high-risk industrial facility (R-1 to RN) can be individually controlled so as to avoid the collision of the object. 3, the omnidirectional non-rotational lidar-based safety system 10 is shown to be directly installed (10-1 to 10-N) in each of the high-risk industrial facilities (R-1 to RN), but this is an omnidirectional non-rotational lidar-based It is an exemplary representation of the location where the safety system 10 is installed. That is, the omnidirectional non-rotating lidar-based safety system 10 according to the present invention is not directly installed in each of the high-risk industrial facilities (R-1 to RN), but is close to each of the high-risk industrial facilities (R-1 to RN). It can also be installed around.

The omnidirectional non-rotating lidar-based safety systems 10-1 to 10-N for work safety of each smart factory transmit and receive data to and from the MES system 20 of the smart factory through the network 50 to each high-risk industry The operation of the facilities (R-1 to RN) can be controlled, and the sensor unit 200, the control unit 300 ) and data according to the driving of the power supply unit 400 may be transmitted and received.

At this time, the omnidirectional non-rotating lidar-based safety system 10 for work safety of each smart factory realizes the minimization of the sensing shadow area by implementing a high-resolution sensing area (horizontal FoV 360°, vertical FoV 27°). 16 Channel SPAD scanning rate of 200 Hz digital signal processing circuit (682,600 points/second) can be implemented, laser scanning error correction can be performed through software development for 2D map display, and smart factory MES Interface/adaptors Big data and artificial intelligence of development and scanning data can be implemented.

In addition, the omnidirectional non-rotating lidar-based safety system 10 for work safety of a smart factory according to an embodiment of the present invention having the configuration as described above is not only a smart factory equipped with a production robot as described above It will also be applicable to smart factory automation equipment companies equipped with equipment that repeats regular movements such as automatic forklift equipment, and heavy equipment users who require an alarm when a person (worker) or an object approaches a place where the heavy equipment cannot see.

FIG. 4 is a view showing the case part of FIG. 1 .

Referring to FIG. 4 , the case part 100 includes an upper body case 110 and a lower body case 120 .

The upper body case 110 forms a cylindrical structure (S), the sensor unit 200 is installed in the inner space, and the lower body case 120 is installed on the lower side.

In one embodiment, the upper case 110 is provided with a rubber ring 111 for sealing along the lower side opposite to the lower case 120 as shown in FIG. 1 , and a bolt on the lower case 120 . They may be fastened to each other by fastening.

The lower body case 120 is formed in the form of a hexahedral box forming an internal space 130 for installing the control unit 300 and the power supply unit 400 , and the upper body case 110 to seal the internal space 130 . It is installed in close contact with the lower side of the

The case part 100 having the configuration as described above may be formed so that the inner space can be sealed so that the upper body case 110 and the lower body case 120 can be waterproof of an IP65 rating and an explosion-proof design can be implemented. have.

FIG. 5 is a view showing an embodiment of the sensor unit of FIG. 1 .

Referring to FIG. 5 , the sensor unit 200a according to an embodiment includes a base plate 210 and 14 vertical resonance surface-emitting lasers 220-1 to 220-14.

The base plate 210 is formed in a disk shape and installed in the inner space of the upper body case 110 , and 14 vertical resonance surface-emitting lasers 220-1 to 220-14 are installed along the periphery.

The plurality of vertical resonance surface-emitting lasers 220-1 to 220-14 are sensed in a radial direction with respect to the center of the base plate 210, respectively, in the vertical resonance surface-emitting lasers 220-1 to 220-14. It is arranged in a circumferential shape along the edge of the base plate 210 so as to irradiate the laser beam for detecting the object. More specifically, as shown in FIG. 5 , the vertical resonance type surface-emitting lasers 220-1 to 220-14 have a sensing region of the upper body case so that 360° omnidirectional sensing can be performed along the periphery of the case unit 100 . 14 are installed at the same distance from each other along the edge of the base plate 210 so as to face the outside of the base plate 210 (that is, spaced apart from each other at intervals of 27° with respect to the center of the base plate 210).

Here, the simple specifications of the vertical resonance type surface emitting laser 220 are 1) 940 nm invisible laser, 2) Class 1 laser, 3) Time of flight (ToF) Type, 4) 50Hz ranging frequency, 5) SPAD type can be done

Here, the vertical resonance surface-emitting laser 220, the sensing range (laser scanning range) shows a 'conical shape' with respect to the front, the vertical or left and right sensing range may be performed at 27°.

The sensor unit 200a according to an embodiment having the configuration as described above is a value obtained by dividing 360° by 27°, which is the sensing area of the vertical resonance surface-emitting laser 220 for omnidirectional sensing of the upper body case 110 . (13.333...) 14 perpendicular resonance type surface emitting lasers 220-1 to 220-14, which are the number corresponding to the smallest integer value larger than that is required. That is, if the horizontal sensing area (range) for the front of each vertical resonance type surface-emitting laser 220 is A°, the sensor unit 200a according to an embodiment of the present invention performs 360° omnidirectional sensing, N vertical resonant surface-emitting lasers, which are the smallest integer greater than 360° divided by A°, are provided.

FIG. 6 is a view showing another embodiment of the sensor unit of FIG. 1 .

Referring to FIG. 6 , the sensor unit 200b according to another embodiment includes a base plate 210 and ten vertical resonance surface-emitting lasers 220-1 to 220-10.

The base plate 210 is formed in a disk shape and installed in the inner space of the upper body case 110 , and 10 vertical resonance surface-emitting lasers 220-1 to 220-10 are installed along the periphery.

The vertical resonance surface-emitting lasers 220-1 to 220-10 have a sensing portion facing the outside of the upper body case 110 so as to sense a partial range corresponding to 270° along the circumference of the case portion 100. to be spaced apart from each other at equal intervals (that is, at intervals of 27° based on the center of the base plate 210) ) and 10 pieces are installed.

In this case, in the vertical resonance surface-emitting laser 220 , the irradiation angle of the laser beam for position sensing may be formed at an angle of 27°.

In the case of the sensor unit 200b according to another embodiment having the above-described configuration, when installed in a high-risk industrial facility (R), there is an area that does not require sensing due to the presence of an inaccessible area of the sensing object. This corresponds to an embodiment for sensing only a partial range corresponding to 270° along the circumference of the bar case unit 100 .

Accordingly, the sensor unit 200b according to another embodiment having the above-described configuration is the case unit 100 except for a portion corresponding to 90° of the circumference of the case unit 100 that is not accessible to the sensing object. ) divided by 27°, which is the sensing area of the vertical resonance surface emitting laser 220, a partial range corresponding to 270° along the circumference of 10, that is, 10 vertical resonance surface emitting lasers 220-1 to 220-10 will be needed

At this time, according to the limit of the "sensing range" corresponding to the sensing range of each vertical resonance surface emitting laser 220, the "sensing blank area" as shown in FIG. 6 between each vertical resonance surface emitting laser 220 is However, since the width of the "sensing blank area" is relatively small compared to the size of the operator's body or the size of the sensing object, it is not a problem in effective sensing.

FIG. 7 is a diagram illustrating a functional block diagram of the control unit of FIG. 1 .

Referring to FIG. 7 , the control unit 300 includes a risk mapping unit 301 , a location reading unit 302 , an entry reading unit 303 , an industrial equipment control unit 304 , and a communication unit 305 .

The risk mapping unit 301 stores the generated risk map by dividing the peripheral area of the case unit 100 installed in the high-risk industrial facility R in a grade according to the high and low risk.

In one embodiment, the risk mapping unit 301, with the case unit 100 as a center, the maximum detection distance of up to 4m area (eg, area up to 4m) and the maximum detection height area (exemplarily) . (R) Safe area (A2), which is an area that does not affect the driving, 3) Warning area (A3), which is an area that generates a warning signal when a sensing object is located, and 4) High risk when a sensing object is located It can be divided into four areas of a danger area (A4) that is an area for generating a drive control signal for controlling the driving of the industrial facility (R).

At this time, the risk mapping unit 301 senses the peripheral area 270° of the case unit 100 as illustrated in FIG. 8 according to the number of surface-emitting lasers 220 , and as illustrated in FIG. 9 . A case of sensing 360° of the peripheral area of the case unit 100 may be separately divided to generate a risk map.

The position reading unit 302 reads the position of the sensing object approaching the high-risk industrial facility R by using the sensing data transmitted from the sensor unit 200 .

The entry reading unit 303 analyzes the position of the sensing object read by the position reading unit 302 and reads which area is included in the area of the risk map stored in the risk mapping unit 301 .

In an embodiment, the entry reading unit 303 may read a case where the high-risk industrial facility R approaches the sensing target and a case where the sensing target approaches the high-risk industrial facility R with the same approach.

The industrial equipment control unit 304 generates a warning signal in response to the location on the risk map of the sensing object approaching the high-risk industrial equipment (R) or a driving control signal for controlling the driving of the high-risk industrial equipment (R) create More specifically, when the entry reading unit 303 reads that the sensing object is in the safe area A2 for the high-risk industrial facility R, the industrial facility control unit 304 does not generate a warning signal, and the sensing Position information indicating that the object is located in the safe area A2 is generated. And, as the sensing object approaches the high-risk industrial equipment (R) or the high-risk industrial equipment (R) approaches the sensing object, the entry reading unit 303 detects that the sensing object is in the warning area A3 (the sensing object is safe When reading from area A2 to entering warning area A3), the industrial equipment control unit 304 generates a warning signal and generates positional information indicating that the sensing object is located in the warning area A3. . In addition, as the relative distance between the sensing object and the high-risk industrial facility R is very close, the entry reading unit 303 determines that the sensing object is in the danger area A4 (the sensing object is in the warning area A3). A4)), the industrial equipment control unit 304 generates a warning signal and generates position information indicating that the sensing object is located in the dangerous area A4. At this time, the warning signal generated by the industrial facility control unit 304 may correspond to a signal for operating a warning sound or a warning light for notifying a warning to a sensing object (operator, etc.) close to the high-risk industrial facility R.

On the other hand, when the entry reading unit 303 reads that the sensing object enters the danger area A4 from the warning area A3, the industrial equipment control unit 304 stops the driving of the high-risk industrial equipment R A driving stop signal is generated as a driving control signal for And, when the entry reading unit 303 reads that the sensing object enters the warning area A3 from the danger area A4, the industrial equipment control unit 304 restarts the driving of the high-risk industrial equipment R A driving restart signal is generated as a driving control signal for

The communication unit 305 transmits and receives data through the network with the MES (Manufacturing Execution System) system 20 of the smart factory, and transmits the location information and the driving control signal transmitted from the industrial facility control unit 304 to the MES system ( 20) is sent. Accordingly, in the MES system 20 receiving the location information from the communication unit 305, the relative position of the sensing object to the high-risk industrial facility R is a safe area A2, a warning area A3, and a danger area A4. Information on which area in the control room can be displayed on the display of the manager of the control room. In addition, the MES system 20 that has received the driving control signal from the communication unit 305 is a high-risk industrial facility (R) through the network 50 when the sensing object enters the warning area (A3) from the danger area (A4). to stop the operation of high-risk industrial equipment (R) by sending a drive stop signal to the Transmits the drive restart signal to the industrial facility (R) to restart the drive of the high-risk industrial facility (R) (safe mode release).

Previously, the driving control signal for the high-risk industrial facility R has been described as being generated by the entry reading unit 303 , but in some cases, the MES system 20 is a sensing object based on the location information received from the communication unit 305 . It is also possible to generate a drive control signal according to the relative position between the and high-risk industrial equipment (R).

The risk mapping unit 301 , the location reading unit 302 , the entry reading unit 303 and the industrial equipment control unit 304 of the control unit 300 having the configuration as described above is the ARM Cortex M SERIES 310 of FIG. 2 . Alternatively, it is performed in the EEPROM 320 , and the function of the communication unit 305 may be performed in the I2C BUS 330 , the RS-485 converter 340 , and the Ethernet controller 350 .

The term '~ unit' used in the above embodiments means software or hardware components such as field programmable gate array (FPGA) or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. The '~ unit' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Thus, as an example, '~' denotes components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program patent code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables.

Functions provided in components and '~ units' may be combined into a smaller number of components and '~ units' or separated from additional components and '~ units'.

In addition, components and '~ units' may be implemented to play one or more CPUs in a device or secure multimedia card.

The above-described embodiments are for illustration, and those of ordinary skill in the art to which the above-described embodiments pertain can easily transform into other specific forms without changing the technical idea or essential features of the above-described embodiments. You will understand. Therefore, it should be understood that the above-described embodiments are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope to be protected through this specification is indicated by the claims described below rather than the above detailed description, and it should be construed to include all changes or modifications derived from the meaning and scope of the claims and their equivalents. .

Claims (10)

1. All directions for work safety of a smart factory for controlling the operation of the high-risk industrial equipment through the sensing of the position of a sensing object installed in the vicinity of the high-risk industrial equipment provided in the smart factory or the high-risk industrial equipment approaching the high-risk industrial equipment In the non-rotating lidar-based safety system,

   a case part installed around the high-risk industrial equipment or in the high-risk industrial equipment, and forming a columnar upper structure;

   a sensor unit installed on the upper portion of the case unit and sensing the position of a sensing object approaching the high-risk industrial facility using a non-rotating lidar sensor;

   It is installed in the inner space of the case part, and stores the risk map generated by dividing the peripheral area of the case part by grade according to the high and low risk, and after reading the position of the sensing object transmitted from the sensor part, in the risk map a control unit for stopping the operation of the high-risk industrial equipment when a sensing object enters an area corresponding to a degree of risk above a preset level; and

   A power supply unit installed in the inner space of the case unit and supplying electricity necessary for driving the sensor unit and the control unit; including, a omnidirectional non-rotating lidar-based safety system for work safety in a smart factory.
2. According to claim 1, wherein the case portion,

   an upper body case forming a cylindrical structure and having the sensor unit installed in the inner space; and

   The control unit and the power supply unit are formed in the form of a hexahedron box forming an inner space for installation, the lower body case is installed in close contact with the lower side of the upper body case so as to seal the inner space; Work safety of a smart factory, including; An omnidirectional, non-rotating lidar-based safety system for
3. According to claim 2, wherein the sensor unit,

   a base plate formed in a disk shape and installed in the inner space of the upper body case; and

   14 vertical resonance surface-emitting lasers installed at equal intervals along the edge of the base plate so that the sensing region faces the outside of the upper case so as to sense 360° omnidirectional sensing along the circumference of the case part. All-round non-rotating lidar-based safety system for work safety in smart factories, including Cavity Surface-Emitting Laser).
4. According to claim 2, wherein the sensor unit,

   a base plate formed in a disk shape and installed in the inner space of the upper body case; and

   Except for a portion corresponding to 90° of the circumference of the case portion along the edge of the base plate so that the sensing portion faces the outside of the upper body case so as to sense a partial range corresponding to 270° along the circumference of the case portion An omnidirectional non-rotating lidar-based safety system for work safety in smart factories, including 10 Vertical Cavity Surface-Emitting Lasers installed at equal intervals from each other.
5. 5. The method of claim 3 or 4, wherein the vertical resonance type surface emitting laser,

   An omnidirectional, non-rotating lidar-based safety system for work safety in smart factories with an irradiation angle of 27° for position sensing.
6. According to claim 1, wherein the control unit,

   a risk mapping unit for storing the generated risk map by dividing the area around the high-risk industrial facility or the case part installed in the high-risk industrial facility with a grade according to the high and low risk;

   a position reading unit for reading a position of a sensing object approaching the high-risk industrial facility by using the sensing data transmitted from the sensor unit;

   an entry reading unit that analyzes the position of the sensing object read by the position reading unit and reads which area is included in the area of the risk map stored in the risk mapping unit;

   an industrial facility control unit for generating a warning signal or generating a driving control signal for controlling the driving of the high-risk industrial facility in response to the location on the risk map of the sensing object approaching the high-risk industrial facility; and

   A communication unit that transmits and receives data through the MES system and the network of the smart factory, and transmits the drive control signal transmitted from the industrial facility control unit to the high-risk industrial facility through the network; including; Rotation-free lidar-based safety system.
7. The method of claim 6, wherein the risk mapping unit,

   An undetected area that is an area where the sensing by the sensor unit is not performed in the peripheral area of the case part, a stable area that is an area that does not affect the operation of the high-risk industrial equipment even if the sensing object is located, and the sensing object is located The operation of a smart factory, which is divided into four areas: a warning area, which is an area for generating a warning signal in case An omnidirectional, non-rotating lidar-based safety system for safety.
8. The method of claim 6, wherein the entry reading unit,

   An omnidirectional non-rotating lidar-based safety system for work safety in a smart factory that reads the case where the high-risk industrial facility approaches the sensing object and the case where the sensing object approaches the high-risk industrial facility with the same approach.
9. According to claim 1, wherein the power supply unit,

   An omnidirectional, non-rotating lidar-based safety system for work safety in smart factories that receives electricity from an external power source using a waterproof connector.
10. According to claim 1,

    The case unit, the sensor unit, the control unit, and the power supply unit are all formed in the form of a module and are formed to be detachable from each other, an omnidirectional non-rotating lidar-based safety system for work safety in a smart factory.

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