WO2022044279A1 - 制御装置及び画像記録方法 - Google Patents
制御装置及び画像記録方法 Download PDFInfo
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- WO2022044279A1 WO2022044279A1 PCT/JP2020/032692 JP2020032692W WO2022044279A1 WO 2022044279 A1 WO2022044279 A1 WO 2022044279A1 JP 2020032692 W JP2020032692 W JP 2020032692W WO 2022044279 A1 WO2022044279 A1 WO 2022044279A1
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- trigger signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0264—Control of logging system, e.g. decision on which data to store; time-stamping measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/765—Interface circuits between an apparatus for recording and another apparatus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Definitions
- This disclosure relates to a control device and an image recording method.
- a control device controls various devices to realize a line represented by a manufacturing line, a processing line, and an inspection line.
- a process control of the line an image of the line may be recorded, and when a trouble occurs, the situation at the time of the trouble may be verified by the recorded image to investigate the cause of the trouble.
- the captured images are recorded, a huge amount of memory is required and the cost is high.
- Patent Document 1 video data obtained by capturing the operating state of a process is stored in a memory, and video data that goes back more than a set time from the time when a trigger signal from a PLC (Programmable Logic Controller) is input is stored.
- PLC Programmable Logic Controller
- the purpose of this disclosure is to facilitate the verification of images taken when controlling the device.
- control device of the present disclosure is a control device connected to an image pickup device to control a controlled device, and executes a control program for controlling the controlled device, and the control program executes the control program.
- the execution means for outputting the first trigger signal when the predetermined first condition is satisfied for the data that changes due to the change, and the image information indicating the image taken by the image pickup device are repeatedly received, and the image pickup device or the image pickup device or the image pickup device or the image pickup device or the image pickup device or the image pickup device or the image pickup device.
- the storage means for storing the image information received by the receiving means in the storage means.
- the storage means stores the image information in the storage means in each case of receiving the first trigger signal from the executing means and receiving the second trigger signal from the receiving means. Can be done.
- the image information can be promptly stored in the storage means at the timing when the first trigger signal and the second trigger signal are received, without delay due to communication with an external device of the control device.
- the image information is stored in the storage means by the storage means without the intervention of the execution means for executing the control program. Therefore, it is not necessary to specify the processing procedure for the second trigger signal in the control program, and the image information is appropriately stored in the storage means by the storage means.
- the storage means can process the second trigger signal without intervening the execution means, the storage means stores the image information in the storage means without causing a time lag for processing the second trigger signal by the execution means. be able to. Therefore, it is possible to facilitate the verification of the captured image when controlling the device.
- the figure which shows the structure of the control system which concerns on embodiment The figure which shows the hardware configuration of the execution unit, the input / output unit and the image recording unit which concerns on embodiment.
- the figure which shows an example of the trigger setting screen which concerns on embodiment The figure for demonstrating the setting condition which concerns on embodiment
- the figure for demonstrating the storage area which the 2nd storage part which concerns on embodiment has.
- a flowchart showing an execution process according to an embodiment A flowchart showing an image recording process according to an embodiment.
- the figure for demonstrating the example which the trigger signal which concerns on embodiment conflicts.
- the figure which shows the structure of the control device which concerns on a comparative example The figure which shows the log of the execution unit and the log of an image recording unit which concerns on a comparative example. The figure which shows an example of the log of the image recording unit which concerns on embodiment. The figure which shows the structure of the image recording unit which concerns on the modification
- control device 10 according to the embodiment of the present disclosure will be described in detail with reference to the drawings.
- FIG. 1 shows the configuration of a control system 100 formed by the control device 10 according to the present embodiment.
- the control system 100 is a system built in a factory to operate a production line and captures and records an image in preparation for trouble verification.
- the control system 100 includes a control device 10 that controls the controlled devices 31 and 32, a setting terminal 20 for setting the operation of the control device 10 by the user, and controlled devices 31 and 32 installed on the production line. It has an environment detection device 41 installed on the production line to detect the surrounding environment, and an image pickup device 42 for capturing an image of the situation related to the production line.
- the controlled devices 31, 32, the environment detection device 41, and the image pickup device 42 are connected to the control device 10 via an industrial network. However, some or all of the controlled devices 31, 32, the environment detection device 41, and the image pickup device 42 may communicate with the control device 10 by a method different from the communication via the industrial network. As such a method, there are communication via a LAN (Local Area Network) or a dedicated line as an information network, and one-way communication in which a current signal or a voltage signal is transmitted via wiring.
- LAN Local Area Network
- the setting terminal 20 is an IPC (Industrial Personal Computer) or a GUI (Graphical User Interface) terminal of the control device 10.
- the setting terminal 20 performs wired communication with the execution unit 11 of the control device 10 via a USB (Universal Serial Bus) cable or a LAN cable, or wireless communication via an industrial network.
- the setting terminal 20 functions as a tool for the user to set the operation of the control device 10 by executing the application software. Using this tool, the user creates a control program 111 to be executed by the control device 10, determines parameters for executing the control program 111, and sets the created control program 111 and the determined parameters in the control device 10. do.
- the controlled devices 31 and 32 are sensors, actuators, robots, and other FA devices installed on the production line.
- the controlled devices 31 and 32 are connected to the input / output unit 12 of the control device 10 and operate according to the instruction from the control device 10.
- the controlled device 31 which is a sensor notifies the control device 10 of the sensing result at a cycle designated by the control device 10.
- the controlled device 32 which is an actuator, moves the work at the timing and speed specified by the control device 10.
- two controlled devices 31 and 32 are typically shown in FIG. 1, the number of devices to be controlled by the control device 10 in the control system 100 may be one. It may be three or more.
- the environment detection device 41 has a sensor, and the sensor monitors the environment around the environment detection device 41 itself.
- the environmental information monitored by the environment detection device 41 is, for example, the detection result of any environment represented by pressure, light intensity, acoustic level, vibration level, presence / absence of a person, acceleration, or temperature. Further, the environment detection device 41 determines whether or not a predetermined condition for the environment is satisfied. This condition is usually set in advance in the environment detection device 41 by the user in response to the occurrence of an event in which an abnormality is suspected to occur in the production line or an event that the user determines to be verified after the fact. Examples of this condition include the fact that the acoustic level or acceleration is equal to or higher than the threshold value, or the detection of a person.
- Excessive acceleration and acoustic level suggest failure of controlled devices 31 and 32, and acoustic level above a certain level and human detection suggest the presence of a person who should normally be absent.
- the conditions are not limited to the above example and may be changed arbitrarily.
- the environment detection device 41 determines that the condition is satisfied, it transmits a trigger signal indicating that the condition is satisfied to the image recording unit 13 of the control device 10.
- This trigger signal serves as a trigger for recording the image information described later.
- the condition set in the environment detection device 41 corresponds to an example of the second condition, and the trigger signal transmitted from the environment detection device 41 corresponds to an example of the second trigger signal.
- the environment monitored by the environment detection device 41 may be the environment around the work, the belt conveyor, or the controlled devices 31 and 32 on the production line, or the environment in which the control device 10 is installed. It may be in other environments. For example, when the control system 100 operates a food production line, the environment detection device 41 monitors the environment at the entrance / exit of the factory where the control system 100 is constructed, and outputs a trigger signal indicating the invasion of pests. You may.
- the image pickup device 42 has a camera and constantly takes an image of the situation of the production line.
- the image taken by the image pickup apparatus 42 may be a still image or a moving image, or may be another image including a visible light image or a thermal image.
- the image pickup apparatus 42 repeatedly transmits the image information indicating the captured image to the image recording unit 13 of the control device 10.
- the cycle in which the image information is transmitted can be, for example, 1 second, 1 minute, or 1 hour.
- the image information at the time when the trigger signal is generated is stored by the image recording unit 13 and used for the subsequent verification.
- the image pickup device 42 may have a sensor like the environment detection device 41 and output a trigger signal. Further, the image pickup device 42 outputs a trigger signal in the same manner as the environment detection device 41 when a predetermined condition is satisfied for an image of the environment to be monitored, regardless of the presence or absence of a sensor other than the image pickup element. You may. For example, the image pickup apparatus 42 may output a trigger signal when the amount of change from the previous image exceeds the threshold value while repeatedly transmitting the image information.
- the environment detection device 41 and the image pickup device 42 that output a trigger signal are collectively referred to as an environment detection device 40 as appropriate.
- the control device 10 is a PLC (Programmable Logic Controller) that realizes a series of production lines by interlocking the controlled devices 31 and 32 by comprehensively controlling them.
- the control device 10 controls the controlled devices 31 and 32 by receiving the control program 111 provided by the user from the setting terminal 20 and executing the control process defined by the control program 111.
- the control device 10 includes an execution unit 11 that repeatedly executes the control program 111, an input / output unit 12 that communicates with the controlled devices 31 and 32, and an image recording unit 13 that records image information provided by the image pickup device 42.
- the execution unit 11, the input / output unit 12, and the image recording unit 13 are modules that can be attached to and detached from a base unit (not shown) having a system bus 101, respectively.
- the execution unit 11, the input / output unit 12, and the image recording unit 13 transmit signals to each other via the system bus 101.
- the execution unit 11 corresponds to a so-called CPU unit
- the input / output unit 12 corresponds to a so-called I / O (Input / Output) unit.
- FIG. 2 shows the hardware configurations of the execution unit 11, the input / output unit 12, and the image recording unit 13.
- the execution unit 11, the input / output unit 12, and the image recording unit 13 have a processor 51, a main storage unit 52, an auxiliary storage unit 53, an input unit 54, and an output unit 55, respectively. It has a communication unit 56 and.
- the main storage unit 52, the auxiliary storage unit 53, the input unit 54, the output unit 55, and the communication unit 56 are all connected to the processor 51 via the internal bus 57.
- the processor 51 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).
- the processor 51 realizes various functions by executing the program P1 stored in the auxiliary storage unit 53, and executes the processing described later.
- the main storage unit 52 includes a RAM (RandomAccessMemory).
- the program P1 is loaded into the main storage unit 52 from the auxiliary storage unit 53.
- the main storage unit 52 is used as a working area of the processor 51.
- the auxiliary storage unit 53 includes a non-volatile memory represented by an EEPROM (Electrically Erasable Programmable Read-Only Memory) and an HDD (Hard Disk Drive).
- the auxiliary storage unit 53 stores various data used for processing of the processor 51 in addition to the program P1.
- the auxiliary storage unit 53 supplies the data used by the processor 51 to the processor 51 according to the instructions of the processor 51. Further, the auxiliary storage unit 53 stores the data supplied from the processor 51.
- the input unit 54 includes a hardware switch, an input key, and an input device typified by a pointing device.
- the input unit 54 acquires the information input by the user and notifies the processor 51 of the acquired information.
- the output unit 55 includes an output device typified by an LED (Light Emitting Diode), an LCD (Liquid Crystal Display), and a speaker.
- the output unit 55 presents various information to the user according to the instructions of the processor 51.
- the communication unit 56 includes a network interface circuit for communicating with an external device.
- the communication unit 56 receives a signal from the outside and outputs the data indicated by this signal to the processor 51. Further, the communication unit 56 transmits a signal indicating the data output from the processor 51 to an external device.
- FIG. 2 typically shows one communication unit 56, but the present invention is not limited to this.
- the image recording unit 13 may individually have a communication unit 56 for communicating with the execution unit 11 and a communication unit 56 for communicating with the environment detection device 41 and the image pickup device 42.
- the image recording unit 13 of the control device 10 exerts the function shown in FIG. 3 by the cooperation of the hardware components shown in FIG. Specifically, the image recording unit 13 has, as its functions, a communication unit 61 that communicates with the execution unit 11, a reception unit 62 that receives settings related to trigger signals via the communication unit 61, an environment detection device 41, and an image pickup device 42.
- the receiving unit 63 for receiving the information transmitted from the image processing unit 63, the image processing unit 64 for processing the image information, the first storage unit 65 for temporarily storing the image information, and the second storage unit 67 for storing the image information. It has a storage unit 66 and a second storage unit 67 that stores image information indicating an image taken when a trigger signal is generated.
- the transmission of the trigger signal is indicated by a broken line arrow
- the transmission of image information is indicated by a thick arrow.
- the communication unit 61 is realized mainly by the cooperation of the processor 51 and the communication unit 56 for communicating with the execution unit 11 via the system bus 101.
- the communication unit 61 acquires setting information indicating the contents set by the user operating the setting terminal 20 regarding the trigger signal via the execution unit 11, and sends the acquired setting information to the reception unit 62. Further, the communication unit 61 acquires a trigger signal generated when the control program 111 is executed from the execution unit 11, and sends the acquired trigger signal to the trigger processing unit 661 of the storage unit 66.
- the execution unit 11 monitors the value of the data 112 used to execute the control program 111, and determines whether or not a predetermined condition is satisfied for the value of the data 112.
- the data 112 is information written or read in a memory provided in the execution unit 11 in order to execute the control program 111, and is, for example, a sensing result from a controlled device 31 which is a sensor, and a controlled object. It is a numerical value or a character string indicating the operating state to be instructed to a certain controlled device 32 or the internal state of the execution unit 11 that executes the control program 111.
- the predetermined condition for the value of the data 112 usually corresponds to an event in which an abnormality is suspected to occur in the production line or an event that the user determines to be verified after the fact, and the execution unit 11 is executed by the user. Is preset to. The condition is satisfied, for example, when the device data indicating the state of the controlled device 31 becomes the value "999" corresponding to the occurrence of the error.
- the predetermined condition for the value of the data 112 here corresponds to an example of the first condition.
- the execution unit 11 When the execution unit 11 determines that the condition is satisfied, the execution unit 11 outputs a trigger signal indicating that the condition is satisfied to the image recording unit 13.
- This trigger signal is a trigger for recording image information, similarly to the trigger signal from the environment detection device 40.
- the trigger signal output from the execution unit 11 corresponds to an example of the first trigger signal.
- the execution unit 11 executes a control program for controlling the controlled device in the control device 10, and when the first condition predetermined for the data changed by the execution of the control program is satisfied. It corresponds to an example of the execution means for outputting the first trigger signal.
- the execution unit may function as an execution means, or may have other functions in addition to the execution means.
- the reception unit 62 is realized mainly by the cooperation of the processor 51 and at least one of the main storage unit 52 and the auxiliary storage unit 53.
- the reception unit 62 acquires and holds the setting information regarding the trigger signal via the communication unit 61, and provides the setting information to the trigger processing unit 661 of the storage unit 66 as needed. That is, when the reception unit 62 holds the setting information related to the trigger signal, the reception unit 62 holds the setting information by storing the setting information in either or both of the main storage unit 52 and the auxiliary storage unit 53, and holds the setting information as needed.
- the setting information is read from at least one of the main storage unit 52 and the auxiliary storage unit 53, and the setting information is provided to the trigger processing unit 661.
- FIG. 4 shows an example of the trigger setting screen 21 for the user to set the trigger signal.
- the trigger setting screen 21 is displayed by the setting terminal 20, and the user sets the trigger signal output from the execution unit 11 and the trigger signal output from the environment detection device 40 by the trigger setting screen 21. conduct.
- the trigger signals output from the execution unit 11 are the trigger A, the trigger B, and the trigger C.
- These triggers A, B, and C correspond to the satisfaction of different conditions.
- the trigger A the value of the data stored in the memory address “D10” for storing the data used by the execution unit 11 to execute the control program 111 is equal to or higher than the threshold value.
- the trigger B corresponds to the fulfillment of the condition that the value of the data stored in the address "D20" is out of the range of 0 to 100.
- the execution unit 11 outputs a trigger signal indicating the satisfied condition.
- the trigger signal may be information "TRIG A" including a character string "TRIG” indicating that it is a trigger signal and an ID "A" for identifying a satisfied condition, or other information. It may be information.
- the triggers D, E, and F are set as shown in FIG. 4, and the triggers D, E, and F are the conditions shown in FIG. 5, respectively. Corresponds to the establishment.
- the environment detection device 40 outputs a trigger signal indicating the satisfied condition.
- the trigger signal may be information called "TRIG D" which is configured in the same manner as the output from the execution unit 11, or may be information having a configuration different from the output from the execution unit 11.
- the trigger setting screen 21 of FIG. 4 receives a trigger signal and receives another different trigger signal while the image information is being saved, the saving of the image information by each trigger conflicts. It is configured to be able to set the priority for. For example, the trigger C having the first priority is prioritized over the trigger E having the second priority. The operation when the storage of image information by the trigger signals with different priorities conflicts will be described later.
- the trigger setting screen 21 of FIG. 4 is configured so that the item "image storage for each same trigger" of each trigger can be set to ON or OFF.
- this item is set to ON, if the same trigger is further generated while the trigger signal is received and the image information is being saved, the image information is recorded each time it occurs.
- this item is set to OFF, when the same trigger is further generated while receiving the trigger signal and saving the image information, the image information is recorded when the first trigger is generated. No image information is recorded when the second and subsequent triggers occur.
- this item is set to ON for triggers whose occurrence status is subject to verification because an abnormality is suspected, and this item is set to OFF especially for triggers for which the status when it first occurs should be verified. Will be done.
- the operation method of the trigger setting screen 21 is arbitrary.
- the user may activate the object on the screen by operating the pointing device and set the trigger signal by selecting one of the options displayed in the pull-down format.
- the reception unit 62 receives a setting in the control device 10 that one of the first trigger signal from the execution unit 11 and the second trigger signal from the reception unit 63 has priority over the other signals. Corresponds to one example.
- the receiving unit 63 is realized mainly by the communication unit 56 for communicating with the environment detection device 41 and the image pickup device 42.
- the receiving unit 63 receives the trigger signal transmitted from the environment detection device 41 and the image pickup device 42, and sends the received trigger signal to the trigger processing unit 661 of the storage unit 66. Further, each time the receiving unit 63 receives the image information from the image pickup device 42, the receiving unit 63 sends the image information to the image processing unit 64.
- the receiving unit 63 repeatedly receives image information indicating an image taken by the image pickup device in the control device 10, and regarding the environment information which is the detection result by the environment detection device composed of the image pickup device or a device different from the image pickup device. It corresponds to an example of a receiving means for receiving a second trigger signal indicating that the formation of a predetermined second condition has been detected from the environment detection device.
- the image processing unit 64 converts the format of the image information into a format suitable for viewing for subsequent verification or a format suitable for storage in the first storage unit 65 and the second storage unit 67. This form of conversion may include compression of the data.
- the first storage unit 65 is mainly realized by the main storage unit 52. Image information whose format has been converted by the image processing unit 64 is sequentially stored in the first storage unit 65. The image information stored in the first storage unit 65 is stored in association with the time received by the image recording unit 13 or the time stored in the first storage unit 65. When the capacity of the stored image information reaches the capacity of the first storage unit 65, the newly received image information is overwritten in order from the oldest image information, as shown in FIG. Further, when the communication unit 61 or the reception unit 63 receives the trigger signal, among the image information stored in the first storage unit 65, the image information before the time when the trigger occurs and the time when the trigger occurs. At least one of the subsequent image information is read from the first storage unit 65 and stored in the second storage unit 67.
- the image information read from the first storage unit 65 may be information indicating one or a plurality of images associated with the time within the period including the generation time of the trigger signal, or the generation time of the trigger signal. It may be information indicating a moving image taken in a period including. The length of this period is preset by the user, and may be, for example, a period from 60 seconds before the generation time of the trigger signal to 300 seconds after the generation time.
- the storage unit 66 is mainly realized by the processor 51.
- the storage unit 66 receives a trigger signal from the execution unit 11 via the communication unit 61 based on the setting received by the reception unit 62, and the trigger from the environment detection device 40 via the reception unit 63. In each case where the signal is received, the image information before and after the received trigger signal is read from the first storage unit 65 and written to the second storage unit 67.
- the storage unit 66 is a control that controls the trigger processing unit 661 that processes the trigger signal and the reading of the image information from the first storage unit 65 and the writing of the image information to the second storage unit 67 according to the instructions of the trigger processing unit 661. It has a portion 662 and.
- the storage unit 66 receives both the trigger signal output from the execution unit 11 and the trigger signal directly received from the environment detection device 40 without going through a unit other than the image recording unit 13 constituting the control device 10. It is possible to process.
- the storage unit 66 receives the image information received by the receiving means in each of the case where the first trigger signal is received from the executing means and the case where the receiving means receives the second trigger signal in the control device 10. It corresponds to an example of the storage means stored in the second storage unit 67 as the storage means.
- the trigger processing unit 661 controls the storage of the image information corresponding to the trigger signal. Instruct 662. Further, when the trigger processing unit 661 receives a plurality of trigger signals, the trigger processing unit 661 adjusts the writing control of the image information by the control unit 662. Specifically, the trigger processing unit 661 has a higher priority than the trigger signal after receiving one trigger signal and before the storage of the image information corresponding to the trigger signal in the second storage unit 67 is completed. When a new trigger signal is received, the storage of the image information corresponding to the trigger signal having a low priority is interrupted, and the control unit 662 is instructed to store the image information corresponding to the new trigger signal having a high priority. ..
- the control unit 662 controls reading and writing of image information according to an instruction from the trigger processing unit 661, and copies a part of the image information stored in the first storage unit 65 to the second storage unit 67.
- the second storage unit 67 is mainly realized by at least one of the main storage unit 52 and the auxiliary storage unit 53. As illustrated in FIG. 7, the second storage unit 67 has a plurality of predetermined storage areas 6701 to 6712. The capacity of each of the storage areas 6701 to 6712 may be at least the capacity of the image information written by the storage unit 66 by receiving the trigger signal once. Image information corresponding to the trigger signals of the first to sixth priority is stored in each of the storage areas 6701 to 6706. Further, in each of the storage areas 6707 to 6712, image information is stored each time a trigger signal in which the item of "image storage for each same trigger ON" is set to "ON" is received.
- the control unit 662 specifies the address of the storage area in which the image information should be stored, and stores the image information in the second storage unit 67.
- the image information is stored in order from the highest priority, and even if the same trigger signal is received multiple times, it is received. Image information will be stored each time.
- the image information stored in the storage areas 6707 to 6712 is preferably stored in association with the information indicating the trigger signal that caused the image information to be stored.
- the storage unit 66 which is an example of the storage means in the control device 10, has a second storage unit 67 as a storage means each time a first trigger signal from the execution unit and a second trigger signal from the reception unit 63 are received.
- Image information is stored in different storage areas 6701 to 6712.
- the second storage unit 67 corresponds to an example of storage means in which image information is stored by the storage means in the control device 10.
- the execution process shown in FIG. 8 is a process executed by the execution unit 11, and starts when an execution instruction of the control program 111 is input by the user.
- Step S1 corresponds to an example of an execution step in which the execution means executes a control program for controlling the controlled device in the image recording method executed by the control device 10.
- the execution unit 11 determines whether or not a predetermined condition for executing the control program 111 is satisfied (step S2). Specifically, the execution unit 11 determines whether or not the value of the data handled when the control program 111 is executed satisfies the condition set by the user as illustrated in FIG.
- step S2 If it is determined that the condition is not satisfied (step S2; No), the process by the execution unit 11 returns to step S1 and continues the execution of the control program 111. On the other hand, when it is determined that the condition is satisfied (step S2; Yes), the execution unit 11 generates a trigger signal indicating that the condition is satisfied and outputs the trigger signal to the image recording unit 13 (step S3).
- Step S3 is an example of a first output step in which the executing means outputs a first trigger signal when a predetermined first condition for executing a control program is satisfied in the image recording method executed by the control device 10. Corresponds to. After that, the execution unit 11 repeats the processing after step S1 to continue the execution of the control program 111, repeatedly determines whether or not the condition is satisfied, and monitors the value of the data 112.
- the control device 10 which is a PLC repeatedly executes the process specified in the ladder program as the control program 111.
- One of the executions of the iterative process is called a scan.
- the determination in step S2 may be executed in the end process executed after each scan, or may be specified in the control program 111 as being executed during the scan.
- the image recording process shown in FIG. 9 starts when the power of the control device 10 is turned on.
- the image recording process may be started when the user inputs an instruction to start the image recording process by operating the input unit 54 of the image recording unit 13.
- the receiving unit 63 receives the image information from the image pickup device 42 (step S11). Specifically, the receiving unit 63 receives a frame according to the Ethernet standard. Then, the receiving unit 63 sends the image data stored in the payload of the frame to the image processing unit 64, and the transmitted image data is processed by the image processing unit 64.
- the image processing unit 64 stores the processed image information in the first storage unit 65 (step S12). Specifically, the image processing unit 64 puts the image data whose format has been converted into an area different from the storage area in which the image data was stored in the previous step S12 in the storage area of the first storage unit 65 at the current time. Write in association with.
- the trigger processing unit 661 of the storage unit 66 determines whether or not a trigger signal has been received from the execution unit 11 (step S13). When it is determined that the trigger signal has not been received from the execution unit 11 (step S13; No), the processing by the image recording unit 13 proceeds to step S15.
- step S13 when it is determined that the trigger signal has been received from the execution unit 11 (step S13; Yes), the storage unit 66 starts the storage process for the image information corresponding to the trigger signal determined to have been received in step S13. (Step S14). This storage process will be described later.
- the trigger processing unit 661 determines whether or not a trigger signal has been received from the environment detection device 40 (step S15). Specifically, the trigger processing unit 661 determines whether or not the trigger signal included in the frame received by the receiving unit 63 has been received from the receiving unit 63.
- step S15 When it is determined that the trigger signal has been received from the environment detection device 40 (step S15; Yes), the storage unit 66 starts the storage process for the image information corresponding to the trigger signal determined to have been received in step S15. (Step S16). This storage process will be described later. The order of the processes from step S13 to step S14 and the processes from step S15 to step S16 may be interchanged.
- step S15 When it is determined that the trigger signal has not been received from the environment detection device 40 (step S15; No), the processing by the image recording unit 13 repeats the processing after step S11. As a result, the image recording unit 13 repeatedly receives the image information and starts the storage process at the timing when the trigger signal is received.
- step S11 corresponds to an example of a first reception step in which the receiving means repeatedly receives image information indicating an image taken by the imaging device in the image recording method executed by the control device 10. Further, in the reception of the trigger signal by the receiving unit 63 determined in step S15, the receiving means receives the second trigger signal indicating that the satisfaction of the second condition predetermined for the environment of the environment detection device is detected. Corresponds to an example of the second receiving step. Further, the storage process started in steps S14 and S16 is received when the storage means receives the first trigger signal from the execution means and when the second trigger signal is received from the receiving means. This corresponds to an example of a storage step in which image information received by the means is stored in the storage means.
- the storage process executed by the storage unit 66 will be described with reference to FIG.
- the storage process shown in FIG. 10 is started by executing steps S14 and S16 in the image recording process shown in FIG.
- steps S14 and S16 a plurality of storage processes may be executed in parallel.
- the one trigger signal is appropriately referred to as a reception trigger signal in distinction from other trigger signals.
- the trigger processing unit 661 determines whether or not another storage process using a trigger signal having a lower priority than the received trigger signal is being executed (step S21). Specifically, the trigger processing unit 661 determines whether or not the control unit 662 has not yet received the completion notification of the storage of the image information corresponding to the trigger signal having a lower priority than the reception trigger signal.
- step S21; Yes When it is determined that another storage process by the trigger signal having a low priority is being executed (step S21; Yes), the trigger processing unit 661 instructs the control unit 662 to suspend the storage of the image information by the interrupt processing (step S21; Yes). Step S22). As a result, the control unit 662 interrupts the storage of the image information according to the trigger signal having a low priority.
- the trigger processing unit 661 instructs the control unit 662 to store the image information by the received trigger signal (step S23), and the control unit 662 reads the image information from the first storage unit 65 according to the instruction in step S23. It is stored in the second storage unit 67 (step S24).
- the trigger processing unit 661 cancels the interruption instruction started from step S22 (step S25). After that, the storage process ends.
- step S21 When it is determined in step S21 that another storage process by the trigger signal having a lower priority is not being executed (step S21; No), the trigger processing unit 661 uses a trigger signal having a higher priority than the received trigger signal. It is determined whether or not the storage process of is being executed (step S26). Specifically, the trigger processing unit 661 determines whether or not the control unit 662 has not yet received the completion notification of the storage of the image information corresponding to the trigger signal having a higher priority than the reception trigger signal.
- step S26; No When it is determined that another storage process by the trigger signal having a high priority is not being executed (step S26; No), the trigger processing unit 661 shifts the process to step S28. On the other hand, when it is determined that another storage process by the trigger signal having a high priority is being executed (step S26; Yes), the trigger processing unit 661 waits until the other storage process is completed (step S27). Specifically, the trigger processing unit 661 waits until the completion notification of other storage processing is received from the control unit 662.
- the trigger processing unit 661 instructs the control unit 662 to store the image information by the received trigger signal (step S28), and the control unit 662 reads the image information from the first storage unit 65 according to the instruction in step S28. It is stored in the second storage unit 67 (step S29). After that, the storage process ends.
- FIG. 11 schematically shows the timing at which the components of the control device 10 operate.
- the reception unit 63 starts receiving the image information from the time T2.
- the low level corresponds to the state in which the power is turned off
- the high level corresponds to the state in which the power is turned on.
- reception of image information the low level corresponds to the state in which the image information is not received
- the high level corresponds to the state in which the image information is periodically received.
- the trigger processing unit 661 instructs the time T4 to store the image information of the second priority
- the control unit 662 receives the second storage unit 67 from the time T5.
- the low level corresponds to the state where there is no trigger signal
- the high level corresponds to the reception of the trigger signal by the trigger processing unit 661. ..
- the high level is in the state where the trigger processing unit 661 instructs the control unit 662 to store the image information.
- the low level corresponds to the state in which the trigger processing unit 661 does not instruct the storage. Further, regarding “storage of image information having the second highest priority” and “storage of image information having the highest priority”, the low level reads the image information from the first storage unit 65 and stores the image information in the second storage unit 67.
- the high level corresponds to the state in which none of the writing of the image information is executed, and the high level corresponds to the state in which at least one of these reading and writing is executed.
- the "image information of the first priority” and the "image information of the second priority” here indicate the image information to be saved corresponding to the priority attached to the trigger signal, and are convenient. It is a notation for distinguishing image information.
- the trigger processing unit 661 executes the interrupt processing by the trigger of the first priority at the time T7. Then, at time T8, an instruction to suspend the storage of the image information having the second highest priority is given.
- the low level corresponds to the state in which the interrupt processing is not executed
- the high level corresponds to the state in which the interrupt processing is executed.
- the low level corresponds to the state in which the interruption instruction is not given
- the high level corresponds to the state in which the interruption instruction is given.
- the storage of the image information having the second highest priority is interrupted at time T9. Then, at the time T10, the trigger processing unit 661 instructs the storage of the image information having the first priority, and at the time T11, the control unit 662 instructs the second storage unit 67 of the image information having the first priority. Starts storage in. At the time T12 after the storage is completed, the trigger processing unit 661 is notified of the storage completion flag of the image information having the highest priority. This flag corresponds to the completion notification of storage from the control unit 662 to the trigger processing unit 661. In addition, in FIG.
- the low level corresponds to the state where there is no flag notification
- the high level corresponds to the state. Corresponds to the state where there is a notification.
- the trigger processing unit 661 stops the storage interruption instruction at the time T13, and the control unit 662 resumes the storage of the image information having the second highest priority from the time T14. Then, when the storage of the image information having the second highest priority is completed at the time T15, the trigger processing unit 661 is notified of the storage completion flag of the image information having the second highest priority at the time T16.
- the storage unit 66 when the storage unit 66 receives the trigger signal from the execution unit 11 and when the storage unit 66 receives the trigger signal from the reception unit 63, the image information is stored in the second storage unit 67. Store. As a result, the image information can be quickly stored in the second storage unit 67 at the timing when the trigger signal is received, without delay due to communication with the external device of the control device 10. Further, for the trigger signal from the environment detection device 40, the image information is stored in the second storage unit 67 by the storage unit 66 without interposing the execution unit 11 that executes the control program 111.
- the image information is appropriately stored in the second storage unit 67 by the storage unit 66. Further, since the storage unit 66 can process the trigger signal from the environment detection device 40 without interposing the execution unit 11, a time lag for processing the trigger signal from the environment detection device 40 in the execution unit 11 is generated.
- the image information can be stored in the second storage unit 67 without any problem. Therefore, it becomes possible to facilitate the verification of the image taken when controlling the controlled devices 31 and 32.
- the image recording unit 13 records an image based on the trigger signal from the execution unit 11. Therefore, it is possible to verify the recorded image based on the abnormality detected by the execution unit 11 that executes the control program 111. Further, the image recording unit 13 is based on both the trigger signal from the execution unit 11 and the trigger signal from the environment detection device 40, and the image is imaged under more advanced conditions than when the image is recorded by either one of the trigger signals. Information can be saved. As a result, the time for investigating the cause of troubleshooting can be reduced.
- FIG. 12 shows a comparative example in which the execution unit 11 intervenes in the processing of the trigger signal from the environment detection device 40.
- the trigger signals from the environment detection device 41 and the image pickup device 42 are input to the execution unit 11 and the input / output unit 12.
- this trigger signal is transmitted to the execution unit 11 through the system bus 101.
- FIG. 13 exemplifies the log of the execution unit and the log of the image recording unit in the case where the trigger signal from the environment detection device 40 is processed by the control device shown in FIG. 12 and the image X as image information is saved. ing.
- the image recording unit takes an image after the execution unit 11 receives the trigger signal from the environment detection device 40. It takes about 0.3 seconds as the processing time in the execution unit 11 until the save instruction is received. Further, it takes about 0.2 seconds from the time when the image recording unit receives the image saving instruction to the time when the image X is saved.
- the user In order to identify the time when the trigger signal for storing the image X is generated, the user needs to check the log of the execution unit 11 and the log of the image recording unit as shown in FIG. 13 in detail. be. Specifically, it is necessary to grasp the correspondence relationship shown by the broken line arrow in FIG. Therefore, the log confirmation work may become complicated.
- FIG. 14 shows a log of the image recording unit 13 in the case where the control device 10 according to the present embodiment processes the trigger signal from the environment detection device 40 and saves the image X as image information. ..
- the execution unit 11 when the execution unit 11 does not intervene, the execution unit 11 does not have a processing time, and the trigger signal from the environment detection device 40 does not have a processing time. There is no time lag for processing in the execution unit 11. Further, the user does not need to match the log of the execution unit 11 with the log of the image recording unit 13. Therefore, it is possible to reduce the time for investigating the cause of troubleshooting.
- the storage unit 66 stores the image information in a different storage area each time the trigger signal is received. Therefore, even when a plurality of trigger signals are generated at short time intervals and a part or all of the image information corresponding to these trigger signals is duplicated, the image information corresponding to each trigger signal can be easily confirmed. can do.
- the image recording unit 13 may be configured by omitting the first storage unit 65 and the second storage unit 67.
- image information is stored in the first storage unit 65 and the second storage unit 67, which are external server devices.
- the control unit 662 may instruct the first storage unit 65 to transfer the image information to the second storage unit 67 without reading the image information from the first storage unit 65.
- control device 10 is composed of the execution unit 11, the input / output unit 12, and the image recording unit 13, but may be further provided with other units. Further, the hardware configuration for realizing the functions of the plurality of units may be housed in one housing, and the configuration of the control device for realizing the above-mentioned functions may be used.
- control system 100 is not limited to the system for operating the production line, and may be another system having a processing line and an inspection line, or may be a system for executing process control in the plant.
- the image information provided from the image pickup apparatus 42 has been described as information to be recorded for verification, but the present invention is not limited to this.
- the control device 10 periodically receives environmental information indicating the measurement result of the environment by the environment detection device 40 and stores it in the first storage unit 65, and the environmental information before and after the trigger signal is stored in the second storage unit 67. You may save it.
- each unit of the control device 10 is not limited to that illustrated in FIG.
- the means for realizing the functions shown in FIG. 3 is not limited to software, and a part or all thereof may be realized by a dedicated hardware configuration.
- the functional components of the image recording unit 13 are configured by using a dedicated circuit typified by FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit), the speed of the image recording unit 13 can be increased. It is possible to save power.
- This disclosure is suitable for a system that controls equipment and records images.
- control system 10 control device, 101 system bus, 11 execution unit, 111 control program, 112 data, 12 input / output unit, 13 image recording unit, 20 setting terminal, 21 trigger setting screen, 31, 32 controlled devices, 40 Environment detection device, 41 environment detection device, 42 imaging device, 51 processor, 52 main memory, 53 auxiliary storage, 54 input, 55 output, 56 communication, 57 internal bus, 61 communication, 62 reception, 63 receiving unit, 64 image processing unit, 65 first storage unit, 66 storage unit, 661 trigger processing unit, 662 control unit, 67 second storage unit, 6701 to 6712 storage area, P1 program, T1 to T16 time.
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Abstract
Description
図1には、本実施の形態に係る制御装置10により形成される制御システム100の構成が示されている。制御システム100は、製造ラインを稼働させるために工場に構築されて、トラブルの検証に備えて画像を撮影して記録するシステムである。制御システム100は、被制御機器31,32を制御する制御装置10と、制御装置10の動作をユーザが設定するための設定端末20と、製造ラインに設置された被制御機器31,32と、製造ラインに設置されて周囲の環境を検知する環境検知機器41と、製造ラインに関する状況の画像を撮影する撮像機器42と、を有する。
Claims (5)
- 撮像機器に接続されて被制御機器を制御する制御装置であって、
前記被制御機器を制御するための制御プログラムを実行し、前記制御プログラムが実行されることで変化するデータについて予め定められた第1条件が成立するときに第1トリガ信号を出力する実行手段と、
前記撮像機器によって撮影された画像を示す画像情報を繰り返し受信し、前記撮像機器又は前記撮像機器とは異なる機器で構成される環境検知装置による検知結果である環境情報について予め定められた第2条件の成立が検知されたことを示す第2トリガ信号を前記環境検知装置から受信する受信手段と、
前記第1トリガ信号を前記実行手段から受信した場合、及び、前記第2トリガ信号を前記受信手段が受信した場合のそれぞれの場合で、前記受信手段によって受信された前記画像情報を記憶手段に格納する格納手段と、
を備える制御装置。 - 前記記憶手段は複数の記憶領域を有し、
前記格納手段は、前記第1トリガ信号又は前記第2トリガ信号を受信する毎に、前記複数の記憶領域における異なる記憶領域に前記画像情報を格納する、
請求項1に記載の制御装置。 - 前記第1トリガ信号及び前記第2トリガ信号のうちの一の信号が他の信号より優先されることの設定を受け付ける受付手段、をさらに備え、
前記格納手段は、前記他の信号の受信による前記画像情報の前記記憶手段への格納が完了する前に前記一の信号を受信すると、前記他の信号の受信に対応する前記画像情報の前記記憶手段への格納を中断し、前記一の信号の受信に対応する前記画像情報を前記記憶手段へ格納する、
請求項1又は2に記載の制御装置。 - 前記実行手段を備える実行ユニットと、
前記受信手段及び前記格納手段を備える画像記録ユニットと、
を備える請求項1から3のいずれか一項に記載の制御装置。 - 実行手段が、被制御機器を制御するための制御プログラムを実行する実行ステップと、
前記実行手段が、前記制御プログラムを実行することで変化するデータについて予め定められた第1条件が成立するときに第1トリガ信号を出力する出力ステップと、
受信手段が、撮像機器によって撮影された画像を示す画像情報を繰り返し受信する第1受信ステップと、
前記受信手段が、前記撮像機器又は前記撮像機器とは異なる機器で構成される環境検知装置による検知結果である環境情報について予め定められた第2条件の成立が検知されたことを示す第2トリガ信号を受信する第2受信ステップと、
格納手段が、前記第1トリガ信号を前記実行手段から受信した場合、及び、前記第2トリガ信号を前記受信手段が受信した場合のそれぞれの場合で、前記受信手段によって受信された前記画像情報を記憶手段に格納する格納ステップと、
を含む画像記録方法。
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