WO2022070238A1

WO2022070238A1 - Emergency stop control system and emergency stop control method

Info

Publication number: WO2022070238A1
Application number: PCT/JP2020/036809
Authority: WO
Inventors: 尚子丸山; 幸徳片桐; 琢也石賀
Original assignee: 株式会社日立製作所
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2022-04-07

Abstract

Provided are an emergency stop control system and an emergency stop control method which use a sense of danger felt by a worker in emergency stop control and are capable of highly precise and quick emergency stop control. The emergency stop control system is characterized by comprising: a sense of danger estimating unit for estimating the sense of danger felt by the worker on the basis of at least one piece of information from among information about the autonomous nervous system and information about the brain activity state of the worker; and an emergency stop control determining unit for determining the need and contents of the emergency stop control on the basis of at least one piece of environment information pertaining to the object to be controlled and emergency stop operation information of the worker, and the sense of danger felt by the worker estimated by the sense of danger estimating unit.

Description

Emergency stop control system and emergency stop control method

The present invention relates to the configuration of an equipment control system and its control, and particularly relates to an emergency stop control system and an emergency stop control method that use the sense of crisis possessed by an operator for emergency stop control.

It is important to quickly control the stop when an abnormality occurs at the manufacturing site. Currently, the main response to abnormalities is to stop the equipment by stop control (interlock, danger detection type control, etc.) based on the information of the environment sensor attached to the controlled object or its surroundings, or by emergency stop by the manual operation of the operator. It has become.

However, with this method, if an abnormality is not covered by the environment sensor, or if a person is impatient and makes a mistake in the operation, the abnormality cannot be stopped properly. Even if a person does not make a mistake in the operation, if the time from when the person notices the abnormality to when the operation is performed is long, the influence of the abnormality may not be completely prevented.

Under these circumstances, along with the miniaturization and higher accuracy of biosensors, the development of emotion estimation methods using biometric information is progressing, and it is becoming possible to estimate emotions based on biometric information without being restricted by the environment. .. Using this, efforts are being made to estimate the occurrence of abnormalities from biological information.

As a background technology in this technical field, for example, there is a technology such as Patent Document 1. In Patent Document 1, the voice of the driver's cab is collected, and when it is determined that the person around the driver's cab has an emotion indicating danger, an emergency stop measure is taken.

Further, Patent Document 2 discloses a method of determining an abnormal state based on biological information such as an electrocardiogram, a heart rate, a pupil diameter, an electroencephalogram, and a body temperature, and executing an emergency state process.

Japanese Unexamined Patent Publication No. 2019-167680 Japanese Unexamined Patent Publication No. 2017-51350

However, in the configuration disclosed in Patent Document 1, it is difficult to detect an abnormality unless utterances associated with the abnormality are made around the driver's cab.

Further, in the configuration disclosed in Patent Document 2, since the biological information that fluctuates unconsciously such as the heart rate is also affected by the original mental state and the like, the determination of the abnormal state using only the biological information is abnormal. There is a possibility of false detection or omission of detection, and it is difficult to use when there is a large loss cost due to an emergency stop or when there is a risk of cost or human life when an abnormality occurs.

Therefore, an object of the present invention is an emergency stop control system and an emergency stop that can perform highly accurate and quick emergency stop control in an emergency stop control system and an emergency stop control method that utilize the sense of crisis of an operator for emergency stop control. It is to provide a control method.

In order to solve the above problems, the present invention has a risk of estimating the sense of crisis possessed by the worker based on at least one or more of the information on the autonomic nervous system of the worker and the information on the activity state of the brain. The necessity of emergency stop control and the necessity of emergency stop control based on the sense estimation unit, at least one of the environmental information regarding the control target and the emergency stop operation information of the worker, and the sense of crisis of the worker estimated by the crisis sense estimation unit. It is characterized by including an emergency stop control determination unit that determines the content.

Further, the present invention is a step of (a) estimating the sense of crisis possessed by the worker based on at least one or more information among the information on the autonomic nervous system of the worker and the information on the activity state of the brain, (b). ) The necessity and content of the emergency stop control are determined based on at least one of the environmental information regarding the control target and the emergency stop operation information of the worker, and the sense of crisis of the worker estimated in the step (a). It is an emergency stop control method having a step.

According to the present invention, in the emergency stop control system and the emergency stop control method that utilize the sense of crisis of the operator for the emergency stop control, the emergency stop control system and the emergency stop control method capable of high-precision and quick emergency stop control. Can be realized.

Issues, configurations and effects other than those described above will be clarified by the explanation of the following embodiments.

It is a schematic block diagram of the device control system which concerns on Example 1 of this invention. It is a flowchart which shows the device control method which concerns on Example 1 of this invention. It is a flowchart which shows the modification of FIG. (Modification 1) It is a flowchart which shows another modification of FIG. (Modification 2) It is a figure which shows the modification of FIG. (Modification 3) It is a schematic block diagram of the device control system which concerns on Example 2 of this invention. It is a flowchart which shows the device control method which concerns on Example 2 of this invention. It is a schematic block diagram of the device control system which concerns on Example 3 of this invention. It is a flowchart which shows the device control method which concerns on Example 3 of this invention. It is a flowchart which shows the modification of FIG. (Modification example 4) It is a schematic block diagram of the device control system which concerns on Example 4 of this invention. It is a flowchart which shows the device control method which concerns on Example 4 of this invention. It is a flowchart which shows the modification of FIG. (Modification 5) It is a flowchart which shows the modification of FIG. (Modification 6) It is a schematic block diagram of the device control system which concerns on Example 5 of this invention. It is a flowchart which shows the device control method which concerns on Example 5 of this invention. It is a flowchart which shows the modification of FIG. (Modification 7) It is a flowchart which shows another modification of FIG. (Modification 8) It is a flowchart which shows the device control method which concerns on Example 6 of this invention. It is a flowchart which shows the modification of FIG. (Modification 9) It is a flowchart which shows another modification of FIG. (Modification 10)

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each drawing, the same components are designated by the same reference numerals, and the detailed description of the overlapping portions will be omitted.

The emergency stop control system and the emergency stop control method according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5. FIG. 1 is a schematic configuration diagram of a device control system according to this embodiment. In this embodiment, the emergency stop control system of the plant will be described as an example, but the present invention is not limited to this.

As shown in FIG. 1, the device control system of this embodiment includes an autonomic nervous system information acquisition unit 101, a brain activity state information acquisition unit 102, a manual operation information acquisition unit 103, and an environmental information acquisition unit 104. It includes a sense of crisis estimation unit 105, an emergency stop control determination unit 106, and a control unit 107.

The autonomic nervous system information acquisition unit 101 acquires the biological information of the worker, which fluctuates due to the activity of the autonomic nerve, by a sensor (not shown) attached to the worker or the environment in which the worker is placed. Biological information that fluctuates depending on the activity of the autonomic nerve is, for example, heartbeat, pulse, sweating, respiration, blood pressure, and body temperature.

The activity state information acquisition unit 102 of the brain acquires the biological information of the worker, which fluctuates depending on the arousal degree of the brain, by a sensor (not shown) attached to the worker or the environment in which the worker is placed. Biological information that fluctuates depending on the degree of arousal of the brain is, for example, electroencephalogram, cerebral blood flow, eye movement, frequency and speed related to body movement, acceleration, and the like.

The manual operation information acquisition unit 103 receives the worker's emergency stop operation information.

The environmental information acquisition unit 104 acquires the information of the environment sensor. An environment sensor is, for example, a sensor (not shown) attached to a controlled object that measures speed, acceleration, temperature, vibration, pressure, sound, flow rate, flow velocity, current, etc., or a specified value or more in a place where the controlled object is installed. It refers to an element that collects information such as the control target cannot continue normal control or cannot continue normal control, such as a mechanism (not shown) that acquires information when the occurrence of seismic intensity is predicted.

The crisis sense estimation unit 105 estimates the sense of crisis possessed by the worker based on at least one or more information from the autonomic nervous system information acquisition unit 101 and the brain activity state information acquisition unit 102. For example, when the heart rate or pulse rate of the autonomic nervous system information is equal to or higher than a predetermined value, or when the β wave contained in the brain wave is equal to or higher than a predetermined ratio in the wakefulness information of the brain, or both conditions. Judge that the worker has a sense of crisis when this is the case. Alternatively, it may be determined that the higher the heart rate or pulse rate, or the higher the proportion of β waves, the higher the sense of crisis.

The biological information for estimating the sense of crisis is not limited to these, and for example, instead of the high heart rate or pulse rate, the low heart rate or pulse fluctuation obtained by an index such as pNNx may be used. However, instead of the height of the β wave ratio, the speed of the worker's body movement or the height of the acceleration acquired by the camera, the acceleration sensor attached to the worker, or the like may be used.

The emergency stop control determination unit 106 determines the necessity and content of emergency stop control based on the information of the crisis sense estimation unit 105 and at least one or more information of the manual operation information acquisition unit 103 and the environment information acquisition unit 104. When it is determined and it is determined that emergency stop control is necessary, the control content is sent to the control unit 107.

Hereinafter, the detailed operation of the emergency stop control determination unit 106 will be described.

FIG. 2 shows an example of the control flow of the present invention in the configuration in which the information of the environment sensor can be acquired.

First, in step S1, it is confirmed whether the controlled object is operating. The flow is terminated if the control target is not in operation, such as before starting or after an emergency stop. If it is in operation, the process proceeds to step S2, and at least one or more information and information of the environmental information acquisition unit 104 are acquired from the autonomic nervous system information acquisition unit 101 and the brain activity state information acquisition unit 102.

Next, the process proceeds to step S3, and the sense of crisis possessed by the worker is estimated from the autonomic nervous system information and the activity state information of the brain.

Subsequently, in step S4, it is determined whether the estimated sense of crisis of the worker is equal to or higher than the predetermined value Th_d. If the estimated sense of crisis of the worker is equal to or higher than the predetermined value Th_d, the process proceeds to step S5, and the emergency stop condition based on the environmental information is relaxed. Specifically, for example, regarding the pressure in the pressure vessel, the condition for performing emergency stop control is changed to a value smaller than a predetermined value indicating that there is a risk of explosion or the like. On the other hand, if the estimated sense of crisis of the worker is smaller than the predetermined value Th_d, the process proceeds to step S6 without going through step S5.

Next, in step S6, it is determined whether or not the environmental information satisfies the emergency stop condition based on the information of the environmental information acquisition unit 104. Specifically, it is determined whether or not the information of the environment sensor such as speed and temperature violates the emergency stop condition predetermined for each control target. If the emergency stop condition is relaxed in step S5, it is determined whether or not the emergency stop condition after relaxation is violated.

The state in which the information of the environment sensor violates the emergency stop condition predetermined for each control target is, for example, the information that the hatch that must not be opened during the operation of the control target is open or the pressure in the pressure vessel. Indicates a state in which there is information that exceeds a predetermined value indicating that there is a risk of explosion or the like.

If the environmental information satisfies the emergency stop condition, the process proceeds to step S7 and the emergency stop control is performed. On the other hand, if the emergency stop condition is not satisfied, the flow after step S1 is repeated until the operation of the controlled object is completed. With this control flow, it is possible to accelerate the implementation of emergency stop control based on the sense of crisis of the operator.

<< Modification 1 >>
FIG. 3 shows a modification of FIG. 2. As shown in FIG. 3, the configuration may be such that the steps S2 to S6 are performed first. As a result, it is possible to shorten the time until the emergency stop control is started regardless of the sense of crisis of the operator.

In this configuration, if it is determined in step S6 that the environmental information does not satisfy the emergency stop condition, the process proceeds to step S3 and the sense of crisis of the worker is estimated. Then, in step S4, it is determined whether or not the estimated sense of crisis of the worker is equal to or higher than the predetermined value Th_d.

If the worker's sense of crisis is equal to or higher than the predetermined value Th_d, the emergency stop condition based on the environmental information is relaxed in step S5. The relaxed emergency stop condition is reflected in the emergency stop condition when the next step S6 is executed because the flow from step S2 to step S7 is repeated while the controlled object is operating.

<< Modification 2 >>
FIG. 4 shows another modification of FIG. 2. FIG. 4 shows an example of the control flow of the present invention in a configuration in which information on an emergency stop operation of an operator can be acquired.

First, in step S1, it is confirmed whether the controlled object is operating. The flow is terminated if the control target is not in operation, such as before starting or after an emergency stop. If it is in operation, the process proceeds to step S8, and at least one or more information and information of the manual operation information acquisition unit 103 are acquired from the autonomic nervous system information acquisition unit 101 and the brain activity state information acquisition unit 102.

Subsequently, in step S4, it is determined whether the estimated sense of crisis of the worker is equal to or higher than the predetermined value Th_d. If it is determined that the estimated sense of crisis of the worker is equal to or higher than the predetermined value Th_d, the process first proceeds to step S9, and the control amount at the time of the manual stop operation is changed. Specifically, for example, when an operator performs an operation of lowering the temperature as an emergency stop operation and the amount of temperature decrease is determined according to the operation amount, a coefficient larger than 1 is applied to the amount of temperature decrease with respect to the operation amount. By multiplying by or adding a constant, make it larger than usual. If the amount of operation is small or larger than a certain level, the coefficient or constant may be reduced. Alternatively, when the strength of the worker's sense of crisis is equal to or greater than a predetermined value, the amount of temperature decrease may be increased by a predetermined amount.

Next, the process proceeds to step S10, and the procedure for the manual stop operation is presented. As the presentation method, the emergency stop button may be illuminated, or the emergency stop operation procedure may be shown on the screen. If the worker wears AR glasses (Augmented Reality Glasses), the position of the emergency stop button may be displayed in an easy-to-understand manner or the emergency stop operation procedure may be displayed on the screen.

On the other hand, if the estimated sense of crisis of the worker in step S4 is smaller than the predetermined value Th_d, the process proceeds to step S6'without going through steps S9 and S10.

Subsequently, the process proceeds to step S6', and it is determined whether or not the manual operation information satisfies the emergency stop condition based on the information of the manual operation information acquisition unit 103. Specifically, it is determined whether or not there is information such as pressing the emergency stop button. If the manual operation information satisfies the emergency stop condition, the process proceeds to step S7, and emergency stop control is performed. At this time, if the control amount at the time of the manual stop operation is changed in step S9, the emergency stop control is executed with the changed control amount. If the manual operation information does not satisfy the emergency stop condition, the flow after step S1 is repeated until the operation of the controlled object is completed.

With this control flow, first, step S9 can obtain the effect of shortening the time until the control of the emergency stop based on the manual operation of the worker is completed based on the sense of crisis of the worker. Further, since the operation for emergency stop is presented to the operator who has a sense of crisis in step S10, it is possible to prevent the operation from being mistaken due to impatience or the operation procedure being not understood and the emergency stop operation being delayed.

It should be noted that step S9 and step S10 do not necessarily have to perform both, and may be configured to perform only one of them. Further, in step S10, a notification prompting confirmation of safety may be given instead of indicating the emergency stop operation procedure.

The content of the notification may merely indicate that the worker's sense of crisis is equal to or higher than a predetermined value, or may be a method of presenting a candidate for an abnormality, and the knowledge and responsibility for dealing with the abnormality may be improved. If a high-ranking worker is known, it may be encouraged to seek advice from that person. For example, when the cause of the abnormality is unknown, it may be difficult to accurately present the manual operation stop procedure. In the method of presenting the abnormality candidates, an emergency stop operation procedure may be shown for each abnormality candidate.

With the above control, it is possible to provide quick and highly accurate emergency stop control.

<< Modification 3 >>
Regarding the predetermined value Th_d of the sense of crisis that the worker determines in step S4 of FIGS. 2 to 4, the longer the time required for the emergency stop, the more the worker feels the sense of crisis. It may be configured to lower the predetermined value Th_d of the sense of crisis that is judged to be possessed. FIG. 5 shows a schematic configuration diagram of the method. FIG. 5 corresponds to a modified example of FIG.

The manual operation required time acquisition unit 108 acquires the time required to complete the emergency stop by manual operation or the time required to complete the emergency stop control based on the environmental conditions. This value may be a value determined by the number of emergency stop procedures, etc., or is a value that is set larger as the distance between the worker and the emergency stop button, etc. is longer by grasping the position information of the worker. There may be. By lowering Th_d as this value increases, it is possible to facilitate emergency stop control at an earlier stage, and it is possible to facilitate response to an abnormality.

In addition, the setting of the predetermined value Th_d of the sense of crisis that the worker judges to have a sense of crisis is set based on the autonomic nervous system information and the activity state information of the brain when the manual stop operation is actually performed. You may. It may be configured to appropriately reset the setting with a high rate of failure to detect that a certain period of time has passed or that there is a sense of crisis when the manual stop operation is performed. As a result, it is possible to prevent the detection accuracy of the sense of crisis from being lowered due to the replacement of workers.

The emergency stop control system and the emergency stop control method according to the second embodiment of the present invention will be described with reference to FIGS. 6 and 7. FIG. 6 is a schematic configuration diagram of the device control system according to the present embodiment. In this embodiment, a method of estimating the cause of the sense of crisis possessed by the worker by using the line-of-sight information of the worker and utilizing it for emergency stop control will be described. The description of the configuration having the same function as that of the first embodiment will be omitted.

As shown in FIG. 6, in the device control system of this embodiment, the line-of-sight information acquisition unit 109 is added to the device control system of the first embodiment (FIG. 1). In FIG. 6, the crisis sense estimation unit 105 estimates the sense of crisis possessed by the worker by using the information of both the autonomic nervous system information acquisition unit 101 and the brain activity state information acquisition unit 102. However, as in Example 1 (FIG. 1), at least one or more information of the autonomic nervous system information acquisition unit 101 and the brain activity state information acquisition unit 102 may be used.

The line-of-sight information acquisition unit 109 acquires information on an object that the worker pays attention to based on the line-of-sight information of the worker. Examples of the acquisition method include a method of acquiring an object in which a large amount of the worker's line of sight stays by using a line-of-sight sensor installed in front of the worker's work space or a spectacle-type line-of-sight sensor.

The crisis sense estimation unit 105 uses the information of the line-of-sight information acquisition unit 109 in addition to the information from at least one of the autonomic nervous system information acquisition unit 101 and the brain activity state information acquisition unit 102, and the worker's crisis. Estimate the height of the feeling and the target.

The emergency stop control determination unit 106 determines the necessity of emergency stop control by using the height of the worker's sense of crisis estimated by the crisis sense estimation unit 105 and the information of the target.

FIG. 7 shows an example of the control flow of this embodiment. A method of using the information obtained by the line-of-sight information acquisition unit 109 in the configuration capable of acquiring the information of the environment sensor described with reference to FIG. 2 in the first embodiment will be described. The same function as in FIG. 2 will be omitted.

First, when it is determined in step S1 that the controlled object is operating, at least one or more information and environmental information from the autonomic nervous system information acquisition unit 101 and the brain activity state information acquisition unit 102 in step S11. The information of the acquisition unit 104 and the information of the line-of-sight information acquisition unit 109 are acquired.

Next, in step S3, the sense of crisis of the worker is estimated, and in step S12, the degree of attention of the worker to the controlled object is calculated. The order of steps S3 and S12 does not matter. As the calculation method, for example, a calculation method is used in which the degree of attention to the controlled object increases in proportion to the time that the operator's line of sight stays in the controlled object or the control monitor.

Subsequently, in step S4, it is determined whether the estimated sense of crisis of the worker is equal to or higher than the predetermined value Th_d. When it is determined that the height of the sense of crisis of the worker is equal to or higher than the predetermined value Th_d, and the degree of attention of the worker to the controlled object is equal to or higher than the predetermined value Th_a in step S13, the process proceeds to step S5 and the environmental information is displayed. Relax the emergency stop conditions based on this. The order of steps S4 and S13 does not matter.

If the worker's sense of crisis estimated in step S4 is smaller than the predetermined value Th_d, or if the degree of attention of the worker to the controlled object in step S13 is smaller than the predetermined value Th_a, the step is not performed through step S5. Proceed to S6.

With the above control, there is no need to implement control changes that make it easier to perform emergency stop control when, for example, a worker feels a sense of crisis due to information that does not originate from the controlled object (for example, Internet information viewed on a smartphone). Therefore, it is possible to improve the accuracy of the emergency stop control using the sense of crisis of the operator.

In each modification described with reference to FIGS. 3 and 4 in the first embodiment, step S11 is performed instead of step S2 and step S8, and steps S3 and S12 are continuously performed, and step S4 and The same effect can be obtained by making the configuration in which steps S13 are continuously performed.

The emergency stop control system and the emergency stop control method according to the third embodiment of the present invention will be described with reference to FIGS. 8 to 10. FIG. 8 is a schematic configuration diagram of the device control system according to the present embodiment. In this embodiment, a method of changing the emergency stop control method using the sense of crisis of the worker will be described based on the skill level of the worker. The description of the configuration having the same functions as those of the first embodiment and the second embodiment will be omitted.

As shown in FIG. 8, in the device control system of this embodiment, the personal ID acquisition unit 110 acquires information that can identify the worker. For example, it may be information such as the reading result of an employee ID card, or it may be unique biometric information such as a fingerprint or an iris. Further, the skill level acquisition unit 111 acquires the skill level of the worker associated with the personal ID. The proficiency level is acquired as information such as years of work experience and work experience time.

The crisis sense estimation unit 105 changes the predetermined value Th_d of the crisis sense that the worker determines that the worker has a sense of crisis based on the result of the skill level acquisition unit 111.

The emergency stop control determination unit 106 uses information on the height of the worker's sense of crisis estimated by the crisis sense estimation unit 105 and the worker's skill level acquired by the skill level acquisition unit 111, and whether or not emergency stop control is necessary. To judge.

FIG. 9 shows an example of the control flow of the present invention in a configuration in which information on an emergency stop operation of an operator can be acquired.

First, in step S1, it is confirmed whether the controlled object is operating. When it is determined that the control target is operating, in step S14, each information of the autonomic nervous system information acquisition unit 101, the brain activity state information acquisition unit 102, the manual operation information acquisition unit 103, and the personal ID acquisition unit 110 is acquired. do.

Next, the process proceeds to step S15, the skill level of the worker is acquired from a database (not shown) based on the personal ID information, and the sense of crisis of the worker is estimated in step S3. The order of steps S15 and S3 does not matter.

Subsequently, in step S16, it is confirmed whether the skill level of the worker is equal to or higher than the predetermined value Th_s. If it is equal to or higher than the predetermined value Th_s, the process proceeds to step S17, and the threshold value Th_d for the height of the sense of crisis is changed. In many cases, it is desirable to lower it. This is because workers who are inexperienced compared to skilled workers are not confident in judging whether they are normal or abnormal, and tend to have a sense of crisis caused by anxiety. On the other hand, if the skill level of the worker is smaller than the predetermined value Th_s in step S16, the process proceeds to step S4 without going through step S17.

Next, in step S4, it is determined whether the height of the worker's sense of crisis is equal to or higher than the predetermined value Th_d. At this time, if the threshold value Th_d for the height of the sense of crisis is changed in step S17, it is used.

With the above control, the threshold value Th_d with a high sense of crisis can be changed according to the skill level, which is one of the states of the worker, and it is possible to make a highly accurate emergency stop control judgment.

In the control flow of FIG. 9, when the height of the sense of crisis of the worker is equal to or higher than the predetermined value Th_d, the control amount at the time of the manual stop operation is changed in step S9. The higher it is, the larger it may be. Specifically, the controlled variable to be changed with respect to the manipulated variable may be multiplied by a coefficient larger than the coefficient in the method described with reference to FIG. 4, or the added constant may be made larger. It is considered that a skilled person can judge the emergency stop operation more accurately and can perform the operation calmly. Therefore, by this method, accurate emergency stop control can be performed earlier.

It should be noted that the information on the autonomic nervous system of the worker and the information on the activity state of the brain when the worker performs the emergency stop operation are recorded, and the worker poses a danger in step S17 based on the recorded information. The thresholds of the information on the autonomic nervous system presumed to be recognized and the information on the activity state of the brain may be changed.

<< Modification 4 >>
FIG. 10 shows an example of the control flow of the present invention in the configuration in which the information of the environment sensor can be acquired. FIG. 10 corresponds to a modified example of FIG.

In this flow, if it is determined in step S16 that the skill level of the worker is the predetermined value Th_s or more and the worker has a sense of danger of the predetermined value Th_d or more in step S4, the process immediately proceeds to step S7. , Implement emergency stop control.

On the other hand, if either the skill level of the worker or the sense of crisis of the worker is smaller than the predetermined value, the process proceeds to step S6, and the emergency stop control is performed when it is determined that the environmental information satisfies the emergency stop condition. ..

Since it is considered that an inexperienced worker tends to have a sense of crisis due to anxiety when an unfamiliar situation occurs, this control that performs emergency stop control by utilizing the fact that the sense of crisis of an expert is above a predetermined value. The flow makes it possible to perform highly accurate emergency stop control even before the environmental information detects an abnormality.

The emergency stop control system and the emergency stop control method according to the fourth embodiment of the present invention will be described with reference to FIGS. 11 to 14. FIG. 11 is a schematic configuration diagram of the device control system according to the present embodiment. In this embodiment, a method of changing the emergency stop control method using the sense of crisis of the worker will be described based on the experience of the safety education of the worker. The description of the configuration having the same functions as those of the first to third embodiments will be omitted.

Since it is considered that a worker who has received sufficient safety education can have an appropriate sense of crisis, the method shown in this embodiment can perform emergency stop control more accurately and earlier.

As shown in FIG. 11, the device control system of this embodiment is different from the third embodiment (FIG. 8) in that the skill level acquisition unit 111 of FIG. 8 is the safety education experience acquisition unit 112. The safety education experience acquisition unit 112 acquires the safety education experience (content, amount, frequency, implementation date, etc.) of the worker associated with the personal ID. The content of safety education is, for example, the target field, the level and amount of safety education, and the number of days and hours of attendance are, for example.

The crisis sense estimation unit 105 changes the predetermined value Th_d of the crisis sense that the worker determines that the worker has a sense of crisis based on the result of the safety education experience acquisition unit 112. The emergency stop control determination unit 106 uses the information on the height of the worker's sense of crisis estimated by the crisis sense estimation unit 105 and the worker's safety education experience acquired by the safety education experience acquisition unit 112 to control the emergency stop. Judge the necessity of.

FIG. 12 shows an example of the control flow of the present invention in a configuration in which information on an emergency stop operation of an operator can be acquired. Basically, the same control as the control flow shown in FIG. 9 is performed, but in FIG. 9, the skill level of the worker is acquired in step S15, and the sense of crisis is felt in steps S16 and S17 according to the skill level of the worker. Instead of changing the height threshold Th_d, the worker's safety education experience (content, amount, frequency, implementation date, etc.) is acquired in step S19, and the worker's safety education content, amount, frequency, etc. in step S20. Alternatively, if at least one of the reciprocals of the period from the previous safety education is equal to or greater than the predetermined value Th_l, the process proceeds to step S17 to change the threshold value Th_d for the height of the worker's sense of crisis.

<< Modification 5 >>
FIG. 13 shows an example of the control flow of the present invention in a configuration in which information on an emergency stop operation of an operator can be acquired. FIG. 13 corresponds to a modification of FIG.

In this flow, if the worker's safety education index is not equal to or higher than the predetermined value Th_l, the emergency stop operation procedure is presented. If it is determined in step S4 that the height of the worker's sense of crisis is equal to or higher than the predetermined value Th_d, and the worker's safety education index is smaller than the predetermined value Th_l in step S20, the process proceeds to step S10 and the manual stop operation procedure is performed. Present. As in the case of the first embodiment, a notification prompting the confirmation of safety may be given.

This makes it easier for workers who have not received sufficient safety education to perform appropriate emergency stop operations when they have a sense of crisis, while for workers who have received sufficient safety education. Therefore, it is possible to reduce the presentation of information and make it easier to concentrate on judgment.

<< Modification 6 >>
FIG. 14 shows an example of the control flow of the present invention in the configuration in which the information of the environment sensor can be acquired. FIG. 14 corresponds to a modified example of FIG.

In this flow, basically the same control as the control flow shown in FIG. 10 is performed, but in FIG. 10, the skill level of the worker is acquired in step S15, and the skill level and crisis of the worker are obtained in steps S16 and S4. Instead of implementing the emergency stop control when the height of the feeling is equal to or higher than the predetermined value, the worker's safety education experience (content, amount, frequency, implementation date, etc.) is acquired in step S19, and the worker's safety education experience (content, amount, frequency, implementation date, etc.) is acquired in step S20. The predetermined value Th_l or more for at least one index of the content, amount, frequency, or the reciprocal of the period from the previous safety education of the safety education, and the height of the worker's sense of crisis in step S4 is the predetermined value Th_d or more. If it is determined that the above is the case, the process proceeds to step S7 and the emergency stop control is immediately performed.

The emergency stop control system and the emergency stop control method according to the fifth embodiment of the present invention will be described with reference to FIGS. 15 to 18. FIG. 15 is a schematic configuration diagram of the device control system according to the present embodiment. In this embodiment, a method of changing the emergency stop control method using the sense of crisis of the worker will be described based on the work experience of the worker. The description of the configuration having the same functions as those of Examples 1 to 4 will be omitted.

It is considered that a worker who has sufficient work experience can have an appropriate sense of crisis, so that the emergency stop control can be performed more accurately and early by the method shown in this embodiment.

As shown in FIG. 15, the device control system of this embodiment is different from the third embodiment (FIG. 8) and the fourth embodiment (FIG. 11) in that the information of the personal ID acquisition unit 110 and the business information acquisition unit 113 is used. Based on this, the work experience acquisition unit 114 acquires the work experience information of the worker associated with the personal ID for the current work. Work experience refers to the number of years of experience, the number of days of experience, the time of experience, the number of times of experience, etc. for each work.

The crisis sense estimation unit 105 changes the predetermined value Th_d of the crisis sense that the worker determines that the worker has a sense of crisis based on the result of the work experience acquisition unit 114. The emergency stop control determination unit 106 uses information on the height of the worker's sense of crisis estimated by the crisis sense estimation unit 105 and the worker's work experience acquired by the work experience acquisition unit 114, and whether or not emergency stop control is necessary. To judge.

FIG. 16 shows an example of the control flow of the present invention in a configuration in which information on an emergency stop operation of an operator can be acquired. Basically, the same control as the control flow shown in FIGS. 9 and 12 is performed, but in step S21 of FIG. 16, the business information currently being performed by the worker is acquired, and in step S22, the worker's personal ID. Acquire the experience information of the current work linked to. In step S23, if the predetermined value Th_e or more for at least one index such as the number of years of experience, the number of days, the time, and the number of times of the current work, the process proceeds to step S17, and the threshold value of the worker's sense of crisis is high. Change Th_d.

It should be noted that the current business information may be acquired from the schedule information of the worker, etc., or may be based on the information such as department transfer.

<< Modification 7 and Modification 8 >>
FIG. 17 shows an example (modification example 7) of the control flow of the present invention in a configuration in which information on an emergency stop operation of an operator can be acquired, and FIG. 18 shows a control flow of the present invention in a configuration in which information on an environment sensor can be acquired. An example (modification example 8) is shown. 17 and 18 both correspond to the modified examples of FIG.

In the method described in the modified example 5 (FIG. 13) and the modified example 6 (FIG. 14), the acquisition of business information is added and the work experience is used instead of the worker's safety education index, as in the method described in FIG. Change the emergency stop control method using the sense of crisis of the worker according to the index.

In the modification 7 (FIG. 17), if it is determined in step S23 that the work experience index is smaller than the predetermined value Th_e, the process proceeds to step S10 to present an emergency stop operation procedure. Further, in the modified example 8 (FIG. 18), at least one index such as the number of years of experience, the number of days, the time, and the number of times of the current work is equal to or more than the predetermined value Th_e, and the worker has a high sense of crisis in step S4. If it is determined that is equal to or greater than the predetermined value Th_d, the process proceeds to step S7 to immediately implement the emergency stop control.

The emergency stop control system and the emergency stop control method according to the sixth embodiment of the present invention will be described with reference to FIGS. 19 to 21. In this embodiment, a method of changing the emergency stop control method by using the information of a plurality of workers in the workplace will be described. The description of the configuration having the same functions as those of the first to fifth embodiments will be omitted.

By the method shown in this embodiment, a function such as a double check can be realized based on the information perceived by a plurality of workers, and emergency stop control can be performed more accurately and at an early stage.

FIG. 19 shows an example of the control flow of the present invention in the configuration in which the information of the environment sensor can be acquired. In the method described in the first embodiment (FIG. 2), instead of step S4, the process proceeds to step S24, and is there a worker having a high sense of crisis of a predetermined value Th_d or more in the workplace? To confirm. If the value is Th_n or more, the process proceeds to step S5 to relax the emergency stop condition based on the environmental information.

<< Modification 9 >>
FIG. 20 shows another example of the control flow of the present invention in the configuration in which the information of the environment sensor can be acquired. FIG. 20 corresponds to a modified example of FIG.

If it is determined in step S24 that a worker having a high sense of crisis of a predetermined value Th_d or more exists in the workplace, the process proceeds to step S7 and emergency stop control is immediately performed. When a plurality of people have a sense of crisis, it is considered that an obvious abnormality has occurred in the workplace. Therefore, with this configuration, emergency stop control can be implemented at an early stage.

<< Modification 10 >>
FIG. 21 shows an example of the control flow of the present invention in a configuration in which information on an emergency stop operation of an operator can be acquired. FIG. 21 corresponds to yet another modification of FIG.

In the method described in the modified example 2 (FIG. 4), instead of step S4, the process proceeds to step S24, and is there a worker having a high sense of crisis of a predetermined value Th_d or more in the workplace? To confirm. If the value is Th_n or more, the process proceeds to step S10, and the manual stop operation procedure is presented to the manual stop operator. As described with reference to FIG. 4, a notification prompting confirmation of safety may be given.

In this embodiment, since the control is changed based on the information of the operator other than the manual stop operator, the manual stop operation in step S9 is performed so that the manual stop operator does not perform unexpected control. Does not include the step of changing the control amount of.

Note that information on all workers in the workplace may be used, or information on only workers involved in safety monitoring may be used.

All the above-described embodiments can be used for a plant control system, a vehicle control system equipped with a driver assist system, a construction machine also equipped with an operator assist system, and the like as control targets. In addition, as an implementation method, a method of relaxing the emergency stop condition when the sense of crisis is equal to or higher than a predetermined value, changing the control amount at the time of the manual stop operation, and presenting the emergency stop operation procedure is shown, and the manual stop operation is further performed. We explained the method considering the time required for the work and the method of using information such as the skill level of the worker, safety education experience, work experience as a result of estimating the cause of the sense of crisis from the line of sight information, but these are used in combination. You may.

Further, the present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above embodiments have been described in detail to aid in understanding of the present invention and are not necessarily limited to those comprising all of the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

101 ... Autonomic nervous system information acquisition unit, 102 ... Brain activity status information acquisition unit, 103 ... Manual operation information acquisition unit, 104 ... Environmental information acquisition unit, 105 ... Crisis estimation unit, 106 ... Emergency stop control judgment unit, 107 ... Control unit, 108 ... Manual operation time required acquisition unit, 109 ... Line-of-sight information acquisition unit, 110 ... Personal ID acquisition unit, 111 ... Skill level acquisition unit, 112 ... Safety education experience acquisition unit, 113 ... Business information acquisition unit, 114 … Work experience acquisition department.

Claims

A crisis sense estimation unit that estimates the sense of crisis possessed by the worker based on at least one or more of the information on the autonomic nervous system of the worker and the information on the activity state of the brain.
The necessity and content of emergency stop control are determined based on at least one of the environmental information regarding the control target and the emergency stop operation information of the worker, and the sense of crisis of the worker estimated by the crisis sense estimation unit. Stop control judgment unit and
An emergency stop control system characterized by being equipped with.
In the emergency stop control system according to claim 1,
When the height of the sense of crisis possessed by the worker is equal to or higher than the predetermined value,
A function to relax the operating conditions of the emergency stop control based on the environmental information, a function to increase the control amount by the manual operation of the operator in the emergency stop control, a function to present an emergency stop operation procedure or issue a notification prompting safety confirmation. An emergency stop control system characterized by implementing any of the above.
In the emergency stop control system according to claim 1,
It has a function of recording information on the autonomic nervous system of the worker and information on the activity state of the brain when the worker performs an emergency stop operation.
Based on the information recorded when the worker performs the emergency stop operation, the information of the autonomic nervous system presumed that the worker is aware of the danger in the crisis sense estimation unit and the activity state of the brain. An emergency stop control system characterized by changing each threshold of information in.
In the emergency stop control system according to claim 1,
It has a function of estimating the time required for the worker to perform the emergency stop operation.
An emergency stop control system characterized in that the longer it takes to perform an emergency stop operation, the lower the threshold value for determining that the worker is aware of the danger in the crisis sense estimation unit.
In the emergency stop control system according to claim 1,
It has a function of acquiring the line-of-sight information of the worker and a function of estimating information of a control target to be noticed by the worker from the line-of-sight information.
An emergency stop control system, characterized in that emergency stop control is performed based on information that the worker recognizes a danger when the degree of attention to the controlled object of the worker is equal to or higher than a predetermined value.
In the emergency stop control system according to claim 1,
It has a function to acquire any of the proficiency level of the worker, the index related to the safety education experience of the worker, and the index related to the work experience of the worker.
The worker recognizes the danger in the crisis sense estimation unit based on any of the acquired skill level of the worker, the index related to the safety education experience of the worker, and the index related to the work experience of the worker. An emergency stop control system characterized by changing the threshold value to be determined.
In the emergency stop control system according to claim 1,
It has a function to acquire any of the proficiency level of the worker, the index related to the safety education experience of the worker, and the index related to the work experience of the worker.
Control of the emergency stop operation of the worker when the skill level of the worker is high, the index regarding the safety education experience of the worker is high, or the index of the work experience of the worker is high. An emergency stop control system characterized by increasing the amount.
In the emergency stop control system according to claim 1,
It has a function to acquire any of the proficiency level of the worker, the index related to the safety education experience of the worker, and the index related to the work experience of the worker.
Any of the acquired skill level of the worker, the index related to the safety education experience of the worker, and the index related to the work experience of the worker is equal to or higher than the predetermined value, and the high sense of crisis of the worker is high. An emergency stop control system characterized in that emergency stop control is performed when the value is equal to or higher than a predetermined value.
In the emergency stop control system according to claim 1,
It has a function to acquire an index related to the worker's safety education experience or an index related to the worker's work experience.
When the acquired index related to the safety education experience of the worker or the index related to the work experience of the worker is lower than the predetermined value and the height of the sense of crisis possessed by the worker is equal to or higher than the predetermined value, the worker is notified. An emergency stop control system characterized by presenting an emergency stop operation procedure or performing a notification prompting a safety confirmation.
In the emergency stop control system according to claim 1,
It has a function of estimating the sense of crisis possessed by the plurality of workers based on at least one or more of the information on the autonomic nervous system of the plurality of workers in the workplace and the information on the activity state of the brain.
An emergency stop control system characterized in that the necessity and content of emergency stop control are determined based on the number of workers whose sense of crisis is equal to or higher than a predetermined value.
In the emergency stop control system according to claim 10,
An emergency stop control system characterized in that the operating conditions of the emergency stop control based on the environmental information are relaxed based on the number of workers whose sense of crisis is equal to or higher than a predetermined value.
In the emergency stop control system according to claim 10,
An emergency stop control system characterized in that emergency stop control is performed when the number of workers whose sense of crisis is above a predetermined value is a certain number or more.
In the emergency stop control system according to claim 10,
When the number of workers whose sense of crisis is greater than or equal to a predetermined value is equal to or greater than a certain number, an emergency stop is characterized in that the plurality of workers are presented with an emergency stop operation procedure or notified to urge safety confirmation. Control system.
Emergency stop control method with the following steps;
(A) A step of estimating the sense of crisis possessed by the worker based on at least one or more of the information on the autonomic nervous system of the worker and the information on the activity state of the brain.
(B) The necessity and content of emergency stop control are determined based on at least one of the environmental information regarding the control target and the emergency stop operation information of the worker, and the sense of crisis possessed by the worker estimated in the step (a). Steps to decide.
In the emergency stop control method according to claim 14,
When the height of the sense of crisis possessed by the worker is equal to or higher than the predetermined value,
(C) A step of relaxing the operating conditions of the emergency stop control based on the environmental information, (d) a step of increasing the control amount by the manual operation of the operator in the emergency stop control, (e) presenting or presenting the emergency stop operation procedure. An emergency stop control method characterized by performing one of the steps of issuing a notification prompting a safety confirmation.