WO2022107775A1 - 飛行指令生成装置、およびコンピュータ読み取り可能な記憶媒体 - Google Patents
飛行指令生成装置、およびコンピュータ読み取り可能な記憶媒体 Download PDFInfo
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- WO2022107775A1 WO2022107775A1 PCT/JP2021/042132 JP2021042132W WO2022107775A1 WO 2022107775 A1 WO2022107775 A1 WO 2022107775A1 JP 2021042132 W JP2021042132 W JP 2021042132W WO 2022107775 A1 WO2022107775 A1 WO 2022107775A1
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- Prior art keywords
- flight
- aerial vehicle
- unmanned aerial
- command
- industrial machine
- Prior art date
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- 238000004891 communication Methods 0.000 description 33
- 230000006870 function Effects 0.000 description 12
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 239000000203 mixture Substances 0.000 description 3
- 239000002173 cutting fluid Substances 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45071—Aircraft, airplane, ship cleaning manipulator, paint stripping
Definitions
- the present invention relates to a flight command generator and a computer-readable storage medium.
- a notification device such as a patrol light (registered trademark) attached to an industrial machine has been used to notify the operating state of the industrial machine (Patent Document 1).
- the operating state is, for example, a state in which an alarm is generated in an industrial machine.
- An object of the present invention is to provide a flight command generator capable of reliably notifying an operator of the operating state of an industrial machine, and a computer-readable storage medium.
- the flight command generator From a storage unit in which the flight command generator associates and stores the identification information given to each of the plurality of industrial machines and the information indicating the flight position of the unmanned airplane, and from at least one of the plurality of industrial machines. It includes an acquisition unit that acquires identification information, and a flight command generation unit that generates a flight command for flying an unmanned airplane at a flight position stored in association with the identification information acquired by the acquisition unit.
- a computer-readable storage medium associates and stores the identification information given to each of the plurality of industrial machines with the information indicating the flight position of the unmanned airplane, and at least one of the plurality of industrial machines. It stores the instructions that cause the computer to acquire the identification information from and generate a flight command to fly the unmanned aircraft at the stored flight position in association with the acquired identification information.
- FIG. 1 is a diagram illustrating an example of the entire flight command generation system.
- the flight command generation system 1 includes a flight command generation device 2, an unmanned aerial vehicle 3, and a plurality of industrial machines 4.
- the flight command generator 2 outputs a flight command to the unmanned aerial vehicle 3 to notify the unmanned aerial vehicle 3 of the operating state of the industrial machine 4.
- the flight command generator 2 is mounted on, for example, a PC (Personal Computer) or a server.
- the flight command generator 2 is installed, for example, in a factory or in a building different from the factory.
- Unmanned aerial vehicle 3 is a multicopter type small unmanned aerial vehicle.
- the unmanned aerial vehicle 3 is called a drone.
- the unmanned aerial vehicle 3 flies toward a flight position corresponding to each of the plurality of industrial machines 4 according to the flight command generated by the flight command generator 2, and notifies the operating state of the industrial machine 4 at this flight position.
- the unmanned aerial vehicle 3 patrols the factory until it receives a flight command. Further, the unmanned aerial vehicle 3 may be charged with a battery at a predetermined base until a flight command is received.
- Industrial machine 4 is a device installed in a factory to perform various operations.
- the industrial machine 4 is, for example, a machine tool or an industrial robot. Further, the industrial machine 4 is provided with a numerical control device.
- the numerical control device is a control device that controls the entire industrial machine 4.
- FIG. 2 is a diagram showing an example of the hardware configuration of the flight command generator 2.
- the flight command generation device 2 includes a CPU (Central Processing Unit) 20, a bus 21, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, and a non-volatile memory 24.
- CPU Central Processing Unit
- ROM Read Only Memory
- RAM Random Access Memory
- the CPU 20 is a processor that controls the entire flight command generator 2 according to a system program.
- the CPU 20 reads a system program or the like stored in the ROM 22 via the bus 21.
- the bus 21 is a communication path that connects the hardware in the flight command generator 2 to each other. Each hardware in the flight command generator 2 exchanges data via the bus 21.
- the ROM 22 is a storage device that stores a system program or the like for controlling the entire flight command generation device 2.
- the RAM 23 is a storage device that temporarily stores various data.
- the RAM 23 functions as a work area for the CPU 20 to process various data.
- the non-volatile memory 24 is a storage device that holds data even when the flight command generator 2 is turned off and power is not supplied to the flight command generator 2.
- the non-volatile memory 24 is composed of, for example, an SSD (Solid State Drive).
- the flight command generation device 2 further includes a first interface 25, a display device 26, a second interface 27, an input device 28, and a communication device 29.
- the first interface 25 connects the bus 21 and the display device 26.
- the first interface 25, for example, sends various data processed by the CPU 20 to the display device 26.
- the display device 26 receives various data via the first interface 25 and displays various data.
- the display device 26 is a display such as an LCD (Liquid Crystal Display).
- the second interface 27 connects the bus 21 and the input device 28.
- the second interface 27, for example, sends the data input from the input device 28 to the CPU 20 via the bus 21.
- the input device 28 is a device for inputting various data.
- the input device 28 receives the input of data, for example, and sends the input data to the non-volatile memory 24 via the second interface 27.
- the input device 28 is, for example, a keyboard and a pointing device.
- the input device 28 and the display device 26 may be configured as one device such as a touch panel.
- the communication device 29 is a device that performs wireless communication with the unmanned aerial vehicle 3.
- the communication device 29 communicates using, for example, a wireless LAN or Bluetooth.
- the communication device 29 is a device that communicates with the industrial machine 4 by wire or wirelessly.
- the communication device 29 communicates with the industrial machine 4, for example, it communicates using an internet line.
- FIG. 3 is a diagram showing an example of the hardware configuration of the unmanned aerial vehicle 3.
- the unmanned aerial vehicle 3 includes a battery 30, a processor 31, a bus 32, a memory 33, a motor control circuit 34, a motor 35, a sensor 36, a communication device 37, and a notification device 38.
- the battery 30 supplies electric power to each part of the unmanned aerial vehicle 3.
- the battery 30 is, for example, a lithium ion battery.
- the processor 31 controls the entire unmanned aerial vehicle 3 according to the control program.
- the processor 31 functions as, for example, a flight controller.
- the processor 31 is, for example, a CPU.
- Bus 32 is a communication path that connects each hardware in the unmanned aerial vehicle 3 to each other. Each hardware in the unmanned aerial vehicle 3 exchanges data via the bus 32.
- the memory 33 is a storage device that stores various programs, data, and the like.
- the memory 33 stores, for example, a control program for controlling the entire unmanned aerial vehicle 3.
- the memory 33 is, for example, a ROM, a RAM, or an SSD.
- the motor control circuit 34 is a circuit for controlling the motor 35.
- the motor control circuit 34 drives and controls the motor 35 in response to a control command from the processor 31.
- the motor 35 is controlled by the motor control circuit 34.
- the motor 35 rotates a propeller fixed to a rotating shaft.
- the unmanned aerial vehicle 3 includes, for example, four motors 35, and the motor control circuit 34 controls the rotation of each motor 35 to control the rotation of each motor 35. To fly.
- the sensor 36 is, for example, a distance measuring sensor.
- the sensor 36 measures, for example, the distance to the mark attached to a predetermined position of the industrial machine 4.
- the distance measuring sensor is, for example, a distance measuring sensor using infrared rays, radio waves, or ultrasonic waves.
- the sensor 36 may include, for example, an electronic compass.
- the electronic compass detects the magnetism of the earth and acquires the direction in which the unmanned aerial vehicle 3 is facing.
- the sensor 36 may include an acceleration sensor, an angular velocity sensor, and the like.
- the communication device 37 communicates with the flight command generation device 2 by wireless communication. As described above, the communication device 37 communicates using, for example, a wireless LAN or Bluetooth.
- the notification device 38 is a device that notifies the operating state of the industrial machine 4.
- the notification device notifies the operating state of the industrial machine 4 according to, for example, the color of the lamp, the lighting of the lamp, and the lighting mode such as blinking.
- the notification device 38 may have, for example, a device that notifies the operating state of the industrial machine 4 by sound. That is, the notification device 38 may have a speaker. Further, the notification device 38 may have a display device. In this case, the notification device 38 can display information indicating the operating state of the industrial machine 4 on the display device.
- FIG. 4 is a diagram showing an example of the hardware configuration of the industrial machine 4.
- the industrial machine 4 includes a numerical control device 5, a communication device 6, a servo amplifier 7, a servo motor 8, a spindle amplifier 9, a spindle motor 10, and an auxiliary device 11.
- the numerical control device 5 is a device that controls the entire industrial machine 4.
- the numerical control device 5 includes a CPU 50, a bus 51, a ROM 52, a RAM 53, and a non-volatile memory 54.
- the CPU 50 is a processor that controls the entire numerical control device 5 according to a system program.
- the CPU 50 reads out a system program or the like stored in the ROM 52 via the bus 51. Further, the CPU 50 controls the servo motor 8 and the spindle motor 10 according to the machining program to machine the workpiece.
- the bus 51 is a communication path that connects the hardware in the numerical control device 5 to each other. Each piece of hardware in the numerical control device 5 exchanges data via the bus 51.
- the ROM 52 is a storage device that stores a system program or the like for controlling the entire numerical control device 5.
- the RAM 53 is a storage device that temporarily stores various data.
- the RAM 53 functions as a work area for the CPU 50 to process various data.
- the non-volatile memory 54 is a storage device that holds data even when the power of the industrial machine 4 is turned off and power is not supplied to the numerical control device 5.
- the non-volatile memory 54 is composed of, for example, an SSD.
- the numerical control device 5 further includes an interface 55, an axis control circuit 56, a spindle control circuit 57, a PLC (Programmable Logical Controller) 58, and an I / O unit 59.
- an interface 55 an interface 55, an axis control circuit 56, a spindle control circuit 57, a PLC (Programmable Logical Controller) 58, and an I / O unit 59.
- PLC Programmable Logical Controller
- the interface 55 is a communication path connecting the bus 51 and the communication device 6.
- the interface 55 for example, sends various data received by the communication device 6 to the CPU 50.
- the communication device 6 communicates with the flight command generator 2. As described above, the communication device 6 communicates using, for example, an internet line.
- the axis control circuit 56 is a circuit that controls the servo motor 8.
- the axis control circuit 56 receives a control command from the CPU 50 and outputs a command for driving the servomotor 8 to the servo amplifier 7.
- the shaft control circuit 56 sends, for example, a torque command for controlling the torque of the servomotor 8 to the servo amplifier 7.
- the servo amplifier 7 receives a command from the axis control circuit 56 and supplies electric power to the servomotor 8.
- the servomotor 8 is driven by receiving electric power from the servo amplifier 7.
- the servomotor 8 is connected to, for example, a tool post, a spindle head, and a ball screw for driving a table.
- the machine tool structure such as the tool post, spindle head, and table moves, for example, in the X-axis direction, the Y-axis direction, or the Z-axis direction.
- the spindle control circuit 57 is a circuit for controlling the spindle motor 10.
- the spindle control circuit 57 receives a control command from the CPU 50 and outputs a command for driving the spindle motor 10 to the spindle amplifier 9.
- the spindle control circuit 57 sends, for example, a torque command for controlling the torque of the spindle motor 10 to the spindle amplifier 9.
- the spindle amplifier 9 receives a command from the spindle control circuit 57 and supplies electric power to the spindle motor 10.
- the spindle motor 10 is driven by receiving electric power from the spindle amplifier 9.
- the spindle motor 10 is connected to the spindle and rotates the spindle.
- the PLC 58 is a device that executes a ladder program to control the auxiliary device 11.
- the PLC 58 controls the auxiliary device 11 via the I / O unit 59.
- the I / O unit 59 is an interface for connecting the PLC 58 and the auxiliary device 11.
- the I / O unit 59 sends a command received from the PLC 58 to the auxiliary device 11.
- the auxiliary device 11 is installed in the industrial machine 4 and performs an auxiliary operation when the industrial machine 4 processes a work.
- the auxiliary device 11 may be a device installed around the industrial machine 4.
- the auxiliary device 11 is, for example, a tool changer, a cutting fluid injection device, or an open / close door drive device.
- FIG. 5 is a block diagram showing an example of the functions of each part of the flight command generator 2.
- the flight command generation device 2 includes an acquisition unit 201, a storage unit 202, a flight command generation unit 203, and a flight command output unit 204.
- the acquisition unit 201, the flight command generation unit 203, and the flight command output unit 204 are realized by, for example, performing arithmetic processing by the CPU 20 using the system program stored in the ROM 22 and various data. Further, the storage unit 202 is realized by storing, for example, the data input from the input device 28 or the like or the calculation result of the calculation process by the CPU 20 in the RAM 23 or the non-volatile memory 24.
- the acquisition unit 201 acquires the identification information of the industrial machine 4 from at least one of the plurality of industrial machines 4 arranged in the factory.
- the acquisition unit 201 acquires identification information from the numerical control device 5 using, for example, the communication device 29.
- the identification information is unique information given to each of the plurality of industrial machines 4 arranged in the factory.
- the identification information is, for example, information of a combination of an alphabet indicating the type of machine and a numerical value of several digits.
- the acquisition unit 201 further acquires operation information indicating the operating state of the industrial machine 4 from at least one industrial machine 4.
- the operating state is, for example, a state in which the industrial machine is operating normally, or a state in which an alarm is generated in the industrial machine 4. That is, the operation information indicating the operation state includes information indicating a state in which the industrial machine 4 is normally operating, or information indicating that an alarm has occurred. Further, the operation information may include information indicating the type of the alarm generated in the industrial machine 4.
- the alarm is, for example, an alarm indicating that the tool used in the industrial machine 4 has reached the end of its tool life. Further, the alarm is, for example, an alarm indicating that an overload has occurred in the servo motor or the spindle motor. Further, the alarm is, for example, an alarm indicating that the temperature of the cutting fluid exceeds a predetermined threshold value.
- the storage unit 202 stores the identification information given to each of the plurality of industrial machines 4 in association with the information indicating the flight position of the unmanned aerial vehicle 3.
- FIG. 6 is a diagram illustrating an example of information stored in the storage unit 202.
- the storage unit 202 stores the identification information of the industrial machine 4 arranged in the factory in association with the coordinate values indicating the flight positions of the unmanned airplane 3.
- the coordinate value indicating the flight position is, for example, a coordinate value in a three-dimensional Cartesian coordinate system having a predetermined position in the factory as an origin.
- the coordinate value indicating the flight position is a position corresponding to the position where the industrial machine 4 is arranged.
- the position corresponding to the position where the industrial machine 4 is arranged is, for example, a position directly above the numerical control device 5 of the industrial machine 4 corresponding to the identification information and having a height of 5 [m]. ..
- the flight command generation unit 203 generates a flight command for flying the unmanned aerial vehicle 3 at the flight position stored in association with the identification information acquired by the acquisition unit 201.
- the flight command generation unit 203 refers to the information stored in the storage unit 202 and identifies the flight position stored in association with the identification information of the industrial machine 4.
- the flight command generated by the flight command generation unit 203 includes a command for notifying the notification unit of the unmanned aerial vehicle 3 to notify the operating state of the industrial machine 4.
- the flight command includes a command to notify the notification unit of the unmanned aerial vehicle 3 of the occurrence of the alarm.
- the command to notify the occurrence of the alarm is, for example, a command to light a red lamp on the notification unit of the unmanned aerial vehicle 3.
- the flight command includes a command to notify the notification unit of the unmanned aerial vehicle 3 of the type of alarm.
- the flight command includes a command for notifying the occurrence of the alarm regarding the tool life.
- the command for notifying the occurrence of an alarm regarding the tool life is, for example, a command for turning on a yellow lamp in the notification unit of the unmanned aerial vehicle 3.
- the command for notifying the operating state of the industrial machine may include a command for flying the unmanned aerial vehicle 3 in a flight mode for notifying the operating state of the industrial machine 4.
- the command for notifying the operating state of the industrial machine 4 is, for example, a command for hovering the unmanned aerial vehicle 3 at the flight position stored in the storage unit 202.
- the command for notifying the operating state of the industrial machine 4 is, for example, to fly the unmanned airplane 3 in a flight mode in which the movement is repeated in the vertical direction or the horizontal direction around the flight position stored in the storage unit 202. It may include instructions.
- the command for notifying the operating state of the industrial machine 4 includes a command for flying the unmanned aerial vehicle 3 in a flight mode of rotating or turning around a vertical axis stored in the storage unit 202. May be good.
- the flight command output unit 204 outputs the flight command generated by the flight command generation unit 203.
- the flight command output unit 204 sends a flight command to the unmanned aerial vehicle 3 using the communication device 29. That is, the flight command generator 2 indirectly controls the flight of the unmanned aerial vehicle 3.
- FIG. 7 is a block diagram showing an example of the functions of each part of the unmanned aerial vehicle 3.
- the unmanned aerial vehicle 3 includes a communication unit 301, a flight position specifying unit 302, a flight control unit 303, and a notification unit 304.
- the communication unit 301 communicates with the flight command generator 2.
- the communication unit 301 receives, for example, a flight command from the flight command generator 2.
- the flight position specifying unit 302 specifies the flight position of the unmanned aerial vehicle 3.
- the flight position specifying unit 302 detects the marks on the factory and the industrial machine 4 by the sensor 36 to specify the flight position and the direction of the unmanned aerial vehicle 3.
- the unmanned aerial vehicle 3 is GPS (Global).
- the flight position specifying unit 302 may specify the flight position of the unmanned aerial vehicle 3 by using GPS.
- the unmanned aerial vehicle 3 is detected by a sensor installed in the factory or in the industrial machine 4, and the position and orientation of the unmanned aerial vehicle 3 are calculated based on the detection information received from the sensor by the flight position specifying unit 302. You may. Alternatively, these methods may be combined to determine the position of the unmanned aerial vehicle 3.
- the flight control unit 303 executes flight control of the unmanned aerial vehicle 3 based on the flight command acquired by the communication unit 301 and the position information of the unmanned aerial vehicle 3 specified by the flight position specifying unit 302.
- the flight control unit 303 executes flight control by controlling the rotation speed of each motor 35.
- the flight control unit 303 flies the unmanned aerial vehicle 3 at the flight position indicated by the flight command. Further, the flight control unit 303 performs feedback control using the information indicating the flight position of the unmanned aerial vehicle 3 specified by the flight position specifying unit 302.
- the flight control unit 303 causes the unmanned aerial vehicle 3 to fly to the flight position (X1, Y1, Z1) and hover. Further, when the flight command includes a command to fly the unmanned aerial vehicle 3 in a predetermined flight mode, the flight control unit 303 causes the unmanned aerial vehicle 3 to fly in the predetermined flight mode.
- the predetermined flight mode is a flight mode in which the unmanned aerial vehicle 3 repeatedly moves in the vertical direction or the horizontal direction.
- the notification unit 304 notifies the operating state of the industrial machine 4.
- the notification unit 304 notifies that the industrial machine 4 has an alarm.
- the notification unit 304 notifies that an alarm has occurred in the industrial machine 4, for example, by turning on a red lamp.
- the notification unit 304 notifies the type of the alarm occurring in the industrial machine 4. For example, when the flight command contains information indicating that the tool has reached the end of its tool life, the notification unit 304 turns on the yellow lamp to generate an alarm type in the industrial machine 4. Is notified.
- the notification unit 304 may notify, for example, that an alarm has occurred in the industrial machine 4 or the type of the alarm by voice.
- the notification unit 304 can notify the alarm by using different voices for each type of alarm, for example.
- FIG. 8 is a block diagram showing an example of the functions of each part of the numerical control device 5.
- the numerical control device 5 includes a communication unit 501, a storage unit 502, and a control unit 503.
- the communication unit 501 communicates with the flight command generator 2. For example, the communication unit 501 sends the operation information indicating the operation state of the industrial machine 4 to the flight command generation device 2.
- the storage unit 502 stores, for example, information on a system program, a machining program, and tool correction for controlling the entire numerical control device 5.
- the control unit 503 controls the entire industrial machine 4.
- the control unit 503 executes machining of the work according to, for example, a machining program.
- FIG. 9 is a flowchart showing an example of processing executed by the flight command generator 2.
- the acquisition unit 201 acquires the identification information from the numerical control device 5 (step S1). At this time, the acquisition unit 201 may acquire operation information indicating the operation state of the industrial machine 4.
- the flight command generation unit 203 generates a flight command to fly the unmanned aerial vehicle 3 at the flight position stored in association with the identification information (step S2).
- the flight command output unit 204 outputs the flight command to the unmanned aerial vehicle 3 (step S3), and the process is completed.
- the operating state of the industrial machine 4 can be notified to the unmanned aerial vehicle 3.
- the storage unit 202 that stores the identification information given to each of the plurality of industrial machines 4 in association with the information indicating the flight position of the unmanned airplane 3, and at least one of the plurality of industrial machines.
- An acquisition unit 201 that acquires identification information from the industrial machine 4, a flight command generation unit 203 that generates a flight command to fly the unmanned airplane 3 at a flight position stored in association with the identification information acquired by the acquisition unit 201, and a flight command generation unit 203.
- the unmanned aerial vehicle 3 can be flown at the flight position corresponding to the industrial machine 4. This makes it possible to reliably notify the operator of the operating state of the industrial machine.
- the acquisition unit 201 acquires operation information indicating the operating state of at least one industrial machine 4 from at least one industrial machine 4. Further, the flight command generated by the flight command generation unit 203 includes a command for notifying the notification unit 304 of the unmanned aerial vehicle 3 to notify the operating state. Further, the flight command generated by the flight command generation unit 203 includes a command to make the unmanned aerial vehicle 3 fly in a flight mode for notifying the operating state. Therefore, the flight command generator 2 can reliably notify the operator of the operating state of the industrial machine 4 by using the unmanned aerial vehicle 3.
- the flight mode of the unmanned airplane 3 includes a flight mode in which the unmanned airplane 3 repeatedly moves in the vertical direction, a flight mode in which the unmanned airplane 3 repeatedly moves in the horizontal direction, or an unmanned airplane 3 turns around a vertical axis. Flight modes are included. Therefore, by having the operator confirm the flight mode of the unmanned aerial vehicle 3, the operating state of the industrial machine 4 can be reliably notified to the operator.
- the flight command generator 2 is mounted on the PC or the server, but the flight command generator 2 may be mounted on the numerical control device 5.
- Flight command generator 2 Flight command generator 20
- CPU 21 bus 22
- ROM 23 RAM 24
- Non-volatile memory 25
- Display device 27 2nd interface 28
- Input device 29 Communication device 201
- Acquisition unit 202 Storage unit 203
- Flight command generation unit 204 Flight command output unit 3
- Unmanned airplane 30
- Battery 31 Processor 32
- Memory 34 Motor control circuit 35
- Motor 36 Sensor 37
- Communication device 38 Notification device 301
- Communication unit 302 Flight position identification unit
- Flight control unit 304 Notification unit 4
- Industrial machinery 5 Numerical control device 50
- Non-volatile memory 55
- Interface 56
- Axis control circuit Spindle control circuit
- Spindle control circuit 58
- PLC I / O unit 501
- Control unit 6 Communication device 7
- Servo amplifier 8 Servo motor 9
- Spindle amplifier 10
- Spindle motor 11 Auxiliary equipment
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Abstract
Description
Positioning System)受信機を備えている場合、飛行位置特定部302は、GPSを用いて無人飛行機3の飛行位置を特定してもよい。あるいは、工場内、または産業機械4に設置されたセンサにより無人飛行機3を検知し、飛行位置特定部302がセンサから受けた検知情報に基づいて無人飛行機3の位置、および向きを算出するようにしてもよい。あるいは、これらの方法を組み合わせて、無人飛行機3の位置を特定するようにしてもよい。
2 飛行指令生成装置
20 CPU
21 バス
22 ROM
23 RAM
24 不揮発性メモリ
25 第1のインタフェース
26 表示装置
27 第2のインタフェース
28 入力装置
29 通信装置
201 取得部
202 記憶部
203 飛行指令生成部
204 飛行指令出力部
3 無人飛行機
30 バッテリ
31 プロセッサ
32 バス
33 メモリ
34 モータ制御回路
35 モータ
36 センサ
37 通信装置
38 報知装置
301 通信部
302 飛行位置特定部
303 飛行制御部
304 報知部
4 産業機械
5 数値制御装置
50 CPU
51 バス
52 ROM
53 RAM
54 不揮発性メモリ
55 インタフェース
56 軸制御回路
57 スピンドル制御回路
58 PLC
59 I/Oユニット
501 通信部
502 記憶部
503 制御部
6 通信装置
7 サーボアンプ
8 サーボモータ
9 スピンドルアンプ
10 スピンドルモータ
11 補助機器
Claims (7)
- 複数の産業機械にそれぞれ付与された識別情報と、無人飛行機の飛行位置を示す情報とを関連付けて記憶する記憶部と、
前記複数の産業機械のうちの少なくとも1つの産業機械から前記識別情報を取得する取得部と、
前記取得部によって取得された前記識別情報に関連付けて記憶された前記飛行位置で前記無人飛行機を飛行させる飛行指令を生成する飛行指令生成部と、
を備える飛行指令生成装置。 - 前記取得部は、さらに、前記少なくとも1つの産業機械から前記少なくとも1つの産業機械の稼働状態を示す稼働情報を取得する請求項1に記載の飛行指令生成装置。
- 前記飛行指令は、前記無人飛行機が備える報知部に前記稼働状態を報知させる指令を含む請求項2に記載の飛行指令生成装置。
- 前記稼働状態は、前記産業機械においてアラームが発生している状態である請求項2または3に記載の飛行指令生成装置。
- 前記飛行指令は、前記無人飛行機に前記稼働状態を報知させる飛行態様で飛行させる指令を含む請求項2または3に記載の飛行指令生成装置。
- 前記飛行態様は、前記無人飛行機が上下方向への移動を繰り返す飛行態様、前記無人飛行機が水平方向への移動を繰り返す飛行態様、および前記無人飛行機が垂直軸回りに旋回する飛行態様の少なくとも1つを含む請求項5に記載の飛行指令生成装置。
- 複数の産業機械にそれぞれ付与された識別情報と、無人飛行機の飛行位置を示す情報とを関連付けて記憶することと、
前記複数の産業機械のうちの少なくとも1つの産業機械から前記識別情報を取得することと、
取得された前記識別情報に関連付けて記憶された前記飛行位置で前記無人飛行機を飛行させる飛行指令を生成することと、
をコンピュータに実行させる命令を記憶する記憶媒体。
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