JP2010228065A - Movable machine system, movable machine control system, and determination device - Google Patents

Abstract

【Task】
The reception range of the antenna having a stable size can be set, and even if there are a plurality of transmission sources, it is determined whether any transmission source exists in the reception range of the stable size. A movable mechanical system is provided.
[Solution]
The robot system includes a teaching operation device 10 that wirelessly transmits a signal including ID information and TP data, and includes two antennas 61 and 62 arranged so that a part of a reception range has an overlapping region overlapping each other, When the antennas 61 and 62 receive a data packet including ID information and TP data, the antennas 61 and 62 include a signal strength measuring unit 43 that detects a received signal strength. Of the received signal strengths of the data packets, the determination unit 22 determines whether the received signal strengths of two data packets having the same unique ID are equal to or greater than a determination threshold for determining whether or not the transmission source is located in the overlapping region. Judge with.
[Selection] Figure 2

Description

  The present invention relates to a movable machine system, a movable machine control system, and a determination device that wirelessly connect a portable teaching operation device and a movable machine control device.

  2. Description of the Related Art Conventionally, there has been proposed a movable machine control system that operates while performing wireless communication between a movable machine control device and a portable teaching operation device (hereinafter simply referred to as a teaching operation device) (see Patent Documents 1 to 3). . In these apparatuses, generally, an operator teaches operation using a teaching operation device before a mechanically operated movable machine connected to the movable machine control device by a cable.

  In this case, as shown in FIG. 13, the movable machine (for example, robot) 540 is disposed outside the safety fence 530 and the movable machine (for example, robot) 540 is disposed inside the safety fence 530. In particular, in Patent Documents 2 and 3, as shown in FIG. 13, the movable machine control device 500 is arranged outside the safety fence 530, and the movable machine (for example, robot) 540 is arranged inside the safety fence 530. In particular, in Patent Documents 2, 3, and 4, as shown in FIG. 13, the transmitting / receiving device 520 for performing wireless communication with the teaching operation device 510 is in the movable machine control device 500 or in the vicinity thereof. Is arranged.

By the way, the conventional methods disclosed in Patent Documents 2 to 4 cannot solve the following problems.
That is, since it is not possible to determine whether or not the teaching operation device 510 that has established safety communication with the movable machine control device 500 is near the movable machine 540 in the safety fence 530, safety communication is performed from outside the safety fence 530. It cannot be prohibited to move the movable machine 540 from the established teaching operation device 510. That is, as shown in FIG. 14, when another worker M exists in the safety fence 530 (safety protection space), it is exposed to a dangerous state. Note that the safety communication is communication for the emergency stop function performed between the teaching operation device 510 and the movable machine 540. A safety communication error state in which the movable machine 540 is stopped when an emergency stop switch (not shown) of the teaching operation device 510 is operated, or the safety input cannot be correctly transmitted due to a communication error in safety communication or a failure of the communication device. When this occurs, the safety communication error detection function of the teaching operation device 510 and the movable machine control device 500 is activated, and the movable machine control device 500 instructs the movable machine 540 to perform an emergency stop.

  Patent Document 5 proposes a technique for determining whether or not there is an operator having a teaching operation device in a limited area by overlapping detection areas of a plurality of antennas of a directional antenna and an omnidirectional antenna (FIG. 15). reference).

JP 2008-9872 A JP 2007-42061 A JP 2006-341356 A JP 2006-103838 A JP 2008-59087 A

  For this reason, the problem in Patent Documents 2, 3, and 4 is that an operator having a teaching operation device in a detection area limited by overlapping the detection areas of a plurality of antennas by applying the technique of Patent Document 5. You can see if there is a (sender).

However, the technique of Patent Document 5 cannot solve the following problem.
That is, in Patent Document 5, as shown in FIG. 15, a detection area (multiple detection area) 620 that can be set by a detection area 600 for a directional antenna and a detection area 610 for an omnidirectional antenna is shaped like a fan. It can be a shape. However, in Patent Document 5, since the distance to the transmission source is specified according to the measured value of the received radio wave intensity, the detection area 610 (multiple detection area) is detected when the radio wave intensity fluctuates due to disturbance, not limited to multipath. ) Changes, it is difficult to set a stable detection area.

  In Patent Document 5, if there are a plurality of transmission sources having different radio field intensities on the transmitting side, it is difficult to specify how far each transmission source is from the center of the omnidirectional antenna to be received. It cannot be determined whether or not all the detection areas 610 (multiple detection areas) having a predetermined size exist.

  An object of the present invention is to set a reception range (detection region) of an antenna having a stable size, and even if there are a plurality of transmission sources, the reception range (detection region) of a stable size It is an object of the present invention to provide a movable machine system, a movable machine control system, and a determination device that can determine which transmission source is present.

  In order to solve the above problems, the invention described in claim 1 includes a portable teaching operation device that wirelessly transmits a signal including a unique ID and teaching information, and an overlapping region in which a part of the receiving range overlaps each other. Each unique ID received signal when each of the directional antennas receives a signal including the unique ID and teaching information (hereinafter referred to as a unique ID received signal). Detecting means for detecting the received signal strength of the received signal strength of each of the unique ID received signals, and the received signal strengths of at least two unique ID received signals having the same unique ID are respectively located in the overlapping region. A determination means for determining whether or not the determination threshold is equal to or greater than a determination threshold value for determining whether or not the determination is performed, and the determination means includes at least two unique ID reception signals having the same unique ID A movable machine system comprising: a movable machine control device that controls a movable machine based on teaching information included in a unique ID received signal having the same unique ID when the received signal strength is determined to be equal to or greater than a determination threshold value. Is a summary.

  According to a second aspect of the present invention, in the first aspect of the present invention, in the first aspect, the overlapping range of the received signal strength that is the receiving range of the at least two or more directional antennas is equal to or greater than the determination threshold is disposed outside the operating range of the movable machine. It is characterized by being.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, the movable machine is disposed in a protective fence that restricts the entry and exit of a person, and in the reception range of the at least two directional antennas. An overlapping region of received signal strengths equal to or higher than the determination threshold is located in the protective fence.

  According to a fourth aspect of the present invention, there is provided a signal including at least two or more directional antennas disposed so as to have overlapping regions in which a part of a reception range overlaps each other, and each of the directional antennas includes a unique ID and teaching information. Detecting means for detecting the received signal strength of each unique ID received signal when receiving (hereinafter, referred to as a unique ID received signal), and at least the received signal strength of each unique ID received signal has the same unique ID The determination means for determining whether or not the received signal strengths of the two unique ID received signals are equal to or greater than a determination threshold value for determining whether or not the transmission source is located in the overlapping region, and the determination means have the same unique ID Are included in the unique ID received signal having the same unique ID when the received signal strengths of at least two unique ID received signals having the same The movable machine control system, characterized in that it comprises a movable mechanical control device for controlling a movable machine based on indicates information in which the gist.

  According to a fifth aspect of the present invention, in the fourth aspect of the present invention, in the fourth aspect of the present invention, the overlapping range of the received signal intensity that is the reception range of the at least two or more directional antennas is equal to or greater than the determination threshold. It is characterized by being.

  A sixth aspect of the present invention is the method according to the fourth or fifth aspect, wherein the movable machine is disposed within a protective fence that restricts the entry and exit of a person, and the at least two or more directional antennas are within a reception range. An overlapping region of received signal strengths equal to or higher than the determination threshold is located in the protective fence.

  The invention of claim 7 is a detection means for detecting the received signal strength of a signal including each unique ID when receiving a signal including the unique ID via a plurality of directional antennas provided at different positions; Whether the transmission source is located in the overlapping area of the reception range of the directional antenna with respect to the reception signal strengths of the signals including at least two unique IDs having the same unique ID among the received signal strengths of the signals including the unique ID If the received signal strength of a signal including at least two unique IDs having the same unique ID is equal to or greater than the determination threshold, a signal including the unique ID is transmitted. The transmission source includes a determination unit that determines that a part of the reception range of the plurality of directional antennas is located in an overlapping region where the transmission ranges overlap each other, and outputs the determination result. It is an gist constant device.

  The invention of claim 8 is characterized in that, in claim 7, the determination result is teaching information for operating the movable machine received together with the unique ID.

  As described above in detail, according to the first and fourth aspects of the present invention, the antenna reception range (detection area) can be set, and the stable size can be obtained even when there are a plurality of transmission sources. It is possible to determine which transmission source is present in the reception range (detection region).

  According to the second and fifth aspects of the present invention, the overlapping region of the received signal strength equal to or higher than the determination threshold in the receiving range of at least two directional antennas is disposed outside the operating region of the movable machine. Thus, when the portable teaching operation device is positioned outside the operation area of the movable machine, the effects of the first and fourth aspects of the invention can be realized, and the safety of the worker having the portable operation device can be realized. Can be planned.

According to the third and sixth aspects of the present invention, since the overlapping area is present in the protective fence, the operator can be ensured to be safe only when the worker teaches only in the protective fence.
According to the invention of claim 7, the robot system of claim 1, and claim 2 and the robot control system can be provided as a determination device capable of being realized.

  According to the invention of claim 8, based on the determination result of the determination device, the information sent together with the signal including the unique ID can be utilized as the determination result.

Schematic which shows the arrangement | positioning relationship of the robot system of one Embodiment which actualized this invention. (A) is a block diagram of a robot system, (b) is a block diagram of a teaching operation device. Explanatory drawing of a data packet. The flowchart of the area | region detection determination which the determination part 22 performs. Explanatory drawing which shows the arrangement | positioning relationship of an antenna, a safety fence, and a teaching operation apparatus (station | game). Explanatory drawing which shows the arrangement | positioning relationship of an antenna, a safety fence, and a teaching operation apparatus (station | game). Explanatory drawing which shows the arrangement | positioning relationship of an antenna, a safety fence, and a teaching operation apparatus (station | game). Explanatory drawing of the effect | action of one Embodiment. Explanatory drawing of the effect | action of one Embodiment. Explanatory drawing of the effect | action of one Embodiment. Explanatory drawing of the effect | action of one Embodiment. Explanatory drawing of arrangement | positioning of the antenna of other embodiment. Schematic which shows arrangement | positioning of the conventional system. Schematic which shows the use condition of the conventional system. Explanatory drawing of the conventional detection area | region.

Hereinafter, an embodiment in which the movable machine system of the present invention is embodied in a robot system will be described with reference to FIGS.
As shown in FIG. 1, the robot system includes a portable teaching operation device (hereinafter referred to as a teaching operation device 10) and a robot control device 20 as a movable machine control device as a wireless LAN (local area network) as network means. It is comprised by connecting via the transmitter / receiver 40A, 40B which can perform. A robot control system as a movable machine control system is configured by the robot control device 20 as a movable machine control device and the transmission / reception devices 40A and 40B capable of performing a wireless LAN (local area network) as a network means. ing. In FIG. 1, a plurality of teaching operation devices 10 can wirelessly communicate with the robot control device 20. However, for convenience of explanation, only one teaching operation device 10 is illustrated in FIG. 1.

  The robot R controlled by the robot controller 20 of this robot system is, for example, a welding robot. The movable machine is not limited to a welding robot, and may be a movable device such as another robot such as a transfer robot.

  The robot R is surrounded by a safety fence 50 as a protective fence. In the present embodiment, the safety fence 50 is formed in a square frame shape in a plan view and has a height higher than the height of the robot R. In addition, the height of the safety fence 50 is not limited and may be a height that the worker M cannot easily enter. Further, the shape of the safety fence 50 in a plan view is not limited to a square frame, and may be other shapes such as a circular shape and an elliptical shape. Of the space surrounded by the safety fence 50, the space where the operation of the robot arm is allowed is the operation region D. Further, the space area inside the safety fence 50 outside the operation area D is an allowable space for the operator to enter. The safety fence 50 is provided with an entrance door 92. By opening the entrance door 92, the worker M can enter through the entrance provided in the safety fence 50. The door 92 can be locked when the door 92 is positioned to close the door.

  The teaching operation device 10 includes a CPU (central processing unit) 11, a ROM 12, a RAM 13, a hard disk 14, a wireless LAN I / F (interface) 15, a keyboard 16, and a display device 17. It is connected.

  The ROM 12 stores a program for executing operation and communication of the robot R from the teaching operation device 10. Furthermore, the program stored in the ROM 12 stores, for example, a GUI display processing program for controlling the display of the display device 17 and various programs for causing the CPU 11 to function as a personal computer. The RAM 13 is used as a working area for the CPU 11 and temporarily stores data being calculated. The hard disk 14 stores execution variables of the control program.

  The wireless LAN I / F 15 is a communication device used for wireless connection with the robot control device 20, and includes a transmission / reception unit 15a. The transmission / reception unit 15a performs wireless communication with the transmission / reception devices 40A and 40B of the robot control device 20. Is possible.

  The antennas 61 and 62 of the transmission / reception devices 40A and 40B are directional antennas, and are provided at opposite corners on the diagonal of the safety fence 50 as shown in FIG. The directional antenna may be, for example, a Yagi-Uda antenna or a parabolic antenna. In this embodiment, the antennas 61 and 62 constitute a diversity antenna.

  Since the transmission / reception device 40A and the transmission / reception device 40B have the same configuration, in the following description, the function of each unit included in the transmission / reception device 40A will be described, but the configuration of the transmission / reception device 40B is the same as each unit included in the transmission / reception device 40A. It should be understood as having similar functions. In the following, in each part of the transmission / reception device 40B, the same configuration as the transmission / reception device 40A may be described with the same reference numeral for the sake of convenience.

  The transmission / reception device 40A includes a transmitter 41, a receiver 42, a signal strength measurement unit 43 (RSSI: Received Signal Strength Indicator), a transmission source ID confirmation unit 44, and a data processing unit 45.

  The transmitter 41 and the receiver 42 can wirelessly communicate with the wireless LAN I / F 15 of a plurality of teaching operation devices including the teaching operation device 10. In packet communication between the receiver 42 and the wireless LAN I / F 15, a data packet transmitted from the teaching operation device 10 is generated in the form of a packet by a communication protocol predetermined by the CPU 11 of the teaching operation device 10. The data packet corresponds to a unique ID reception signal.

Here, the data packet received by the receiver 42 will be described.
FIG. 3 shows an example of a data packet transmitted from the teaching operation device 10 by wireless communication. As shown in the figure, the data packet includes destination data 70 for specifying the robot control device 20 to be transmitted from the teaching operation device 10, transmission source data 80 for specifying the transmission source, teaching data or non-teaching data, and the like. TP (teach pendant) data 90, error detection data 100, and the like are included. The TP data 90 includes various operation commands for causing the robot to operate, or data for causing the non-operation processing unit 26 of the robot control device 20 to perform processes other than the robot operation. The TP data 90 corresponds to teaching information.

  The transmission source data 80 includes ID information 82 and waypoint information 84. The ID information 82 is information for specifying the transmission source, that is, the teaching operation device 10, and corresponds to a unique ID.

  The waypoint information 84 includes receiving antenna number information 86 and received signal strength 88 indicating where the data packet has passed. When transmitting from the teaching operation device 10, the CPU 11 of the teaching operation device 10 sets an initial value indicating that nowhere is passed as the receiving antenna number information 86 and an initial value of the received signal strength 88. .

  Then, the receiver 42 stores, as the number information 86 for the received data packet, the reception antenna number information 86 that is unique information of the antenna 61 that has received the data packet. That is, in the transmission / reception device 40A, the receiver 42 indicates that the received data packet is received by the number information 86 via the antenna 61 of the transmission / reception device 40A. Further, the receiver 42 confirms whether or not there is a garbled communication error based on the error detection data 100.

  In the receiver 42, when there is no communication error based on the error detection data 100, the signal strength measuring unit 43 can detect the reception level of the received signal (radio signal) related to the data packet, that is, the received signal strength. is there. The signal intensity measurement unit 43 corresponds to a detection unit. If there is no communication error, the signal strength measuring unit 43 stores the detected reception level (reception signal strength) of the data packet as the reception signal strength 88 of the received data packet.

  The transmission source ID confirmation unit 44 confirms the ID information 82 of the transmission source data 80 of the data packet received by the receiver 42, and stores the ID information of the teaching operation device 10 requesting wireless communication in a storage unit (not shown). Store.

  In this way, the data packet received by the receiver 42 is stored in the signal strength measuring unit 43 in the transit point information 84 (number information 86 and received signal strength 88), and in the transmission source ID confirmation unit 44. If confirmed, the data is sent to the robot controller 20 via the data processing unit 45 and the network NL1.

  In the transmission / reception device 40B, the data packet transmitted from the teaching operation device 10 and received via the antenna 62 is processed in the same manner as the transmission / reception device 40A, and the robot is transmitted via the data processing unit 45 and the network NL2. It is sent to the control device 20.

  The robot control apparatus 20 includes a determination unit 22 as a determination unit, a robot control unit 24, and an out-of-motion processing unit 26. In the present embodiment, the determination unit 22 and the signal intensity measurement unit 43 of the transmission / reception devices 40A and 40B constitute a determination device.

  The determination unit 22 is connected to the data processing unit 45 of the transmission / reception devices 40A and 40B via the networks NL1 and NL2, respectively. The determination unit 22 includes a CPU, a ROM, and a RAM. Regarding the data packet sent from the data processing unit 45 of the transmission / reception devices 40A and 40B according to the region detection determination program stored in the ROM, the region detection determination described later is performed. I do.

  Although not shown, the robot controller 24 includes a CPU, a ROM, a RAM, a servo driver for driving the robot R, a video RAM, and the like, and each part is connected via a bus (not shown). Yes. The ROM stores a control program for controlling the operation of the robot R to be controlled by the robot control device 20, control constants, and the like. The servo driver is connected to a motor (not shown) that drives each joint of the robot R and controls a current to be supplied to the motor. Then, the CPU controls the robot R via the servo driver based on the teaching data. The video RAM is used to temporarily store the GUI screen data to be displayed on the display device 17 of the teaching operation device 10 before sending it to the teaching operation device 10.

  The CPU of the robot control unit 24 causes the robot R to operate based on the TP data 90 (operation command) when the TP data of the data packet is sent according to the determination result of the determination unit 22.

  The non-operation processing unit 26 includes a CPU, a ROM, and a RAM (not shown). When TP data other than the data packet operation command is sent according to the determination result of the determination unit 22, the TP data 90 is displayed. Based on the above, processing outside the robot operation unrelated to the robot control is performed. Examples of the robot out-of-motion processing include processing such as data creation for managing the robot R, totalization of maintenance information, and reporting, but are not limited to these processing.

  Further, the safety fence 50 is connected to a door lock confirming device 94 that detects whether the doorway door 92 is locked. The door lock checker 94 is configured to turn on (close) a contact (not shown) when the entrance door 92 is closed, and to input an ON signal to the determination unit 22. That is, when the door 92 is closed, it is assumed that the robot R is automatically operated within the safety fence 50 (the teaching operation by the worker M is not performed), and an ON signal is input to the determination unit 22. When the entrance door 92 is open, it is considered that the worker M enters the safety fence 50 and performs the teaching operation, and the ON signal is not input to the determination unit 22.

(Operation of the embodiment)
Now, the operation of the robot system configured as described above will be described with reference to FIGS.

  FIG. 4 is a flowchart of region detection determination executed by the determination unit 22 in accordance with the region detection determination program. When the ON signal is not input from the door lock checker 94, the determination unit 22 checks the presence / absence of the data packet (reception signal) transmitted from the transmission / reception devices 40A and 40B in S10. Do. That is, the door does not operate when the door 92 is locked.

  In S10, when there is no data packet (received signal), the process proceeds to S110. In S110, the process waits until the timer expires. This timer is timed up and reset every time a predetermined time is counted, and the timer operates again. In this embodiment, the time is increased every several milliseconds, but the time for this timer operation is not limited. Note that the period of the timer operation is preferably about the same as the period in which the teaching operation device 10 continuously transmits data packets.

  In S10, when there is a data packet (received signal), in S20, the determination unit 22 decodes the ID information 82 of the transmission source data 80 of the data packet (received signal) of the antenna 61 based on the waypoint information 84. . In the next S 30, the determination unit 22 decodes the ID information 82 of the transmission source data 80 of the data packet (received signal) of the antenna 62 based on the waypoint information 84.

  In S40, the determination unit 22 reads the received signal strengths of the signals (received signals) received by the antennas 61 and 62 from the received signal strengths 88 of the data packets received by the respective antennas, and identifies the unique ID from each data packet. Are arranged for each ID information 82.

  That is, in this case, there may be one or more teaching operation devices 10 that have transmitted data packets, and reception signals of data packets received by the respective antennas for each ID information 82 that is a unique ID of each teaching operation device 10. It arranges the strength.

Next, in S <b> 50, the determination unit 22 confirms the received signal strength between the same ID data 82 (data packets) that are unique IDs.
In S50, the determination unit 22 proceeds to S70 if both data packets (reception signals) having the same ID information 82 as the unique ID are equal to or greater than the determination threshold value. The received signal is discarded and the process proceeds to S110. In the present embodiment, the determination threshold is 60% or more in received signal strength, but is not limited to this value.

  In S70, the determination unit 22 compares the TP data 90 of each data packet determined in S60. In S80, if the determination unit 22 determines that the TP data are the same and are not different as a result of the comparison in S70, the process proceeds to S90, and if the TP data is different, the data packets compared in S100. Is discarded.

  In S90, since the TP data of the data packet matches, the determination unit 22 sends the data to the robot control unit 24 when the TP data is an operation command related to the robot operation. If the TP data is not an operation command, the data is sent to the non-operation processing unit 26. Thereafter, the determination unit 22 returns to S10.

  Therefore, since it is determined in S80 that there is no difference, the robot control unit 24 or the non-operation processing unit 26 performs necessary processing based on the sent data packet. For example, when TP data as teaching information is sent to the robot controller 24, the robot R is controlled based on the TP data.

(Received signal strength)
Here, the concept of the received signal strength of this embodiment will be described. For convenience of the following description, a method of calling the strength of the received signal of the antenna is defined with reference to FIGS.

  In FIG. 5, it is assumed that a pair of guard fences A and B (safety fences) arranged apart from each other are provided, and each corner of each guard fence A and B forming a square frame in plan view is provided. It is assumed that directional antennas A1 and B1 having a water drop shaped reception range are provided. In this case, the directional antennas A1 and B1 to be used are selected so as not to receive signals arriving from the rear side opposite to the directional direction.

  Further, as shown in FIG. 6, the antenna B1 is in the adjacent guard fence A with the strength of the signal received from the station B located in the guard fence B (received signal strength) being Power (B → B1). The intensity of the signal received by the antenna A1 from the station B (reception signal intensity) is denoted as Power (B → A1). Station A and station B correspond to the teaching operation device 10 of the embodiment.

  Consider the case shown in FIG. 7 after defining the display of received signal strength as described above. FIG. 7 is an explanatory diagram when the directional antennas A1 to A4 are provided at each corner of the protective fence A. FIG. Here, it is assumed that the directional antennas A1 to A4 are arranged at the corners of the protective fence A, and the directivity directions of the directional antennas are directed inward on the diagonal lines of the corners of the protective fence A. Shall. Further, the directional antennas A2 and A4 are assumed to be set in such a range that the protective operation A surrounds and a part of the reception range has an overlapping area as shown in FIG.

  In FIG. 7, the range in which the received signal strength of the directional antennas A2 and A4 is 98% or more is surrounded by a waterdrop-shaped line, and as shown in FIG. The part is an overlapping area. Note that the signal output of the teaching operation devices A, A ′, and B, which transmit signals, is the same, and the positions of the signals are changed in various ways, so that the maximum signal intensity received by each of the antennas A1 to A4. Is 100%.

As shown in FIG. 7, station A is located in the overlapping area of the reception range where the received signal strength of the directional antennas A2 and A4 is 98% or more.
Further, the station A ′ is a position where the received signal strength of the directional antenna A2 is out of the reception range of 98% or more and the received signal strength of the directional antenna A4 is 98%. It is assumed that it is located in the above reception range.

  In addition, the B station is located away from the protective fence A, the reception signal strength of the directional antenna A2 is a reception range of 75%, and the reception signal strength of the directional antenna A4 is 2% (that is, a reception range). , Located behind the directional antenna A4).

  In this case, when the diversity antenna composed of the directional antennas A2 and A4 receives the signals transmitted from the teaching operation devices (A station, A 'station, B station), as shown in FIG. Received signal strength.

Received signal strength of each station of directional antenna A2 Power (A → A2) = 98%
Power (A '→ A2) = 79%
Power (B → A2) = 75%
Received signal strength of each station of directional antenna A4 Power (A ′ → A4) = 98%
Power (A → A4) = 98%
Power (B → A4) = 2%
FIG. 8 shows an example in which the station A ″ is added to the example of FIG. 7 and will be described in connection with the determination in S60 of the flowchart.

  It is to be noted that the maximum signal that each antenna A1 to A4 could receive by changing the position of the signal output of the A, A ′, A ″, and B stations, which are teaching operation devices that transmit signals, is the same. The signal intensity is 100%.

The station A ″ is located in the protection fence A, and is located in the reception range where the reception intensity of the directional antennas A2 and A4 is 30%.
In this case, when a diversity antenna composed of the antennas A2 and A4 receives a signal transmitted from the station A ″, the intensity is as shown in FIG.

Received signal strength of A ″ station of directional antenna A2 Power (A ″ → A2) = 30%
Received signal strength of A ″ station of directional antenna A4 Power (A ″ → A4) = 30%
In the example of FIG. 8, for example, when the determination threshold value of S60 in the above embodiment is a received signal strength of 60% or more, the reception range of the directional antennas A2 and A4 is a reception signal strength of a predetermined threshold value (determination threshold value) or more. It can be determined that the station A and the station A ′ are located in the position, that is, the overlapping region. For station A, it is determined that the received signal strength is located in an overlapping region where the received signal strength is 98% or more of directional antennas A2 and A4. Further, it is possible to determine that the station A ′ is located in an overlapping area between the reception range in which the reception signal strength of the directional antenna A2 is 79% and the reception range in which the reception signal strength of the directional antenna A4 is 98% or more. That's right.

  9 differs from the example of FIG. 8 in that the range of the received signal strength of 98% or more of the directional antennas A2 and A4 exceeds the area surrounded by the protective fence A, and there is an overlapping area in the protective fence A. It is assumed that the positions of the teaching operation devices (A station, A ′ station, A ″ station, B station) are the same positions as in the example of FIG.

in this case,
Received signal strength of A ″ station of directional antenna A2 Power (A ″ → A2) = 99%
Received signal strength of A "station of directional antenna A4 Power (A" → A4) = 99%
Suppose that

  In the example of FIG. 9 as well, when the determination threshold value of S60 in the above embodiment is a received signal strength of 60% or more, the reception range of the directional antennas A2 and A4 is a received signal strength of a predetermined threshold value (determination threshold value) or more. It can be determined that the station A and the station A ′ are located in the position, that is, in the overlapping region. With respect to the A station, it is determined that the A station is located in an overlapping region where the received signal strength is 98% or more of the directional antennas A2 and A4. As for the station A ′, the station A ′ is located in the overlapping area of the reception range where the received signal strength of the directional antenna A2 is 99% and the reception range where the received signal strength of the directional antenna A4 is 99% or more. It was possible to judge.

  In the example of FIG. 10, the range where the received signal strength of the directional antennas A2 and A4 is 98% or more is surrounded by a waterdrop-shaped line, and as shown in FIG. 10, the range of the received signal strength of 98% or more. This is an example when there is no overlapping area.

In this case, as shown in FIG. 10, the station A is located in an overlapping region of the reception range where the reception signal strength of the directional antennas A2 and A4 is 30%.
Further, it is assumed that the station A ′ is located in a reception range where the received signal strength of the directional antenna A2 is 20% and the received signal strength of the directional antenna A4 is 99%. Further, the station A ″ is located at a position where the received signal strength of the directional antenna A2 becomes 10% received signal strength and in a receiving range where the received signal strength of the directional antenna A4 becomes 10%. In addition, the B station is located away from the protective fence A, the reception signal strength of the directional antenna A2 is 3%, and the reception signal strength of the directional antenna A4 is 2% (that is, , Located behind the directional antenna A4).

  In the example of FIG. 10, for example, when the determination threshold value of S60 of the above embodiment is a received signal strength of 60% or more, the reception range of the directional antennas A2 and A4 is a reception signal strength of a predetermined threshold value (determination threshold value) or more. It can be determined that station A, station A ′, station A ″ and station B are not located in the position, that is, in the overlapping region.

Now, according to this embodiment, there are the following features.
(1) The robot system of this embodiment includes a teaching operation device 10 (portable teaching operation device) that wirelessly transmits a signal including ID information (unique ID) and TP data (teaching information). In addition, the robot system includes two antennas 61 and 62 (directional antennas) arranged so that a part of the reception range overlaps each other, and each antenna 61 and 62 includes ID information and TP data. When receiving a data packet (unique ID reception signal) including the signal strength, a signal strength measurement unit 43 (detection means) that detects the reception signal strength of the reception signal is provided. Also, the robot system has the received signal strengths of two data packets (unique ID received signals) having the same unique ID out of the received signal strengths of the data packets (unique ID received signals). The determination part 22 (determination means) which determines whether it is more than the determination threshold value for determining whether it carried out or not is provided.

  When the determination unit 22 determines that the received signal strengths of two data packets (unique ID reception signals) having the same ID information are each equal to or greater than the determination threshold, the robot system uses the data packets (unique IDs) having the same ID information. A robot controller 20 (movable machine controller) that controls the robot R (movable machine) based on TP data (teaching information) included in the received signal) is provided.

  As a result, according to the robot system of the present embodiment, the reception ranges (detection areas) of the antennas 61 and 62 can be set, and even if there are a plurality of teaching operation devices 10 as transmission sources, the determination threshold value or more is reached. It is possible to determine which teaching operation device 10 (transmission source) is present in the stable reception range (detection region).

  (2) In the robot system according to the present embodiment, the overlapping range of the received signal intensity that is the reception range of the two antennas 61 and 62 is equal to or greater than the determination threshold is outside the operation region D of the robot R (movable machine). Has been placed.

  As a result, according to the robot system of the present embodiment, when the teaching operation device 10 is positioned outside the operation region D of the robot R, the effect (1) can be realized, and the teaching operation device 10 is provided. The safety of the worker M can be achieved.

  (3) According to the robot system of this embodiment, the robot R (movable machine) is disposed so as to be positioned in the safety fence 50 (protective fence) that restricts the entry and exit of people, and the two antennas 61 and 62 are arranged. The overlapping area of the received signal strength equal to or higher than the determination threshold in the reception range is located in the safety fence 50 (protective fence). As a result, since the overlap area exists in the safety fence 50 (protective fence), the worker M teaches only in the safety fence 50 (protective fence), thereby ensuring the safety of the worker who teaches. .

  (4) In the robot control system of the present embodiment, the two antennas 61 and 62 (directional antennas) described in (1), the signal strength measuring unit 43 (detecting unit), and the determining unit 22 (determining unit). And a robot controller 20 (movable machine controller).

As a result, by using this robot control system, the effect (1) can be easily realized in the robot system.
(5) In the robot control system of the present embodiment, the overlapping range of the received signal intensity that is the reception range of the two antennas 61 and 62 and is equal to or higher than the determination threshold is the operation region D of the robot R (movable machine). Arranged outside. As a result, the same effect as the above (2) is obtained.

  (6) In the robot control system of the present embodiment, the robot R (movable machine) is disposed so as to be positioned in the safety fence 50 (protective fence) that restricts the entry and exit of people, and is received by the two antennas 61 and 62. An overlapping region of received signal strengths that are equal to or higher than the determination threshold in the range is located in the safety fence 50 (protective fence). As a result, the effect (3) can be easily realized.

In addition, you may change embodiment of this invention as follows.
In the above-described embodiment, the signal intensity measuring unit 43 as the detection unit is provided in each of the transmission / reception devices 40A and 40B, and the determination unit 22 as the determination unit is provided in the robot control device 20. In place of the configuration of this embodiment, the signal strength measuring unit 43 serving as a detecting unit that detects the received signal strengths of the received signals of the antennas 61 and 62 is separated from the transmission / reception devices 40A and 40B, and the determining unit serving as the determining unit. 22 may be separated from the robot control device 20 and configured as a determination device including a signal strength measurement unit 43 and a determination unit 22 that detect the reception signal strength of the reception signal of each directional antenna.

  In this case, this determination apparatus outputs the TP data (teaching information) received together with the unique ID as the determination result, as in the above embodiment. By outputting the TP data, the robot control apparatus can control the operation of the robot based on the TP data.

  In the embodiment, the determination threshold is 60% or more, but the determination threshold may be changed. For example, in the example of FIG. 11, the determination threshold is 90% or more. In this case, since only the A station has the received signal strength of the directional antennas A2 and A4 of 98%, it can be determined that only the A station exists in the overlapping area equal to or greater than the determination threshold.

○ When the planar shape of the safety fence is circular, a plurality of antennas may be arranged at equal angular intervals or unequal angular intervals on the safety fence to form a diversity antenna.
In the above embodiment, the antennas 61 and 62 (diversity antenna) are used. However, the configuration of the diversity antenna is not limited to two directional antennas, and may be three or more. Three or four may be used to overlap the reception range. In this case, at least the overlapping area of the reception ranges of the pair of antennas 61 may have a received signal strength equal to or higher than the determination threshold.

  For example, in the above-described embodiment, directional antennas are arranged at three corners of a square shape in a plan view of the safety fence 50 and received in a space area outside the operation area D of the robot R in the safety fence 50. The ranges may be overlapped. In addition, as shown in FIG. 12, directional antennas may be provided at the four corners of the safety fence 50, and the reception ranges may overlap in the space area outside the operation area D of the robot R in the safety fence 50. .

10 ... Teaching operation device (portable teaching operation device),
20 ... Robot control device, 22 ... Determination part (determination means),
24 ... Robot controller, 40A, 40B ... Transceiver,
50 ... Safety fence (protective fence), 61, 62 ... Antenna (directional antenna),
82 ... ID information (unique ID), 90 ... TP data (teaching information),
D: Operation area, R: Robot (movable machine).

Claims (8)

A portable teaching operation device that wirelessly transmits a signal including a unique ID and teaching information;
At least two or more directional antennas arranged so as to have overlapping areas in which a part of the reception range overlaps each other;
Detecting means for detecting the received signal strength of each unique ID received signal when each of the directional antennas receives a signal including the unique ID and teaching information (hereinafter referred to as a unique ID received signal);
A determination threshold for determining whether or not the received signal strengths of at least two unique ID received signals having the same unique ID among the received signal strengths of the unique ID received signals are respectively located in the overlapping area. Determination means for determining whether or not the above,
If the determination means determines that the received signal strengths of at least two unique ID reception signals having the same unique ID are each equal to or greater than a determination threshold, the determination means is movable based on teaching information included in the unique ID reception signal having the same unique ID. A movable machine system comprising a movable machine control device for controlling a machine.   The reception range of the at least two or more directional antennas, wherein an overlapping region of received signal strengths equal to or higher than the determination threshold is arranged outside an operation region of the movable machine. The movable machine system described. The movable machine is arranged so as to be located in a protective fence that restricts the entry and exit of people,
The overlap region of the received signal strength equal to or higher than the determination threshold in the reception range of the at least two directional antennas is located in the protective fence. Mobile machine system. At least two or more directional antennas arranged so as to have overlapping areas in which a part of the reception range overlaps each other;
Detecting means for detecting the received signal strength of each unique ID received signal when each of the directional antennas receives a signal including a unique ID and teaching information (hereinafter referred to as a unique ID received signal);
A determination threshold for determining whether or not the received signal strengths of at least two unique ID received signals having the same unique ID among the received signal strengths of the unique ID received signals are respectively located in the overlapping area. Determination means for determining whether or not the above,
If the determination means determines that the received signal strengths of at least two unique ID reception signals having the same unique ID are each equal to or greater than a determination threshold, the determination means is movable based on teaching information included in the unique ID reception signal having the same unique ID. A movable machine control system comprising a movable machine control device for controlling a machine.   The reception range of the at least two or more directional antennas, wherein an overlapping region of received signal strengths equal to or higher than the determination threshold is arranged outside an operation region of the movable machine. The movable machine control system described. The movable machine is arranged so as to be located in a protective fence that restricts the entry and exit of people,
The overlap region of the received signal strength equal to or higher than the determination threshold in the reception range of the at least two directional antennas is located in the protective fence. Mobile machine control system. Detecting means for detecting a received signal strength of a signal including each unique ID when receiving a signal including the unique ID via a plurality of directional antennas provided at different positions;
Among the received signal strengths of the signals including the unique IDs, is the transmission source located in the overlapping area of the reception range of the directional antennas for the received signal strengths of the signals including at least two unique IDs having the same unique ID? It is determined whether or not it is equal to or higher than a determination threshold for determining whether or not, and when the received signal strength of a signal including at least two unique IDs having the same unique ID is equal to or higher than the determination threshold, a signal including the unique ID is transmitted. And a determination unit that determines that the transmission source is located in an overlapping region in which a part of the reception ranges of the plurality of directional antennas overlaps each other and outputs the determination result.   6. The determination apparatus according to claim 5, wherein the determination result is teaching information for operating the movable machine received together with the unique ID.

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