Machine operating system for executing authentication process and computer program

Abstract

A machine operation system is provided with: a wireless operation device which is connected to a control device of a robot or an industrial machine via wireless communication, and which instructs the control device to operate the robot or the industrial machine in accordance with an operation content; and a wired operation device connected to the control device via wired communication and having a non-contact authentication tag, the wireless operation device having: an event detection unit that detects a proximity event in which the non-contact authentication tag enters from the outside to the inside of a predetermined first region, and a disengagement event in which the non-contact authentication tag enters from the outside to the inside of the predetermined first region; the separation event means that the non-contact authentication tag comes out from the inner side of the first area to the outer side; and an authentication unit that determines whether the operation content for the wireless operation device is valid or invalid on the basis of the detected event content.

Description

Technical Field

[0001] The present invention relates to a machine operating system and a computer program for executing an authentication process. Background Art

[0002] In order to manually operate a robot or industrial machine, a teaching operation device called a teach pendant connected to the control device of the robot or industrial machine is used. The operator can use the teaching operation device to register and edit the action program related to the robot or industrial machine, set conditions, display status, teach the robot or industrial machine, and manually operate it. In order to avoid unexpected actions of the robot or machine tool and ensure the safety of the surrounding machines and operators, safety switches such as an enable switch and an emergency stop button are provided in the teaching operation device.

[0003] In addition, in recent years, from the perspective of reducing costs and ensuring versatility, teaching operation devices for manually operating robots or industrial machinery on general-purpose information terminals such as tablet computers have been used instead of dedicated hardware for teaching operation devices. It is also necessary to provide a safety switch in such teaching operation devices.

[0004] For example, a robot control system is known, characterized in that it comprises: a control device that controls a machine; a portable wireless operating panel that can wirelessly communicate with the control device and operate the machine; a distance measuring unit that measures the distance between the machine and the portable wireless operating panel; and a warning generating unit that issues a warning to an operator or stops the machine when the distance between the machine and the portable wireless operating panel exceeds a specified threshold (for example, refer to patent document 1).

[0005] For example, a robot system is known, comprising: a robot; an RF tag, which has: a detection device that detects biometric authentication information of a person; a memory that stores inherent biometric authentication information of a qualified person who is allowed to perform operations associated with the robot's work; a first processor that obtains a biometric authentication result by comparing the biometric authentication information detected by the detection device with the inherent biometric authentication information stored in the memory; a first antenna that sends the biometric authentication result obtained in the first processor; and a control device, which has a second antenna that receives the biometric authentication result sent from the RF tag, and performs processing of the operation when the biometric authentication result indicates that the person is the qualified person (for example, refer to patent document 2).

[0006] For example, a robot control system is known, comprising: a robot; a safety fence that surrounds the robot's action area; a robot control device that controls the robot's action; a teaching device that has a communication unit with the robot control device and transmits action instructions corresponding to the operator's operation to the robot control device, characterized in that the teaching device has: a storage unit that reads or writes information in a non-contact manner; a first access unit that writes and reads information to the storage unit, and at the entrance and exit of the safety fence there is: a through detection device that has a detection unit that detects the operator's entry and exit, a second access unit that writes the detection result of the detection unit to the storage unit and reads the information written to the storage unit, and when the operator performs an operation input to the teaching device, the teaching device enables or disables the action instruction and action mode switching according to the detection result stored in the storage unit (for example, refer to patent document 3).

[0007] Prior art literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent Application Publication No. 2016-172303

[0010] Patent Document 2: Japanese Patent Application Publication No. 2018-176300

[0011] Patent Document 3: Japanese Patent Application Publication No. 2009-262257 Summary of the invention

[0012] Problems to be solved by the invention

[0013] In a mechanical operating system that is a teaching operating device using a universal information terminal, a base component provided with a safety switch is installed on the universal information terminal. The universal information terminal is connected to the control device of a robot or industrial machinery via wireless communication, but the base component is generally connected to the control device of the robot or industrial machinery via wired communication to ensure safety. However, the universal information terminal and the base component can be loaded and unloaded. Therefore, when the universal information terminal and the base component are separated and in different places, the teaching operator holding the universal information terminal cannot operate the safety switch according to his own will, or the safety switch may be operated by a third party different from the teaching operator, and safety cannot be ensured. It is also thought that various sensors such as optical sensors and magnetic sensors are respectively set on the universal information terminal and the base component and detect the connection between them to ensure safety, but the setting of sensors leads to increased costs and increased size. Therefore, in a mechanical operating system composed of a universal information terminal and a base component with a safety switch, a mechanical operating system that can ensure safety at low cost is desired.

[0014] Means for solving problems

[0015] According to one embodiment of the present disclosure, a mechanical operating system comprises: a wireless operating device, which is connected to a control device of a robot or industrial machine via wireless communication and instructs the control device to perform actions of the robot or industrial machine according to the operation content; and a wired operating device, which is connected to the control device via wired communication and has a contactless authentication tag, the wireless operating device comprising: an event detection unit, which detects approach events and separation events, wherein an approach event refers to the contactless authentication tag entering from the outside of a predefined first area of ​​the wireless operating device to the inside of the first area, and a separation event refers to the contactless authentication tag coming out from the inside of the first area to the outside of the first area; and an authentication unit, which determines whether the operation content for the wireless operating device is valid or invalid based on the event content detected by the event detection unit.

[0016] In addition, according to another embodiment of the present disclosure, a machine operating system comprises: a control device for a robot or industrial machine; a wireless operating device connected to the control device via wireless communication and instructing the control device to move the robot or industrial machine according to the operation content; and a wired operating device connected to the control device via wired communication and having a contactless authentication tag assigned a dedicated identifier, the wireless operating device comprising: an event detection unit that detects a proximity event, wherein the proximity event refers to the contactless authentication tag entering from the outside of a first area predetermined by the wireless operating device to the inside of the first area; an identifier acquisition unit that, when detected by the event detection unit, In the event of a proximity event, an identifier of the contactless authentication tag is acquired; an identifier writing unit, which uses the identifier of the contactless authentication tag acquired by the identifier acquisition unit in the setting mode as a reference identifier, and writes the reference identifier into the storage unit of the control device via wireless communication; and an identifier reading unit, which reads the reference identifier from the storage unit of the control device via wireless communication when a proximity event is detected by the event detection unit in the operation mode after the setting mode. The control device comprises: an authentication unit, which, in the operation mode, makes the operation content for the wireless operation device valid when the identifier acquired by the identifier acquisition unit is consistent with the reference identifier.

[0017] In addition, according to another embodiment of the present disclosure, a computer program for causing a computer to perform authentication processing in a mechanical operating system, the mechanical operating system comprising: a wireless operating device, which is connected to a control device of a robot or industrial machine via wireless communication, and instructs the control device to perform actions of the robot or industrial machine according to the operation content; and a wired operating device, which is connected to the control device via wired communication and has a contactless authentication tag, the computer program comprising: an event detection step for detecting approach events and separation events, wherein an approach event refers to the contactless authentication tag entering from the outside of a predetermined first area of ​​the wireless operating device to the inside of the first area, and a separation event refers to the contactless authentication tag coming out from the inside of the first area to the outside of the first area; and an authentication step for determining whether the operation content for the wireless operating device is valid or invalid based on the event content detected in the event detection step.

[0018] In addition, according to another embodiment of the present disclosure, a computer program for causing a computer to perform authentication processing in a machine operating system, the machine operating system having: a control device for a robot or industrial machine; a wireless operating device, which is connected to the control device via wireless communication and instructs the control device to perform actions of the robot or industrial machine according to the operation content; and a wired operating device, which is connected to the control device via wired communication and has a contactless authentication tag assigned a dedicated identifier, the computer program having: an event detection step for detecting a proximity event, the proximity event being that the contactless authentication tag enters from the outside of a predefined first area of ​​the wireless operating device to the inside of the first area; an identifier acquisition step, in the event detection step The invention relates to a method for controlling the wireless operation device and a method for controlling the wireless operation device. The invention relates to a method for controlling the wireless operation device and a method for controlling the wireless operation device and a method for controlling the wireless operation device. The invention relates to a method for controlling the wireless operation device and a method for controlling the wireless operation device and a method for controlling the wireless operation device of the wireless operation device. The invention relates to a method for controlling the wireless operation device and a method for controlling the wireless operation device of ...

[0019] In addition, according to another embodiment of the present disclosure, a mechanical operating system comprises: a wireless operating device, which is connected to a control device of a robot or industrial machinery via wireless communication and instructs the control device to perform actions of the robot or industrial machinery according to the operation content; and a wired operating device, which is connected to the control device via wired communication and has a contactless authentication tag, and the wireless operating device comprises: a tag detection unit, which detects the contactless authentication tag; and an authentication unit, which makes the operation content for the wireless operating device valid when the contactless authentication tag is detected by the tag detection unit.

[0020] In addition, according to another embodiment of the present disclosure, a computer program for causing a computer to perform authentication processing in a mechanical operating system, the mechanical operating system comprising: a wireless operating device, which is connected to a control device of a robot or industrial machinery via wireless communication, and instructs the control device to perform actions of the robot or industrial machinery according to the operation content; and a wired operating device, which is connected to the control device via wired communication and has a contactless authentication tag, the computer program comprising: a tag detection step, detecting the contactless authentication tag; and an authentication step, when the contactless authentication tag is detected in the tag detection step, making the operation content for the wireless operating device valid.

[0021] In addition, according to another embodiment of the present disclosure, a machine operating system includes: a control device for a robot or an industrial machine; a wireless operating device, which is connected to the control device via wireless communication and instructs the control device to perform an action of the robot or the industrial machine according to the operation content; and a wired operating device, which is connected to the control device via wired communication and has a non-contact authentication tag to which a dedicated identifier is assigned, the wireless operating device includes: a tag detection unit, which detects the non-contact authentication tag; an identifier acquisition unit, which acquires the identifier of the non-contact authentication tag when the non-contact authentication tag is detected by the tag detection unit; an identifier writing unit, which uses the identifier of the non-contact authentication tag acquired by the identifier acquisition unit in the setting mode as a reference identifier and writes the reference identifier to the storage unit of the control device via wireless communication; and an identifier reading unit, which reads the reference identifier from the storage unit of the control device via wireless communication when the non-contact authentication tag is detected by the tag detection unit in the operation mode after the setting mode, and the control device includes: an authentication unit, which, in the operation mode, when the identifier acquired by the identifier acquisition unit and the reference identifier are consistent, makes the operation content for the wireless operating device valid.

[0022] In addition, according to another embodiment of the present disclosure, a computer program for causing a computer to perform authentication processing in a mechanical operating system comprises: a control device for a robot or industrial machine; a wireless operating device, which is connected to the control device via wireless communication and instructs the control device to perform actions of the robot or industrial machine according to the operation content; and a wired operating device, which is connected to the control device via wired communication and has a contactless authentication tag to which a dedicated identifier is assigned. The computer program comprises: a tag detection step for detecting the contactless authentication tag; an identifier acquisition step for acquiring the contactless authentication tag when the contactless authentication tag is detected in the tag detection step. an identifier of the contactless authentication tag; an identifier writing step, using the identifier of the contactless authentication tag acquired in the identifier acquisition step of the setting mode as the reference identifier, and writing the reference identifier into the storage unit of the control device via wireless communication; an identifier reading step, in which, when the contactless authentication tag is detected in the tag detection step of the operation mode after the setting mode, the reference identifier is read from the storage unit of the control device via wireless communication; and an authentication step, causing the control device to perform the following processing: in the operation mode, when the identifier acquired in the identifier acquisition step is consistent with the reference identifier in the identifier reading step, the operation content for the wireless operation device is made valid.

[0023] Effects of the Invention

[0024] According to one embodiment of the present disclosure, in a machine operating system composed of a general-purpose information terminal and a base member having a safety switch, safety can be ensured at low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a diagram showing a machine operating system according to first to third embodiments of the present disclosure.

[0026] Figure 2 This is a flowchart showing the operation flow of the machine operating system according to the first embodiment of the present disclosure.

[0027] Figure 3 It is a diagram showing a first specific example of the operation of the machine operating system according to the first embodiment of the present disclosure.

[0028] Figure 4 It is a diagram showing a second specific example of the operation of the machine operating system according to the first embodiment of the present disclosure.

[0029] Figure 5 This is a flowchart showing the operation flow of the machine operating system according to the second embodiment of the present disclosure.

[0030] Figure 6 This is a diagram (part 1) showing a specific example of the operation of the machine operating system according to the second embodiment of the present disclosure.

[0031] Figure 7 This is a diagram (part 2) showing a specific example of the operation of the machine operating system according to the second embodiment of the present disclosure.

[0032] Figure 8 This is a flowchart showing the operation flow of the machine operating system according to the third embodiment of the present disclosure.

[0033] Fig. 9 It is a diagram showing a specific example of the operation of the machine operating system according to the third embodiment of the present disclosure.

[0034] Fig.10 It is a diagram showing a machine operating system according to a fourth embodiment of the present disclosure.

[0035] Fig.11 This is a flowchart showing the flow of operations in the setting mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0036] Fig.12 It is a diagram showing a specific example of the operation in the setting mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0037] Fig.13 This is a flowchart showing the flow of operations in the operation mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0038] Fig.14 It is a diagram showing a specific example of the operation in the operation mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0039] Fig.15 It is a diagram showing a machine operating system according to a fifth embodiment of the present disclosure.

[0040] Fig.16 This is a flowchart showing the flow of operations in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0041] Fig.17 It is a diagram showing a specific example of the operation in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0042] Fig.18 It is a diagram showing a machine operating system according to a modified example of the fifth embodiment of the present disclosure.

[0043] Fig.19 This is a flowchart showing the flow of operations in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0044] Fig. 20 This is a diagram (part 1) showing a specific example of the operation in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0045] Fig.21 This is a diagram (part 2) showing a specific example of the operation in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure. DETAILED DESCRIPTION

[0046] The following describes a mechanical operating system and a computer program for performing authentication processing with reference to the accompanying drawings. In each of the drawings, the same reference symbols are given to the same components. In addition, the scales of these drawings are appropriately changed for easy understanding. The illustrated method is an example for implementation and is not limited to these methods. In addition, "manual operation of a robot or industrial machine" means that the control device controls the action of the robot or industrial machine according to the instructions issued from the teaching operating device by operating the teaching operating device.

[0047] <First embodiment>

[0048] First, a machine operating system according to a first embodiment of the present disclosure will be described.

[0049] Figure 1 It is a diagram showing a machine operating system according to first to third embodiments of the present disclosure.

[0050] As machines operated by the machine operating system 100 of the first embodiment of the present disclosure and the embodiments described later, there are robots and industrial machines, but here, as an example, a case of operating a robot 2 is shown. When the machine operated by the machine operating system 100 is an industrial machine, the term "robot 2" in the following description can be replaced with the term "industrial machine". Industrial machines include, for example, machine tools, forging machines, injection molding machines, etc.

[0051] The robot 2 and the control device 3 are connected by a cable 41 (hereinafter referred to as "robot cable 41") in a manner capable of wired communication, and the movement of the robot 2 is controlled by the control device 3. An operation processing device (processor) is provided in the control device 3. As the operation processing device, there are, for example, IC, LSI, CPU, MPU, DSP, etc. The control device 3 having the operation processing device is, for example, a functional module implemented by a computer program executed on the processor. For example, in the case where the control device 3 is constructed in the form of a computer program, the operation processing device is operated in accordance with the computer program, thereby realizing various functions for controlling the movement of the robot 2. The computer program for executing the processing of the control device 3 can also be provided in the form of a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, the control device can also be implemented as a semiconductor integrated circuit in which a computer program that implements the function is written.

[0052] The machine operating system 100 according to the first embodiment of the present disclosure includes a wireless operating device 11 and a wired operating device 12. The wireless operating device 11 and the wired operating device 12 are combined to form a teaching operating device 1.

[0053] The wireless operating device 11 is, for example, a general-purpose information terminal such as a tablet computer or a smart phone. The wireless operating device 11 includes, for example, a touch panel 21 having both the functions of displaying a screen and accepting input operations. As an alternative, the wireless operating device 11 may also include a display for displaying a screen and a physical operation button for accepting input operations. In addition, the wireless operating device 11 includes a power button 22 for turning on the power of the wireless operating device 11. By pressing (turning on) the power button 22 once, the wireless operating device 11 starts. In addition, the wireless operating device 11 has a battery (not shown) inside. After the wireless operating device 11 is removed from the wired operating device 12, the battery of the wireless operating device 11 is charged via a connector or a charging stand (charging station).

[0054] The wireless operating device 11 has an operating application software program installed in its internal storage unit (not shown). The operating application software program performs registration and editing of the action program related to the robot 2, condition setting, status display, teaching of the robot 2, manual operation, etc. Similarly, the internal operation processing device (not shown) operates according to the operation application software program installed in the storage unit, thereby realizing a wireless teaching operation function for operating (teaching) the robot 2. As the operation processing device, there are IC, LSI, CPU, MPU, DSP, etc. For example. The storage unit is composed of a non-volatile memory that can be electrically erased / recorded, such as EEPROM (registered trademark), or a random access memory that can be read and written at high speed, such as DRAM, SRAM, etc. The wireless operating device 11 is connected to the control device 3 of the robot 2 via wireless communication, and has a communication interface (not shown) for connection. The wireless operating device 11 instructs the control device 3 to operate the robot 2 according to the operation content of the wireless operating device 11.

[0055] As wireless communication between the wireless operating device 11 and the control device 3, narrowband wireless communication, for example, is used. Narrowband wireless communication refers to communication with a shorter communication distance than wide-area wireless communication, and specifically refers to communication with a communication distance of, for example, less than 10 meters. As narrowband wireless communication, various short-range wireless communications with short communication distances can be used, such as communication based on any communication standard established by IEEE, ISO, IEC, etc. (for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), etc.). In the illustrated example, as an example, a case where communication based on Wi-Fi (registered trademark) is performed is shown. In addition, as a technology for performing narrowband wireless communication, for example, DSRC (ded Short Range Communication), RFID (Radio Frequency Identification), etc. are used.

[0056] The wired operating device 12 is connected to the control device 3 via wired communication and has a communication interface (not shown) for connection. The wired operating device 12 and the control device 3 are connected via a cable 33 (hereinafter referred to as "teaching operating device cable 33"). The wired operating device 12 has a mounting base 30, an enabling switch 31 as a safety switch, and an emergency stop button 32.

[0057] The mounting base 30 is used to detachably mount the wireless operating device 11 on the wired operating device 12. As a method of mounting the wireless operating device 11 based on the mounting base 30, there are, for example, a method of clamping and holding the wireless operating device 11 using a spring mechanism provided on the wired operating device 12, a method of screwing the wireless operating device 11, and a method of attaching the wireless operating device 11 using an adhesive member. In addition, regardless of whether the wireless operating device 11 and the wired operating device 12 are mounted based on the mounting base 30, there is no direct electrical connection and communication between the wireless operating device 11 and the wired operating device 12, and the communication between the wireless operating device 11 and the wired operating device 12 is performed via the control device 3.

[0058] The enabling switch 31 is a safety switch that allows the control of the robot 2 by the control device 3 via the wireless operating device 11 while it is continuously pressed (turned on), and does not allow the control of the robot 2 by the control device 3 via the wireless operating device 11 when it is released (turned on). A signal corresponding to the operation content of the enabling switch 31 is transmitted from the wired operating device 12 to the control device 3 via the teaching operating device cable 33. For example, while the enabling switch 31 is not pressed, the robot 2 will not move regardless of any operation performed via the wireless operating device 11. While the enabling switch 31 is pressed, the robot 2 can be operated via the wireless operating device 11.

[0059] The emergency stop button 32 is a safety switch that instructs the control device 3 to emergency stop the robot 2. When the emergency stop button 32 is pressed (turned on), an emergency stop signal is sent from the wired operation device 12 to the control device 3 via the teaching operation device cable 33, and the robot 2 receives the signal and stops urgently.

[0060] In addition, a non-contact authentication tag 26 is provided near or inside the mounting base 30 of the wired operating device 12. A reader / writer function for reading and writing the non-contact authentication tag 26 is provided in the wireless operating device 11. The non-contact authentication tag 26 is composed of, for example, an NFC (Near Field Communication) tag. NFC is a type of individual identification technology based on wireless communication using RFID (Radio Frequency IDentification). In this embodiment, for example, ISO / IEC14443 is used as an international standard specification for proximity-type contactless IC cards. For example, in ISO / IEC14443, it is stipulated that communication is performed by electromagnetic induction, the communicable distance between the reader / writer and the non-contact authentication tag is about 10 cm, and a frequency of 13.56 MHz is used in communication. In addition, in this embodiment, for example, ISO / IEC18092 (NFCIP-1) is used as an international standard specification for communication protocols. In addition, other specifications may also be used for international standard specifications for proximity-type contactless IC cards and communication protocols.

[0061] The wireless operation device 11 includes an event detection unit 23, an authentication unit 24, and an application execution unit 25. The event detection unit 23, the authentication unit 24, and the application execution unit 25 are implemented as functions of an internal arithmetic processing device. Figure 1 Schematically showing the event detection unit 23, the authentication unit 24, and the application execution unit 25. The event detection unit 23, the authentication unit 24, and the application execution unit 25 can be constructed, for example, in the form of a software program, or can also be constructed as a combination of various electronic circuits and software programs. For example, when they are constructed in the form of a software program, various software programs are installed in a storage unit (not shown) in the wireless operation device 11, and the operation processing unit (not shown) in the wireless operation device 11 operates according to the software program installed in the storage unit, thereby realizing the functions of the event detection unit 23, the authentication unit 24, and the application execution unit 25. Alternatively, the event detection unit 23, the authentication unit 24, and the application execution unit 25 can also be realized as a semiconductor integrated circuit in which a software program realizing the functions of these units is written. In this case, the semiconductor integrated circuit is assembled in the wireless operation device 11 to realize the functions of the event detection unit 23, the authentication unit 24, and the application execution unit 25.

[0062] The application execution unit 25 executes the operation application software program, and the operation application software program controls the control device 3 so that the robot 2 moves according to the operation content related to the teaching operation for the robot 2. When the operation application software program is executed by the application execution unit 25 (that is, when the operation application software program is started), the event detection processing of the event detection unit 23 is performed. The software program including the event detection unit 23 and the operation application software program may be installed separately.

[0063] The event detection unit 23 detects approach events and separation events, wherein the approach event refers to the non-contact authentication tag 26 entering the inside of the first area from the outside of the first area, which is a predetermined nearby area of ​​the wireless operating device 11, and the separation event refers to the non-contact authentication tag 26 leaving the inside of the first area to the outside of the first area. In a general information terminal as the wireless operating device 11, a reader / writer function for reading and writing the non-contact authentication tag 26 is generally provided, and the event detection unit 23 detects approach events and separation events via an API (Application Programming Interface) related to the reader / writer function. For example, in the reader / writer function according to ISO / IEC14443, the range of about 10 cm around the wireless operating device 11 can be set as the above-mentioned "first area". In addition, the numerical value cited here is an example, and other numerical values ​​can also be used to define the first area.

[0064] The event detection unit 23 detects the occurrence of an approach event when the non-contact authentication tag 26 located outside the first area of ​​the wireless operating device 11 gradually approaches the wireless operating device 11 and enters the inside of the first area of ​​the wireless operating device 11. For example, when the wireless operating device 11 located at a remote position gradually approaches the wired operating device 12 and is mounted on the mounting base 30 of the wired operating device 12, the event detection unit 23 detects the approach event.

[0065] The event detection unit 23 detects the occurrence of a separation event when the non-contact authentication tag 26 located inside the first area of ​​the wireless operating device 11 gradually moves away from the wireless operating device 11 and reaches the outside of the first area of ​​the wireless operating device 11. For example, when the wireless operating device 11 mounted on the mounting base 30 of the wired operating device 12 is removed from the wired operating device 12 and gradually moves away from the wired operating device 12, and the wired operating device 12 reaches the outside of the first area of ​​the wireless operating device 11, the event detection unit 23 detects the separation event.

[0066] The authentication unit 24 determines whether the operation content for the wireless operating device 11 is valid or invalid based on the content of the event detected by the event detection unit 23. When the event detection unit 23 detects a proximity event, the authentication unit 24 validates the operation content for the wireless operating device 11. In addition, when the event detection unit 23 detects a separation event, the authentication unit 24 invalidates the operation content for the wireless operating device 11. In addition, when the wired operating device 12 and the wireless operating device 11 are in a non-operation state, the wireless operating device 11 does not instruct the control device 3 to operate the robot 2. After the wired operating device 12 and the wireless operating device 11 are in a non-operation state, if the operator presses (touches) the start icon 51 for starting the operation application software program displayed on the touch panel 21, the operation application software program is started. If the event detection unit 23 detects a proximity event while the application execution unit 25 is executing the operation application software program, the authentication unit 24 validates the operation content for the wireless operating device 11. When the operation contents for the wireless operating device 11 are validated by the authentication unit 24, the operator can use the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12 to perform teaching (manual operation) of the robot 2, register and edit the action program related to the robot 2, or set conditions, etc. as manual operations for the robot 2 using the wireless operating device 11. When the event detection unit 23 detects a separation event during the execution of the application software program by the application execution unit 25, the operation contents for the wireless operating device 11 are invalidated by the authentication unit 24. When the operation contents for the wireless operating device 11 are invalidated by the authentication unit 24, the operator cannot use the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12 to instruct the control device 3 on the action of the robot 2.

[0067] Figure 2 It is a diagram showing the operation flow of the machine operating system according to the first embodiment of the present disclosure.

[0068] When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S101 , the wireless operating device 11 does not instruct the control device 3 on the operation of the robot 2 .

[0069] In step S102, it is determined whether the operation application software program is started. The processing of step S102 may be performed by the event detection unit 23, the authentication unit 24, or a processing unit other than the event detection unit 23 and the authentication unit 24 in the operation processing device provided in the wireless operation device 11. The processing of step S102 is repeatedly performed at a predetermined cycle.

[0070] If it is determined in step S102 that the operation application program is not activated, in step S108 the authentication unit 24 invalidates the operation content with respect to the wireless operation device 11. Thereafter, the process returns to step S102.

[0071] When it is determined in step S102 that the operation application program is activated, in step S103, the authentication unit 24 determines whether a proximity event is detected by the event detection unit 23. The process of step S103 is repeatedly executed in a predetermined cycle.

[0072] If the proximity event is not detected in step S103, in step S108, the authentication unit 24 invalidates the operation content with respect to the wireless operation device 11. Thereafter, the process returns to step S103.

[0073] When the approach event is detected in step S103, in step S104, the authentication unit 24 validates the operation content for the wireless operating device 11. Thus, as a manual operation for the robot 2 using the wireless operating device 11, the operator can perform teaching (manual operation) of the robot 2, register and edit the action program related to the robot 2, or set conditions. The control device 3 controls the action of the robot 2 by accepting the manual operation of the wireless operating device 11 performed by the operator (step S105). In addition, in the processing of step S105, the robot 2 can be operated via the wireless operating device 11 while the enable switch 31 is pressed, and when the emergency stop button 32 is pressed, the robot 2 stops urgently.

[0074] In step S106, the authentication unit 24 determines whether a departure event has been detected by the event detection unit 23. The process of step S106 is repeatedly executed in a predetermined cycle.

[0075] If no departure event is detected in step S106 , the process returns to step S105 .

[0076] If the separation event is detected in step S106, the authentication unit 24 invalidates the operation content to the wireless operating device 11 in step S107. Thus, the operator cannot instruct the control device 3 on the operation of the robot 2 using the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0077] In addition, each of the above steps can be implemented in the form of a software program (hereinafter also referred to as a "computer program") that can be executed by the operation processing device in the wireless operation device 11. It is easy for a person skilled in the art to implement the above-mentioned processing device and to create a software program that enables a computer to execute the above-mentioned processing. In addition, it is also obvious to a person skilled in the art that the computer program that enables a computer to execute the above-mentioned processing is stored in a recording medium.

[0078] The computer program for causing a computer (the processing device in the wireless operating device 11) to perform authentication processing in the machine operating system 100 includes an event detection step, an authentication step, and an application execution step. In the event detection step, an approach event and a separation event are detected. The approach event refers to the non-contact authentication tag 26 entering the first area from the outside of the pre-defined first area of ​​the wireless operating device 11 to the inside of the first area, and the separation event refers to the non-contact authentication tag 26 coming out of the first area from the inside of the first area to the outside of the first area. In the authentication step, it is determined whether the operation content for the wireless operating device 11 is valid or invalid according to the event content detected in the event detection step. That is, in the authentication step, when the approach event is detected in the event detection step, the operation content for the wireless operating device 11 is valid, and when the separation event is detected in the event detection step, the operation content for the wireless operating device is invalid. In the application execution step, an operation application software program is executed, and the operation application software program is used to control the control device 3 so that the robot 2 acts according to the operation content related to the teaching operation for the robot 2. When the operation application software program is executed by the application execution step, the event detection process in the event detection step is executed.

[0079] Next, several specific examples of the operation of the machine operating system 100 according to the first embodiment of the present disclosure are listed.

[0080] Figure 3 It is a diagram showing a first specific example of the operation of the machine operating system according to the first embodiment of the present disclosure.

[0081] exist Figure 3 In state A1, the wireless operating device 11 is removed from the wired operating device 12, and the wired operating device 12 is outside the first area of ​​the wireless operating device 11. In state A1, the operation content for the wireless operating device 11 is invalidated by the authentication unit 24, so the operator is prohibited from operating the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0082] When the operation application software program is started in state A1 and the wireless operation device 11 is installed in the wired operation device 12, the event detection unit 23 detects a proximity event, and the authentication unit 24 validates the operation content for the wireless operation device 11, thereby shifting to state A2. In state A2, a teaching operation screen for the robot 2 based on the operation application software program is displayed on the touch panel 21. Thus, as an operation using the wireless operation device 11, the operator can perform operations such as teaching the robot 2 (manual operation), registering and editing the motion program related to the robot 2, or setting conditions.

[0083] When the wireless operating device 11 is removed from the wired operating device 12 in state A2 and the wired operating device 12 moves from the inside to the outside of the first area of ​​the wireless operating device 11, the event detection unit 23 detects the detachment event and the state is shifted to state A1. In state A1, the detachment event is detected by the event detection unit 23, and the operation content for the wireless operating device 11 is invalidated by the authentication unit 24, thereby prohibiting the operator from operating the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12. In addition, in order to prevent the operator from performing manual operation, the teaching operation screen may not be displayed on the touch panel 21, and instead, a screen prompting the wireless operating device 11 to be installed on the wired operating device 12 may be displayed.

[0084] Figure 4 It is a diagram showing a second specific example of the operation of the machine operating system according to the first embodiment of the present disclosure.

[0085] exist Figure 4 In state B1, the wireless operating device 11 is removed from the wired operating device 12, and the wired operating device 12 is outside the first area of ​​the wireless operating device 11. In state B1, the operation content for the wireless operating device 11 is invalidated by the authentication unit 24, so the operator is prohibited from operating the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12. In addition, in state B1, the operation application software program is not started.

[0086] When the wireless operating device 11 is installed on the wired operating device 12 in state B1, a proximity event is generated, and the state is transferred to state B2. However, in state B2, the operating application software program has not yet been executed by the application execution unit 25 (the operating application software program has not yet been started), so the event detection unit 23 cannot detect the proximity event. Therefore, the operation content for the wireless operating device 11 is invalid, and the state in which the operator is prohibited from operating the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12 is maintained. In state B2, the start icon 51 for starting the operating application software program is displayed on the touch panel 21 instead of the teaching operation screen of the robot 2.

[0087] When the operator presses (touches) the start icon 51 in state B2, the operation application software program starts, and the state shifts to state B3. In state B3, the wireless operation device 11 has been installed in the wired operation device 12, so the event detection unit 23 does not detect the proximity event. Therefore, the operation content for the wireless operation device 11 is invalidated by the authentication unit 24, and the state in which the operator is prohibited from operating the teaching operation device 1 composed of the wireless operation device 11 and the wired operation device 12 is maintained.

[0088] In state B3, when the wireless operating device 11 is removed from the wired operating device 12 and the wired operating device 12 moves from the inside to the outside of the first area of ​​the wireless operating device 11, the event detection unit 23 detects a separation event, and the state shifts to state B4. In state B4, the event detection unit 23 has detected the separation event, so the authentication unit 24 invalidates the operation content for the wireless operating device 11, and thus the operator is prohibited from operating the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0089] When the wireless operating device 11 is further installed on the wired operating device 12 in state B4, the event detection unit 23 detects a proximity event, and the state is transferred to state B5. In state B5, the event detection unit 23 has detected a proximity event, so the authentication unit 24 validates the operation content for the wireless operating device 11. In state B5, the teaching operation screen of the robot 2 based on the operation application software program is displayed on the touch panel 21. Thus, as an operation using the wireless operating device 11, the operator can perform operations such as teaching the robot 2 (manual operation), registering and editing the action program related to the robot 2, or setting conditions.

[0090] <Second embodiment>

[0091] Next, a machine operating system according to a second embodiment of the present disclosure will be described.

[0092] Regarding the second embodiment of the present disclosure, when the wireless operating device 11 is powered on, the operating application software program is automatically started as a background process, and the event detection processing of the event detection unit 23 can be executed after the wireless operating device 11 is powered on. The structure of the machine operating system 100 of the second embodiment of the present disclosure is basically the same as that of the reference Figure 1 As described above, the structure of the machine operating system 100 of the first embodiment of the present disclosure is different in the following points.

[0093] In the second embodiment of the present invention, there are two modes: one in which the operating application is executed as a background process and the other in which the operating application is executed as a foreground process. In either mode, the operating application is executed by the application execution unit 25, so the event detection unit 23 performs event detection processing.

[0094] When a teaching operation start instruction is issued, the operation application software program is switched from the background process to the foreground process. For example, the teaching operation start instruction is output by pressing (touching) a start icon 51 for starting the operation application software program displayed on the touch panel 21 of the wireless operation device 11. When the start icon 51 displayed on the touch panel 21 is pressed, in the operation processing device in the wireless operation device 11, a teaching operation start instruction is sent from a control unit (not shown) that controls the operation of the wireless operation device 11 to the application execution unit 25.

[0095] When there is a teaching operation end instruction, the operation application software program is switched from the foreground process to the background process. For example, the teaching operation end instruction is output by pressing (touching) an end button (not shown) for ending the application software program on the teaching operation screen displayed on the touch panel 21 of the wireless operation device 11. When the end button displayed on the touch panel 21 is pressed, in the operation processing device in the wireless operation device 11, the teaching operation end instruction is sent from the control unit (not shown) that controls the operation of the wireless operation device 11 to the application execution unit 25.

[0096] The power of the wireless operation device 11 is turned on by pressing (turning on) the power button 22 of the wireless operation device 11. When the wireless operation device 11 is powered on, the application execution unit 25 starts the operation application software program as the background.

[0097] The application execution unit 25 controls the touch panel 21 not to display the teaching operation screen while the operation application program is executed as a background process. While the operation application program is executed as a background process, the operator can use application programs other than the operation application program on the general-purpose information terminal as the wireless operation device 11.

[0098] In addition, when the teaching operation start instruction is issued while the operation application software program is executed as a background process, the application execution unit 25 switches the operation application software program to the foreground process for execution. While the operation application software program is executed as the foreground process, the application execution unit 25 controls the touch panel 21 to display the teaching operation screen.

[0099] Furthermore, when a teaching operation end instruction is issued while the operation application program is being executed as a foreground process, the application execution unit 25 switches the operation application program to a background process for execution.

[0100] Figure 5 This is a flowchart showing the operation flow of the machine operating system according to the second embodiment of the present disclosure.

[0101] When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S201, the wireless operating device 11 does not instruct the control device 3 on the operation of the robot 2. In addition, at the time of step S101, the power of the wireless operating device 11 is not turned on.

[0102] In step S202 , by pressing (turning on) the power button 22 of the wireless operation device 11 , the power of the wireless operation device 11 is turned on.

[0103] In step S203, the application execution unit 25 executes the operation application software program as a background process. In the execution of step S203, the application execution unit 25 performs control so that the touch panel 21 does not display the teaching operation screen. In addition, in the execution of step S203, the authentication unit 24 invalidates the operation content for the wireless operation device 11. In addition, in the execution of step S203, the operator can use application software programs other than the operation application software program in the general-purpose information terminal as the wireless operation device 11.

[0104] In step S204, the authentication unit 24 determines whether the event detection unit 23 has detected a proximity event. The process of step S204 is repeatedly executed in a predetermined cycle.

[0105] When a proximity event is detected in step S204, the application execution unit 25 determines in step S205 whether there is a teaching operation start instruction. The process of step S205 is repeatedly executed in a predetermined cycle.

[0106] If it is determined in step S205 that there is a teaching operation start instruction, the application execution unit 25 executes the operation application software program as a foreground process in step S206. During the execution of step S206, the application execution unit 25 controls the touch panel 21 to display a teaching operation screen.

[0107] In step S207, the authentication unit 24 validates the operation content for the wireless operating device 11. Thus, as a manual operation on the robot 2 using the wireless operating device 11, the operator can perform teaching (manual operation) of the robot 2, register and edit the action program related to the robot 2, or set conditions. The control device 3 receives the manual operation of the wireless operating device 11 performed by the operator, and controls the action of the robot 2 (step S208). In addition, in the processing of step S105, the robot 2 can be operated via the wireless operating device 11 while the enable switch 31 is pressed, and when the emergency stop button 32 is pressed, the robot 2 stops urgently.

[0108] In step S209, the application execution unit 25 determines whether there is a teaching operation end instruction. The process of step S209 is repeatedly executed in a predetermined cycle.

[0109] When it is determined in step S209 that there is no instruction to end the teaching operation, the process returns to step S208 .

[0110] If it is determined in step S209 that there is a teaching operation end instruction, in step S210, the application execution unit 25 executes the operation application software program as a background process. During the execution of step S210, the application execution unit 25 performs control so that the touch panel 21 does not display the teaching operation screen. In addition, during the execution of step S210, the operator can use application software programs other than the operation application software program in the general-purpose information terminal as the wireless operation device 11.

[0111] In step S211, the authentication unit 24 determines whether a departure event has been detected by the event detection unit 23. The process of step S211 is repeatedly executed in a predetermined cycle.

[0112] If a departure event is not detected in step S211 , the process returns to step S205 .

[0113] If the separation event is detected in step S211, the authentication unit 24 invalidates the operation content for the wireless operating device 11 in step S212. Thus, the operator cannot instruct the control device 3 on the operation of the robot 2 using the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0114] In addition, each of the above steps can be implemented in the form of a software program (computer program) that can be executed by the operation processing device in the wireless operation device 11. It is easy for a person skilled in the art to implement the above-mentioned processing device and to create a software program that enables a computer to execute the above-mentioned processing. In addition, it is also obvious to a person skilled in the art that a computer program that enables a computer to execute the above-mentioned processing is stored in a recording medium.

[0115] The computer program for causing a computer (the computing processing device in the wireless operating device 11) to perform authentication processing in the machine operating system 100 includes an event detection step, an authentication step, and an application execution step. In the event detection step, an approach event and a separation event are detected, wherein the approach event refers to the non-contact authentication tag 26 entering the first area from the outside of the pre-defined first area of ​​the wireless operating device 11 to the inside of the first area, and the separation event refers to the separation event of the non-contact authentication tag 26 coming out of the first area from the inside of the first area to the outside of the first area. In the authentication step, it is determined whether the operation content for the wireless operating device 11 is valid or invalid according to the event content detected in the event detection step. That is, in the authentication step, when the approach event is detected in the event detection step, the operation content for the wireless operating device 11 is valid, and when the separation event is detected in the event detection step, the operation content for the wireless operating device is invalid. In the application execution step, an operation application software program is executed, and the operation application software program controls the control device 3 so that the robot 2 acts according to the operation content related to the teaching operation for the robot 2. When the operation application software program is executed by the application execution step, the event detection process in the event detection step is executed. The application execution step is started when the wireless operating device is powered on. In addition, in the application execution step, after the operation application software program is started, the operation application software program is executed as a background process until there is a teaching operation start instruction to the wireless operating device 11, and after there is a teaching operation start instruction, the operation application software program is executed as a foreground process. In addition, in the application execution step, when the operation application software program is executed as a foreground process, after there is a teaching operation end instruction to the wireless operating device 11, the operation application software program is executed as a background process. In addition, in the application execution step, during the period when the operation application software program is executed as a background process, control is performed to prevent the touch panel 21 from displaying a teaching operation screen, and during the period when the operation application software program is executed as a foreground process, control is performed to display the teaching operation screen on the touch panel 21.

[0116] Figure 6 as well as Figure 7 It is a diagram showing a specific example of the operation of the machine operating system according to the second embodiment of the present disclosure.

[0117] exist Figure 6In the state C1, the wireless operating device 11 is removed from the wired operating device 12, and the wired operating device 12 is outside the first area of ​​the wireless operating device 11. In addition, in the state C1, the power of the wireless operating device 11 is not turned on. In the state C1, the operation content for the wireless operating device 11 is invalid, and the operator is prohibited from operating the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0118] In state C1, when the power is turned on in a state where the wireless operating device 11 is removed from the wired operating device 12, the operating application software program is executed as a background process. Since the operating application software program is being executed, when the wireless operating device 11 is installed on the wired operating device 12, the event detection unit 23 detects a proximity event and the state is transferred to state C2. In state C2, a start icon 51 for starting the operating application software program is displayed on the touch panel 21 instead of the teaching operation screen of the robot 2. In state C2, the start icon 51 is not pressed (touched), so the teaching operation start instruction is not output. Therefore, the operation content for the wireless operating device 11 is kept invalid by the authentication unit 24, and the operator is prohibited from operating the teaching operation device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0119] When the start icon 51 is pressed in state C2, the state is transferred to state C3. In state C3, a teaching operation start instruction is outputted by pressing the start icon 51, so the operation application software program is executed as a foreground process. Therefore, in state C3, a teaching operation screen is displayed on the touch panel 21, and the operation content for the wireless operation device 11 is validated by the authentication unit 24. Thus, as an operation using the wireless operation device 11, the operator can perform operations such as teaching the robot 2 (manual operation), registering and editing the motion program related to the robot 2, or setting conditions.

[0120] Figure 7 The state C4 is Figure 6 The same as state C3.

[0121] When the end button is pressed in the teaching operation screen of the touch panel 21 of the wireless operating device 11 in state C4, the state shifts to state C5. In state C5, the teaching operation end instruction is output by pressing the end button, so the operation application software program is executed as a background process. Therefore, in state C5, the operation content for the wireless operating device 11 is invalidated by the authentication unit 24, so the operator is prohibited from operating the teaching operation device 1 composed of the wireless operating device 11 and the wired operating device 12. In addition, in state C5, the start icon 51 for starting the operation application software program is displayed on the touch panel 21 instead of the teaching operation screen.

[0122] In state C5, when the wireless operating device 11 is removed from the wired operating device 12 and the wired operating device 12 moves from the inside to the outside of the first area of ​​the wireless operating device 11, the event detection unit 23 detects a separation event, and the state shifts to state C6. In state C6, the event detection unit 23 has detected the separation event, so the authentication unit 24 invalidates the operation content for the wireless operating device 11, and thus the operator is prohibited from operating the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0123] When the operator presses (touches) the start icon 51 in state C6, the state shifts to state C7. In state C7, a teaching operation start instruction is outputted by pressing the start icon 51, and the operation application software program is executed as a foreground process. However, in state C7, the wireless operation device 11 is removed from the wired operation device 12, and the event detection unit 23 does not detect a proximity event, so the operation content for the wireless operation device 11 is invalidated by the authentication unit 24. Therefore, the state in which the operator is prohibited from operating the teaching operation device 1 composed of the wireless operation device 11 and the wired operation device 12 is maintained.

[0124] <Third embodiment>

[0125] Next, a machine operating system according to a third embodiment of the present disclosure will be described.

[0126] The third embodiment of the present disclosure further improves the operability of the operator. In the third embodiment of the present disclosure, in response to the event detection unit 23 detecting the approach event and the separation event, the execution of the operating application software program is automatically switched between the background process and the foreground process. The structure of the machine operating system 100 of the third embodiment of the present disclosure is basically the same as that of the reference Figure 1 As described above, the structure of the machine operating system 100 of the first embodiment of the present disclosure is different in the following points.

[0127] When the event detection unit 23 detects a proximity event while the operation application software program is being executed as a background process, the application execution unit 25 executes the operation application software program as a foreground process. In addition, when the event detection unit 23 detects a separation event while the operation application software program is being executed as a foreground process, the application execution unit 25 executes the operation application software program as a background process.

[0128] Figure 8 This is a flowchart showing the operation flow of the machine operating system according to the third embodiment of the present disclosure.

[0129] When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S301 , the wireless operating device 11 does not instruct the control device 3 on the operation of the robot 2 .

[0130] In step S302, when the operator presses (touches) the start icon 51 for starting the operation application displayed on the touch panel 21, the operation application is started. After the operation application is started, the application execution unit 25 executes the operation application as a background process.

[0131] In step S303, the authentication unit 24 determines whether a proximity event has been detected by the event detection unit 23. The process of step S303 is repeatedly executed in a predetermined cycle.

[0132] If the proximity event is not detected in step S303, in step S310, the authentication unit 24 invalidates the operation content with respect to the wireless operation device 11. Thereafter, the process returns to step S303.

[0133] When a proximity event is detected in step S303 , the application execution unit 25 executes the operation application software program as a foreground process in step S304 .

[0134] In step S305, the authentication unit 24 validates the operation contents for the wireless operating device 11. Thus, as a manual operation for the robot 2 using the wireless operating device 11, the operator can perform teaching (manual operation) of the robot 2, register and edit the action program related to the robot 2, or set conditions. The control device 3 receives the manual operation of the wireless operating device 11 performed by the operator, and controls the action of the robot 2 (step S306). In the processing of step S306, the robot 2 can be operated via the wireless operating device 11 while the enable switch 31 is pressed, and the robot 2 stops in an emergency when the emergency stop button 32 is pressed.

[0135] In step S307, the authentication unit 24 determines whether a departure event has been detected by the event detection unit 23. The process of step S307 is repeatedly executed in a predetermined cycle.

[0136] If a departure event is not detected in step S307 , the process returns to step S306 .

[0137] If the separation event is detected in step S307, the authentication unit 24 invalidates the operation content for the wireless operating device 11 in step S308. Thus, the operator cannot instruct the control device 3 on the operation of the robot 2 using the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0138] In step S309 , the application execution unit 25 executes the operation application software program as a background process.

[0139] In addition, each of the above steps can be implemented in the form of a software program (computer program) that can be executed by the operation processing device in the wireless operation device 11. It is easy for a person skilled in the art to implement the above-mentioned processing device and to create a software program that enables a computer to execute the above-mentioned processing. In addition, it is also obvious to a person skilled in the art that a computer program that enables a computer to execute the above-mentioned processing is stored in a recording medium.

[0140] The computer program for causing a computer (the computing processing device in the wireless operating device 11) to perform authentication processing in the machine operating system 100 includes an event detection step, an authentication step, and an application execution step. In the event detection step, an approach event and a separation event are detected, wherein the approach event refers to the non-contact authentication tag 26 entering the first area from the outside of the pre-defined first area of ​​the wireless operating device 11 to the inside of the first area, and the separation event refers to the non-contact authentication tag 26 coming out of the first area from the inside of the first area to the outside of the first area. In the authentication step, it is determined whether the operation content for the wireless operating device 11 is valid or invalid according to the event content detected in the event detection step. That is, in the authentication step, when the approach event is detected in the event detection step, the operation content for the wireless operating device 11 is valid, and when the separation event is detected in the event detection step, the operation content for the wireless operating device is invalid. In the application execution step, the operation application software program is executed, and the operation application software program controls the control device 3 so that the robot 2 acts according to the operation content related to the teaching operation for the robot 2. In the application execution step, when the operation application software program is executed as a background process, if a proximity event is detected in the event detection step, the operation application software program is executed as a foreground process. In addition, in the application execution step, when the operation application software program is executed as a foreground process, if a separation event is detected in the event detection step, the operation application software program is executed as a background process.

[0141] Fig. 9 It is a diagram showing a specific example of the operation of the machine operating system according to the third embodiment of the present disclosure.

[0142] exist Fig. 9In state D1, the wireless operating device 11 is removed from the wired operating device 12, and the wired operating device 12 is outside the first area of ​​the wireless operating device 11. In state D1, the operation content for the wireless operating device 11 is invalidated by the authentication unit 24, and the operator is prohibited from operating the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12. In addition, in state D1, the operation application software program is executed as a background process, and the teaching operation screen is not displayed on the touch panel 21.

[0143] When the wireless operating device 11 is installed on the wired operating device 12 in state D1, a proximity event is generated, and the state is transferred to state D2. In state D2, the proximity event is detected by the event detection unit 23, so the operation application software program is executed as a foreground process. In state D2, the teaching operation screen is displayed on the touch panel 21, and the operation content for the wireless operating device 11 is validated by the authentication unit 24. As a result, as an operation using the wireless operating device 11, the operator can perform operations such as teaching the robot 2 (manual operation), registering and editing the action program related to the robot 2, or setting conditions.

[0144] In state D2, when the wireless operating device 11 is removed from the wired operating device 12 and the wired operating device 12 moves from the inside to the outside of the first area of ​​the wireless operating device 11, the event detection unit 23 detects a separation event and the state is transferred to state D3. In state D3, the separation event is detected by the event detection unit 23, so the operation application software program is executed as a background process. In state D3, the teaching operation screen is not displayed on the touch panel 21. In addition, the operation content for the wireless operating device 11 is invalidated by the authentication unit 24, so the operator is prohibited from operating the teaching operation device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0145] <Fourth embodiment>

[0146] Next, a machine operating system according to a fourth embodiment of the present disclosure will be described.

[0147] In a fourth embodiment of the present disclosure, an identifier unique to the wired operating device 12 provided with the contactless authentication tag 26 is recorded in the contactless authentication tag 26, and pairing of the wireless operating device 11 and the wired operating device 12 is managed based on the identifier.

[0148] In the fourth embodiment of the present disclosure, there are a setting mode for pairing the wireless operating device 11 and the wired operating device 12 and a normal operation mode as the teaching operating device 1. The setting mode is performed in advance before the operation mode.

[0149] Fig.10It is a diagram showing a machine operating system according to a fourth embodiment of the present disclosure.

[0150] like Fig.10 As shown, the mechanical operating system 100 of the fourth embodiment of the present disclosure is Figure 1 The wireless operating device 11 of the machine operating system 100 shown in the figure is further provided with an identifier acquisition unit 27. Figure 1 As described.

[0151] The non-contact authentication tag 26 provided in the wired operating device 12 records the identifier unique to the wired operating device 12. Therefore, when there are a plurality of wired operating devices 12, the non-contact authentication tag 26 of each wired operating device 12 is assigned a unique identifier. The structure of the wired operating device 12 other than the non-contact authentication tag 26 is described in detail with reference to FIG. Figure 1 As described.

[0152] In addition to the event detection unit 23, the authentication unit 24, and the application execution unit 25, the wireless operation device 11 also includes an identifier acquisition unit 27. Fig.10 , the event detection unit 23, the authentication unit 24, the application execution unit 25, and the identifier acquisition unit 27 are schematically shown.

[0153] For the event detection unit 23, the application execution unit 25, the touch panel 21 and the power button 22, as shown in FIG. Figure 1 As described.

[0154] When the event detection unit 23 detects a proximity event, the identifier acquisition unit 27 acquires the identifier of the contactless authentication tag 26. The identifier acquisition process of the identifier acquisition unit 27 can be executed in both the setting mode and the operation mode.

[0155] In the operation mode, when the identifier acquired by the identifier acquisition unit 27 matches the identifier acquired in advance by the identifier acquisition unit 27 in the setting mode, the authentication unit 24 validates the operation content for the wireless operation device 11. In addition, in the operation mode, when the identifier acquired by the identifier acquisition unit 27 matches the identifier acquired in advance by the identifier acquisition unit 27 in the setting mode, the authentication unit 24 invalidates the operation content for the wireless operation device 11.

[0156] The event detection unit 23, the authentication unit 24, the application execution unit 25, and the identifier acquisition unit 27 can be constructed, for example, in the form of a software program, or can be constructed by a combination of various electronic circuits and software programs. For example, when they are constructed in the form of a software program, various software programs are installed in a storage unit (not shown) in the wireless operation device 11, and the operation processing unit (not shown) in the wireless operation device 11 operates according to the software program installed in the storage unit, thereby realizing the functions of the event detection unit 23, the authentication unit 24, the application execution unit 25, and the identifier acquisition unit 27. Alternatively, the event detection unit 23, the authentication unit 24, the application execution unit 25, and the identifier acquisition unit 27 can also be realized as a semiconductor integrated circuit in which a software program realizing the functions of these units is written. In this case, the semiconductor integrated circuit is assembled in the wireless operation device 11 to realize the functions of the event detection unit 23, the authentication unit 24, the application execution unit 25, and the identifier acquisition unit 27.

[0157] Fig.11 This is a flowchart showing the flow of operations in the setting mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0158] When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S401, the wireless operating device 11 does not instruct the control device 3 to operate the robot 2. In step S401, the operator presses (touches) the start icon 51 to start the operation application software program, and the teaching operation screen is displayed on the touch panel 21. Then, the operator starts the setting mode on the operation application software program. For example, the setting mode is started by pressing (touching) the setting mode start button on the teaching operation screen.

[0159] In step S402, the authentication unit 24 determines whether a proximity event has been detected by the event detection unit 23. The process of step S402 is repeatedly executed in a predetermined cycle.

[0160] When the operator attaches the wireless operating device 11 to the wired operating device 12 , the event detection unit 23 detects a proximity event. Therefore, in step S402 , the authentication unit 24 determines that the event detection unit 23 has detected a proximity event, and then proceeds to step S403 .

[0161] In step S403 , the identifier acquisition unit 27 acquires the identifier of the non-contact authentication tag 26 .

[0162] In step S404, the identifier acquisition unit 27 writes the acquired identifier of the contactless authentication tag 26 into the storage unit (in the memory) in the wireless operation device 11. Fig.10 (not shown in the figure). As a result, the pairing of the wireless operating device 11 and the wired operating device 12 is completed, and thus the setting mode ends.

[0163] Fig.12 4 is a diagram showing a specific example of the operation in the setting mode of the machine operating system according to the fourth embodiment of the present disclosure. Fig.12 In order to simplify the description, the wireless operating device 11 is shown as being separated from the wired operating device 12 , but in fact the wireless operating device 11 is installed in the wired operating device 12 .

[0164] exist Fig.12 In the non-contact authentication tag 26, the identifier ID1 unique to the wired operating device 12 on which the non-contact authentication tag 26 is installed is recorded. When the operator installs the wireless operating device 11 on the wired operating device 12, the event detection unit 23 detects the proximity event, and therefore, the authentication unit 24 determines that the proximity event is detected by the event detection unit 23. When the event detection unit 23 detects the proximity event, the identifier acquisition unit 27 acquires the identifier ID1 of the non-contact authentication tag 26 and writes it into the storage unit 81 in the wireless operating device 11. As described above, the pairing of the wireless operating device 11 and the wired operating device 12 is completed.

[0165] Fig.13 This is a flowchart showing the flow of operations in the operation mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0166] At the stage of step S501, the pairing of the wireless operating device 11 and the wired operating device 12 in the setting mode has been completed. The operator presses (touches) the start icon 51 to start the operation application software program, and the teaching operation screen is displayed on the touch panel 21. Then, the operator starts the operation mode on the operation application software program. The operation mode is started by pressing (touching) an operation mode start button, for example, on the teaching operation screen. When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S501, the wireless operating device 11 does not instruct the control device 3 on the action of the robot 2.

[0167] In step S502, the authentication unit 24 determines whether a proximity event has been detected by the event detection unit 23. The process of step S502 is repeatedly executed in a predetermined cycle.

[0168] When the operator attaches the wireless operating device 11 to the wired operating device 12 , the event detection unit 23 detects a proximity event. Therefore, in step S502 , the authentication unit 24 determines that the event detection unit 23 has detected a proximity event, and then proceeds to step S503 .

[0169] In step S503 , the identifier acquisition unit 27 acquires the identifier of the non-contact authentication tag 26 .

[0170] In step S504 , the authentication unit 24 determines whether the identifier acquired by the identifier acquisition unit 27 in step S503 matches the identifier acquired by the identifier acquisition unit 27 in the setting mode and stored in the storage unit.

[0171] If it is determined in step S504 that these identifiers match, in step S505, the authentication unit 24 validates the operation content for the wireless operating device 11. As a result, as a manual operation on the robot 2 using the wireless operating device 11, the operator can perform teaching (manual operation) of the robot 2, register and edit the action program related to the robot 2, or set conditions. Receiving the manual operation of the wireless operating device 11 performed by the operator, the control device 3 controls the action of the robot 2 (step S506). In addition, in the processing of step S506, the robot 2 can be operated via the wireless operating device 11 while the enable switch 31 is pressed, and when the emergency stop button 32 is pressed, the robot 2 stops urgently.

[0172] In step S507, the authentication unit 24 determines whether a departure event has been detected by the event detection unit 23. The process of step S507 is repeatedly executed in a predetermined cycle.

[0173] If a departure event is not detected in step S507 , the process returns to step S506 .

[0174] If the separation event is detected in step S507, the authentication unit 24 invalidates the operation content for the wireless operating device 11 in step S508. Thus, the operator cannot use the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12 to instruct the control device 3 on the operation of the robot 2.

[0175] Furthermore, if it is determined in step S504 that the identifier acquired by the identifier acquisition unit 27 in step S503 is not identical to the identifier acquired by the identifier acquisition unit 27 in the setting mode and stored in the storage unit, in step S508, the authentication unit 24 also invalidates the operation content for the wireless operating device 11. Thus, the operator cannot instruct the control device 3 on the operation of the robot 2 using the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0176] In addition, each of the above steps can be implemented in the form of a software program (computer program) that can be executed by the operation processing device in the wireless operation device 11. It is easy for a person skilled in the art to implement the above-mentioned processing device and to create a software program that enables a computer to execute the above-mentioned processing. In addition, it is also obvious to a person skilled in the art that a computer program that enables a computer to execute the above-mentioned processing is stored in a recording medium.

[0177] The computer program for causing the computer (the processing device in the wireless operating device 11) to perform the authentication process in the machine operating system 100 includes an event detection step, an authentication step, an application execution step, and an identifier acquisition step. In the event detection step, an approach event and a separation event are detected, wherein the approach event refers to the non-contact authentication tag 26 entering the first area from the outside of the first area predetermined by the wireless operating device 11 to the inside of the first area, and the separation event refers to the non-contact authentication tag 26 coming out of the first area from the inside of the first area to the outside of the first area. In the application execution step, the operation application software program is executed, and the operation application software program controls the control device 3 so that the robot 2 moves according to the operation content related to the teaching operation for the robot 2. In the identifier acquisition step, when the approach event is detected in the event detection step, the identifier inherent to the wired operating device 12 of the non-contact authentication tag 26 is acquired. In the authentication step, according to the event content detected in the event detection step, it is determined whether the operation content for the wireless operating device 11 is valid or invalid. That is, in the authentication step, when the identifier acquired in the identifier acquisition step in the operation mode matches the identifier acquired in advance in the identifier acquisition step in the setting mode, the operation content for the wireless operation device 11 is validated. In addition, in the authentication step, when the identifier acquired in the identifier acquisition step in the operation mode matches the identifier acquired in advance in the identifier acquisition step in the setting mode, the operation content for the wireless operation device 11 is invalidated.

[0178] Fig.14 It is a diagram showing a specific example of the operation in the operation mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0179] exist Fig.14 In the example, it is assumed that the pairing of the wireless operating device 11 in the setting mode and the wired operating device 12 has been completed, and the storage unit 81 of the wireless operating device 11 stores the identifier ID1 of the non-contact authentication tag 26 obtained in the setting mode. Fig.14 In order to simplify the description, the wireless operating device 11 is shown as being separated from the wired operating device 12 , but in reality, the wireless operating device 11 is installed in the wired operating device 12 .

[0180] When the wireless operating device 11 is mounted on the wired operating device 12 provided with the non-contact authentication tag 26 having the identifier ID1 recorded thereon, the identifier ID1 acquired by the identifier acquisition unit 27 matches the identifier ID1 acquired by the identifier acquisition unit 27 in the setting mode and stored in the storage unit 81, and therefore the operation contents for the wireless operating device 11 are validated by the authentication unit 24. Therefore, the operator can use the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12 to perform manual operation on the robot 2 using the wireless operating device 11, and can teach the robot 2 (manual operation), register and edit the motion program related to the robot 2, or set conditions, etc.

[0181] On the other hand, when the wireless operating device 11 is mounted on the wired operating device 12 provided with the non-contact authentication tag 26 having the identifier ID2 recorded thereon, the identifier ID2 acquired by the identifier acquisition unit 27 does not match the identifier ID1 acquired by the identifier acquisition unit 27 in the setting mode and stored in the storage unit 81, and therefore the operation contents for the wireless operating device 11 are invalidated by the authentication unit 24. Therefore, the operator cannot instruct the control device 3 on the operation of the robot 2 using the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0182] <Fifth embodiment>

[0183] Next, a machine operating system according to a fifth embodiment of the present disclosure will be described.

[0184] In the fourth embodiment of the present disclosure described above, the identifier of the contactless authentication tag 26 obtained in the setting mode is written to the storage unit 81 in the wireless operating device 11, but in the fifth embodiment of the present disclosure, the identifier of the contactless authentication tag 26 obtained in the setting mode is written to the storage unit in the control device 3.

[0185] Fig.15 It is a diagram showing a machine operating system according to a fifth embodiment of the present disclosure.

[0186] like Fig.15 As shown, the mechanical operating system 100 of the fifth embodiment of the present disclosure is Figure 1 The wireless operating device 11 of the machine operating system 100 shown in the figure is further provided with an identifier acquisition unit 27, an identifier writing unit 28, and an identifier reading unit 29. As for the robot 2, the control device 3, the teaching operating device cable 33, and the robot cable 41, as shown in FIG. Figure 1 As described.

[0187] The non-contact authentication tag 26 provided in the wired operating device 12 records an identifier unique to the wired operating device 12. Therefore, when there are a plurality of wired operating devices 12, each unique identifier is assigned to the non-contact authentication tag 26 of each wired operating device 12. The structure of the wired operating device 12 other than the non-contact authentication tag 26 is described in detail with reference to FIG. Figure 1 As described.

[0188] The fifth embodiment of the present disclosure also has a setting mode for pairing the wireless operating device 11 and the wired operating device 12 and a normal operation mode as the teaching operating device 1, as in the fourth embodiment. The setting mode is executed in advance before the operation mode.

[0189] In addition to the event detection unit 23, the authentication unit 24, and the application execution unit 25, the wireless operation device 11 further includes an identifier acquisition unit 27, an identifier writing unit 28, and an identifier reading unit 29. Fig.15 Schematically shows the event detection unit 23, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28, and the identifier reading unit 29.

[0190] For the event detection unit 23, the application execution unit 25, the touch panel 21 and the power button 22, as shown in FIG. Figure 1 As described.

[0191] When the event detection unit 23 detects a proximity event, the identifier acquisition unit 27 acquires the identifier of the contactless authentication tag 26. The identifier acquisition process of the identifier acquisition unit 27 can be executed in both the setting mode and the operation mode.

[0192] The identifier writing unit 28 writes the identifier of the non-contact authentication tag 26 acquired by the identifier acquiring unit 27 in the setting mode as a reference identifier into the storage unit ( Fig.15 When the reference identifier is written from the identifier writing unit 28 in the wireless operating device 11 to the storage unit of the control device 3, the reference identifier is sent from the wireless operating device 11 to the control device 3 via wireless communication. For the wireless communication between the wireless operating device 11 and the control device 3, the narrowband wireless communication already described is used.

[0193] When a proximity event is detected in the operation mode after the setting mode, the identifier reading unit 29 reads the reference identifier from the storage unit of the control device 3. When the identifier writing unit 28 in the wireless operation device 11 reads the reference identifier from the storage unit of the control device 3, the reference identifier is transmitted from the control device 3 to the wireless operation device 11 via wireless communication. For the wireless communication between the control device 3 and the wireless operation device 11, the narrowband wireless communication already described is used.

[0194] In the operation mode, when the identifier acquired by the identifier acquisition unit 27 matches the reference identifier, the authentication unit 24 validates the operation content for the wireless operation device 11. In addition, in the operation mode, when the identifier acquired by the identifier acquisition unit 27 does not match the reference identifier, the authentication unit 24 invalidates the operation content for the wireless operation device 11.

[0195] The event detection unit 23, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28, and the identifier reading unit 29 can be constructed, for example, in the form of software programs, or can be constructed by a combination of various electronic circuits and software programs. For example, when they are constructed in the form of software programs, various software programs are installed in a storage unit (not shown) in the wireless operation device 11, and the operation processing unit (not shown) in the wireless operation device 11 operates according to the software programs installed in the storage unit, thereby realizing the functions of the event detection unit 23, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28, and the identifier reading unit 29. Alternatively, the event detection unit 23, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28, and the identifier reading unit 29 may be implemented as a semiconductor integrated circuit in which a software program that implements the functions of these units is written. In this case, the semiconductor integrated circuit is assembled in the wireless operation device 11 to implement the functions of the event detection unit 23, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28, and the identifier reading unit 29.

[0196] Fig.16 This is a flowchart showing the flow of operations in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0197] When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S601, the wireless operating device 11 does not instruct the control device 3 to operate the robot 2. In step S601, the operator presses (touches) the start icon 51 to start the operation application software program, and the teaching operation screen is displayed on the touch panel 21. Then, the operator starts the setting mode on the operation application software program. The setting mode is started by pressing (touching) a setting mode start button, for example, on the teaching operation screen.

[0198] In step S602, the authentication unit 24 determines whether a proximity event has been detected by the event detection unit 23. The process of step S602 is repeatedly executed in a predetermined cycle.

[0199] When the operator attaches the wireless operating device 11 to the wired operating device 12 , the event detection unit 23 detects a proximity event. Therefore, in step S602 , the authentication unit 24 determines that the event detection unit 23 has detected a proximity event, and then proceeds to step S603 .

[0200] In step S603, the identifier acquisition unit 27 acquires the identifier of the non-contact authentication tag 26 and sets it as the reference identifier.

[0201] In step S604, the identifier acquisition unit 27 writes the acquired reference identifier of the contactless authentication tag 26 into the storage unit in the control device 3. When the reference identifier is written from the identifier writing unit 28 in the wireless operation device 11 to the storage unit of the control device 3, the reference identifier is transmitted from the wireless operation device 11 to the control device 3 via wireless communication. As a result, the pairing of the wireless operation device 11 and the wired operation device 12 is completed, and thus the setting mode ends.

[0202] Fig.17 FIG. 5 is a diagram showing a specific example of the operation in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure. Fig.17 In order to simplify the description, the wireless operating device 11 is shown as being separated from the wired operating device 12 , but in reality, the wireless operating device 11 is installed in the wired operating device 12 .

[0203] exist Fig.17 In the non-contact authentication tag 26, the identifier ID1 inherent to the wired operating device 12 provided with the non-contact authentication tag 26 is recorded. When the operator installs the wireless operating device 11 on the wired operating device 12, the event detection unit 23 detects the proximity event, and therefore, the authentication unit 24 determines that the proximity event is detected by the event detection unit 23. The identifier acquisition unit 27 acquires the identifier ID1 of the non-contact authentication tag 26 by the event detection unit 23 detecting the proximity event, and sets it as the reference identifier ID1. The identifier acquisition unit 27 writes the reference identifier of the non-contact authentication tag 26 acquired to the storage unit 82 in the control device 3 via wireless communication. When the reference identifier is written from the identifier writing unit 28 in the wireless operating device 11 to the storage unit of the control device 3, the reference identifier is sent from the wireless operating device 11 to the control device 3 via wireless communication. As described above, the pairing of the wireless operating device 11 and the wired operating device 12 is completed.

[0204] Furthermore, in the fifth embodiment of the present disclosure, the authentication unit 24 is provided in the wireless operation device 11 , but as a modified example thereof, the authentication unit may be provided in the control device 3 . Fig.18FIG. 1 is a diagram showing a machine operating system of a modified example of the fifth embodiment of the present disclosure. In the modified example of the fifth embodiment of the present disclosure, an authentication unit 71 is provided in the control device 3. The authentication unit 71 has Fig.15 However, when the authentication unit 71 performs the authentication process, the identifier acquired by the identifier reading unit 29 in the operation mode is transmitted to the control device 3 via wireless communication. In addition, the event detection unit 61, the application execution unit 62, the identifier acquisition unit 63, the identifier writing unit 64, and the identifier reading unit 65 have the same functions as those of the authentication unit 24 shown in FIG. Fig.15 The event detection unit 23, application execution unit 25, identifier acquisition unit 27, identifier writing unit 28, and identifier reading unit 29 shown in the figure have the same functions. Fig.18 Schematically shows an event detection unit 61 , an application execution unit 62 , an identifier acquisition unit 63 , an identifier writing unit 64 , and an identifier reading unit 65 .

[0205] The event detection unit 61, the application execution unit 62, the identifier acquisition unit 63, the identifier writing unit 64, and the identifier reading unit 65 may be constructed in the form of a software program, or may be constructed by a combination of various electronic circuits and software programs. For example, when they are constructed in the form of a software program, various software programs are installed in a storage unit (not shown) in the wireless operation device 11, and the operation processing unit (not shown) in the wireless operation device 11 operates according to the software program installed in the storage unit, thereby realizing the functions of the event detection unit 61, the application execution unit 62, the identifier acquisition unit 63, the identifier writing unit 64, and the identifier reading unit 65. Alternatively, the event detection unit 61, the application execution unit 62, the identifier acquisition unit 63, the identifier writing unit 64, and the identifier reading unit 65 may be realized as a semiconductor integrated circuit in which a software program realizing the functions of these units is written. In this case, the semiconductor integrated circuit is incorporated in the wireless operation device 11 to realize the functions of the event detection unit 61, the application execution unit 62, the identifier acquisition unit 63, the identifier writing unit 64, and the identifier reading unit 65.

[0206] The authentication unit 71 can be constructed, for example, in the form of a software program, or can be constructed by a combination of various electronic circuits and software programs. For example, when they are constructed in the form of a software program, various software programs are installed in a storage unit (not shown) in the control device 3, and the operation processing unit (not shown) in the control device 3 operates according to the software program installed in the storage unit, thereby realizing the function of the authentication unit 71. Alternatively, it can also be realized as a semiconductor integrated circuit in which a software program realizing the function of the authentication unit 71 is written. In this case, the semiconductor integrated circuit is assembled in the control device 3 to realize the function of the authentication unit 71.

[0207] Fig.19This is a flowchart showing the flow of operations in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0208] At the stage of step S701, the pairing of the wireless operating device 11 and the wired operating device 12 in the setting mode has been completed. The operator presses (touches) the start icon 51 to start the operation application software program, and the teaching operation screen is displayed on the touch panel 21. Then, the operator starts the operation mode on the operation application software program. The operation mode is started by, for example, pressing (touching) the operation mode start button on the teaching operation screen. When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S701, the wireless operating device 11 does not instruct the control device 3 on the action of the robot 2.

[0209] In step S702, the authentication unit 24 determines whether a proximity event has been detected by the event detection unit 23. The process of step S702 is repeatedly executed in a predetermined cycle.

[0210] When the operator attaches the wireless operating device 11 to the wired operating device 12 , the event detection unit 23 detects a proximity event. Therefore, in step S702 , the authentication unit 24 determines that the event detection unit 23 has detected a proximity event, and then proceeds to step S703 .

[0211] In step S703 , the identifier acquisition unit 27 acquires the identifier of the non-contact authentication tag 26 .

[0212] In step S704 , the identifier reading unit 29 reads the reference identifier from the storage unit of the control device 3 via wireless communication.

[0213] In step S705 , the authentication unit 24 determines whether the identifier acquired by the identifier acquisition unit 27 in step S703 and the reference identifier read by the identifier reading unit 29 in step S704 match each other.

[0214] If it is determined in step S705 that the identifier acquired by the identifier acquisition unit 27 is consistent with the reference identifier, in step S706, the authentication unit 24 validates the operation content for the wireless operation device 11. As a result, as a manual operation on the robot 2 using the wireless operation device 11, the operator can perform teaching (manual operation) of the robot 2, register and edit the action program related to the robot 2, or set conditions. Receiving the manual operation of the wireless operation device 11 performed by the operator, the control device 3 controls the action of the robot 2 (step S707). In addition, in the processing of step S707, the robot 2 can be operated via the wireless operation device 11 while the enable switch 31 is pressed, and when the emergency stop button 32 is pressed, the robot 2 stops urgently.

[0215] In step S708, the authentication unit 24 determines whether a departure event has been detected by the event detection unit 23. The process of step S708 is repeatedly executed in a predetermined cycle.

[0216] If a departure event is not detected in step S708 , the process returns to step S707 .

[0217] If the separation event is detected in step S708, the authentication unit 24 invalidates the operation content for the wireless operating device 11 in step S709. Thus, the operator cannot use the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12 to instruct the control device 3 on the operation of the robot 2.

[0218] Furthermore, in step S705, when it is determined that the identifier acquired by the identifier acquisition unit 27 is not identical to the reference identifier, in step S709, the authentication unit 24 also invalidates the operation content for the wireless operating device 11. Thus, the operator cannot instruct the control device 3 on the operation of the robot 2 using the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0219] In addition, each of the above steps can be implemented in the form of a software program (computer program) that can be executed by the operation processing device in the wireless operation device 11. It is easy for a person skilled in the art to implement the above-mentioned processing device and to create a software program that enables a computer to execute the above-mentioned processing. In addition, it is also obvious to a person skilled in the art that a computer program that enables a computer to execute the above-mentioned processing is stored in a recording medium.

[0220] In the machine operating system 100 of the fifth embodiment of the present disclosure, a computer program for causing a computer (a processing device in the wireless operating device 11) to perform an authentication process includes an event detection step, an authentication step, an application execution step, an identifier acquisition step, an identifier writing step, and an identifier reading step. In the event detection step, an approach event and a separation event are detected, wherein the approach event refers to the non-contact authentication tag 26 entering the first area from the outside of the first area predetermined by the wireless operating device 11 to the inside of the first area, and the separation event refers to the non-contact authentication tag 26 coming out from the inside of the first area to the outside of the first area. In the application execution step, an operation application software program is executed, and the operation application software program controls the control device 3 so that the robot 2 moves according to the operation content related to the teaching operation for the robot 2. In the identifier acquisition step, when the approach event is detected in the event detection step, the identifier inherent to the wired operating device 12 of the non-contact authentication tag 26 is acquired. In the identifier writing step, the identifier of the non-contact authentication tag 26 acquired in the identifier acquisition step of the setting mode is written as a reference identifier to the storage unit of the control device 3 via wireless communication. In the identifier reading step, when a proximity event is detected in the event detection step of the operation mode, the reference identifier is read from the storage unit of the control device 3 via wireless communication. In the authentication step, in the operation mode, when the identifier acquired in the identifier acquisition step matches the reference identifier acquired in the identifier reading step, the operation content for the wireless operation device is validated, and when the identifier acquired in the identifier acquisition step does not match the reference identifier acquired in the identifier reading step, the operation content for the wireless operation device 11 is invalidated.

[0221] In addition, in the machine operating system 100 of the modified example of the fifth embodiment of the present disclosure, a computer program for causing a computer (a processing unit in the wireless operating device 11 or a processing unit in the control device 3) to perform authentication processing includes: an event detection step, an authentication step, an application execution step, an identifier acquisition step, an identifier writing step, and an identifier reading step. In the event detection step, an approach event and a separation event are detected, wherein the approach event refers to the non-contact authentication tag 26 entering the first area from the outside of the first area predetermined by the wireless operating device 11 to the inside of the first area, and the separation event refers to the non-contact authentication tag 26 coming out from the inside of the first area to the outside of the first area. In the application execution step, an operation application software program is executed, and the operation application software program controls the control device 3 so that the robot 2 acts according to the operation content related to the teaching operation for the robot 2. In the identifier acquisition step, when the approach event is detected in the event detection step, the identifier inherent to the wired operating device 12 of the non-contact authentication tag 26 is acquired. In the identifier writing step, the identifier of the non-contact authentication tag 26 acquired in the identifier acquisition step of the setting mode is written as a reference identifier to the storage unit of the control device 3 via wireless communication. In the identifier reading step, when a proximity event is detected in the event detection step of the operation mode, the reference identifier is read from the storage unit of the control device 3 via wireless communication. In the authentication step, in the operation mode, when the identifier acquired in the identifier acquisition step and the reference identifier acquired in the identifier reading step match, the operation content for the wireless operation device 11 is validated. In addition, in the authentication step, in the operation mode, when the identifier acquired in the identifier acquisition step and the reference identifier acquired in the identifier reading step do not match, the control device 3 is caused to execute a process of invalidating the operation content for the wireless operation device 11.

[0222] Fig. 20 This is a diagram (part 1) showing a specific example of the operation in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0223] exist Fig. 20 In the setting mode, the pairing of the wireless operating device 11 and the wired operating device 12 has been completed, and the storage unit 82 of the control device 3 stores the reference identifier ID1 of the non-contact authentication tag 26 obtained in the setting mode. Fig. 20 In order to simplify the description, the wireless operating device 11 is shown as being separated from the wired operating device 12 , but in fact the wireless operating device 11 is installed in the wired operating device 12 .

[0224] When the wireless operating device 11 is installed on the wired operating device 12 provided with the non-contact authentication tag 26 having the reference identifier ID1 recorded thereon, the identifier ID1 acquired by the identifier acquisition unit 27 is consistent with the reference identifier ID1 acquired by the identifier reading unit 29, and therefore the operation contents for the wireless operating device 11 are validated by the authentication unit 24. Therefore, the operator can use the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12 to perform manual operation on the robot 2 using the wireless operating device 11, and can teach the robot 2 (manual operation), register and edit the motion program related to the robot 2, or set conditions, etc.

[0225] Fig.21 This is a diagram (part 2) showing a specific example of the operation in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0226] exist Fig.21 In the setting mode, the pairing of the wireless operating device 11 and the wired operating device 12 has been completed, and the reference identifier ID2 of the non-contact authentication tag 26 obtained in the setting mode is stored in the storage unit 82 of the control device 3. Fig. 20 In order to simplify the description, the wireless operating device 11 is shown as being separated from the wired operating device 12 , but in fact the wireless operating device 11 is installed in the wired operating device 12 .

[0227] When the wireless operating device 11 is installed on the wired operating device 12 provided with the contactless authentication tag 26 having the reference identifier ID2 recorded thereon, the identifier ID1 acquired by the identifier acquisition unit 27 and the identifier ID2 acquired by the identifier reading unit 29 do not match, and therefore the operation contents for the wireless operating device 11 are invalidated by the authentication unit 24. Therefore, the operator cannot instruct the control device 3 on the operation of the robot 2 using the teaching operating device 1 composed of the wireless operating device 11 and the wired operating device 12.

[0228] <Sixth embodiment>

[0229] The sixth embodiment has a tag detection unit that detects a non-contact authentication tag 26 instead of the event detection unit 23 in the first embodiment. When the tag detection unit detects the non-contact authentication tag 26 in a predetermined vicinity of the wireless operating device 11, that is, in a first area, the authentication unit 24 makes the operation content for the wireless operating device 11 effective. The tag detection unit can be constructed, for example, in the form of a software program, or can be constructed by a combination of various electronic circuits and software programs. For example, when they are constructed in the form of software programs, various software programs are installed in a storage unit (not shown) in the wireless operating device 11, and the operation processing unit (not shown) in the wireless operating device 11 operates according to the software program installed in the storage unit, thereby realizing the function of the tag detection unit. Alternatively, the tag detection unit can also be realized as a semiconductor integrated circuit in which a software program that realizes the functions of these parts is written. In this case, the semiconductor integrated circuit is assembled in the wireless operating device 11 to realize the function of the tag detection unit.

[0230] In the mechanical operating system 100 of the sixth embodiment of the present disclosure, a computer program for causing a computer (a processing unit in the wireless operating device 11) to perform authentication processing includes: a tag detection step, an authentication step, and an application execution step. In the tag detection step, the non-contact authentication tag 26 is detected. In the authentication step, when the non-contact authentication tag 26 is detected in the tag detection step, the operation content for the wireless operating device 11 is made valid. In the application execution step, the operation application software program is executed, and the operation application software program controls the control device 3 so that the robot 2 acts according to the operation content related to the teaching operation for the robot 2.

[0231] <Seventh embodiment>

[0232] The seventh embodiment includes a tag detection unit that detects a non-contact authentication tag 26 instead of the event detection unit 23 in the fifth embodiment.

[0233] When the tag detection unit detects the non-contact authentication tag 26 in the first area which is a predetermined vicinity of the wireless operation device 11, the identifier acquisition unit 27 acquires the identifier of the non-contact authentication tag 26. The identifier acquisition process of the identifier acquisition unit 27 can be performed in both the setting mode and the operation mode.

[0234] The identifier writing unit 28 writes the identifier of the contactless authentication tag 26 acquired by the identifier acquiring unit 27 in the setting mode as a reference identifier into the storage unit of the control device 3. When the reference identifier is written from the identifier writing unit 28 in the wireless operating device 11 to the storage unit of the control device 3, the reference identifier is transmitted from the wireless operating device 11 to the control device 3 via wireless communication. The wireless communication between the wireless operating device 11 and the control device 3 uses the narrowband wireless communication already described.

[0235] When the non-contact authentication tag 26 is detected in the operation mode after the setting mode, the identifier reading unit 29 reads the reference identifier from the storage unit of the control device 3. When the identifier writing unit 28 in the wireless operation device 11 reads the reference identifier from the storage unit of the control device 3, the reference identifier is transmitted from the control device 3 to the wireless operation device 11 via wireless communication. The wireless communication between the control device 3 and the wireless operation device 11 uses the narrowband wireless communication already described.

[0236] In the operation mode, when the identifier acquired by the identifier acquisition unit 27 matches the reference identifier, the authentication unit 24 validates the operation content for the wireless operation device 11. In addition, in the operation mode, when the identifier acquired by the identifier acquisition unit 27 does not match the reference identifier, the authentication unit 24 invalidates the operation content for the wireless operation device 11.

[0237] The tag detection unit, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28, and the identifier reading unit 29 can be constructed, for example, in the form of software programs, or can be constructed by a combination of various electronic circuits and software programs. For example, when they are constructed in the form of software programs, various software programs are installed in a storage unit (not shown) in the wireless operation device 11, and the operation processing unit (not shown) in the wireless operation device 11 operates according to the software programs installed in the storage unit, thereby realizing the functions of the tag detection unit, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28, and the identifier reading unit 29. Alternatively, the tag detection unit, authentication unit 24, application execution unit 25, identifier acquisition unit 27, identifier writing unit 28 and identifier reading unit 29 may be implemented as a semiconductor integrated circuit in which a software program that implements the functions of these units is written. In this case, the semiconductor integrated circuit is assembled in the wireless operation device 11 to implement the functions of the tag detection unit, authentication unit 24, application execution unit 25, identifier acquisition unit 27, identifier writing unit 28 and identifier reading unit 29.

[0238] The computer program for causing a computer (the computing device in the wireless operating device 11) to perform authentication processing in the machine operating system 100 of the seventh embodiment of the present disclosure includes: a tag detection step, an authentication step, an application execution step, an identifier acquisition step, an identifier writing step, and an identifier reading step. In the tag detection step, it is detected whether the non-contact authentication tag 26 exists in the first area predetermined in the wireless operating device 11. In the application execution step, the operation application software program is executed, and the operation application software program controls the control device 3 so that the robot 2 operates according to the operation content related to the teaching operation for the robot 2. In the identifier acquisition step, when the non-contact authentication tag 26 is detected in the tag detection step, the identifier inherent to the wired operating device 12 of the non-contact authentication tag 26 is acquired. In the identifier writing step, the identifier of the non-contact authentication tag 26 acquired in the identifier acquisition step of the setting mode is written as a reference identifier to the storage unit of the control device 3 via wireless communication. In the identifier reading step, when the proximity event is detected in the event detection step of the operation mode, the reference identifier is read from the storage unit of the control device 3 via wireless communication. In the authentication step, in the operation mode, when the identifier obtained in the identifier acquisition step is consistent with the reference identifier obtained in the identifier reading step, the operation content for the wireless operation device is made valid, and when the identifier obtained in the identifier acquisition step is inconsistent with the reference identifier obtained in the identifier reading step, the operation content for the wireless operation device 11 is made invalid.

[0239] In addition, the first to seventh embodiments (including variants) described above may be implemented in combination as appropriate. For example, a setting menu screen that can select the first to seventh embodiments (including variants) may be provided in the teaching operation screen of the operating application software program, so that the operator can select the desired implementation.

[0240] In the above, the case where the machine operating robot 2 is operated by the machine operating system 100 is described as an example, but the above description is also applicable to the case where the machine operated by the machine operating system 100 is an industrial machine.

[0241] According to the first to seventh embodiments of the present disclosure, in a mechanical operating system 100 composed of a wireless operating device 11 as a general information terminal and a wired operating device 12 as a base member having a safety switch, safety can be ensured at low cost. In the first to seventh embodiments of the present disclosure, an inexpensive non-contact authentication tag 26 is provided in the wired operating device 12, and authentication processing can be performed through software processing, so the cost is low.

[0242] According to the mechanical operating system 100 of the first to fourth and sixth embodiments of the present disclosure, the wired operating device 12 and the wireless operating device 11 can be loaded and unloaded, but as long as the wireless operating device 11 is not installed on the wired operating device 12, the operation content for the wireless operating device 11 will not be effective. Therefore, the teaching operator can operate the safety switch according to his own will, which is safer. In addition, the possibility of the safety switch being operated by a third party different from the teaching operator can be eliminated, which is safer. In addition, assuming that the wired operating device 12 and the wireless operating device 11 are separated and in different places, the teaching operator holds the wireless operating device 11, and a third party different from the teaching operator holds the wired operating device 12 and thus holds the safety switch, the third party cannot operate the safety switch.

[0243] In addition, according to the mechanical operating system 100 of the fifth and seventh embodiments of the present disclosure, the non-contact authentication tag 26 provided on the wired operating device 12 is given an identifier inherent to the wired operating device 12, and the pairing of the wireless operating device 11 and the wired operating device 12 is managed based on the identifier. Therefore, even if the wired operating device 12 and the wireless operating device 11 that are not paired by the identifier are installed, the operation content for the wireless operating device 11 will not be effective. Therefore, the teaching operator can operate the safety switch according to his own will, and the safety is higher. In addition, the possibility of the safety switch being operated by a third party different from the teaching operator can be eliminated, and the safety is higher. In addition, assuming that the wired operating device 12 and the wireless operating device 11 are separated and in different places, the teaching operator holds the wireless operating device 11, and the third party different from the teaching operator holds the wired operating device 12 and thus holds the safety switch, the third party cannot operate the safety switch.

[0244] The embodiments of the present disclosure are described in detail, but the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the spirit of the invention, or without departing from the scope of the spirit of the invention derived from the contents recorded in the claims and their equivalents. For example, in the above-mentioned embodiments, the order of each action and the order of each processing are shown as an example, but are not limited to this. In addition, the same is true for the case where numerical values ​​or mathematical formulas are used in the description of the above-mentioned embodiments.

[0245] Explanation of symbols

[0246] 1 Teaching operating device

[0247] 2 Robots

[0248] 3 Control device

[0249] 11 Wireless operating device

[0250] 12 Wired operation device

[0251] 21 Touch Panel

[0252] 22 Power button

[0253] 23. Event Detection Department

[0254] 24 Certification Department

[0255] 25 Application Execution Unit

[0256] 26 Contactless Authentication Tags

[0257] 27 Identifier acquisition unit

[0258] 28 Identifier writing unit

[0259] 29 Identifier reading unit

[0260] 30 Install the pedestal

[0261] 31 Enable switch

[0262] 32 Emergency stop button

[0263] 33 Cable for teaching operation device

[0264] 41 Cables for robots

[0265] 51 Start Icon

[0266] 61 Event Detection Department

[0267] 62 Application Execution Unit

[0268] 63 Identifier acquisition unit

[0269] 64 Identifier writing unit

[0270] 65 Identifier reading unit

[0271] 71 Certification Department

[0272] 81 Storage

[0273] 82 Storage

[0274] 71 Certification Department

[0275] 100 mechanical operating systems.

Claims

1. A mechanical operating system having: A wireless operating device connected to a control device of a robot or industrial machine via wireless communication, and instructing the control device to move the robot or industrial machine according to the operation content; and a wired operating device connected to the control device via wired communication and having a contactless authentication tag, The wireless operating device comprises: An event detection unit detects approach events and departure events, wherein: The approach event refers to the non-contact authentication tag entering from the outside of a first area predefined by the wireless operating device to the inside of the first area, and the departure event refers to the non-contact authentication tag exiting from the inside of the first area to the outside of the first area; and An authentication unit determines whether the operation content with respect to the wireless operation device is valid or invalid based on the content of the event detected by the event detection unit.

2. The mechanical operating system according to claim 1, characterized in that: The authentication unit validates the operation content for the wireless operation device when the event detection unit detects the approach event, and invalidates the operation content for the wireless operation device when the event detection unit detects the separation event.

3. The mechanical operating system according to claim 1 or 2, characterized in that: The wireless operating device includes an application execution unit that executes an operation application software program that controls the control device so that the robot or the industrial machine operates according to operation content related to a teaching operation for the robot or the industrial machine.

4. The mechanical operating system according to claim 3, characterized in that: When the operation application software program is executed by the application execution unit, the event detection process of the event detection unit is performed.

5. The mechanical operating system according to claim 4, characterized in that: The application execution unit starts the operation application software program when the wireless operation device is powered on. After the operation application software program is started, the application execution unit executes the operation application software program as a background process until a teaching operation start instruction is given to the wireless operation device, and after the teaching operation start instruction is given, the application execution unit executes the operation application software program as a foreground process.

6. The mechanical operating system according to claim 5, characterized in that: The application execution unit executes the operation application software program as a background process after a teaching operation end instruction is issued to the wireless operation device when the operation application software program is executed as a foreground process.

7. The mechanical operating system according to claim 3, characterized in that: When the event detection unit detects the approach event when the operation application software program is executed as a background process, the application execution unit executes the operation application software program as a foreground process; when the event detection unit detects the separation event when the operation application software program is executed as a foreground process, the application execution unit executes the operation application software program as a background process.

8. The mechanical operating system according to claim 1, characterized in that: The contactless authentication tag has an identifier unique to the wired operating device. The wireless operation device includes an identifier acquisition unit that acquires the identifier of the non-contact authentication tag when the proximity event is detected by the event detection unit. In the operation mode, when the identifier acquired by the identifier acquisition unit is consistent with the identifier pre-acquired by the identifier acquisition unit in the setting mode before the operation mode, the authentication unit validates the operation content for the wireless operation device, and when the identifier acquired by the identifier acquisition unit is inconsistent with the identifier pre-acquired by the identifier acquisition unit in the setting mode, the authentication unit invalidates the operation content for the wireless operation device.

9. The mechanical operating system according to claim 1, characterized in that: The contactless authentication tag has an identifier unique to the wired operating device. The wireless operating device comprises: an identifier acquisition unit that acquires the identifier of the contactless authentication tag when the proximity event is detected by the event detection unit; an identifier writing unit that uses the identifier of the non-contact authentication tag acquired by the identifier acquiring unit in a setting mode as a reference identifier and writes the reference identifier into a storage unit of the control device via wireless communication; as well as an identifier reading unit that reads the reference identifier from the storage unit of the control device via wireless communication when the event detection unit detects the proximity event in an operation mode after the setting mode, In the operation mode, when the identifier acquired by the identifier acquisition unit is consistent with the reference identifier, the authentication unit validates the operation content for the wireless operation device, and when the identifier acquired by the identifier acquisition unit is inconsistent with the reference identifier, the authentication unit invalidates the operation content for the wireless operation device.

10. A mechanical operating system having: Control devices for robots or industrial machinery; A wireless operating device connected to the control device via wireless communication and instructing the control device to move the robot or the industrial machine according to the operation content; as well as a wired operating device connected to the control device via wired communication and having a contactless authentication tag to which a dedicated identifier is assigned, The wireless operating device comprises: an event detection unit configured to detect a proximity event, wherein the proximity event is when the contactless authentication tag enters from an outside of a first area predetermined by the wireless operating device to an inside of the first area; an identifier acquisition unit that acquires the identifier of the contactless authentication tag when the proximity event is detected by the event detection unit; an identifier writing unit that uses the identifier of the non-contact authentication tag acquired by the identifier acquiring unit in a setting mode as a reference identifier and writes the reference identifier into a storage unit of the control device via wireless communication; as well as an identifier reading unit that reads the reference identifier from the storage unit of the control device via wireless communication when the event detection unit detects the proximity event in an operation mode after the setting mode, The control device includes an authentication unit configured to validate operation contents for the wireless operation device when the identifier acquired by the identifier acquisition unit matches the reference identifier in the operation mode.

11. The mechanical operating system according to claim 10, characterized in that: In the operation mode, when the identifier acquired by the identifier acquisition unit does not match the reference identifier, the control device invalidates the operation content on the wireless operation device.

12. The mechanical operating system according to claim 10 or 11, characterized in that: The event detection section detects the approach event and the separation event, wherein the separation event refers to the non-contact authentication tag coming out from the inside of the first area to the outside of the first area.

13. A computer program for causing a computer to perform authentication processing in a machine operating system, the machine operating system comprising: a wireless operating device connected to a control device of a robot or industrial machine via wireless communication and instructing the control device to perform actions of the robot or industrial machine according to the operation content; and a wired operating device connected to the control device via wired communication and having a contactless authentication tag, The computer program has: The event detection step detects approach events and departure events, wherein: The approach event refers to the non-contact authentication tag entering from the outside of a first area predefined by the wireless operating device to the inside of the first area, and the departure event refers to the non-contact authentication tag exiting from the inside of the first area to the outside of the first area; and The authentication step determines whether the operation content for the wireless operation device is valid or invalid based on the content of the event detected in the event detection step.

14. The computer program for causing a computer to execute authentication processing according to claim 13, characterized in that: In the authentication step, when the approach event is detected in the event detection step, the operation content for the wireless operation device is validated, and when the separation event is detected in the event detection step, the operation content for the wireless operation device is invalidated.

15. The computer program for causing a computer to execute authentication processing according to claim 13 or 14, characterized in that: The computer program has an application execution step of executing an operation application software program that controls the control device so that the robot or the industrial machine operates according to operation contents related to a teaching operation for the robot or the industrial machine.

16. The computer program for causing a computer to execute authentication processing according to claim 15, characterized in that: When the operation application software program is executed by the application execution step, the event detection processing in the event detection step is performed.

17. The computer program for causing a computer to execute authentication processing according to claim 16, characterized in that: starting the operating application software program when the wireless operating device is powered on, After the operation application software program is started, the operation application software program is executed as a background process until a teaching operation start instruction is given to the wireless operation device, and after the teaching operation start instruction is given, the operation application software program is executed as a foreground process.

18. The computer program for causing a computer to execute authentication processing according to claim 17, characterized in that: When the operation application software program is executed as a foreground process, after a teaching operation end instruction is given to the wireless operation device, the operation application software program is executed as a background process.

19. The computer program for causing a computer to execute authentication processing according to claim 15, characterized in that: When the approach event is detected in the event detection step when the operation application software program is executed as a background process, the operation application software program is executed as a foreground process; when the separation event is detected in the event detection step when the operation application software program is executed as a foreground process, the operation application software program is executed as a background process.

20. The computer program for causing a computer to execute authentication processing according to claim 13, characterized in that: The computer program further comprises: an identifier acquisition step of acquiring an identifier unique to the wired operating device of the contactless authentication tag when the proximity event is detected in the event detection step; In the authentication step, in the operation mode, when the identifier obtained in the identifier acquisition step is consistent with the identifier pre-acquired in the identifier acquisition step of the setting mode before the operation mode, the operation content for the wireless operation device is made valid, and when the identifier obtained in the identifier acquisition step is inconsistent with the identifier pre-acquired in the identifier acquisition step of the setting mode, the operation content for the wireless operation device is made invalid.

21. The computer program for causing a computer to execute authentication processing according to claim 13, characterized in that: The computer program also has: an identifier acquisition step of acquiring an identifier unique to the wired operating device of the contactless authentication tag when the proximity event is detected in the event detection step; an identifier writing step of using the identifier of the non-contact authentication tag acquired in the identifier acquiring step in the setting mode as a reference identifier and writing the reference identifier into a storage unit of the control device via wireless communication; as well as an identifier reading step of, when the proximity event is detected in the event detection step in the operation mode after the setting mode, reading the reference identifier from the storage unit of the control device via wireless communication, In the authentication step, in the operation mode, when the identifier obtained in the identifier acquisition step is consistent with the reference identifier obtained in the identifier reading step, the operation content for the wireless operation device is made valid, and when the identifier obtained in the identifier acquisition step is inconsistent with the reference identifier in the identifier reading step, the operation content for the wireless operation device is made invalid.

22. A computer program for causing a computer to perform authentication processing in a machine operating system, the machine operating system comprising: a control device for a robot or industrial machine; a wireless operating device connected to the control device via wireless communication and instructing the control device to perform actions of the robot or industrial machine according to operation contents; and a wired operating device connected to the control device via wired communication and having a contactless authentication tag to which a dedicated identifier is assigned, The computer program has: an event detection step of detecting a proximity event, wherein the proximity event refers to the non-contact authentication tag entering from the outside of a first area predefined by the wireless operating device to the inside of the first area; an identifier acquisition step of acquiring the identifier of the contactless authentication tag when the proximity event is detected in the event detection step; an identifier writing step of using the identifier of the non-contact authentication tag acquired in the identifier acquiring step in the setting mode as a reference identifier and writing the reference identifier into a storage unit of the control device via wireless communication; an identifier reading step of, when the proximity event is detected in the event detection step in the operation mode after the setting mode, reading the reference identifier from the storage unit of the control device via wireless communication; and The authentication step causes the control device to execute processing to validate the operation content for the wireless operation device when the identifier acquired in the identifier acquisition step matches the reference identifier in the identifier reading step in the operation mode.

23. The computer program for causing a computer to execute authentication processing according to claim 22, characterized in that: In the authentication step, the control device executes processing to invalidate operation contents on the wireless operation device when the identifier acquired in the identifier acquisition step and the reference identifier in the identifier reading step do not match in the operation mode.

24. The computer program for causing a computer to execute authentication processing according to claim 22 or 23, characterized in that: The approach event and the separation event are detected in the event detection step, wherein the separation event refers to the non-contact authentication tag coming out from the inside of the first area to the outside of the first area.

25. A mechanical operating system having: A wireless operating device connected to a control device of a robot or industrial machine via wireless communication, and instructing the control device to move the robot or industrial machine according to the operation content; and a wired operating device connected to the control device via wired communication and having a contactless authentication tag, The wireless operating device comprises: a tag detection unit that detects the non-contact authentication tag; and An authentication unit validates the operation content with respect to the wireless operation device when the non-contact authentication tag is detected by the tag detection unit.

26. A computer program for causing a computer to perform authentication processing in a machine operating system, the machine operating system comprising: a wireless operating device connected to a control device of a robot or industrial machine via wireless communication and instructing the control device to perform actions of the robot or industrial machine according to operation contents; and a wired operating device connected to the control device via wired communication and having a contactless authentication tag, The computer program has: a tag detection step, detecting the contactless authentication tag; and The authentication step is to validate the operation content for the wireless operation device when the non-contact authentication tag is detected in the tag detection step.

27. A mechanical operating system having: Control devices for robots or industrial machinery; A wireless operating device connected to the control device via wireless communication and instructing the control device to move the robot or the industrial machine according to the operation content; as well as a wired operating device connected to the control device via wired communication and having a contactless authentication tag to which a dedicated identifier is assigned, The wireless operating device comprises: a tag detection unit, which detects the non-contact authentication tag; an identifier acquisition unit that acquires the identifier of the non-contact authentication tag when the non-contact authentication tag is detected by the tag detection unit; an identifier writing unit that uses the identifier of the non-contact authentication tag acquired by the identifier acquiring unit in a setting mode as a reference identifier and writes the reference identifier into a storage unit of the control device via wireless communication; as well as an identifier reading unit that reads the reference identifier from the storage unit of the control device via wireless communication when the non-contact authentication tag is detected by the tag detection unit in an operation mode after the setting mode, The control device includes an authentication unit configured to validate operation contents for the wireless operation device when the identifier acquired by the identifier acquisition unit matches the reference identifier in the operation mode.

28. The mechanical operating system according to claim 27, characterized in that: In the operation mode, when the identifier acquired by the identifier acquisition unit does not match the reference identifier, the authentication unit invalidates the operation content on the wireless operation device.

29. A computer program for causing a computer to execute authentication processing in a machine operating system, the machine operating system comprising: a control device for a robot or industrial machine; a wireless operating device connected to the control device via wireless communication and instructing the control device to perform actions of the robot or industrial machine according to operation contents; and a wired operating device connected to the control device via wired communication and having a contactless authentication tag to which a dedicated identifier is assigned, The computer program has: A tag detection step, detecting the contactless authentication tag; an identifier acquisition step of acquiring the identifier of the contactless authentication tag when the contactless authentication tag is detected in the tag detection step; an identifier writing step of using the identifier of the non-contact authentication tag acquired in the identifier acquiring step in the setting mode as a reference identifier and writing the reference identifier into a storage unit of the control device via wireless communication; an identifier reading step of, when the non-contact authentication tag is detected in the tag detection step in the operation mode after the setting mode, reading the reference identifier from the storage unit of the control device via wireless communication; and The authentication step causes the control device to execute processing to validate the operation content for the wireless operation device when the identifier acquired in the identifier acquisition step matches the reference identifier in the identifier reading step in the operation mode.

30. The computer program for causing a computer to execute authentication processing according to claim 29, characterized in that: In the authentication step, the control device executes processing to invalidate operation contents on the wireless operation device when the identifier acquired in the identifier acquisition step and the reference identifier in the identifier reading step do not match in the operation mode.

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