Distance monitoring system and method

Abstract

The invention provides a distance monitoring system which comprises a first machine end distance measuring device, a first portable distance measuring device and a warning device. The first machine end distance measuring device is used for generating a first distance and generating a first control instruction according to the first distance and a machine end threshold value so as to control operation of the machine. The first portable distance measuring device is connected with the first machine end distance measuring device and used for generating a second distance and generating a second control instruction according to the second distance and a portable device end threshold value. The warning device is connected to the first portable distance measuring device and used for generating a warning signal according to the second control instruction. The first machine end distance measuring device and the first portable distance measuring device perform distance measurement through an ultra wide band communication technology to generate a first distance and a second distance. According to the invention, the ultra-wideband communication technology is adopted for distance measurement, and safe distance monitoring can be provided when machine equipment or machine tools are operated in various factory environments.

Description

Technical Field

[0001] The invention relates to a distance monitoring system and method. Background Art

[0002] Traditionally, in order to prevent accidents when operators are operating machinery or machine tools, factories usually adopt standard operating procedures or set up safety fences to protect operators. However, if operators do not follow standard operating procedures, accidents may still occur.

[0003] Therefore, the industry will install fixed-position positioning devices in dangerous areas in some factories to locate operators and transmit positioning signals to remote servers. The server can determine whether the operator has entered the dangerous area based on the positioning signal and output a warning accordingly. However, the hardware construction cost of this method is high, lacks application convenience, and because it needs to be calculated through the server, the warning for operators who need to operate machinery or machine tools at close range is not fast enough, which may also cause accidents. Summary of the invention

[0004] In view of the above, the present invention provides a distance monitoring system and method for solving the above problems.

[0005] According to an embodiment of the present invention, a distance monitoring system comprises: a first machine-side distance measuring device, a first portable distance measuring device and an alarm device. The first machine-side distance measuring device is used to generate a first distance, and is used to generate a first control instruction according to the first distance and at least one machine-side threshold, wherein the first control instruction is used to control the operation of the machine. The first portable distance measuring device is connected to the first machine-side distance measuring device, and is used to generate a second distance, and is used to generate a second control instruction according to the second distance and at least one portable device-side threshold. The alarm device is connected to the first portable distance measuring device, and is used to generate an alarm signal according to the second control instruction. The first machine-side distance measuring device and the first portable distance measuring device perform at least one distance measurement through ultra-wideband (UWB) communication technology, wherein the at least one distance measurement comprises the first machine-side distance measuring device generating a first distance according to at least one first distance signal between the first portable distance measuring device and the first portable distance measuring device, and the first portable distance measuring device generating a second distance according to at least one second distance signal between the first machine-side distance measuring device and the first portable distance measuring device.

[0006] According to an embodiment of the present invention, a distance monitoring method includes: setting a first machine-side distance measuring device on a machine; setting a first portable distance measuring device connected to the first machine-side distance measuring device through ultra-wideband communication technology on an operator; using the first machine-side distance measuring device to perform distance measurement through ultra-wideband communication technology to generate a first distance according to at least one first distance signal between the first portable distance measuring device and the machine-side distance measuring device; using the first portable distance measuring device to perform distance measurement through ultra-wideband (UWB) communication technology to generate a second distance according to at least one second distance signal between the first portable distance measuring device and the machine-side distance measuring device; using the first machine-side distance measuring device to generate a first control instruction according to the first distance and at least one machine-side threshold to control the operation of the machine; and using the first portable distance measuring device to generate a second control instruction according to the second distance and at least one portable device-side threshold to control the warning device to generate a warning signal.

[0007] In summary, the distance monitoring system and method according to one or more embodiments of the present invention can reduce the construction cost of the distance measuring device and improve the convenience of application, and can have a faster response time, so it is suitable for safety protection in extremely close working conditions. By measuring the distance between the machine-side distance measuring device and the portable distance measuring device, double safety protection can be provided. Therefore, the distance monitoring system and method according to one or more embodiments of the present invention can perform effective safety distance monitoring.

[0008] The above description of the content of the present invention and the following description of the implementation modes are used to demonstrate and explain the spirit and principle of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 FIG. 4 is a block diagram of a distance monitoring system according to an embodiment of the present invention.

[0010] Figure 2 FIG. 4 is a block diagram of a machine-side distance measuring device and a portable distance measuring device according to an embodiment of the present invention.

[0011] Figure 3A FIG. 4 is a flow chart of a process according to an embodiment of the present invention.

[0012] Figure 3B FIG. 4 is a flow chart of a process according to an embodiment of the present invention.

[0013] Figure 4 FIG. 4 is a block diagram of a distance monitoring system according to another embodiment of the present invention.

[0014] Figure 5 FIG. 4 is a flow chart of a process according to an embodiment of the present invention.

[0015] Figure 6FIG. 4 is a flow chart of a process according to an embodiment of the present invention.

[0016] Figure 7 FIG. 4 is a block diagram of a distance monitoring system according to another embodiment of the present invention.

[0017] Figure 8 To illustrate Figure 7 Schematic diagram of the distance monitoring system.

[0018] Fig. 9 FIG. 4 is a flow chart of a process according to another embodiment of the present invention.

[0019] Fig.10 FIG. 4 is a block diagram of a distance monitoring system according to another embodiment of the present invention.

[0020] Fig.11 To illustrate Fig.10 Schematic diagram of the distance monitoring system.

[0021] Fig.12 FIG. 4 is a block diagram of a distance monitoring system according to yet another embodiment of the present invention. DETAILED DESCRIPTION

[0022] The detailed features and advantages of the present invention are described in detail in the following embodiments, and the contents are sufficient to enable any person skilled in the art to understand the technical content of the present invention and implement it accordingly, and according to the contents disclosed in this specification, claims and drawings, any person skilled in the art can easily understand the relevant purposes and advantages of the present invention. The following examples further illustrate the viewpoints of the present invention in detail, but do not limit the scope of the present invention in any viewpoint.

[0023] Please refer to Figure 1 , Figure 1 The block diagram of a distance monitoring system 1 according to an embodiment of the present invention is shown, and the distance monitoring system 1 includes a first machine-side distance measuring device 11, a first portable distance measuring device 12, and an alarm device 13. The first machine-side distance measuring device 11 can be installed on a machine, and has computing and ultra-wideband (UWB) communication functions, wherein the machine can be various mechanical equipment or a machine tool.

[0024] The first portable distance measuring device 12 has computing and ultra-wideband communication functions, and may include but is not limited to a mobile phone, a tablet computer or a wearable device (such as a bracelet, a watch, a headset, glasses, a head-mounted device, or any device that can be worn on the body). The warning device 13 can be externally connected to the first portable distance measuring device 12, or integrated into the same device with the first portable distance measuring device 12. The warning device 13 may include but is not limited to a warning lamp, a buzzer, a speaker, a vibration element or a combination thereof. The first machine-side distance measuring device 11 is connected to the first portable distance measuring device 12 through ultra-wideband communication technology to measure the distance, generate a first distance, and generate a first control instruction based on the first distance and at least one machine-side threshold, which can be used to control the operation of a machine. The first portable distance measuring device 12 is connected to the first machine-side distance measuring device 11 through ultra-wideband communication technology to generate a second distance, and generate a second control instruction based on the second distance and at least one portable device-side threshold. The second control instruction can cause the warning device 13 to send a light, sound or vibration signal as a warning message. The first portable distance measuring device 12 may be arranged on the operator. In some embodiments, the first machine-end distance measuring device 11 is arranged on the machine, and the machine may be various mechanical equipment or machine tools in a factory or other work field, and the first portable distance measuring device 12 is arranged on the operator, and the operator may be a person in the factory, and the first machine-end distance measuring device 11 and the first portable distance measuring device 12 may be used to measure the distance between the operator and the machine. The first machine-end distance measuring device 11 and the first portable distance measuring device 12 may each further include one or more processors to execute a program, and the processor may include but not limited to a processor or a system, and the processor may include but not limited to a general-purpose processor, a digital signal processor (DSP), a microprocessor, a controller, any other processor that can be used to receive instructions, process instructions and transmit instructions, or a combination of the above processors. The warning device 13 may also be connected to the first portable distance measuring device 12 via ultra-wideband communication technology or other wired or wireless methods to receive the second control instruction.

[0025] In other embodiments, Figure 2 As shown, the first machine-side distance measuring device 11 includes a first ultra-wideband communication unit 110, and the first portable distance measuring device 12 includes a second ultra-wideband communication unit 120. The first ultra-wideband communication unit 110 and the second ultra-wideband communication unit 120 are communicably connected to each other.

[0026] The first machine-side distance measuring device 11 is used to measure the distance between the machine and the operator through the connection between the first ultra-wideband communication unit 110 and the second ultra-wideband communication unit 120, and the first portable distance measuring device 12 is used to measure the distance between the operator and the first ultra-wideband communication unit 110 through the connection between the second ultra-wideband communication unit 120 and the first ultra-wideband communication unit 110.

[0027] Please refer to Figures 1 to 3A ,in Figure 3A This is a flow chart of a process 30A according to an embodiment of the present invention, which can be used for Figure 1 The distance monitoring system 1 (for example, the first machine-side distance measuring device 11 therein) can be used to monitor the distance. The process 30A can be compiled into a program and may include the following steps: step S101A: setting the first machine-side distance measuring device on the machine; step S103A: using the first machine-side distance measuring device to measure the distance through the ultra-wideband communication technology to generate a first distance according to at least one first distance signal between it and the first portable distance measuring device; and step S105A: using the first machine-side distance measuring device to generate a first control instruction according to the first distance and at least one machine-side threshold to control the operation of the machine.

[0028] In step S101A, the first machine-end distance measuring device 11 is installed on the machine.

[0029] In step S103A, the first machine-side distance measuring device 11 performs at least one distance measurement on the first portable distance measuring device 12 through the ultra-wideband communication technology. The at least one distance measurement includes the first machine-side distance measuring device 11 generating a first distance according to at least one first distance signal between the first machine-side distance measuring device 11 and the first portable distance measuring device 12. In other words, the first machine-side distance measuring device 11 can generate (e.g., calculate) the first distance through the communication between the first ultra-wideband communication unit 110 and the second ultra-wideband communication unit 120. The first machine-side distance measuring device 11 can utilize the time of flight (TOF) technology, send one or more ultra-wideband signals through the first ultra-wideband communication unit 110, and receive one or more response signals corresponding to the one or more ultra-wideband signals from the second ultra-wideband communication unit 120 as the first distance signal, and then generate the first distance according to the first distance signal. The first distance signal may include but is not limited to a short-range pulse radio signal, and the first distance indicates the distance (e.g., the shortest distance) between the first machine-side distance measuring device 11 and the first portable distance measuring device 12.

[0030] In step S105A, the first machine-side distance measuring device 11 generates a first control instruction according to the first distance and at least one machine-side threshold. The machine-side threshold may be, for example, 7 cm, but the present invention is not limited thereto. The first control instruction is used to control the operation of the machine provided with the first machine-side distance measuring device 11. For example, when the first distance is less than the machine-side threshold, the first control instruction may be used to reduce the operating speed of the machine or interrupt the power supply of the machine.

[0031] Please refer to Figures 1 to 3B ,in Figure 3B This is a flow chart of a process 30B of an embodiment of the present invention, for Figure 1 The distance monitoring system 1 (for example, the first portable distance measuring device 12 therein) is used to monitor the distance. The process 30B can be compiled into a program and may include the following steps: step S101B: setting the first portable distance measuring device on the operator; step S103B: using the first portable distance measuring device to measure the distance through the ultra-wideband communication technology to generate a second distance according to at least one second distance signal between the first machine-side distance measuring device; and step S105B: using the first portable distance measuring device to generate a second control instruction according to the second distance and at least one portable device-side threshold to control the warning device to generate a warning signal.

[0032] In step S101B, the first portable distance measuring device 12 is placed on the operator.

[0033] In step S103B, the first portable distance measuring device 12 performs at least one distance measurement on the first machine-side distance measuring device 11 through the ultra-wideband communication technology. The at least one distance measurement includes the first portable distance measuring device 12 generating a second distance according to at least one second distance signal between the first portable distance measuring device 12 and the first machine-side distance measuring device 11. In other words, the first portable distance measuring device 12 can generate the second distance through the communication between the first ultra-wideband communication unit 110 and the second ultra-wideband communication unit 120. The first portable distance measuring device 12 can use the time-of-flight ranging technology to send one or more ultra-wideband signals through the second ultra-wideband communication unit 120, and receive one or more response signals corresponding to the one or more ultra-wideband signals from the first ultra-wideband communication unit 110 as the second distance signal, and then generate (for example, calculate) the second distance according to the second distance signal. The second distance signal may include but is not limited to a short-range pulse radio signal, and the second distance indicates the distance (for example, the shortest distance) between the first portable distance measuring device 12 and the first machine-side distance measuring device 11.

[0034] In step S105B, the first portable distance-measuring device 12 generates a second control instruction according to the second distance and at least one portable device-side threshold. The portable device-side threshold may be, for example, 10 centimeters, but the present invention is not limited thereto. The first portable distance-measuring device 12 outputs the second control instruction to the warning device 13, and the warning device 13 generates a warning signal according to the second control instruction. According to the implementation method of the warning device 13, the warning signal can be used to warn (for example, notify) the operator to keep a safe distance from the machine, which may include but is not limited to a light signal, a sound signal, or a vibration signal. For example, when the second distance is less than the portable device-side threshold, the warning device 13 generates a warning signal according to the second control instruction.

[0035] It should also be noted that Figure 3A and Figure 3B The steps can be performed in parallel, as long as step S101A and step S101B are performed before steps S103A, S105A, S103B, and S105B, step S103A is performed before step S105A, and step S103B is performed before step S105B. Figure 3A and Figure 3B In an embodiment, for example, the first machine-end distance measuring device 11 can be implemented as a watch and worn by an operator, and the first portable distance measuring device 12 can be set at the rotary blade of a saw table. When the first distance is less than the machine-end threshold, the first machine-end distance measuring device 11 can generate a first control instruction for at least one of changing the operating direction of the rotary blade, reducing the operating speed of the rotary blade and stopping the power supply of the saw table; when the second distance is less than the portable device-end threshold, the first portable distance measuring device 12 can generate a warning signal for controlling the warning device 13 to generate vibration or sound.

[0036] Accordingly, since the distance measuring device uses ultra-wideband communication technology to measure distance, it can determine whether the distance between the operator and the machine is lower than the threshold, and can quickly generate control instructions. This solution can use low-cost devices to reduce the construction cost of the distance measuring device, and the distance measurement through time-of-flight distance measurement technology will make the distance measuring device react faster, so it is suitable for safety protection in extremely close working conditions. In addition, through the mutual distance measurement between the machine-side distance measuring device and the portable distance measuring device, double safety protection can be provided.

[0037] Please refer to Figure 4 ,in Figure 4 FIG. 2 is a block diagram of a distance monitoring system 2 according to another embodiment of the present invention. Figure 4 As shown, the distance monitoring system 2 includes a first machine-side distance measuring device 21, a first portable distance measuring device 22, a warning device 23, a machine-side controller 24, and a user device 25. The first machine-side distance measuring device 21, the first portable distance measuring device 22, and the warning device 23 can be respectively Figure 1 The first machine-side distance measuring device 11, the first portable distance measuring device 12 and the warning device 13 can be used to achieve this, and the first machine-side distance measuring device 21 and the first portable distance measuring device 22 can be as follows Figure 2 Each includes an ultra-wideband communication unit. The machine-side controller 24 can be connected to the first machine-side ranging device 21, and is used to receive a first control instruction to control the machine to perform the operation of the machine. The machine-side controller 24 can also be connected to the first portable ranging device 22, and is used to receive a second control instruction to control the machine to perform the operation of the machine. The user device 25 can be connected to the first machine-side ranging device 21 and the first portable ranging device 22. The machine-side controller 24 can include a system on chip (SoC) or a processor, and the processor can include but is not limited to a general-purpose processor, a digital signal processor, a microprocessor, a controller, any other processor that can be used to receive instructions, process instructions and transmit instructions, or a combination of the above processors. The machine-side controller 24 and the user device 25 can be connected to the first machine-side ranging device 21 and the first portable ranging device 22 respectively through wired or wireless communication technology, wherein the user device 25 is used to set the at least one machine-side threshold and the at least one portable device-side threshold. The wireless communication technology may include at least one of the fourth generation mobile communication system, the fifth generation mobile communication system, the sixth generation mobile communication system, ultra-wideband communication technology and wireless local area network technology (such as Wi-Fi). The user device 25 may be any device that can be used to receive user commands, such as a touch screen, a mobile phone or a computer.

[0038] Please refer to Figure 4 and Figure 5 ,in Figure 5 This is a flow chart of a process 50 according to another embodiment of the present invention, which can be used for Figure 4The first machine-side distance measuring device 21 can be used to generate a first distance to control the machine. It should be noted that the machine-side threshold may include a machine-side first threshold and may also include a machine-side second threshold. The machine-side second threshold may be smaller than the machine-side first threshold, for example, the machine-side first threshold is 7 cm and the machine-side second threshold is 4 cm, but is not limited thereto. The process 50 can be compiled into a program, including the following steps: step S201: obtaining a first distance; step S203: determining whether the first distance is less than a first threshold value at the machine end; if the determination result of step S203 is "yes", executing step S205: generating a first control instruction indicating at least one of changing the speed of the machine operation and changing the direction of the machine operation; step S207: determining whether the first distance is less than a second threshold value at the machine end; if the determination result of step S207 is "yes", executing step S209: generating a first control instruction indicating at least one of changing the speed of the machine operation, changing the direction of the machine operation, and interrupting the power supply to the machine; and if the determination result of step S203 is "no" or if the determination result of step S207 is "no", executing step S201 again. Steps S203, S205, S207, and S209 of the process 50 can be regarded as a detailed flowchart of an embodiment of step S105A of the process 30A. Step S201 of process 50 may be step S103A of process 30A, and thus will not be described in detail herein.

[0039] In step S203, the first machine-side distance measuring device 21 determines whether the first distance is less than the first machine-side threshold. If the first machine-side distance measuring device 21 determines that the first distance is not less than the first machine-side threshold, the first machine-side distance measuring device 21 executes step S201 to continue to measure the distance to obtain the first distance. If the first machine-side distance measuring device 21 determines that the first distance is less than the first machine-side threshold, the first machine-side distance measuring device 21 executes step S205 to generate a first control instruction, and outputs the first control instruction to the machine-side controller 24 to control the operation of the machine. The generated first control instruction indicates at least one of changing the operating speed of the machine and changing the operating direction of the machine. For example, the first control instruction can indicate reducing the operating speed of the machine, and / or turning the operating direction of the machine away from the operator (the first portable distance measuring device 22).

[0040] In step S207, the first machine-side distance measuring device 21 further determines whether the first distance is less than the second machine-side threshold. If the first machine-side distance measuring device 21 determines that the first distance is not less than the second machine-side threshold, the first machine-side distance measuring device 21 executes step S201 to continue distance measurement. If the first machine-side distance measuring device 21 determines that the first distance is less than the second machine-side threshold, the first machine-side distance measuring device 21 executes step S209 to generate a first control instruction, and outputs the first control instruction to the machine-side controller 24 to control the operation of the machine. The generated first control instruction indicates at least one of changing the operating speed of the machine, changing the operating direction of the machine, and interrupting the power supply of the machine. For example, the first control instruction can further indicate at least one of reducing the operating speed of the machine, turning the operating direction of the machine away from the operator (the first portable distance measuring device 22) at a larger steering angle, and setting the current / voltage of the machine to zero.

[0041] Figure 4 and Figure 5 The embodiment shows that the machine-side threshold includes a first machine-side threshold and a second machine-side threshold, but the machine-side threshold may also include only the first machine-side threshold. When the first machine-side distance measuring device 21 determines that the first distance is less than the first machine-side threshold, the generated first control instruction indicates at least one of changing the machine's operating speed, changing the machine's operating direction, and interrupting the machine's power supply. The machine-side controller 24 may receive the first control instruction to control the operation of the machine accordingly. In another embodiment, the machine-side threshold may also include more than two thresholds, and the control instructions corresponding to different thresholds may be set according to the operation requirements.

[0042] Please refer to Figure 4 and Figure 6 ,in Figure 6 This is a flow chart of a process 60 according to an embodiment of the present invention, which can be used for Figure 4The first portable distance measuring device 22 is used to generate a second distance to control the operation of the warning device and the machine. It should be noted that the portable device end threshold may include a portable device end first threshold, and may also include a portable device end second threshold. The portable device end second threshold is less than the portable device end first threshold, for example, the portable device end first threshold is 10 cm, and the portable device end second threshold is 5 cm, but is not limited thereto. The process 60 can be compiled into a program, including the following steps: step S301: obtaining a second distance; step S303: determining whether the second distance is less than a first threshold value at the portable device end; if the determination result of step S303 is "yes", executing step S305: generating a second control instruction for generating a warning signal; step S307: determining whether the second distance is less than a second threshold value at the portable device end; if the determination result of step S307 is "yes", executing step S309: generating a second control instruction for instructing to change the speed of the machine's operation, change the direction of the machine's operation, and interrupt the power supply of the machine; and if the determination result of step S303 is "no" or if the determination result of step S307 is "no", executing step S301 again. Steps S303, S305, S307, and S309 of the process 60 can be regarded as a detailed flowchart of an embodiment of step S105B of the process 30B. Step S301 of process 60 can be regarded as step S103B of process 30B, and thus will not be described in detail here.

[0043] In step S303, the first portable distance-measuring device 22 determines whether the second distance is less than the first threshold value on the portable device side. If the first portable distance-measuring device 22 determines that the second distance is not less than the first threshold value on the portable device side, the first portable distance-measuring device 22 executes step S301 to continue to measure the distance to obtain the second distance. If the first portable distance-measuring device 22 determines that the second distance is less than the first threshold value on the portable device side, the first portable distance-measuring device 22 executes step S305 to generate a second control instruction, and outputs the second control instruction to the warning device 23 to control the warning device 23 to generate a warning signal. The generated second control instruction indicates to change at least one of the frequency and waveform of the warning signal output by the warning device 23. For example, the second control instruction can be used to increase the frequency of the warning signal and increase at least one of the amplitude of the warning signal to increase the warning level of the warning signal.

[0044] In step S307, the first portable distance measuring device 22 further determines whether the second distance is less than the second threshold value on the portable device side. If the first portable distance measuring device 22 determines that the second distance is not less than the second threshold value on the portable device side, the first portable distance measuring device 22 executes step S301 to continue to measure the distance. If the first portable distance measuring device 22 determines that the second distance is less than the second threshold value on the portable device side, the first portable distance measuring device 22 executes step S309 to generate a second control instruction, and outputs the second control instruction to the machine-side controller 24 to control the operation of the machine. The generated second control instruction indicates at least one of changing the operating speed of the machine, changing the operating direction of the machine, and interrupting the power supply of the machine. For example, the second control instruction can indicate at least one of reducing the operating speed of the machine, turning the operating direction of the machine away from the operator (the first portable distance measuring device 22), and setting the current / voltage of the machine to zero.

[0045] Figure 4 and Figure 6 The embodiment shows that the portable device-side threshold includes a first portable device-side threshold and a second portable device-side threshold, but the portable device-side threshold may also include only the first portable device-side threshold. When the first portable distance-measuring device 22 determines that the second distance is less than the first portable device-side threshold, the generated second control instruction instructs the warning device 23 to generate a warning signal. In another embodiment, the portable device-side threshold may also include more than two thresholds, and the control instructions corresponding to different thresholds may be set according to operational requirements.

[0046] Please refer to Figure 7 and Figure 8 ,in Figure 7 FIG. 4 is a block diagram of a distance monitoring system 3 according to another embodiment of the present invention. Figure 8 To illustrate Figure 7 Schematic diagram of the distance monitoring system 3, Figure 8 Take robot arm RA1 as an example of a machine. Figure 7 As shown, the distance monitoring system 3 includes a first machine-side distance measuring device 31, a first portable distance measuring device 32, a second portable distance measuring device 33, a machine-side controller 34, and a warning device 35. The first portable distance measuring device 32 and the second portable distance measuring device 33 can be installed on the operator OP1 and can be connected to the first machine-side distance measuring device 31, and the first machine-side distance measuring device 31 is connected to the machine-side controller 34. The specific components and operations of the first machine-side distance measuring device 31 can be described in detail. Figure 4 The first portable distance measuring device 32 and the second portable distance measuring device 33 may be the same as the first machine end distance measuring device 21. The specific components and operations of the first portable distance measuring device 32 and the second portable distance measuring device 33 may be the same as Figure 4 The specific components and operation of the machine-side controller 34 may be the same as the first portable distance measuring device 22. Figure 4 The machine end controller 24 is the same as that of the machine end controller 24, and the specific components and operation of the warning device 35 can be the same as that of the machine end controller 24. Figure 4 The second portable distance measuring device 33 is the same as the warning device 23, which will not be described in detail herein. In addition, the second portable distance measuring device 33 can also be connected to the warning device 35 or another warning device.

[0047] exist Figure 7 and Figure 8 In the embodiment of FIG. 1 , two portable distance measuring devices are shown as an example, but the number of portable distance measuring devices may be greater than two. Figure 7 and Figure 8 In the embodiment of the present invention, one warning device 35 is shown as an example, but the number of warning devices 35 can also be two, which are respectively connected to the first portable distance measuring device 32 and the second portable distance measuring device 33. In addition, the distance monitoring system 3 can also include the following: Figure 4 The user device shown is connected to the first machine-side distance measuring device 31, the first portable distance measuring device 32 and the second portable distance measuring device 33. The operation between the warning device 35 and the user device is as described above.

[0048] Please refer to Figures 7 to 9 ,in Fig. 9 A flowchart of a process 90 according to another embodiment of the present invention can be used for Figure 7 The first machine-end ranging device 31 can be used to generate a third distance to control the machine. Process 90 can be compiled into a program, including the following steps: Step S401: Set a second portable ranging device on the operator; Step S403: Use the first machine-end ranging device to measure distance through ultra-wideband communication technology to generate a third distance based on at least one third distance signal between the first machine-end ranging device and the second portable ranging device; and Step S405: Use the first machine-end ranging device to generate a third control instruction based on the third distance and at least one third threshold, and the third control instruction is used to control the operation of the machine. Step S401 can be performed in parallel with step S101A of process 30A and step S101B of process 30B, and step S403 can be performed in parallel with step S103A and step S103B of process 30A. Figure 3B Step S103B is performed in parallel, and step S405 can be performed in parallel with Figure 3A Step 105A of process 30B and step S105B of process 30B are performed in parallel.

[0049] In step S401, the second portable distance measuring device 33 is installed on the operator OP1. Figure 8 For example, the first portable distance measuring device 32 can be set in a watch, and the second portable distance measuring device 33 can be set in a helmet.

[0050] In step S403 , the first machine-side ranging device 31 may generate a third distance through communication between the ultra-wideband communication unit of the first machine-side ranging device 31 and the ultra-wideband communication unit of the second portable ranging device 33 .

[0051] In step S405, the first machine-side distance measuring device 31 generates a third control instruction according to the third distance and the third threshold value, and outputs the third control instruction to the machine-side controller 34 to control the operation of the machine. For example, when the third distance is less than the third threshold value, the third control instruction may indicate at least one of changing (e.g., reducing) the operating speed of the machine, changing the operating direction of the machine, and interrupting the power supply of the machine. The third threshold value may be the same as the portable device-side threshold value, and may also include the portable device-side first threshold value and the portable device-side second threshold value. Fig. 9 An embodiment of step S405 may include Figure 5 Steps S203, S205, S207 and S209.

[0052] Please refer to Fig.10 and Fig.11 ,in Fig.10 FIG. 4 is a block diagram of a distance monitoring system 4 according to another embodiment of the present invention. Fig.11 To illustrate Fig.10 Schematic diagram of the distance monitoring system, Fig.11 Take robot arm RA2 as an example of a machine. Fig.10 As shown, the distance monitoring system 4 includes a first machine-side distance measuring device 41, a second machine-side distance measuring device 42, a third machine-side distance measuring device 43, a first portable distance measuring device 44, a machine-side controller 45, and a warning device 46. The first machine-side distance measuring device 41, the second machine-side distance measuring device 42, and the third machine-side distance measuring device 43 are connected to the first portable distance measuring device 44 and the machine-side controller 45. The first portable distance measuring device 44 can be installed on the operator OP2 and can be connected to the warning device 46. The specific components and operations of the first machine-side distance measuring device 41, the second machine-side distance measuring device 42, and the third machine-side distance measuring device 43 can all be the same as those of the embodiment of the present invention. Figure 4 The first portable distance measuring device 44 is similar to the first machine-side distance measuring device 21. The specific components and operation of the first portable distance measuring device 44 can be the same as Figure 4 The specific components and operation of the machine-side controller 45 can be the same as the first portable distance measuring device 22. Figure 4 The machine end controller 24 is the same as that of the machine end controller 24, and the specific components and operation of the warning device 46 can be the same as that of the machine end controller 24. Figure 4 The warning device 23 is the same. Fig.10 and Fig.11 In the embodiment of FIG. 4 , three machine-side distance measuring devices are shown as an example, but the number of machine-side distance measuring devices may be 2 or greater than 3. In addition, the distance monitoring system 4 may further include: Figure 4 The user device is connected to the first machine-side distance measuring device 41, the second machine-side distance measuring device 42, the third machine-side distance measuring device 43 and the first portable distance measuring device 44. The specific components and operations of the user device are as described above and will not be repeated here.

[0053] like Fig.11 As shown, the first machine-end distance measuring device 41, the second machine-end distance measuring device 42 and the third machine-end distance measuring device 43 are respectively disposed on the axis joints J1 to J3 of the robot arm RA2. The first machine-end distance measuring device 41, the second machine-end distance measuring device 42 and the third machine-end distance measuring device 43 can respectively perform steps S103A and S105A as shown in process 30A, and can perform the embodiment of process 50. The first portable distance measuring device 44 can perform steps S103B and S105B as shown in process 30B, and can perform the embodiment of process 60.

[0054] Taking the second machine-side distance measuring device 42 as an example, when the second machine-side distance measuring device 42 determines that the first distance is less than the machine-side threshold value according to the ultra-wideband communication between the second machine-side distance measuring device 42 and the first portable distance measuring device 44, the second machine-side distance measuring device 42 may generate and output a first control instruction to the machine-side controller 45. Accordingly, the machine-side controller 45 may execute at least one of reducing the operating speed of the motor of the shaft joint J2 corresponding to the second machine-side distance measuring device 42, adjusting the operating direction of the shaft joint J2 to a direction away from the first portable distance measuring device 44, and interrupting the power supply of the robot arm RA2 according to the first control instruction.

[0055] Please refer to Fig.12 , Fig.12 FIG. 5 is a block diagram of a distance monitoring system 5 according to another embodiment of the present invention. Fig.12 As shown, the distance monitoring system 5 includes a first machine-end distance measuring device 51, a second machine-end distance measuring device 52, a first portable distance measuring device 53, a second portable distance measuring device 54, a first warning device 55, a second warning device 56, a computing unit 57 and a machine-end controller 58. In other embodiments, the computing unit 57 may also be integrated with the machine-end controller 58 or included in the machine-end controller 58. The first machine-end distance measuring device 51 and the second machine-end distance measuring device 52 are respectively connected to the first portable distance measuring device 53, the second portable distance measuring device 54, the computing unit 57 and the machine-end controller 58. The first portable distance measuring device 53 is connected to the first warning device 55, and the second portable distance measuring device 54 is connected to the second warning device 56. The specific elements and operations of the first machine-end distance measuring device 51 and the second machine-end distance measuring device 52 can be respectively described in detail in detail. Figure 4The first portable distance measuring device 53 and the second portable distance measuring device 54 are similar to the first machine end distance measuring device 21. The specific components and operations of the first portable distance measuring device 53 and the second portable distance measuring device 54 can be respectively Figure 4 The first portable distance measuring device 22 is the same as the first portable distance measuring device 22, and the specific components and operations of the first warning device 55 and the second warning device 56 can be respectively Figure 4 The warning device 23 is the same as that of the machine end controller 58, and the specific components and operations of the machine end controller 58 can be the same as those of the machine end controller 58. Figure 4 The same as the machine end controller 24. Fig.12 In the embodiment of FIG. 5 , two machine-side distance measuring devices and two portable distance measuring devices are illustrated as examples, but the number of machine-side distance measuring devices and portable distance measuring devices may be greater than 2. In addition, the distance monitoring system 5 may further include the following: Figure 4 The user device is connected to the first machine-side distance measuring device 51, the second machine-side distance measuring device 52, the first portable distance measuring device 53 and the second portable distance measuring device 54. The specific components and operations of the user device are as described above and will not be repeated here.

[0056] The first machine-side distance measuring device 51 and the second machine-side distance measuring device 52 may respectively perform the following steps: Figure 3A The first portable distance measuring device 53 and the second portable distance measuring device 54 can respectively perform the following steps S103A and S105A: Figure 3B The steps S103B and S105B shown in the figure can execute the embodiment of the process 60, thereby causing at least one of the first warning device 55 and the second warning device 56 to output a warning signal or control the operation of the machine.

[0057] Taking the second machine-side distance measuring device 52 as an example, the second machine-side distance measuring device 52 can output a first distance signal to the operation unit 57. When the operation unit 57 determines that the first distance is less than the machine-side threshold, the operation unit 57 can generate and output a first control instruction to the machine-side controller 58. Accordingly, the machine-side controller 58 can execute at least one of reducing the operating speed of the motor of the shaft joint corresponding to the second machine-side distance measuring device 52, adjusting the operating direction of the shaft joint to a direction away from the first portable distance measuring device 53 and / or the second portable distance measuring device 54, and interrupting the power supply of the robot arm according to the first control instruction.

[0058] In addition, taking the first portable distance measuring device 53 as an example, if the first portable distance measuring device 53 determines that the second distance is less than the first threshold on the portable device side, the first portable distance measuring device 53 can output a second control instruction to the first warning device 55, so that the first warning device 55 outputs a corresponding warning signal.

[0059] In summary, the distance monitoring system and method according to one or more embodiments of the present invention can reduce the construction cost of the distance measuring device and improve the convenience of application, and can issue a warning message in a very short time, so that the operator can react faster, so it is suitable for safety protection in extremely close working conditions; and through the mutual distance measurement between the machine-side distance measuring device and the portable distance measuring device, there can also be double safety protection. In addition, the time difference obtained by the time-of-flight ranging technology for ranging can effectively reduce the time error caused by the frequency offset, thereby improving the accuracy of ranging. Therefore, the distance monitoring system and method according to one or more embodiments of the present invention can perform effective safety distance monitoring.

[0060] The above-mentioned operation of "determining" can be replaced by the operation of "generating", "calculating" or "operating". The above-mentioned "first", "second" and "third" are only used to distinguish the same statements (such as a machine-side distance measuring device or a portable distance measuring device), and are not used to limit any order between these statements, nor are they used to limit any order between the steps involved in these statements. The "unit" can be implemented in the form of hardware (such as a circuit, a processor or a controller), software (such as an instruction or program code) or firmware (such as a combination of hardware and software), and the present invention is not limited thereto.

[0061]

Explanation of symbols

[0062] 1,2,3,4,5: Distance monitoring system

[0063] 11,21,31,41,51: first machine end distance measuring device

[0064] 42,52: Second machine end distance measuring device

[0065] 43: The third machine end distance measuring device

[0066] 12,22,32,44,53: The first portable distance measuring device

[0067] 33,54: Second portable distance measuring device

[0068] 13,23,35,46: Warning device

[0069] 55: First warning device

[0070] 56: Second warning device

[0071] 25: User Device

[0072] 24,34,45,58: Machine-side controller

[0073] 57: Operation unit

[0074] 110: first ultra-wideband communication unit

[0075] 120: second ultra-wideband communication unit

[0076] 30A,30B,50,60,90:Process

[0077] RA1,RA2: Robotic arms

[0078] OP1,OP2: Operator

[0079] J1, J2, J3: Axis joints

[0080] S101A,S103A,S105A,S101B,S103B,S105B,S201,S203,S205,

[0081] S207, S209, S301, S303, S305, S307, S309, S401, S403, S405: steps.

Claims

1. A distance monitoring system, characterized in that: Include: A first machine-side distance measuring device, used to generate a first distance, and used to generate a first control instruction according to the first distance and at least one machine-side threshold, wherein the first control instruction is used to control the operation of the machine; A first portable distance measuring device, connected to the first machine-side distance measuring device, for generating a second distance, and for generating a second control instruction according to the second distance and at least one portable device-side threshold; as well as A warning device, connected to the first portable distance measuring device, for generating a warning signal according to the second control instruction; The first machine-end distance measuring device and the first portable distance measuring device perform at least one distance measurement through ultra-wideband communication technology, wherein the at least one distance measurement includes the first machine-end distance measuring device generating the first distance according to at least one first distance signal between the first machine-end distance measuring device and the first portable distance measuring device, and the first portable distance measuring device generating the second distance according to at least one second distance signal between the first machine-end distance measuring device and the first portable distance measuring device.

2. The distance monitoring system according to claim 1, characterized in that: The at least one machine-side threshold comprises a machine-side first threshold, and the system further comprises: a machine-side controller connected to the first machine-side distance measuring device and configured to receive the first control instruction to control the operation of the machine; and When the first machine-side distance measuring device determines that the first distance is less than the first threshold value of the machine-side, the first control instruction generated is to instruct at least one of changing the operation speed of the machine, changing the operation direction of the machine, and interrupting the power supply of the machine.

3. The distance monitoring system according to claim 2, characterized in that: The at least one machine-side threshold also includes a machine-side second threshold, and the machine-side second threshold is smaller than the machine-side first threshold, and when the first machine-side ranging device determines that the first distance is smaller than the machine-side second threshold, the first control instruction generated is to instruct to change the speed of the operation of the machine, change the direction of the operation of the machine, and interrupt at least one of the power supply of the machine.

4. The distance monitoring system according to claim 1, characterized in that: The at least one portable device-side threshold includes a first portable device-side threshold and a second portable device-side threshold, and the second portable device-side threshold is smaller than the first portable device-side threshold, and when the first portable ranging device determines that the second distance is smaller than the first portable device-side threshold, the second control instruction generated is used to generate the warning signal, and when the second distance is determined to be smaller than the second portable device-side threshold, the second control instruction generated is used to control the operation of the machine, wherein the second control instruction is also used to instruct at least one of changing the speed of the operation of the machine, changing the direction of the operation of the machine, and interrupting the power supply of the machine.

5. The distance monitoring system according to claim 1, characterized in that: Also includes: A second portable distance measuring device is connected to the first machine-end distance measuring device, wherein the first machine-end distance measuring device and the second portable distance measuring device perform distance measurement through the ultra-wideband communication technology, wherein the distance measurement includes generating a third distance based on at least one third distance signal between the second portable distance measuring device and the second portable distance measuring device, and generating a third control instruction based on the third distance and at least one third threshold, and the third control instruction is used to control the operation of the machine.

6. The distance monitoring system according to claim 1, characterized in that: Also includes: The user device is connected to the first machine-side distance measuring device and the first portable distance measuring device, and is used to set the at least one machine-side threshold and the at least one portable device-side threshold.

7. A distance monitoring method, characterized in that: Include: A first machine-end distance measuring device is arranged on the machine; Provide an operator with a first portable distance measuring device connected to the first machine-side distance measuring device via ultra-wideband communication technology; Using the first machine-side distance measuring device to measure distance using the ultra-wideband communication technology to generate a first distance according to at least one first distance signal between the first machine-side distance measuring device and the first portable distance measuring device; Using the first portable distance measuring device to measure distance using the ultra-wideband communication technology to generate a second distance according to at least one second distance signal between the first machine-side distance measuring device and the first machine-side distance measuring device; Using the first machine-side distance measuring device to generate a first control instruction according to the first distance and at least one machine-side threshold value to control the operation of the machine; as well as The first portable distance measuring device generates a second control instruction according to the second distance and at least one portable device-side threshold to control the warning device to generate a warning signal.

8. The distance monitoring method according to claim 7, characterized in that: The at least one machine-side threshold includes a first machine-side threshold, and generating the first control instruction according to the first distance and the at least one machine-side threshold to control the operation of the machine includes: When the first distance is less than the first threshold value at the machine end, the first control instruction is generated to instruct at least one of changing the speed of the operation of the machine, changing the direction of the operation of the machine, and interrupting the power supply of the machine.

9. The distance monitoring method according to claim 8, characterized in that: The at least one machine-side threshold further includes a machine-side second threshold, and the machine-side second threshold is less than the machine-side first threshold, and generating the first control instruction according to the first distance and the at least one machine-side threshold to control the operation of the machine further includes: When the first distance is less than the second threshold value at the machine end, a first control instruction is generated to indicate at least one of changing the speed of the operation of the machine, changing the direction of the operation of the machine, and interrupting the power supply of the machine.

10. The distance monitoring method according to claim 7, characterized in that: The at least one portable device end threshold includes a first portable device end threshold and a second portable device end threshold, and the second portable device end threshold is smaller than the first portable device end threshold. Generating the second control instruction according to the second distance and the at least one portable device end threshold to control the warning device to generate the warning signal includes: When the second distance is less than the first threshold value of the portable device, generating the second control instruction for generating the warning signal; and When the second distance is less than the second threshold value of the portable device, the second control instruction is generated for controlling the operation of the machine, wherein the second control instruction is also used to instruct at least one of changing the speed of the operation of the machine, changing the direction of the operation of the machine, and interrupting the power supply of the machine.

11. The distance monitoring method according to claim 7, characterized in that: Also includes: placing a second portable distance measuring device on the operator; Using the first machine-side distance measuring device to measure distance using the ultra-wideband communication technology to generate a third distance according to at least one third distance signal between the first machine-side distance measuring device and the second portable distance measuring device; and The first machine-side distance measuring device generates a third control instruction according to the third distance and the at least one third threshold value, and the third control instruction is used to control the operation of the machine.

12. The distance monitoring method according to claim 7, characterized in that: Also includes: The user device is connected to the first machine-side distance measuring device to set the at least one machine-side threshold, and the user device is connected to the first portable distance measuring device to set the at least one portable device-side threshold.

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