Stop device, stop system, and method for setting sound detection device

Abstract

The technology disclosed in the specification of the present application relates to a technology for appropriately managing a stopping means of a driving device. A stop device according to the technology disclosed in the specification of the present application is provided with: a sound determination unit for determining whether or not a sound detected by a sound detection device for detecting surrounding sounds includes a predetermined vibration sound for driving a device body; and a control unit for stopping the drive device when the sound determination unit determines that the sound includes the predetermined vibration sound of the drive device main body.

Description

Technical Field

[0001] The technology disclosed in this application specification relates to a technology for stopping a drive device. Background Art

[0002] As robots that move on their own (mobile robots) rapidly become widespread, technologies that enable robots to interact safely with humans are needed.

[0003] When a robot exhibits unsafe behavior, a human typically stops the robot by pressing an emergency stop button pre-installed on the robot. However, the emergency stop button is located at a specific location on the robot, and the location is sometimes not immediately known.

[0004] Therefore, for example, Patent Document 1 discloses a technology for stopping a robot by detecting a predetermined motion in addition to pressing an emergency stop button.

[0005] Patent Document 1 discloses a load or pressure sensor as a sensor for detecting a predetermined motion. This sensor not only has a limited detection range but also, due to mechanical constraints, can only be installed in specific locations. Therefore, a predetermined motion performed in a location without a sensor may not be detected.

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2004-258967 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] As described above, in the technology disclosed in Patent Document 1, for example, the stopping means for a driving device such as a robot, other than pressing an emergency stop button, may not function sufficiently.

[0009] The technology disclosed in this specification has been accomplished in view of the above-described problems, and is a technology for enabling the stopping means of a drive device to function appropriately.

[0010] Solutions for solving problems

[0011] The stopping device as the first mode of the technology disclosed in the specification of this application comprises: a sound determination unit for determining whether the sound detected by a sound detection device for detecting surrounding sounds includes a predetermined vibration sound of the driving device body; and a control unit for stopping the driving device when the sound determination unit determines that the sound includes the predetermined vibration sound of the driving device body.

[0012] Effects of the Invention

[0013] According to at least the first aspect of the technology disclosed in this specification, the stopping means of the drive device can be made to function appropriately.

[0014] In addition, the objects, features, aspects, and advantages related to the technology disclosed in this specification will become more apparent from the following detailed description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a diagram showing an example of the configuration of a shutdown system according to an embodiment.

[0016] Figure 2 This diagram shows an example of the sound detected by the sound detection device when the driving device is a robot and a person continuously hits the driving device body.

[0017] Figure 3 This figure shows an example of a time waveform when the driving device is a robot and a person continuously strikes the driving device, and the sound detected by the sound detection device is subjected to band limitation by BPF processing.

[0018] Figure 4 This figure shows an example of a time waveform when the driving device is a robot and a person continuously strikes the driving device, and the sound detected by the sound detection device is subjected to band limitation by BPF processing.

[0019] Figure 5 This figure shows an example of a time waveform when the driving device is a robot and a person continuously strikes the driving device, and the sound detected by the sound detection device is subjected to band limitation by BPF processing.

[0020] Figure 6 This is a flowchart showing an example of the operation of the stopping device according to the embodiment.

[0021] Figure 7 It is a diagram showing an example of the configuration of a shutdown system according to an embodiment.

[0022] Figure 8 It is a diagram showing an example of the configuration of a shutdown system according to an embodiment.

[0023] Figure 9 This is a rough example of practical application Figure 1 、 Figure 7 、 Figure 8 The diagram shows the hardware configuration when the device is stopped as shown in the example.

[0024] Figure 10 This is a rough example of practical application Figure 1 、 Figure 7 、 Figure 8The diagram shows the hardware configuration when the device is stopped as shown in the example. DETAILED DESCRIPTION

[0025] In the following embodiments, detailed features are shown for technical explanation, but these are merely examples and are not necessarily all necessary features for implementing the embodiments.

[0026] In addition, the figures are schematically shown, and for the sake of convenience, the structures are omitted or simplified as appropriate in the figures. In addition, the size and position of the structures shown in different figures are not necessarily accurately described and can be changed as appropriate. In addition, in some figures such as plan views that are not cross-sectional views, shading is added to facilitate understanding of the content of the embodiment.

[0027] In the following description, the same components are denoted by the same reference numerals and have the same names and functions, and their detailed descriptions may be omitted to avoid duplication.

[0028] Furthermore, in the descriptions described in the specification of the present application, when a certain component is described as “having,” “including,” or “having,” it does not mean an exclusive expression excluding the presence of other components unless otherwise specified.

[0029] In addition, in the description recorded in the specification of this application, even if ordinal numbers such as "first" or "second" are sometimes used, these terms are used to facilitate understanding of the content of the implementation method, and the content of the implementation method is not limited by the order that may be generated by these ordinal numbers.

[0030] <First embodiment>

[0031] Hereinafter, a method for installing the stopping device, the stopping system, and the sound detection device according to this embodiment will be described.

[0032] <About the structure of the stop system>

[0033] Figure 1 FIG. 1 is a diagram showing an example of the structure of a stop system according to this embodiment. Figure 1 As illustrated in FIG. 1 , the stopping system 1 includes a stopping device 10 , a sound detecting device 22 , and a driving device 24 . The stopping device 10 includes a sound determining unit 12 and a control unit 14 .

[0034] The sound detector 12 determines whether the sound detected by the sound detector 22 (e.g., a microphone) for detecting surrounding sounds contains a predetermined vibration sound of the main body of the driving device 24. Here, the driving device 24 is, for example, a robot (a transport robot or a security robot) or a machine tool.

[0035] When the sound determination unit 12 determines that the sound detected by the sound detection device 22 includes a predetermined vibration sound of the main body of the driving device 24 , the control unit 14 controls the driving device 24 to stop the driving device 24 .

[0036] Here, consider a scenario where, when the drive device 24 exhibits unsafe behavior (for example, the robot rushes toward a person), a person strikes the main body of the drive device 24 to stop the drive device 24 .

[0037] The sound detection device 22 detects the sound of a person hitting the main body of the driving device 24. The sound determination unit 12 obtains the detected sound as a time waveform. Then, based on the time waveform of the sound, the sound determination unit 12 generates a time waveform of the sound limited to a predetermined frequency band.

[0038] Furthermore, the sound detection unit 12 determines whether the temporal waveform of the sound limited to a specific frequency band (i.e., the magnitude of the sound limited to the specific frequency band) is above a predetermined threshold. Here, limiting the sound to a predetermined frequency band means applying a bandpass filter (BPF) to the sound detected by the sound detection device 22 within a certain frequency range. However, limiting the sound to a predetermined frequency band is not limited to a BPF; for example, a low-pass filter (LPF) may also be used. Furthermore, since noise levels are high at the frequencies of commercial power supplies (50 Hz, 60 Hz) and fluorescent lamps, a notch filter may be applied to reduce the noise level at these frequencies. Furthermore, if it is estimated that no sound (interference) other than the intended sound to be detected (in this case, the sound of a person striking the main body of the drive device 24) is present within the operating range of the drive device 24, the sound detected by the sound detection device 22 may be left unprocessed.

[0039] In BPF processing, it is desirable to set the cutoff frequency of the BPF to a frequency near the natural vibration frequency band of the main body of the drive device 24. This is because the natural vibration frequency band is the frequency band in which the sound produced when a person strikes the main body of the drive device 24 is the loudest. For example, if the drive device 24 is a robot, the main body of the robot is often made of resin, and its natural vibration frequency band varies depending on its shape, ranging from tens to hundreds of Hz, for example.

[0040] In addition, the case where a person strikes the main body of the driving device 24 is assumed here, but the driving device 24 may also hit an object, or the driving device 24 itself may collide with an obstacle. In either case, the driving device 24 can be stopped by the sound generated when the impact is applied to the main body of the driving device 24, and in the case where an unexpected unsafe situation may occur, the unsafe situation can be avoided intuitively.

[0041] Figure 2 1 is a diagram showing an example of the sound detected by the sound detection device 22 when the driving device 24 is a robot and a person continuously hits the main body of the driving device 24. Figure 2 In the case shown, at timing T1 and timing T2, a person hits the main body of the driving device 24 twice. Figure 2 In the figure, the vertical axis represents the volume of the sound and the horizontal axis represents time.

[0042] Figure 3 、 Figure 4 as well as Figure 5 1 is a diagram showing an example of a time waveform of a sound detected by the sound detection device 22 when the driving device 24 is a robot and a person continuously hits the driving device 24, and the sound is subjected to band limiting by BPF processing. Figure 3 、 Figure 4 as well as Figure 5 In the process, BPF is used to process Figure 2 The time waveforms shown are band limited.

[0043] Below, use Figure 3 、 Figure 4 as well as Figure 5 The operation of the sound determination unit 12 will be described.

[0044] exist Figure 3 In the example, the sound detection unit 12 determines whether the volume of the sound limited to the preset frequency band is greater than a preset first threshold value. Figure 3 In the case shown in FIG. 1 , at time T3, the size of the sound becomes greater than the first threshold. Therefore, the sound detection unit 12 determines at time T3 that the sound is a predetermined vibration sound of the main body of the driving device 24. Then, the control unit 14 Figure 3 The timing T3 in the Figure 2 The drive unit 24 is stopped at timing T1 in the example. This has the following advantages: for example, when an unexpectedly loud sound is detected, a stop decision can be made immediately. In this way, by focusing on a specific frequency band, a decision can be made without performing a high-speed Fourier transform (FFT) analysis or the like.

[0045] exist Figure 4In the present embodiment, the sound detection unit 12 determines whether the time difference between a predetermined timing (start timing) after the level of a sound limited to a predetermined frequency band becomes greater than or equal to a predetermined second threshold and a predetermined timing (end timing) after the peak value becomes less than a third threshold after the predetermined timing is less than or equal to a predetermined time width (attenuation threshold). Here, the second threshold is a value less than the first threshold, and the third threshold is a value less than the second threshold.

[0046] Furthermore, the predetermined timing after the sound level reaches or exceeds the second threshold may be the timing at which the sound level reaches or exceeds the second threshold, or the timing at which the sound level reaches its maximum value after reaching or exceeds the second threshold. Furthermore, the predetermined timing after the sound level falls below the third threshold may be the timing at which the sound level falls below the third threshold.

[0047] If only Figure 3 Comparing the magnitude of the sound shown above with the threshold value thereof may cause the drive device 24 to be stopped unnecessarily due to interference (i.e., sound unrelated to the sound to be detected for stopping the drive device 24). In addition, the drive device 24 may be stopped unnecessarily due to sound generated during normal operation of the drive device 24.

[0048] Therefore, if Figure 4 As shown, attention is paid to the fact that the attenuation rate of sound is large when a resin used as a material of a robot body is struck.

[0049] The following is a specific determination method. Figure 4 At time T4 in the example, the sound level exceeds the second threshold, so the sound detector 12 calculates the starting timing after time T4 (for example, the timing when the peak value reaches P1). Alternatively, the sound detector 12 may determine that P1 is due to noise, based on the peak value P2 being greater than P1. In this case, the sound detector 12 can calculate the timing when the peak value reaches P2 as the starting timing after time T4.

[0050] Then, the sound determination unit 12 calculates the end timing (for example, the timing at which the peak value reaches P3 ) after the peak value becomes smaller than the third threshold value after the start timing.

[0051] Then, the sound detector 12 determines whether the time difference between the two timings is equal to or smaller than the attenuation threshold.

[0052] exist Figure 4, assume that the above determination result is "yes" (below the attenuation threshold). In this case, the sound detection unit 12 determines that the predetermined vibration sound of the main body of the driving device 24 is included at the above-mentioned end timing. Then, the control unit 14 controls the driving device 24 so that the driving device 24 stops at the above-mentioned end timing, for example, when the peak value of the vibration sound reaches P3.

[0053] Thus, according to Figure 4 The method shown makes it easy to distinguish the sound to be detected from the sound or noise generated during the normal operation of the drive device 24. Therefore, it is possible to prevent the drive device 24 from being stopped unnecessarily.

[0054] exist Figure 5 In the process, the sound detection unit 12 determines whether the time difference between a predetermined timing (start timing) after the size of the sound limited to a predetermined frequency band becomes above a predetermined fourth threshold value and a predetermined timing (end timing) after the size of the sound becomes above the fourth threshold value after the timing is greater than a predetermined time width (interval threshold value).

[0055] exist Figure 5 In the example, a person taps the robot multiple times. For example, if the sound of a shutter (an object that opens and closes a storage space for storing items) is being detected, the sound is produced continuously with a short period. On the other hand, if the robot is tapped multiple times, the sound is produced continuously with a longer period than the shutter's opening and closing sound. Therefore, an interval threshold is used to exclude sounds that are not relevant to the sound being detected to stop the drive device 24 (such as the shutter's opening and closing sound).

[0056] The specific determination method is as follows: The sound detector 12 determines whether the time difference between the start timing T5 after the sound level becomes greater than the fourth threshold and the end timing T6 after the sound level becomes greater than the fourth threshold is greater than the interval threshold.

[0057] Here, in Figure 5 In the example shown, the time difference between the setting time T5 and the timing T6 is sufficiently small. In this case, the sound detector 12 determines that the time difference between the timing T5 and the timing T6 is not equal to or greater than the interval threshold.

[0058] Next, the sound detector 12 determines whether the time difference between the start timing T6 after the sound level becomes equal to or greater than the fourth threshold and the end timing T7 after the sound level becomes equal to or greater than the fourth threshold is equal to or greater than the interval threshold.

[0059] As in Figure 5As shown in the example, the time difference between the set time T6 and the time T7 is sufficiently large. In this case, the sound detector 12 determines that the time difference between the time T6 and the time T7 is greater than the interval threshold. In this case, the sound detector 12 determines that the sound at time T7 is a predetermined vibration sound of the main body of the drive device 24. The control unit 14 then controls the drive device 24 to stop at time T7.

[0060] Furthermore, the predetermined timing after the sound level reaches or exceeds the fourth threshold value may be the timing at which the sound level reaches or exceeds the fourth threshold value, the timing at which the sound level reaches its maximum value after reaching or exceeds the fourth threshold value, or the timing at which the sound level becomes less than the fourth threshold value after reaching or exceeding the fourth threshold value. Furthermore, in the above description, there may be cases where the start timing (timing T6) after the sound level reaches or exceeds the fourth threshold value does not occur after the end timing (timing T7) after the sound level reaches or exceeds the fourth threshold value. In other words, there may be cases where the start timing appears and the interval threshold value is passed without the end timing appearing. In this case, the sound detection unit 12 may also determine that the predetermined vibration sound of the main body of the drive device 24 is present when the start timing appears and the interval threshold value is passed.

[0061] Figure 6 This is a flowchart showing an example of the operation of the stopping device according to this embodiment. Figure 6 The action shown in is as follows: for a plurality of sounds that meet the threshold condition, the sound attenuation is below the attenuation threshold and the interval between the sounds is above the interval threshold, it is determined that the sound includes a predetermined vibration sound of the main body of the driving device 24, and the driving device 24 is stopped based on this determination. Figure 3 、 Figure 4 、 Figure 5 The above-described processing is combined to determine the vibration sound of the main body of the driving device 24 .

[0062] First, in step ST1, the sound determination unit 12 acquires the sound detected by the sound detection device 22. Next, in step ST2, the acquired sound undergoes BPF processing within a certain frequency range. Here, the sound is limited to a frequency band between 30 Hz and 120 Hz, assuming the natural vibration frequency of plastic.

[0063] Next, in step ST3, the sound determination unit 12 determines whether the size of the sound meets the predetermined conditions compared with the pre-set thresholds (first threshold, second threshold, third threshold, fourth threshold). Then, if the conditions are met, the sound determination unit 12 obtains the size of the sound (peak sound pressure) and its time. Figure 3In the case of the process shown, the driving device 24 can be controlled to stop based on the magnitude of the sound acquired as being equal to or greater than the first threshold value and its duration at that time. Figure 4 In the case of the processing shown, the size and time of the sound at the start timing of the second threshold value or above and the sound at the end timing of the sound less than the third threshold value are acquired. Figure 5 In the case of the processing shown, the magnitude and duration of the sound at the start timing of the sound exceeding the fourth threshold value and the subsequent sound at the end timing exceeding the fourth threshold value are acquired.

[0064] Next, in step ST4, the sound determination unit 12 determines whether the attenuation of the sound is below the attenuation threshold. Figure 4 In the case of the processing shown in FIG, it is determined whether the timing difference between the sound with the start timing greater than the second threshold and the sound with the end timing less than the third threshold is less than the attenuation threshold. Then, if the timing difference is less than the attenuation threshold, that is, in the case corresponding to Figure 6 In the case of "Yes" in the branch from step ST4 shown in the example, the process proceeds to Figure 6 On the other hand, if the timing difference is not below the attenuation threshold, that is, in the case corresponding to Figure 6 In the case of "No" branched from step ST4, the process returns to Figure 6 Step ST1 shown in FIG.

[0065] Next, in step ST5, the sound determination unit 12 determines whether the time interval between the sounds is greater than or equal to the interval threshold. Figure 5 In the case of the processing shown in FIG, it is determined whether the timing difference between the sound of the start timing of the fourth threshold or more and the sound of the end timing of the fourth threshold or more after the start timing is greater than the interval threshold. Then, if the timing difference is greater than the interval threshold, that is, in the case corresponding to Figure 6 In the case of "Yes" in the branch from step ST5 shown in the example, the process proceeds to Figure 6 On the other hand, if the timing difference is not greater than the interval threshold, that is, in the case corresponding to Figure 6 In the case of "No" branched from step ST5, the process returns to Figure 6 Step ST1 shown in FIG.

[0066] Next, in step ST6 , based on the above-described determination result of the sound determination unit 12 , the control unit 14 controls the driving device 24 to stop the driving device 24 .

[0067] In addition, the sound determination unit 12 may also replace the above-mentioned steps ST4 and ST5 to determine whether the predetermined vibration sound of the driving device 24 body is included by a physical model or a machine learning model. As an example of the case where a physical model is used, it can be cited as follows: using multimodal analysis, pre-simulating the waveform of the sound when the robot is struck to grasp it, and using it as a predetermined condition, thereby determining whether the waveform of the input sound includes the predetermined vibration sound of the driving device 24 body. In addition, as an example of the case where machine learning is used, it can be cited as follows: using waveform data of a sound (such as a predetermined vibration sound) containing the predetermined vibration sound of the driving device 24 body Figure 2 Learning is performed using data of a time waveform as shown in FIG. 1 as input, and using a learned model obtained based on the learning, a logical value of True or False is output as to whether or not a predetermined vibration sound of the main body of the driving device 24 is included.

[0068] <Second embodiment>

[0069] The following describes a method for installing a stopping device, a stopping system, and a sound detection device related to this embodiment. In the following description, the same components as those described in the above-described embodiment are denoted by the same reference numerals, and their detailed descriptions are omitted as appropriate.

[0070] <About the structure of the stop system>

[0071] Figure 7 FIG. 1 is a diagram showing an example of the structure of a stop system according to this embodiment. Figure 7 As shown in FIG, the stopping system 1A includes a stopping device 10, a sound detecting device 22, and a driving device 24. Figure 7 In the embodiment, the stopping device 10 , the sound detecting device 22 , and the driving device 24 are connected via a network 100 .

[0072] With such a configuration, the stopping device 10 can easily control and stop the driving device 24 or the like manufactured by another company, the control algorithm of which cannot be easily changed.

[0073] As an example, it is possible to assume a case where the driving device 24 is a robot, and the stopping device 10 and the sound detection device 22 are included in an in-building system.

[0074] <Third embodiment>

[0075] The following describes a method for installing a stopping device, a stopping system, and a sound detection device related to this embodiment. In the following description, the same components as those described in the above-described embodiment are denoted by the same reference numerals, and their detailed descriptions are omitted as appropriate.

[0076] In this embodiment, Figure 1 In the illustrated stopping device 10, the sound determination unit 12 determines whether the sound detected by the sound detection device 22 is a waveform targeted for determination to stop the driving device 24 before determining whether the sound contains the predetermined vibration sound of the driving device 24 main body. The sound determination unit 12 then determines whether the sound contains the predetermined vibration sound of the driving device 24 main body only when the detected sound is the targeted waveform.

[0077] As a method for determining whether the sound detected by the sound detection device 22 is the target waveform, either a physical model or machine learning can be used. This makes it possible to exclude sounds other than the target sound for the stop determination.

[0078] Another example of a physical model is a model transfer function. Specifically, as an example, the physical model takes as input the waveform of the sound produced when a person strikes the driving device 24 and outputs an ideal waveform using a previously determined transfer function. The sound determination unit 12 takes as input the waveform of the sound detected by the sound detection device 22 and calculates the output waveform using the aforementioned transfer function. The output waveform is then determined to what extent it approximates the ideal output waveform. If the approximation exceeds a threshold, the sound detected by the sound detection device 22 is determined to be the target waveform.

[0079] If the sound detected by the sound detection device 22 is determined to be the target waveform, the sound determination unit 12 further determines whether it contains the predetermined vibration sound of the main body of the driving device 24. On the other hand, if the sound detected by the sound detection device 22 is determined not to be the target waveform, the sound determination unit 12 does not determine whether it contains the predetermined vibration sound of the main body of the driving device 24. This allows the sound determination unit 12 to limit its determination of whether it contains the predetermined vibration sound of the main body of the driving device 24 to, for example, the sound produced by a person striking the driving device 24, thereby improving the accuracy of the determination.

[0080] <Fourth embodiment>

[0081] The following describes a method for installing a stopping device, a stopping system, and a sound detection device related to this embodiment. In the following description, the same components as those described in the above-described embodiment are denoted by the same reference numerals, and their detailed descriptions are omitted as appropriate.

[0082] In this embodiment, Figure 1 In the illustrated stopping device 10 , the sound determination unit 12 determines whether the sound detected by the sound detection device 22 includes a predetermined vibration sound of the main body of the driving device 24 based on conditions different from those of the first embodiment.

[0083] Specifically, in addition to the arbitrary conditions described in the first embodiment, the sound detector 12 determines that the sound includes a predetermined vibration sound of the main body of the driving device 24 when the detected sound changes (is equal to or greater than a certain threshold).

[0084] It is assumed that the drive device 24 always generates vibration sound during normal operation. In this case, when a person or object touches the drive device 24, the drive device 24 changes the vibration sound. For example, the drive device 24 changes the size or frequency of the vibration sound (above a certain threshold).

[0085] In such a case, the sound detection unit 12 determines that there has been a change in the vibration sound emitted by the driving device 24. Based on this determination, the control unit 14 controls the driving device 24 to stop the driving device 24. This improves the accuracy of the determination, and the driving device 24 can be stopped even with a simpler action than striking the main body of the driving device 24.

[0086] <Fifth embodiment>

[0087] The following describes a method for installing a stopping device, a stopping system, and a sound detection device related to this embodiment. In the following description, the same components as those described in the above-described embodiment are denoted by the same reference numerals, and their detailed descriptions are omitted as appropriate.

[0088] <About the structure of the stop system>

[0089] Figure 8 FIG. 1 is a diagram showing an example of the structure of a stop system according to this embodiment. Figure 8 As shown in FIG, the stopping system 1B includes a stopping device 10, a sound detecting device 22, and a driving device 24. Figure 8 In the embodiment, the sound detection device 22 is disposed in the driving device 24 .

[0090] When the sound detection device 22 is installed outside the drive device 24, there is a high possibility that unnecessary noise will be included in the sound detected by the sound detection device 22. In contrast, by installing the sound detection device 22 inside the drive device 24 as shown in this embodiment, detection of unnecessary noise can be suppressed.

[0091] <About the hardware structure of the stop device>

[0092] Figure 9 and Figure 10 This is a rough example of practical application Figure 1 、 Figure 7 、 Figure 8The diagram shows the hardware configuration when the device is stopped as shown in the example.

[0093] In addition, sometimes Figure 9 and Figure 10 The hardware structure shown in the example is the same as that in Figure 1 、 Figure 7 、 Figure 8 The structures exemplified in do not match, which is caused by Figure 1 、 Figure 7 、 Figure 8 The structures illustrated in represent conceptual units.

[0094] Therefore, at least the following scenarios can be envisaged: Figure 1 、 Figure 7 、 Figure 8 A structure exemplified in Figure 9 and Figure 10 The case where multiple hardware structures are used as examples; Figure 1 、 Figure 7 、 Figure 8 A structure illustrated in Figure 9 and Figure 10 A case corresponding to a portion of the hardware structure illustrated in ; and Figure 1 、 Figure 7 、 Figure 8 The multiple structures illustrated in Figure 9 and Figure 10 A hardware structure is illustrated in FIG.

[0095] exist Figure 9 As a tool for implementing Figure 1 、 Figure 7 、 Figure 8 The hardware configuration of the sound detection unit 12 and the control unit 14 in FIG. 1 shows a processing circuit 1102A for performing calculations and a storage device 1103 for storing information. This configuration is also applicable to any of the above-mentioned embodiments.

[0096] exist Figure 10 As a tool for implementing Figure 1 、 Figure 7 、 Figure 8 The hardware configuration of the sound detection unit 12 and the control unit 14 in FIG. 1 shows a processing circuit 1102B that performs calculations. This configuration is also the same in any of the above-mentioned embodiments.

[0097] The storage device 1103 may be, for example, a hard disk drive (HDD), random access memory (RAM), read-only memory (ROM), flash memory, erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM), or other volatile or non-volatile semiconductor memories, magnetic disks, floppy disks, optical disks, high-density disks, mini disks, DVDs, or other memories (recording media) or all recording media used in the future.

[0098] The processing circuit 1102A may also execute a program stored in the storage device 1103, an external CD-ROM, an external DVD-ROM, or an external flash memory. Specifically, the processing circuit 1102A may be, for example, a central processing unit (CPU), a microprocessor, a microcomputer, or a digital signal processor (DSP).

[0099] When processing circuit 1102A executes a program stored in storage device 1103, an external CD-ROM, an external DVD-ROM, or an external flash memory, sound detection unit 12 and control unit 14 are implemented by software, firmware, or a combination of software and firmware, which is executed by processing circuit 1102A based on the program stored in storage device 1103. Furthermore, the functions of sound detection unit 12 and control unit 14 may be implemented by, for example, multiple processing circuits working together.

[0100] Software and firmware are described as programs and may also be stored in the storage device 1103. In this case, the processing circuit 1102A implements the above-described functions by reading and executing the program stored in the storage device 1103. In other words, the storage device 1103 may also store a program that, when executed by the processing circuit 1102A, ultimately implements the above-described functions.

[0101] Alternatively, the processing circuit 1102B may be dedicated hardware, such as a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination thereof.

[0102] When processing circuit 1102B is dedicated hardware, sound detector 12 and control unit 14 are implemented by operation of processing circuit 1102B. The functions of sound detector 12 and control unit 14 may be implemented by separate circuits or a single circuit.

[0103] Furthermore, the functions of the sound detector 12 and the control unit 14 may be partially implemented in the processing circuit 1102A that executes a program stored in the storage device 1103 , and partially implemented in the processing circuit 1102B that is dedicated hardware.

[0104] <Regarding the Effects Produced by the Multiple Embodiments Described Above>

[0105] Next, examples of the effects produced by the multiple embodiments described above are shown. Furthermore, in the following description, the effects are described based on the specific structures exemplified in the multiple embodiments described above, but these effects can also be replaced with other specific structures exemplified in the specification of this application within the scope of producing the same effects. That is, for convenience, only one of the corresponding specific structures may be representatively described below, but the representatively described specific structure can also be replaced with another corresponding specific structure.

[0106] Furthermore, this substitution may be performed across multiple embodiments. In other words, the configurations exemplified in different embodiments may be combined to produce the same effect.

[0107] According to the embodiment described above, the stopping device includes a sound determination unit 12 and a control unit 14. The sound determination unit 12 determines whether the sound detected by the sound detection device 22 that detects surrounding sounds includes the predetermined vibration sound of the main body of the driving device 24. If the sound determination unit 12 determines that the sound includes the predetermined vibration sound of the main body of the driving device 24, the control unit 14 stops the driving device 24.

[0108] According to the above-described embodiment, the stopping device includes a processing circuit 1102A that executes a program and a storage device 1103 that stores the program to be executed. Execution of the program by the processing circuit 1102A realizes the following operations.

[0109] That is, when the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the main body of the driving device 24 , the driving device 24 is stopped.

[0110] According to the above-described embodiment, the stopping device includes a processing circuit 1102B as dedicated hardware. The processing circuit 1102B as dedicated hardware performs the following operations.

[0111] That is, the processing circuit 1102B as dedicated hardware stops the driving device 24 when the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the driving device 24 main body.

[0112] According to such a configuration, when the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation. In other words, the stopping means of the drive device 24 can function appropriately.

[0113] Furthermore, the same effects can be produced when other structures exemplified in the present specification are appropriately added to the above-mentioned structure, that is, when other structures not mentioned as the above-mentioned structure in the present specification are appropriately added.

[0114] Furthermore, according to the embodiment described above, when the magnitude of the sound within a predetermined frequency band is greater than or equal to a first threshold, the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the main body of the driving device 24. With this configuration, the driving device 24 can be stopped simply by determining the magnitude of the sound within a limited frequency band without performing FFT analysis or the like.

[0115] Furthermore, according to the embodiment described above, the sound detection unit 12 determines that the sound includes a predetermined vibration sound of the main body of the drive device 24 when the time difference between the first starting timing after the sound level in a predetermined frequency band becomes greater than a second threshold and the first ending timing after the sound level becomes less than a third threshold value smaller than the second threshold value after the first starting timing is less than a predetermined first time width (attenuation threshold). This configuration makes it easier to distinguish the sound being detected from sounds or interference generated during the normal operation of the drive device 24. Consequently, unnecessary shutdown of the drive device 24 can be prevented.

[0116] Furthermore, according to the embodiment described above, the sound detection unit 12 determines that the sound includes a predetermined vibration sound of the main body of the drive device 24 when the time difference between the second starting timing after the sound level in a predetermined frequency band becomes equal to or greater than a fourth threshold value and the second ending timing after the sound level becomes equal to or greater than the fourth threshold value after the second starting timing is equal to or greater than a predetermined second time width (interval threshold) is greater than or equal to this second time width. This configuration facilitates the distinction between the sound to be detected and sounds or interference generated during the normal operation of the drive device 24. Consequently, unnecessary shutdown of the drive device 24 can be prevented.

[0117] Furthermore, according to the embodiment described above, the sound determination unit 12 determines whether the sound within the natural vibration frequency band of the main body of the driving device 24 includes a predetermined vibration sound of the main body of the driving device 24. With this configuration, if the driving device 24 exhibits unsafe behavior, the user can stop the driving device 24 with a simple operation.

[0118] Furthermore, according to the embodiment described above, the sound determination unit 12 determines whether the sound is a waveform that is the target waveform for determination to stop the drive device 24. If the sound is the target waveform, the sound determination unit 12 then determines whether the sound includes the predetermined vibration sound of the main body of the drive device 24. On the other hand, if the sound is not the target waveform, the sound determination unit 12 does not determine whether the sound includes the predetermined vibration sound of the main body of the drive device 24. This configuration effectively eliminates situations other than the target waveform for determination to stop.

[0119] Furthermore, according to the embodiment described above, the sound detector 12 determines based on the physical model whether the sound is a waveform for determining whether to stop the drive device 24. This configuration effectively excludes waveforms other than the waveform for determining whether to stop.

[0120] Furthermore, according to the embodiment described above, the sound detector 12 determines based on the machine learning model whether the sound is a waveform for determining whether to stop the drive device 24. This configuration effectively excludes waveforms other than the waveform for determining whether to stop.

[0121] Furthermore, according to the embodiment described above, the sound detector 12 determines based on the physical model whether the sound includes a predetermined vibration sound of the main body of the drive device 24. With this configuration, when the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation.

[0122] Furthermore, according to the embodiment described above, the sound determination unit 12 determines, based on the machine learning model, whether the sound includes a predetermined vibration sound of the main body of the drive device 24. With this configuration, if the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation.

[0123] Furthermore, according to the embodiment described above, when the sound changes, the sound detection unit 12 determines that the sound includes a predetermined vibration sound of the main body of the drive device 24. With this configuration, by detecting the change in vibration sound when a person or object contacts the drive device 24, the drive device 24 can be stopped with high accuracy if the drive device 24 exhibits unsafe behavior.

[0124] Furthermore, according to the embodiment described above, the above-mentioned stopping device, the sound detection device 22 for detecting surrounding sounds, and the driving device 24 for driving are provided.

[0125] With this configuration, when the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation. Furthermore, if the stopping device 10, the sound detection device 22, and the drive device 24 are connected via the network 100, even a drive device 24 manufactured by another company, for which the control algorithm cannot be easily changed, can be easily stopped by the stopping device 10.

[0126] According to the embodiment described above, as a method of installing the sound detection device, the sound detection device 22 is installed in the driving device 24 .

[0127] According to such a configuration, by providing the sound detection device 22 in the driving device 24 , unnecessary noise can be reduced.

[0128] Furthermore, the order in which each process is performed can be changed unless otherwise specified.

[0129] In addition, the same effects can be produced when other structures exemplified in the present specification are appropriately added to the above-mentioned structure, that is, when other structures not mentioned as the above-mentioned structure in the present specification are appropriately added.

[0130] <Regarding Modifications of the Multiple Embodiments Described Above>

[0131] In the above-described embodiments, the dimensions, shapes, relative arrangement relationships, implementation conditions, and the like of each component may be described, but these are merely examples in all respects and are not restrictive.

[0132] Therefore, numerous modifications and equivalents not shown in the examples are conceivable within the technical scope disclosed in this specification. For example, these include cases where at least one structural element is modified, added, or omitted, and cases where at least one structural element in at least one embodiment is extracted and combined with structural elements in other embodiments.

[0133] Furthermore, when the above-described embodiment states that “one” component is provided, “one or more” of the components may be provided unless there is any contradiction.

[0134] Furthermore, each structural element in the above-described embodiments is a conceptual unit, and the technical scope disclosed in the present application specification includes a case where one structural element is composed of multiple structures, a case where one structural element corresponds to a part of a certain structure, and a case where multiple structural elements are equipped in one structure.

[0135] Furthermore, as long as the components in the above-described embodiments exhibit the same functions, components having other structures or shapes are also included.

[0136] In addition, the descriptions in the present application specification are referenced for all purposes related to the present technology and are not regarded as prior art.

[0137] In addition, each structural element described in the above-described embodiments is conceived as both software or firmware and corresponding hardware. As software, it is called, for example, a "unit", and as hardware, it is called, for example, a "processing circuit" (circuitry).

[0138] (Explanation of Reference Numerals)

[0139] 1: Stop system; 1A: Stop system; 1B: Stop system; 10: Stop device; 12: Sound determination unit; 14: Control unit; 22: Sound detection device; 24: Drive device.

Claims

1. A stopping device comprising: a sound determination unit for determining whether the sound detected by the sound detection device for detecting surrounding sounds includes a predetermined vibration sound of the driving device body; and The control unit is configured to stop the driving device when the sound determination unit determines that the sound includes a predetermined vibration sound of the driving device main body.

2. The stopping device according to claim 1, wherein: The sound determination unit determines that the sound includes a predetermined vibration sound of the driving device main body when the magnitude of the sound in a predetermined frequency band is equal to or greater than a first threshold value.

3. The stopping device according to claim 1 or 2, wherein: The sound detection unit determines that the sound includes a predetermined vibration sound of the driving device body when the time difference between a first starting timing after the size of the sound in a predetermined frequency band becomes greater than a second threshold value and a first ending timing after the size of the sound becomes less than a third threshold value smaller than the second threshold value after the first starting timing is less than a predetermined first time width.

4. The stopping device according to any one of claims 1 to 3, wherein: The sound detection unit determines that the sound includes a predetermined vibration sound of the driving device body when the time difference between a second starting timing after the size of the sound in a predetermined frequency band becomes above a fourth threshold value and a second end timing after the size of the sound becomes above the fourth threshold value after the second starting timing is greater than a predetermined second time width.

5. The stopping device according to any one of claims 1 to 4, wherein: The sound determination unit determines whether the sound in the natural vibration frequency band of the driving device main body includes a predetermined vibration sound of the driving device main body.

6. The stopping device according to any one of claims 1 to 5, wherein: The sound determination unit determines whether the sound is a waveform that is a target for determination to stop the driving device. The sound determination unit determines whether the sound includes a predetermined vibration sound of a driving device body when the sound is the waveform of the object. The sound determination unit does not determine whether the sound includes a predetermined vibration sound of a driving device body when the sound is not the target waveform.

7. The stopping device according to claim 6, wherein: The sound determination unit determines whether the sound is the target waveform for determination to stop the driving device based on a physical model.

8. The stopping device according to claim 6, wherein: The sound determination unit determines whether the sound is the target waveform for determination to stop the driving device based on a machine learning model.

9. The stopping device according to any one of claims 1 to 8, wherein: The sound determination unit determines whether the sound includes a predetermined vibration sound of the driving device body based on a physical model.

10. The stopping device according to any one of claims 1 to 8, wherein: The sound determination unit determines whether the sound includes a predetermined vibration sound of the driving device body based on a machine learning model.

11. The stopping device according to any one of claims 1 to 10, wherein: The sound determination unit determines that the sound includes a predetermined vibration sound of the driving device main body when the sound changes.

12. A stopping system comprising: The stopping device according to any one of claims 1 to 11; the sound detection device for detecting surrounding sounds; and The driving device performs driving.

13. A method for setting up a sound detection device, wherein the sound detection device is set in the driving device in a stopping system including a sound detection device for detecting surrounding sounds, a driving device for driving, a sound determination unit for determining whether the sound detected by the sound detection device includes a predetermined vibration sound of the driving device body, and a control unit for stopping the driving device when the sound determination unit determines that the sound includes a predetermined vibration sound of the driving device body.

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