Device, computer-implemented method, and program storage medium for supporting security design

Abstract

The support device (1) inputs static data of the facility and dynamic data of the facility to the control device (2). The support device (1) comprises a display device (31) as output device (3). The control device (2) displays a transient contact risk area image and / or a quasi-static contact risk area image on an image of the facility in the evaluation target space. If the transient contact risk area image is displayed, the evaluator intuitively understands the presence of the transient contact and the location of the transient contact. If the quasi-static contact risk area image is displayed, the evaluator intuitively understands the presence of the quasi-static contact and the location of the quasi-static contact. Thus, the evaluator can consider measures against the transient contact and / or the quasi-static contact.

Description

Cross-reference to related applications

[0001] This application is based on and claims priority to European Patent Application No. 23210301.0, filed on 16 November 2023 with the European Patent Office, the entire disclosure of which is incorporated herein by reference. Technical Field

[0002] The disclosure in this specification relates to devices, methods, and procedures for supporting the safety design of facilities, as well as storage media. Background Technology

[0003] Patent Document 1 and Non-Patent Document 1 disclose risk assessment methods for robotic devices. Patent Document 1 simulates a collision between a robotic device and a human. In this simulation, transient contact and quasi-static contact are calculated. The disclosures of the patent documents are incorporated herein by reference to illustrate the technical elements described herein.

[0004] Citation List

[0005] Patent documents

[0006] Patent Document 1: JP2020-82307A

[0007] Non-patent literature

[0008] NPL 1: “Development of a Simulation-based Risk Assessment Tool for HRC Applications”, Conference Paper, June 2022, International Symposium on Robotics (ISR) 2022 Summary of the Invention

[0009] The technology in Patent Document 1 is insufficient to adequately support the risk assessment process. On one hand, the technology in Patent Document 1 makes it difficult for humans to intuitively determine the location of the collision. On the other hand, the technology disclosed in Patent Document 1 may lack information regarding the degree of collision. Furthermore, reassessment is difficult when adding protective devices to reduce risk. Using technology other than that in Patent Document 1, it is difficult to assess both the risks of transient contact and quasi-static contact. In the aspects mentioned above, and in others not mentioned, further improvements are needed to the equipment, methods, and program storage media used to support the safety design of facilities.

[0010] The purpose of this disclosure is to provide an apparatus, method, and procedure storage medium for supporting the safety design of facilities, which can provide useful information for safety design.

[0011] The device disclosed herein is for supporting the safety design of a facility, comprising: a control device (2) having at least one processor; a display device (31) displaying content controlled by the control device; and an input device (4) inputting data to the control device, wherein the control device is configured to provide: a facility data acquisition unit (25a) acquiring facility data of a facility in a target assessment space from the input device; an arrival determination unit (25b) determining, based on the facility data, an arrival area that a target person can reach in the target assessment space; a motion determination unit (25c) determining, based on the facility data, a motion area instructing the movement of the facility; and a risk determination unit (25d). The system identifies a risk area where interference is expected to occur between the facility and the target person; and a display processing unit (25f) displays, on a display device, the facility and the risk area in the target assessment space arranged in an overlapping manner, wherein the interference includes transient contact where the facility and the target person make transient contact with each other, and quasi-static contact where the facility and the target person make quasi-static contact with each other, and wherein the risk area includes a transient contact risk area assuming transient contact and a quasi-static contact risk area assuming quasi-static contact, and wherein the display processing unit is configured to display the transient contact risk area and the quasi-static contact risk area in an overlapping and distinguishable manner.

[0012] According to the apparatus disclosed herein, facilities arranged in a target assessment space and risk areas within the target assessment space are displayed in an overlapping manner on a display device. Therefore, this device can provide useful information for safety design.

[0013] The method disclosed herein is a computer-implemented method for supporting the safe design of a facility, the method being executed in a control device (2) having at least one processor, the method comprising: acquiring facility data of a facility in a target assessment space from an input device; determining, based on the facility data, an access area reachable by a target person in the target assessment space; determining, based on the facility data, a movement area instructing movement of the facility; determining a risk area where interference is expected to occur between the facility and the target person; and displaying, on a display device, the facility arranged in the target assessment space and the risk area in the target assessment space in an overlapping manner, wherein the interference includes transient contact where the facility and the target person are in transient contact with each other, and quasi-static contact where the facility and the target person are in quasi-static contact with each other, and wherein the risk area includes a transient contact risk area assuming transient contact and a quasi-static contact risk area assuming quasi-static contact, and wherein the display on the display device displays the transient contact risk area and the quasi-static contact risk area in an overlapping and distinguishable manner.

[0014] The storage medium disclosed herein is a non-transitory computer-readable storage medium that stores computer-readable instructions executable by a processor of a device for supporting the safety design of a facility. These instructions, when executed by the processor, cause the device to: acquire facility data of a facility in a target evaluation space from an input device; determine, based on the facility data, an accessible area reachable by a target person in the target evaluation space; determine, based on the facility data, a movement area instructing movement of the facility; determine a risk area where interference is expected to occur between the facility and the target person; and display, on a display device, the facility and the risk area in the target evaluation space in an overlapping manner. The interference includes transient contact where the facility and the target person make transient contact with each other, and quasi-static contact where the facility and the target person make quasi-static contact with each other. The risk area includes a transient contact risk area assuming transient contact and a quasi-static contact risk area assuming quasi-static contact. The instructions are configured to cause a display processing unit to display the transient contact risk area and the quasi-static contact risk area in an overlapping and distinguishable manner.

[0015] The various aspects disclosed in this specification employ different technical solutions to achieve their respective purposes. The reference numerals in parentheses described in the claims and this section exemplarily illustrate the correspondence with portions of the embodiments to be described later, and are not intended to limit the scope of the technology. Attached Figure Description

[0016] The purposes, features, and effects disclosed herein are further illustrated by referring to the following detailed description and accompanying drawings.

[0017] [ Figure 1 ] Figure 1 This is a block diagram of a device for supporting safety design according to the first embodiment.

[0018] [ Figure 2 ] Figure 2 This is a diagram illustrating an example of transient contact.

[0019] [ Figure 3 ] Figure 3 This is a diagram illustrating an example of quasi-static contact.

[0020] [ Figure 4 ] Figure 4 This is a flowchart illustrating the safety design process.

[0021] [ Figure 5 ] Figure 5 This is a flowchart illustrating the processing based on primary facility data.

[0022] [ Figure 6 ] Figure 6 This is a flowchart illustrating the processing based on secondary facility data.

[0023] [ Figure 7 ] Figure 7 It is shown Figure 5 and Figure 6 A detailed flowchart.

[0024] [ Figure 8 ] Figure 8 It is shown Figure 6 A detailed flowchart.

[0025] [ Figure 9 ] Figure 9 This is a top view showing an example of an image of a moving area.

[0026] [ Figure 10 ] Figure 10 This is a top view showing the area to enter.

[0027] [ Figure 11 ] Figure 11 This is a top view showing an example of an image of an accessible area.

[0028] [ Figure 12 ] Figure 12 This is a top view showing an example of an image of a transient contact risk area.

[0029] [ Figure 13 ] Figure 13 This is a top view showing an example of a quasi-static contact risk area image.

[0030] [ Figure 14 ] Figure 14 This is a top view showing an example of the overlap between transient contact risk area images and quasi-static contact risk area images.

[0031] [ Figure 15 ] Figure 15 This is a top view showing an example of the added protective device.

[0032] [ Figure 16 ] Figure 16 It is shown Figure 15 A top view of the entry area.

[0033] [ Figure 17 ] Figure 17 This is a top view showing another example of the added protective device.

[0034] [ Figure 18 ] Figure 18 It is shown Figure 17 A top view of an example of an arrival area image.

[0035] [ Figure 19 ] Figure 19 It is shown Figure 17 A top view of an example of a transient contact risk area image.

[0036] [ Figure 20 ] Figure 20 It is shown Figure 17 A top view of an example of a quasi-static contact risk area image.

[0037] [ Figure 21 ] Figure 21 This is a top view showing another example of the overlap between transient contact risk area images and quasi-static contact risk area images.

[0038] [ Figure 22 ] Figure 22 This is a table showing examples of physical quantities that demonstrate transient contact.

[0039] [ Figure 23 ] Figure 23 This is a table showing examples of physical quantities that demonstrate quasi-static contact. Detailed Implementation

[0040] Several embodiments are described with reference to the accompanying drawings. In some embodiments, functionally and / or structurally corresponding and / or associated elements may be given the same reference numerals, or reference numerals with different numbers in positions equal to or higher than the hundreds place. Descriptions of corresponding or associated parts may be shared between embodiments.

[0041] First Implementation Method

[0042] In the following description, ISO, Visual Components, Oktopuz, and WINCAPS may be trademarks or registered trademarks.

[0043] Support devices

[0044] exist Figure 1The system includes a support device 1 that supports design activities to improve the safety of the facility for humans. The support device 1 includes a control device 2, an output device 3, and an input device 4. The support device 1 is used in a risk assessment process to assess the risk of physical interference between a mobile facility and a target person in the target assessment space. Furthermore, the support device 1 is used in the risk assessment process to reassess the risk of physical interference between a target person and an improved facility whose safety has been enhanced by reflecting the results of a previous risk assessment process. As a result, the safety of the facility is improved. The following description describes the support device 1 used to support safety design and the methods for supporting safety design executed in the support device 1. Furthermore, the following description explains and clarifies the methods for supporting safety design, the computer-implemented methods, the program for executing the methods on the support device 1, and the storage medium storing the program.

[0045] Here, the target assessment space is the space where a person performs a certain task. The target assessment space can include production facilities, repair facilities, offices, mines, construction sites, hospitals, nursing homes, etc. The target person is the person who is the object of the risk assessment process. The target person can include workers in the target assessment space or visitors who may temporarily enter the facilities within the target assessment space. An example of a target person is a collaborative worker in a human-robot collaborative environment.

[0046] Facilities can be items placed within the target assessment space. Facilities include fixed facilities that are anchored relative to the target person. Fixed facilities can include shelves, partitions, fences, parts stations, etc.

[0047] Additionally, the equipment includes a movable facility having movable components that can move relative to a target person and stationary parts that are stationary relative to the target person. The movable facility may include machining machines such as lathes and milling machines, transport equipment such as parts feeders, conveyors, and automated guided vehicles (AGVs), and robotic devices such as articulated robots. Furthermore, the movable facility includes combined devices that combine at least two of the machining machines, transport devices, and robotic devices. The movable facility includes, for example, a mobile manipulator, which is a combination of an AAV and at least one robotic device. Note that the movable facility is an actively moving device. Therefore, trolleys and the like, which are passively moved by a person's push or pull, are classified as fixed facilities.

[0048] Facilities are indicated through facility data. Facility data includes static data and dynamic data. Static data indicates the location, shape, etc., of fixed facilities and fixed components of movable facilities. Dynamic data indicates the direction of movement, speed of movement, trajectory, etc., of movable components.

[0049] Physical interference between a movable facility and a part of a target person includes both physical contact and physical collision. Additionally, interference can include transient contact and quasi-static contact between the movable facility and a part of the target person. Transient contact can include the possibility of a part of the target person being struck by the movable facility. Quasi-static contact can include the phenomenon where a part of the target person is "stuck" between facilities.

[0050] Support device 1 generates support information used by the assessor and / or assessment device during the risk assessment process, and provides the generated support information to the assessor and / or assessment device. The assessor is the user of support device 1. The assessment device is a computer device different from support device 1. Therefore, the assessment device has the same configuration as control device 2, which is described later. If support device 1 provides support information to the assessor, it outputs image information, including an image showing the three-dimensional shape of the facility, and / or numerical information indicating the degree of interference, to the human-machine interface. If support device 1 provides support information to the assessment device, it outputs data such as the location and shape of the facility, and / or numerical data indicating the degree of interference, to the assessment device.

[0051] Control device

[0052] The control device 2 is provided by a microcomputer including a memory 21 and a processor 22. The memory 21 is provided by a semiconductor memory, a hard disk, etc. The processor 22 is provided by a so-called CPU. The control device 2 performs multiple control processes 25 by executing multiple instructions by at least one processor 22.

[0053] The control device 2 in this specification may also be referred to as an electronic control device (ECU). The control device or control system is provided by (a) an algorithm of multiple logics in the form of if-then-else or (b) a learning model tuned by machine learning (e.g., an algorithm as a neural network).

[0054] The control device is provided by a control system including at least one computer. The control system may include multiple computers linked via a data communication device. The computer includes at least one processor (hardware processor) as hardware. The hardware processor may be provided by (i), (ii), or (iii) below.

[0055] (i) The hardware processor may be at least one processor 22 that executes a program stored in at least one memory 21. In this case, the computer is provided by at least one memory 21 and at least one processor 22. The processor 22 is referred to as a central processing unit (CPU), graphics processing unit (GPU), RISC-CPU, etc. The memory 21 may also be referred to as a storage medium. The memory 21 is a non-transitory and tangible storage medium that non-transitorily stores programs and / or data that can be read by the processor 22. The storage medium may be a semiconductor memory, a magnetic disk, an optical disk, etc. The program may be distributed as a single unit or as a storage medium storing the program.

[0056] (ii) The hardware processor can be hardware logic circuitry. In this case, the computer is provided by digital circuitry comprising multiple programmed logic units (gates). Digital circuitry is also referred to as an array of logic circuits, such as an ASIC (Application-Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), SoC (System-on-Chip), PGA (Programmable Gate Array), or CPLD (Complex Programmable Logic Device). Digital circuitry may include memory storing programs and / or data. The computer can also be provided by analog circuitry. A computer can be provided by a combination of digital and analog circuitry.

[0057] (iii) The hardware processor can be a combination of (i) and (ii) above. (i) and (ii) are placed on different chips or on a common chip. In these cases, part (ii) is also referred to as an accelerator.

[0058] Control devices, signal sources, and controlled objects provide various components. At least some of these components may be referred to as blocks, modules, or parts. Furthermore, only when intentionally chosen are the components included in a control system referred to as functional devices.

[0059] Control Processing

[0060] The control processing unit 25 includes a facility data acquisition unit 25a. The facility data acquisition unit 25a acquires facility data of the facilities in the target evaluation space from the input device 4. The facility data includes static data and dynamic data.

[0061] The control process 25 includes an arrival determination unit 25b. The arrival determination module 25b determines the reachable areas that the target person can reach in the target assessment space based on facility data.

[0062] The accessible area is an area where it can be assumed that the target person can enter the target assessment space and / or where it can be assumed that the target person can locate a part of his or her body within the target assessment space. Here, a part of the target person's body may include the head, hands, torso, legs, etc., as well as eyes located for observation through holes in the facility, nose located for smelling, etc.

[0063] The control process 25 includes a motion determination unit 25c. The motion determination unit 25c determines the motion area indicative of the facility's movement based on facility data. The motion area is primarily set based on dynamic data. The motion area is a planned motion area indicating the planned operating trajectory of the facility's movable components. The planned motion area differs from the maximum motion area that the facility's movable components can reach. The planned motion area is a portion of the maximum motion area included within the planned motion area.

[0064] The arrival determination unit 25b determines the arrival area by estimating the route a target person can take towards the movable part of the facility. The arrival determination unit 25b establishes multiple entry points within the entry area accessible to the target person in the facility. The arrival determination unit 25b assumes multiple routes the target person might take from these entry points to the movable part of the facility. The arrival determination unit 25b narrows down these multiple routes based on conditions such as the facility's responsiveness, the time required to reach a safe speed, the safe distance between the target person and the facility, and the presence of protective devices. In this way, the arrival determination unit 25b determines the arrival area.

[0065] The algorithm used to determine the arrival region can be provided by various algorithms applicable to optimization problems. In this embodiment, the arrival determination unit 25b uses the branch and bound method to determine the arrival region.

[0066] Control processing 25 includes a risk determination unit 25d. The risk determination unit 25d determines the risk area where interference is expected to occur between the facility and the target person. The risk determination unit 25d determines the risk area based on the arrival area and the movement area. The risk determination module 25d predicts interference between a movable component and a portion of the target person. The risk area involving interference is provided to the assessor or assessment device. The risk area involving interference is stored in memory 21. The risk area can be represented as a set of multiple interference points. An interference point indicates a representative interference location within a predetermined spatial volume. An interference point can be provided, for example, by means of a cube (voxel) with a predetermined volume. The risk area can be represented as a set of multiple voxels.

[0067] One form of interference is collision. For example, it can be assumed that a movable component of a movable facility collides with a part of a target person in a stationary state. In the collision, due to the reaction force when the facility collides with the part of the target person, that part of the target person is pushed and moved in the direction of movement of the movable component. Collisions include transient contact. Transient contact is also called "impact." An "impact" is, for example, a collision between a facility and a part of the target person, and that part of the target person is forced to move by the reaction force of the collision. Collisions include quasi-static contact. Quasi-static contact is also called "clamping." Clamping is, for example, a collision between a facility and a part of the target person, and that part of the target person is moved by the reaction force of the collision, and that part of the target person is clamped by multiple facilities. Here, it can be assumed that a part of the target person is clamped between a movable facility and a fixed device, and that a part of the target person is clamped between a movable facility and another movable facility. Furthermore, one aspect of interference is pulling. For example, it can be assumed that a target person tracks and grabs a movable component of a movable facility. In this case, a part of the target person is pulled in the direction of movement of the movable component.

[0068] The risk area includes the transient contact risk area where transient contact is expected to occur. The risk determination unit 25d includes a transient contact risk area determination unit 25d1. The transient contact risk area determination unit determines the transient contact risk area assuming transient contact will occur.

[0069] The risk area includes a quasi-static contact risk area assumed to occur. The risk determination unit 25d includes a quasi-static contact risk area determination unit 25d1. The quasi-static contact risk area determination unit determines the quasi-static contact risk area assumed to occur.

[0070] Figure 2An example of a collision force WT (load) (N) applied to a portion of a target person in an interference known as an “impact” is shown. The impact force is also referred to as a load. In the following description, it is also referred to as the impact force. The interference physical quantities calculated in the “impact risk zone” may include, at least, the instantaneous maximum impact force WTpk of the impact force WT (N) being “impacted.” The interference physical quantities calculated in the “impact risk zone” may include multiple items. For example, in addition to the instantaneous maximum impact force (N), they may also include the relative velocity at the time of impact (m / sec), the amount of energy (J) transferred from the movable facility to the target person, and the pressure exerted on the target person (N / mm^2). These physical quantities can be calculated by simulating the collision between the movable facility and the target person on a three-dimensional model. Hereinafter, three-dimensional may be referred to as 3D. In this simulation, at least one of the following is considered: the direction of movement of the movable facility, the speed of movement of the movable facility, the weight of the movable facility including the items transported by the movable facility, and the surface area of ​​the contact surfaces at the time of the collision.

[0071] Figure 3 An example of a collision force WT (load) (N) applied to a portion of a target person in an interference known as “clamping” is shown. Interference physical quantities calculated in the “clamping risk zone” may include at least the steady-state collision force WTst (N) of the “clamping.” The steady-state collision force WTst is also referred to as the residual load held steady after the “clamping” occurs. Interference physical quantities calculated in the “clamping risk zone” may include multiple items. For example, in addition to the steady-state collision force WTst (N), they may also include the relative velocity at the time of collision (m / sec), the amount of energy (J) transferred from the movable facility to the target person, and the pressure exerted on the target person (N / mm^2). These physical quantities can be calculated by simulating the collision between the movable facility and the target person on a 3D model. In this simulation, at least one of the following is considered: the direction of movement of the movable facility, the speed of movement of the movable facility, the weight of the movable facility including the items transported by the movable facility, and the surface area of ​​the contact surfaces at the time of collision. The interference known as “clamping” may also be referred to as “trapping.”

[0072] Return to Figure 1 The control process 25 includes a physical quantity calculation unit 25e. The physical quantity calculation unit 25e calculates and determines the physical quantity experienced by the target person due to interference. In other words, the physical quantity calculation unit 25e calculates physical quantities indicating the degree of interference in the risk area. The calculated physical quantity values ​​are provided to the evaluator or evaluation device. The calculated physical quantity values ​​are stored in memory 21. The physical quantity of interference is calculated and provided at each of the multiple interference points. For example, the physical quantity of interference is calculated and provided to each of the multiple voxels.

[0073] The control processing unit 25 includes a display processing unit 25f. The display processing unit 25f displays the facilities arranged in the target assessment space and the risk areas in the target assessment space in an overlapping manner on the display device of the output device 3. The display processing unit 25f presents support information to the assessor. If the display processing unit 25f is configured to provide support information to the assessment device, an additional display processing unit 25f may be provided.

[0074] The display processing unit 25f displays supporting information on the display device of the output device 3. The supporting information may include a virtual space image. The virtual space image shows the target evaluation space. The supporting information may include a static image showing the location and shape of facilities in the target evaluation space. The supporting information may include a motion area image indicating the movement areas of movable components of facilities in the target evaluation space. The supporting information may include an arrival area image indicating areas that a target person can reach in the target evaluation space. This arrival area image is also referred to as an intrusion area image, indicating intrusion areas that a target person can enter. The supporting information may include a risk area image, showing risk areas in the target evaluation space where interference between movable components of facilities and a target person is anticipated.

[0075] Supporting information may include one or more interferometric physical quantities calculated by the physical quantity calculation unit 25e. In this case, the display processing unit 25f is configured to display the interferometric physical quantities. The interferometric physical quantities may be displayed, for example, in tabular form.

[0076] For example, supporting information can be displayed in an overlapping manner on a base image that includes both virtual and static images. Similarly, images of moving areas can be displayed in an overlapping manner on the base image. With this configuration, assessors can visually understand the relationship between movable components and facilities (including their location and shape). For example, images of reachable areas can be displayed in an overlapping manner on the base image. With this configuration, assessors can visually understand the relationship between the location and shape of the facility and the reachable area for the target person. Similarly, images of risk areas can be displayed in an overlapping manner on the base image. With this configuration, assessors can visually understand the relationship between areas where the target person may be at risk and the location and shape of the facility.

[0077] In addition to the base image, multiple supporting images can be displayed in an overlapping manner. For example, motion area images and arrival area images can be displayed on the base image in an overlapping manner. According to this configuration, the assessor can intuitively understand the relationship between the movable components of the facility and the target person. For example, motion area images and risk area images can be displayed on the base image in an overlapping manner. According to this configuration, the assessor can intuitively understand the relationship between the movable components of the facility and the interference. For example, arrival area images and risk area images can be displayed on the base image in an overlapping manner. According to this configuration, the assessor can intuitively understand the relationship between the target person and the interference. Furthermore, for example, motion area images, arrival area images, and risk area images can be displayed on the base image in an overlapping manner. According to this configuration, the assessor can intuitively understand the relationship between the movable components of the facility and the target person.

[0078] At least one of a motion zone image, an arrival zone image, and a risk zone image can be displayed by arranging multiple voxels in a virtual space image. A risk zone image may include an "impact risk zone image" where transient contact may occur. A risk zone image may include a "clamping risk zone image" where quasi-static contact may occur. A risk zone image may include both an "impact risk zone image" and / or a "clamping risk zone image." An "impact risk zone image" is also referred to as a transient contact risk zone image. A "clamping risk zone image" is also referred to as a quasi-static contact risk zone image.

[0079] The display processing unit 25f is configured to display the transient contact risk area image and the quasi-static contact risk area image in an overlapping manner. Furthermore, the display processing unit 25f is configured to display the transient contact risk area image and the quasi-static contact risk area image in a manner distinguishable by human vision. Therefore, the evaluator can identify the presence of a quasi-static contact risk area within the transient contact risk area in the displayed image. Thus, the display processing unit 25f is configured to display the transient contact risk area and the quasi-static contact risk area in an overlapping and distinguishable manner.

[0080] Display processing unit 25f can be configured to display access areas and / or movement areas other than facilities and risk areas. In this case, display processing unit 25f is configured to display at least two areas simultaneously in a manner distinguishable by human vision.

[0081] If the supporting information includes physical quantities of the interference, then the supporting information may include the physical quantities of the interference in the "impact risk area image". If the supporting information includes physical quantities of the interference, then the supporting information may include the physical quantities of the interference in the "clamping risk area image". The supporting information may include physical quantities of the interference in the "impact risk area" and / or the physical quantities of the interference in the "clamping risk area".

[0082] Furthermore, the control processing 25 may include a modification unit 25g. The modification unit 25g modifies the facility data acquired by the facility data acquisition unit 25a and generates modified facility data. If the modification unit 25g generates modified facility data, the multiple units described above are executed again based on the modified facility data. For example, the arrival determination unit 25b, motion determination unit 25c, risk determination unit 25d, physical quantity calculation unit 25e, and display processing unit 25f are executed again based on the modified facility data.

[0083] Furthermore, the control processing 25 may include a cycle time calculation unit 25h. The cycle time calculation unit 25h is configured to calculate the modified cycle time of the facility based on the modified facility data. In this case, the display processing unit 25f described above controls the display to show the primary cycle time assumed based on the facility data acquired by the facility data acquisition unit 25a and the secondary cycle time assumed based on the modified facility data.

[0084] Output device

[0085] Output device 3 includes at least display device 31. Output device 3 may also include printer 32 and / or communication device 33. Display device 31 is a display device used to present supporting information to the assessor. Display device 31 may be provided by a flat panel LCD display, 3D display, head-mounted display, etc. Display device 31 provides a GUI (graphical user interface) together with input device 4, which will be described later. Printer 32 and / or communication device 33 may be used to output the results of the risk assessment. In one example, printer 32 may be used to print materials indicating that support equipment 1 has been used to confirm that the facility's security level has reached a certain level. In one example, communication device 33 may be used to send data indicating that support equipment 1 has been used to confirm that the facility's security level has reached a certain level.

[0086] Input device

[0087] Input device 4 includes HMI (Human Machine Interface) device 41. HMI device 41 is provided by a keyboard, mouse, touch panel, etc. HMI device 41 is operated by the evaluator and inputs the evaluator's operation to control device 2.

[0088] Input device 4 includes facility data input device 42. Facility data input device 42 inputs data related to facilities arranged in the target evaluation space to control device 2. Facility data includes static data for fixed facilities and dynamic data related to movable components of movable facilities. For example, the position and shape of shelves, fences, parts stations, etc., constitute static data. The facility may include safety control equipment, which includes at least one intrusion sensor and safety control processing. The intrusion sensor detects a target person intruding into a predetermined detection area. The safety control processing executes control to reduce the movement speed of the movable components of the facility in response to the detection signal of the intrusion sensor, or to stop the movable components of the facility in response to the detection signal of the intrusion sensor. The safety control processing is provided by a PLC, sequence controller, etc., as a control device for movable facilities. In this case, the detection range of the intrusion sensor can be classified as static data. On the other hand, the planned movement trajectory of the robot device, the movement speed of the robot device, the conveying direction of the conveying device, the conveying speed of the conveying device, etc., constitute dynamic data.

[0089] Input device 4 includes static data input device 43. Support device 1 inputs static data to control device 2 via static data input device 43. Static data input device 43 may be a facility design device. Alternatively, static data input device 43 may read static data from a storage medium storing static data of static facilities. In this case, static data input device 43 is provided by a storage medium reader. Therefore, the facility design device is indirectly connected to support device 1 via a storage medium.

[0090] Input device 4 includes dynamic data input device 44. Support device 1 inputs dynamic data for the planned movement of the facility via dynamic data input device 44. Dynamic data input device 44 can be a device for controlling the movement of the facility. For example, a PLC (Programmable Logic Controller), a sequence controller, etc., can be used as the device for controlling the movement of the facility. Alternatively, dynamic data input device 44 can read dynamic data from a storage medium storing dynamic data. In this case, dynamic data input device 44 is provided by a storage medium reader. Therefore, the device for controlling the movement of the facility is indirectly connected to support device 1 via the storage medium. Dynamic data can include the functions of security control equipment (including intrusion sensors and security control processing). The functions of security control equipment can be expressed by detection areas for detecting intrusion of a target person, the content of security controls activated in response to the detection of intrusion, etc.

[0091] Risk assessment process

[0092] exist Figure 4The diagram illustrates an example of a risk assessment process. In this embodiment, steps 101 to 103 of the risk assessment process 100 are performed by support device 1. Steps 104 to 106 of the risk assessment process 100 can be performed by an assessor or an assessment device. Step 107 can be performed by support device 1, an assessor, or an assessment device.

[0093] The assessor can independently set risk assessment criteria and a predetermined level at which risk is assessed as acceptable. Alternatively, the risk assessment criteria and predetermined acceptable risk level can be based on standards set by public authorities. Alternatively, the risk assessment criteria and predetermined acceptable risk level can be set by an organization responsible for setting standards, etc. In this embodiment, the risk assessment criteria and predetermined acceptable risk level are based on standards established by the International Organization for Standardization (ISO). For example, reference can be made to (1) "ISO 10218-1:2011 Robots and robotic devices - Safety requirements for industrial robots" and / or (2) "ISO / TS 15066:2016 Robots and robotic devices - Collaborative robots". The contents of these standards are incorporated herein by reference as a description of technical elements.

[0094] In step 101, support device 1 acquires primary facility data. Primary facility data is also referred to as initial foundational data. Furthermore, primary facility data can be facility data that has already undergone a risk assessment. Facility data includes static facility data and dynamic facility data. Static facility data can include the facility's location in the target assessment space, the facility's size, etc. Dynamic facility data indicates the movement of the facility's movable components. Dynamic facility data can include the maximum movable area on which the facility's movable components can move. Dynamic facility data may only include the planned and restricted motion areas for the facility's movable components. The motion area is a portion of the movable area. The movable area is, for example, a semi-circular area centered on a multi-joint robot. The motion area is, for example, an area indicated by a set of trajectories of a multi-joint robot controlled by a PLC.

[0095] Dynamic facility data can include, for example, the direction of movement of movable components, the speed of movement of movable components, and the mass of movable components. For instance, if the facility is a conveyor, the information can include the direction of movement of the conveyor, the speed of movement of the conveyor, the mass of the conveyor belt, the mass of the object being conveyed, and the connection method between the conveyor belt and the object. In the case of a multi-joint robot, this includes the direction of rotation of each of the multiple rotation axes, the angular velocity of each of the multiple rotation axes, the mass of each of the multiple arms, the direction of movement of the end effector, the speed of movement of the end effector, the mass of the end effector, and the mass of the object manipulated by the end effector.

[0096] In step 102, the supporting device 1 generates supporting information to support the risk assessment process. The supporting information may include information indicating areas in the target assessment space where risks may occur. These potentially risky areas correspond to the risk areas described above. These areas are provided as 3D images in the target assessment space. Furthermore, the supporting information may include physical quantities indicating the magnitude of the risk in the areas where the risk may occur.

[0097] In step 103, support device 1 provides support information to the evaluator and / or the evaluation device. If the support information is provided to the evaluator, it is provided as a 3D image and / or physical quantities indicating the magnitude of the risk. If the support information is provided to the evaluation device, it is provided as data that can generate a 3D image and / or data of physical quantities indicating the magnitude of the risk.

[0098] In step 104, the assessor and / or assessment device evaluates the risk. For example, the definition of "ISO / TS 15066" mentioned above can be used as a standard for risk assessment. "ISO / TS 15066" specifies the maximum permissible pressure value (N / cm^2), maximum permissible force value (N), and maximum permissible transient energy value for each part (i.e., body region) of the target person. In step 105, the assessor and / or assessment device determines whether the risk presented by the support device 1 is less than a predetermined acceptable risk level. In step 105, if the risk exceeds the predetermined level, the process branch is "No" and proceeds to step 106. In step 105, if the risk is less than the predetermined level, the process branch is "Yes" and proceeds to step 107.

[0099] In step 106, the evaluator and / or evaluation device modifies the facility data. The modified facility data may be referred to as secondary facility data. The modification of the facility data is performed in the direction of improving the facility. The evaluator and / or evaluation device may cycle through step 106 once, or may repeat step 106 multiple times. In these cases, the evaluator and / or evaluation device may modify the facility and evaluate the safety or risk of the modified facility. The evaluator and / or evaluation device improves the facility and evaluates the effectiveness of the improvement by performing the cyclical operation of step 106. Furthermore, through the processing of step 107, described later, the evaluator and / or evaluation device can obtain an improved facility evaluation result.

[0100] Note that modifications can be made to facilities to improve their security. In other words, facility data can be modified to reduce risk. For example, facility data can be modified by adding protective equipment to protect a target person. This addition of protective equipment can be achieved, for example, by adding fixed facilities such as fences, which physically prevent a target person from reaching it. This addition of protective equipment can also be achieved, for example, by adding a post-incident control function that detects intrusion by a target person and controls the facility in a safe direction.

[0101] Note that even if the safety of a facility remains the same, modifications can be made to improve other aspects. These other aspects can include various perspectives, such as the facility's energy consumption, environmental impact, noise levels, size, and cost. For example, a facility modification could be implemented to change it to a cheaper facility while keeping its risk level below a predetermined level.

[0102] Step 106 provides a modification unit. Therefore, the control device 2 is configured to provide a modification unit that modifies the facility data acquired in step 101, which is a data acquisition unit, and generates modified facility data. In step 102, executed after step 106, the arrival determination unit, motion determination unit, risk determination unit, and display processing unit are configured to operate based on the modified facility data.

[0103] In step 107, the supporting device 1, the assessor, and / or the assessment apparatus outputs the results of the risk assessment process. The supporting device 1, the assessor, and / or the assessment apparatus outputs a result indicating that the facility has achieved a risk level below a predetermined level, i.e., that the facility has achieved a safety level exceeding a predetermined level, through a predetermined risk assessment process. The results are output to paper, stored electronically, or to a computer-readable tangible storage medium that can be transmitted via communication to other external devices. Furthermore, the supporting device 1, the assessor, and / or the assessment apparatus can certify the validity of the output. The supporting device 1, the assessor, and / or the assessment apparatus demonstrates, for example, that the risk assessment process conforms to standards established by organizations such as ISO.

[0104] Note that Support Device 1 can provide the following additional functions in the risk assessment process 100: (1) The basic data in step 101 can be obtained from external files generated by external software other than Support Device 1. (2) External software such as Visual Components, Oktopuz, and WINCAPS can be used. Support Device 1 can directly call the data generated by the external software. (3) Support Device 1 can use the acquired basic data to simulate the movement of movable components of the facility on the display device 31 of Support Device 1. The motion simulation is provided as a 3D image. (4) Support Device 1 can change the layout of the acquired facility. The change operation can be performed using the GUI of Support Device 1. (5) Support Device 1 can output layout data that optimizes the configuration of the facility. Support Device 1 can output layout data that optimizes the security measures of the facility. Here, security measures include security control devices, which include intrusion sensors and security control processes. The layout data can be output as 3D data that can be used in a general CAD device. (6) Support device 1 can perform measurement or display processing of distance or route distance between two points by pointing to any number of points using the GUI in the 3D image displayed on display device 31. (7) Support device 1, the evaluator and / or the evaluation device can output information at any intermediate stage of a series of risk assessment processes that have not yet been completed at any stage of process 100. For example, in step 102, an incomplete image can be displayed midway through the calculation of areas where risks may occur.

[0105] Processing of support equipment

[0106] In the following description, refer to Figure 5 The description first describes the support processing 200 performed on the initial facility data. Furthermore, after support processing 200, refer to... Figure 6 Support process 300 is executed again based on the modified facility data after the facility has been modified and modified facility data has been generated. Support process 200 is referred to as support process based on primary facility data. Support process 300 is referred to as support process based on secondary facility data. Note that the equipment can be modified before support process 200 is executed. In this case, only support process 300 is executed, and support process 200 is not executed.

[0107] Figure 5 This is a flowchart illustrating support processing 200 based on primary facility data. Primary facility data is, for example, a dataset from a facility design facility. Primary facility data indicates the initial facility data to be subjected to a risk assessment using support equipment 1. This primary facility data includes static data of the equipment. Primary facility data may also include dynamic facility data.

[0108] In step 201, support device 1 obtains the initial settings made by the user from input device 4. The initial settings are also referred to as user preferences. The initial settings include at least (1) colors for each of the various types of support information, and / or (2) display / display for each of the various types of support information. In step 201, the user can set the colors of the static image, motion area image, arrival area image, transient contact risk area image, and quasi-static contact risk area image according to his / her preferences. The transient contact risk area image and the quasi-static contact risk area image can be set to the same colors as the risk area images. For example, the user can assign different colors to different images. In step 201, the user can set the display or non-display of the static image, motion area image, arrival area image, transient contact risk area image, and quasi-static contact risk area image. The transient contact risk area image and the quasi-static contact risk area image can be displayed or not displayed together as risk area images. For example, among risk area images, the user can display either the transient contact risk area image or the quasi-static contact risk area image, and not display the other.

[0109] Step 201 provides a display switching unit. Control device 2 is configured to provide a display switching unit that switches between displaying and not displaying facilities, arrival areas, movement areas, and risk areas. Step 201 also provides a color setting unit. The color setting unit responds to the evaluator's setting operation to set the colors of multiple images displayed on the display device. The color setting unit allows the display colors of facilities, arrival areas, movement areas, and risk areas to be set according to the evaluator's settings.

[0110] In step 202, the supporting device 1 acquires initial facility data from the input device 4. The facility data includes static data and dynamic data. Step 202 provides the device data acquisition unit 25a.

[0111] In step 203, the supporting device 1 predicts the arrival area of ​​the target person, determines the arrival area, and generates data indicating the arrival area. The arrival area is the area that the target person can reach within the target assessment space. The arrival area is determined based on facility data. Step 203 provides the arrival determination unit 25b. Due to the location and shape of the facility, areas that the target person cannot reach are excluded from the arrival area. On the other hand, openings in the facility, such as openings in a fence, allow the target person to reach outside the fence through the opening. Therefore, the arrival area is generated as extending through the opening. The facility may include security control equipment, which includes intrusion sensors and security control processing. In this case, the detection area of ​​the intrusion sensor is excluded from the arrival area.

[0112] In step 203, support device 1 determines the motion area. The motion area is determined based on facility data, particularly dynamic data. The motion area can be determined after the arrival area is determined. Alternatively, the arrival area can be determined after the motion area is determined. The order of the methods in this disclosure includes various orders as shown herein. The arrival area can be determined after the motion area is determined. Alternatively, the motion area can be determined after the arrival area is determined. Step 203 provides motion determination unit 25c.

[0113] Figure 7 Details of the processing in step 203 are shown. In this embodiment, in step 401, the supporting device 1 determines the motion area. The motion area is an operating area programmed into the facility. Alternatively, the motion area may extend to the range of motion within which the facility can operate. Figure 9 An example of motion zone 60 is shown in the figure.

[0114] In step 402, the support device 1 establishes at least one entry point in the target person's pedestrian area. An entry point is the starting point from which the target person begins moving towards the movable facility. For example, multiple entry points may be determined within the target person's pedestrian area. Figure 10 An example of pedestrian zone 71 is shown in the figure.

[0115] In step 403, support device 1 uses a branch-and-bound method to search for multiple possible routes that the target person can take from each entry point in the entry points to the movement area. At this time, at least one or all of the following conditions may be considered: the responsiveness of the facility, the time required to decelerate the facility to a safe speed, the safe distance between the target person and the facility, and the presence of protective devices. Facilities that impede the target person's movement are considered during the search process. For example, the presence of a fixed facility restricts possible routes because the target person cannot pass through it. For example, if a safe distance between the facility and the target person is ensured, possible routes do not need to be considered.

[0116] For example, protective devices including physical barriers such as fences or fixed structures that impede the movement of the target person can be considered during the process. Physical barriers are used to limit possible routes. For example, protective devices including virtual barriers, such as security zones set up by laser scanners, can be considered during the process. Virtual barriers are used to limit possible routes. Protective devices constrain the behavior of the target person. In step 403, support device 1 searches for possible routes that the target person can use to reach the movable part while respecting the constraints imposed by the protective devices. Therefore, the reachable area is inferentially determined using a branch and bound search algorithm. Figure 11 An example of the reach region 70 determined by the branch and bound search algorithm is shown.

[0117] Return to Figure 5In step 204, support device 1 determines the risk area. The risk area is determined based on the arrival area and the movement area. The possible interference locations between the target person's portion and the movable component are determined based on the arrival area the target person might enter and the movement area of ​​the movable component assumed according to the facility's dynamic data. The set of multiple interference locations constitutes the risk area. Step 204 provides risk determination unit 25d.

[0118] Interference between the movable component and a portion of the target person can include either transient contact or quasi-static contact. In step 204, support device 1 determines transient contact risk areas and quasi-static contact risk areas. The transient contact risk area is determined as a set of multiple locations involving transient contact. The quasi-static contact risk area is determined as a set of multiple locations involving quasi-static contact.

[0119] Transient contact and quasi-static contact occur within the risk zone of interference between a portion of the facility and a target person. The risk zones for transient contact and quasi-static contact are included within the risk zone. Transient contact and quasi-static contact are distinguished based on the direction of movement of the facility included in the dynamic data, particularly the direction of movement at the time of interference. Transient contact and quasi-static contact are identified based on the positions of fixed and movable facilities included in the facility data, particularly the positions of the facilities in the direction of movement. For example, if the facility collides with a portion of the target person and the expected behavior of the portion of the target person is equivalent to an "impact," it is determined to be transient contact. For example, if the facility collides with a portion of the target person and the expected behavior of the portion of the target person is equivalent to a "clamping," it is determined to be quasi-static contact. Here, the thresholds for "behavior equivalent to an 'impact'" and "behavior equivalent to a 'clamping'" are defined based on the ISO mentioned above. For example, if the facility is within a predetermined distance in the direction of movement, support device 1 determines that behavior equivalent to quasi-static contact, i.e., "clamping," may occur.

[0120] Here, the threshold for "impact-equivalent behavior" can be set according to the ISO standard mentioned above. Alternatively, the threshold for "impact-equivalent behavior" can be set based on a kinematic model obtained through test contact on a test bench. The test contact on the test bench can be simulated in test operations in a temporary facility. For example, the test bench is a temporary facility. The threshold for "clamping behavior" can be set based on a kinematic model obtained through test contact on the test bench. Alternatively, the threshold for "clamping behavior" can also be set according to ISO or other standards.

[0121] Furthermore, in step 204, the supporting device 1 calculates physical quantities indicating the degree of interference between the facility and the target person. For each interference determined in step 204, the physical quantity of the interference is calculated. The theoretical formula for calculating the physical quantity can, for example, use the definition from "ISO / TS 15066" mentioned above. For example, the energy transferred from the facility to the target person is defined by the following formula: E = F^2 / 2k = 1 / 2μvr^2. In the above formula, E is the transferred energy (J), F is the impact force (N), μ is the reduced mass in the two-body system (kg), and vr is the relative velocity between the facility and the target person. Furthermore, when calculating the physical quantity, the area of ​​the contact surface involved in the interference between the facility and the target person, the mass of the facility, the mass of the part, the relative velocity between the facility and the part, etc., are considered. The physical quantity is calculated for each part of the target person (i.e., a part of the target person's body). Step 204 provides a physical quantity calculation unit 25e.

[0122] Figure 7 Details of the processing in step 204 are shown. In step 404, support device 1 determines the transient contact risk area. The transient contact risk area is given as the overlapping area of ​​the movement area and the arrival area. Figure 12 An example of transient contact risk zone 80 is shown in the figure.

[0123] In step 405, support device 1 determines the physical quantities of transient contact. Some of the physical quantities of transient contact are calculated based on ISO / TS 15066 mentioned above. Furthermore, some of the physical quantities of transient contact are calculated based on the kinematic model obtained from the test bench.

[0124] In step 406, support device 1 determines a quasi-static contact risk area. The quasi-static contact risk area is provided as part of the transient contact risk area. A quasi-static contact risk area is set if the following two conditions are met: (1) The area exists within a predetermined threshold distance from the fixed or movable facility in the transient contact risk area. (2) The moving direction of the movable facility is oriented toward the fixed or movable facility in condition (1). Figure 13 An example of a quasi-static contact risk area 90 is shown in the figure.

[0125] In step 407, support device 1 determines the physical quantities of quasi-static contact. Furthermore, some of the physical quantities of quasi-static contact are calculated based on the kinematic model obtained from the test bench. Additionally, some of the physical quantities of quasi-static contact can be calculated based on standards such as those mentioned above from ISO.

[0126] Return to Figure 5In step 205, supporting device 1 generates a set of display data. Supporting device 1 reflects the initial setup information obtained in step 201 onto the display data. The display data may include data for multiple layers. In this case, a display image is configured by displaying multiple layers in an overlapping manner. Overlapping display can also be referred to as transparent display, and enables the identification of all images, including the surface image and the image below the surface image. The display data includes, for example, layers displaying static images, layers displaying motion region images, layers displaying arrival region images, layers displaying transient contact risk region images, and layers displaying quasi-static contact risk region images. The display data enables the display of transient contact risk region images and quasi-static risk region images in a manner distinguishable by human vision. The display data includes data for displaying physical quantities of interference. Step 205 provides display processing unit 25f.

[0127] In step 206, the supporting device 1 displays at least two of the following on the display device 31 in an overlapping manner: a static image, a moving area image, an arrival area image, a transient contact risk area image, and a quasi-static risk area image. The supporting device 1 also displays a base image and a risk area image on the display device 31 in an overlapping manner. The base image includes at least one of the static image, the moving area image, and the arrival area image. In step 206, the supporting device 1 is configured to display the transient contact risk area and the quasi-static contact risk area in an overlapping and distinguishable manner. Figure 14 An example is shown in the image, which simultaneously displays the transient contact risk area 80 and the quasi-static contact risk area 90.

[0128] The risk area image includes at least one of a transient contact risk area image and a quasi-static contact risk area image. Support device 1 displays the transient contact risk area image and the quasi-static contact risk area image on display device 31 in a visually distinguishable manner. One example of providing visual distinguishability is by setting different colors for the transient contact risk area image and the quasi-static contact risk area image. Another example is by setting different textures or by the presence or absence of textures. Yet another example is by setting different blink cycles or by the presence or absence of blinks. Besides the methods shown here, various display methods can be used to provide visual distinguishability. The user can set the same color for the transient contact risk area image and the quasi-static contact risk area image. In this case, support device 1 can display the transient contact risk area image and the quasi-static contact risk area image in a distinguishable manner by adding additional display modes such as textures or blinks.

[0129] Figure 9This is an example of an image displayed on display device 31. This image is also referred to as a 3D image. This image includes a base image 50 and a motion area image 60. The base image 50 includes a target evaluation space 51. The target evaluation space 51 is also referred to as a 3D virtual space. The base image 50 includes a static image 52. In the example shown, the static image 52 includes facilities, which include a fence 53, a processing machine 54, and a movable facility 55.

[0130] Fence 53 is an example of a protective device that protects a target person by restricting their access. In the example shown, fence 53 is arranged on three sides of the target evaluation space 51. In other words, fence 53 has an opening on the front side of the target evaluation space 51 through which a target person can enter. Note that in this embodiment, intrusion from the top of the target evaluation space 51 and through gaps in the fence 53 is not considered. Alternatively, in step 203, the reachable area can be predicted by taking into account intrusion from the top of the target evaluation space 51 and through gaps in the fence 53.

[0131] In the example shown, the robotic device is illustrated as one of the movable facilities 55. An example of a multi-joint robot is shown. The multi-joint robot includes a base 55a. The base 55a is a fixed facility anchored in the target evaluation space 51. The multi-joint robot includes movable components, such as multiple arms 55b and multiple joint mechanisms 55c. The joint mechanisms 55c may include power mechanisms such as motors. The joint mechanisms 55c disposed between the base 55a and the arms 55b can be classified as fixed facilities. On the other hand, the joint mechanisms 55c arranged between one arm 55b and another arm 55b are included in the movable components. Furthermore, the multi-joint robot includes an end effector 55d at its distal end. In this example, the multiple arms 55b, the multiple joint mechanisms 55c, and the end effector 55d correspond to the movable components of the facility.

[0132] exist Figure 9 In the diagram, the motion region image 60 is shown as a collection of multiple voxels. The motion region is the area in which the movable device 55 is arranged to move. In the example shown, the movable device 55 is programmed to perform a predetermined task near the machining machine 54. Therefore, multiple voxels indicating the motion region are positioned between the machining machine 54 and the movable device 55, and are arranged around the movable device 55. More specifically, the multiple voxels indicating the motion region are configured to include multiple arms 55b, multiple articulation mechanisms 55c, and an end effector 55d along its trajectory.

[0133] Figure 10This is an example of an image displayed on display device 31. The image includes a base image 50 and a walking area 71 for the target person. The walking area 71 extends around a fence 53. Furthermore, the walking area 71 extends from the front opening in the image toward the inside surrounded by the fence 53. Specifically, the walking area 71 extends diagonally from the front opening in the image toward the movable facility 55, as if attempting direct entry. The walking area 71 extends to surround the movable facility 55. Additionally, the walking area 71 extends to surround the processing machine 54. Note that the walking area 71 is one of the basic data used to determine the reach area 70. Therefore, the walking area 71 may not be shown in the image.

[0134] Figure 11 This is an example of an image displayed on display device 31. The image includes a base image 50 and an arrival area image 70. The arrival area image 70 is shown as a collection of voxels. Voxels indicating the arrival area indicate areas that a target person can enter. The voxels indicating the arrival area are positioned to extend from the front of the target evaluation space 51, i.e., from the opening in the fence 53. Voxels indicating the arrival area are positioned around the processing machine 54. Voxels indicating the arrival area are positioned around the movable facility 55.

[0135] The motion region image 60 and the arrival region image 70 can be displayed on the base image 50 in an overlapping manner. In this case, the motion region image 60 and the arrival region image 70 can be displayed in a way that can be distinguished by human vision.

[0136] Figure 12 This is an example of an image displayed on display device 31. The image includes a base image 50 and a transient contact risk area image 80. The transient contact risk area image 80 is shown as a collection of voxels. Voxels indicating transient contact risk areas indicate areas where transient contact may occur. The voxels indicating transient contact risk areas are located in areas where the movement area and arrival area overlap and where the movable facility 55 may make transient contact with the target person. The voxels indicating transient contact risk areas are arranged around the movable facility 55.

[0137] The transient contact risk area image 80, the motion area image 60, and the arrival area image 70 can be displayed on the base image 50 in an overlapping manner. In this case, the transient contact risk area image 80 is displayed in a visually distinguishable manner from the motion area image 60 and the arrival area image 70. Therefore, the evaluator viewing the display device 31 can intuitively identify the risk of transient contact and the location of the transient contact.

[0138] Figure 13This is an example of an image displayed on display device 31. The image includes a base image 50 and a quasi-static contact risk area image 90. The quasi-static contact risk area image 90 is shown as a collection of voxels. Voxels indicating quasi-static contact risk areas indicate areas where quasi-static contact may occur. Voxels indicating quasi-static contact risk areas are located in areas where the movement area and arrival area overlap and where the movable device 55 may make quasi-static contact with the target person. Voxels representing quasi-static contact risk areas may include spatially separated groups 91 and 92. The example shown includes a first group 91 defined between the end effector 55d and the processing machine 54. The example shown includes a second group 92 defined between multiple arms 55b of a multi-joint robot.

[0139] The quasi-static contact risk area image 90, the motion area image 60, and the arrival area image 70 can be displayed on the base image 50 in an overlapping manner. In this case, the quasi-static contact risk area image 90 is displayed in a visually distinguishable manner from the motion area image 60 and the arrival area image 70. Therefore, an evaluator viewing the display device 31 can intuitively identify the risk of transient contact and the location of transient contact.

[0140] Furthermore, the transient contact risk area image 80 and the quasi-static contact risk area image 90 can be displayed overlappingly on the base image 50. In this case, the transient contact risk area image 80 and the quasi-static contact risk area image 90 are displayed in a way that is distinguishable from each other by human vision. Therefore, an evaluator viewing the display device 31 can intuitively identify the risks of transient and quasi-static contact, as well as the locations of transient and quasi-static contact.

[0141] Figure 14 This is an example of an image displayed on display device 31. The image includes a base image 50, a transient contact risk area image 80, and a quasi-static contact risk area image 90. The transient contact risk area image 80 and the quasi-static contact risk area image 90 are displayed in an overlapping manner. The transient contact risk area image 80 and the quasi-static contact risk area image 90 are displayed so that the assessor can distinguish them. The transient contact risk area image 80 and the quasi-static contact risk area image 90 are displayed so that the assessor can identify their presence. The transient contact risk area image 80 and the quasi-static contact risk area image 90 are displayed in different colors. In the image, the transient contact risk area image 80 is represented by colorless voxels. In the image, the quasi-static contact risk area image 90 is represented by voxels with dots.

[0142] Return to Figure 5Furthermore, in step 206, the evaluator may request support device 1 to display the physical quantities of the interference via the GUI of support device 1. In this case, support device 1 displays the physical quantities of the interference.

[0143] Figure 22 Examples of physical quantities involved in the interference are presented in tabular form. For instance, multiple values ​​of the collision force are shown at multiple voxels in an image of the transient contact risk area. In the example shown, for each voxel, the following are displayed: a portion of the facility causing the interference, a portion of the target person's body causing the interference, the maximum collision force (N), the pressure applied to the target person (N / mm²), the relative velocity at the time of collision (m / sec), and the energy transferred from the movable facility to the target person (J). The portion of the facility causing the interference is, for example, a part of a multi-jointed robot. The portions of the target person's body causing the interference include the hand, arm, head, and eyes.

[0144] Figure 23 Examples of physical quantities of interference are shown in tabular form. For example, multiple values ​​of the impact force are shown at multiple voxels in a quasi-static contact risk area image. In the example shown, for a voxel, the following are displayed: part of the facility causing the interference, part of the target person's body causing the interference, maximum impact force (N), pressure applied to the target person (N / mm^2), relative velocity at impact (m / sec), energy transferred from the movable facility to the target person (J), and steady-state impact force WTst (i.e., residual load (N)).

[0145] Return to Figure 5 In parallel with step 206, the risk assessment process is performed by the assessor or the assessment device. If the risk assessment process is completed, the processing of support device 1 proceeds to step 207. Note that the term "finally" does not only refer to the completion of the risk assessment process. The term "finally" includes situations where processing proceeds to step 207 midway through the risk assessment process. For example, this could apply to situations where the assessor wishes to output provisional results midway through the risk assessment process.

[0146] In step 207, support device 1 provides the additional functions described above. Furthermore, in step 207, support device 1 outputs final information for the risk assessment process. This final information is output as a printout from printer 32 or as data from communication device 33. The final information may include information indicating that the facility has been deemed qualified due to meeting predetermined criteria, or information indicating that the facility has been deemed unqualified due to not meeting predetermined criteria. The final information may include facility data that has undergone the risk assessment process. For example, layout data of the facility that has undergone the risk assessment process may be output as final information. Additionally, the final information may include certifications such as those related to the risk assessment process that conform to the standards of a predetermined organization.

[0147] Figure 6 This is a flowchart illustrating support processing 300 based on secondary facility data. Step 301 is the same process as step 201. Steps 302, 303, 304, 305, 306, and 307 correspond to steps 202, 203, 204, 205, 206, and 207, respectively. The difference between steps 302, 303, 304, 305, 306, and 307 and steps 202, 203, 204, 205, 206, and 207 is that each process is performed on the secondary facility data indicating the modified facility. In the following description, the main focus is on... Figure 5 Flowcharts and Figure 6 The flowcharts are different. Regarding Figure 5 Flowcharts and Figure 6 The correspondence between the flowcharts can be found in the preceding description.

[0148] In step 301, supporting device 1 provides the same processing as in step 201. In step 301, the initial settings obtained in step 201 can be reused.

[0149] In step 311, support device 1 accepts modifications to the facility indicated by primary facility data. Furthermore, in step 311, support device 1 generates modified facility data. This modified facility data is also referred to as secondary facility data. In step 311, support device 1 provides a GUI that receives the facility modifications and generates modified facility data indicating the modified facilities. At this point, support device 1 provides functionality for modifying facilities similar to that of a facility design device.

[0150] Secondary facility data refers to facility data that has been modified for facility improvement after a risk assessment process has been performed using the support information presented by support equipment 1. Facility improvements can be implemented from various perspectives. For example, facility improvements can be implemented to enhance facility security. For example, facility improvements can be implemented to reduce facility costs. For example, facility improvements can be implemented to simplify the facility.

[0151] Modifications to a facility can be achieved by altering the dynamic data of its movable components. Changing the static data of a facility includes changing its location, shape, etc. Changing the static data of a facility also includes removing at least one facility. Adding at least one facility is another possible modification.

[0152] An example of a facility whose static data is altered is a fence used to prevent intrusion by a target person. A fence is a type of fixed facility that physically prevents a target person from entering. A fence is a protective facility that protects a target person from interference. For example, modifications to a facility can be made by expanding, reducing, adding, or removing a fence. In these cases, secondary facility data includes the modified fence data.

[0153] Figure 15 This is an example of an image displayed on display device 31. The image includes a base image 50 and an added fence 56. The added fence 56 is one of the protective devices. The added fence 56 is one of the physical barriers. The added fence 56 narrows the opening of fence 53 on the near side of the image. The added fence 56 affects the access area of ​​the target person. In the example shown, the added fence 56 is used to restrict the access area of ​​the target person. Display device 31 displays the fence 56 added in step 311. This display increases the predictability of the effectiveness of the added protective device.

[0154] Figure 16 This is an example of an image displayed on display device 31. The image includes a base image 50, an added fence 56, and a modified walking area 72. The added fence 56 alters the walking area of ​​the target person. In the example shown, the target person is restricted to walking towards the movable facility 55 from an opening in fence 53. Therefore, the target person bypasses the added fence 56 to approach the movable facility 55. Support device 1 generates the walking area 72 taking into account the added fence 56. Support device 1 determines the reach area 70 based on the corrected walking area 72 as the corrected walking area. The evaluator can visually understand the effect of the added fence 56 by viewing the image. Here, the case where additional physical barriers such as fence 56 are provided to the secondary facility data has been described. It should be noted that physical barriers such as fence 56 can also be included in the primary facility data. Therefore, the description here also applies to the primary facility data.

[0155] Other examples of facilities where static data is altered include security control devices that include intrusion sensors and security control processing. Security control devices are a type of protective apparatus used to protect a target person from interference. Modifications to the facility can be performed, for example, by changing, removing, or adding security control devices. More specifically, this is achieved by changing the detection range of the security control devices, altering their responsiveness, etc. In these cases, secondary facility data includes the modified data from the security control devices.

[0156] Figure 17This is an example of an image displayed on display device 31. The image includes a base image 50 and an added security control device 57. The added security control device 57 is one of the protective devices. The added security control device 57 is one of the virtual barriers. The added security control device 57 includes two intrusion sensors 57a and 57b mounted on the base of the movable facility 55. The intrusion sensors 57a and 57b are provided by laser-type optical sensors. Each of the two intrusion sensors 57a and 57b provides a detection range 57c and 57d, respectively. The detection ranges 57c and 57d are virtually represented by radial lines indicating light rays and circular lines indicating the effective detection range. The security control device 57 includes a control device 57e that performs security control processing. The control device 57e receives detection signals from the intrusion sensors 57a and 57b and controls the operation of the movable facility 55 in a safe direction, which improves the safety of the target person. For example, safe control is provided by reducing the operating speed of the movable facility 55 or by stopping the movable facility 55. For example, suppose a target person enters the detection range 57c, 57d of intrusion sensors 57a, 57b. In this case, at least one of the intrusion sensors 57a, 57b generates a detection signal. Control device 57e acquires the detection signal. Furthermore, control device 57e controls the operation of the movable facility 55 in a safe direction in response to the detection signal. The added safety control device 57 affects the target person's access area. When a target person enters the detection range 57c, 57d, control device 57e prevents interference between the target person and the movable facility 55; therefore, safety control device 57 is used to reduce the target person's access area.

[0157] Safety control device 57 provides a protected area for the mobile facility 55 to perform safe operations when a target person enters. Safe operations are provided through deceleration, stopping, etc., of a multi-jointed robot. If the mobile facility 55 provides sufficient response time, the safety control device 57, providing the protected area and safe operations, is effective. If the mobile facility 55 cannot provide sufficient response time, the target person may be at risk. Support device 1 has a coefficient relating to the response time of the mobile facility 55. This coefficient is set on support device 1. This coefficient is adjustable on support device 1. This coefficient includes at least one of the sensor response time of the intrusion sensor, the stopping time of the mobile facility 55, etc. Support device 1 reflects the coefficient related to response time in a mathematical model constructed based on facility data. For example, support device 1 automatically calculates a safe distance based on ISO 13855. The safe distance is the distance between the mobile facility and the target person and is the minimum distance to ensure safety. For example, the safe distance is used in branch demarcation methods to determine the access area.

[0158] Figure 18This is an example of an image displayed on display device 31. The image includes a base image 50, an added safety control device 57, and a modified arrival area 70m. The added safety control device 57 alters the arrival area of ​​the target person. In the example shown, the safety control device 57 is installed and operational, causing the arrival area to change from... Figure 11 The arrival area 70 shown becomes Figure 18 The reachable area is shown as 70m. Because the safety control device 57 restricts the operation of the movable facility 55, it reduces the chance of a target person entering the movable facility 55 at a safe distance. Therefore, the change from reachable area 70m to reachable area 70m results in a significant reduction in the reachable area.

[0159] Furthermore, the support device 1 is configured to account for the blind zone 58 of the security control device 57. In the example shown, the blind zone 58 is formed behind the processing machine 54 relative to the view from intrusion sensors 57a and 57b, where intrusion sensors 57a and 57b cannot detect a target person. If the facility is equipped with an optical type security control device 57, the support device 1 identifies the blind zone 58 that occurs when light is blocked. The blind zone 58 is identified behind the facility by a light projection algorithm executed by the support device 1. The light projection algorithm identifies the blind zone 58 by simulating light from the intrusion sensors. The blind zone 58 is reflected in the process of determining the arrival area of ​​a target person.

[0160] In the example shown, a portion of the target person's walking area exists within blind spot 58. Therefore, support device 1 additionally determines an access area 73 behind processing machine 54. With the determination of access area 73, when determining access area 70m, the side routes of the target person approaching the movable facility 55 from behind processing machine 54 via both sides of processing machine 54 are considered. Therefore, access area 70m is determined to include access area 74 protruding from the side of processing machine 54. The side routes enable rapid access to movable facility 55 from behind processing machine 54. Therefore, even in the branch delimitation method, the side routes are not deleted and are reflected when determining access area 70m. Here, the case where virtual barriers such as safety control devices 57 are additionally provided to secondary facility data has been described. It should be noted that virtual barriers such as safety control devices 57 can also be included in primary facility data. Therefore, the description here also applies to primary facility data.

[0161] Figure 19 This is an example of an image displayed on display device 31. The image includes a base image 50, an added safety control device 57, and a modified transient contact risk area 80m. In the example shown, the transient contact risk area extends from... Figure 12 The transient contact risk area 80 shown is changed to Figure 19The transient contact risk area 80m is shown. Because the safety control device 57 restricts the operation of the movable facility 55, the chance of a target person entering the movable facility 55 at a safe distance is reduced. Therefore, the change from transient contact risk area 80 to transient contact risk area 80m results in a significant reduction in the transient contact risk area. On the other hand, the transient contact risk area 80m is determined by reflecting the lateral path according to the blind zone 58, and includes a transient contact risk area 81 protruding towards the side of the processing machine 54.

[0162] Figure 20 This is an example of an image displayed on display device 31. The image includes a base image 50, an added safety control device 57, and a modified quasi-static contact risk area 90m. In the example shown, the quasi-static contact risk area extends from... Figure 13 The quasi-static contact risk area 90 shown is changed to Figure 20 The quasi-static contact risk area 90m is shown. Because the safety control device 57 restricts the operation of the movable facility 55, the chance of a target person entering the movable facility 55 at a safe distance is reduced. Therefore, the change from the quasi-static contact risk area 90m to the quasi-static contact risk area 90m results in a significant reduction in the quasi-static contact risk area. In this embodiment, the quasi-static contact risk area 90m only includes the first group 91. The support device 1 determines that transient contact will not occur at the location of the second group 92 due to the additional installation of the safety control device 57. Furthermore, the support device 1 determines that quasi-static contact will not occur at the location of the second group 92.

[0163] Figure 21 This is an example of an image displayed on display device 31. The image includes a base image 50, an added safety control device 57, a transient contact risk area image 80m, and a quasi-static contact risk area image 90m. Support device 1 displays the transient contact risk area image 80m and the quasi-static contact risk area image 90m in a facility including the added safety control device 57. In this case, the arrival determination unit 25b, motion determination unit 25c, risk determination unit 25d, and display processing unit 25f are configured to display both the transient contact risk area image 80m and the quasi-static contact risk area image 90m in an overlapping and distinguishable manner. Therefore, the evaluator can improve the facility using support device 1 and identify the effects of the improvement.

[0164] In the support device 1 of this embodiment, a safety control device 57 may be additionally installed on the display device 31. The support device 1 enables the safety control device 57 to operate in a simulated manner on the display device 31. Therefore, the evaluator can improve the facility in the support device 1 and evaluate the effectiveness of the improved facility without returning to the facility design device.

[0165] Modifications to a facility can be achieved by altering the dynamic data of its movable components. Changing dynamic data includes altering the direction of movement, speed, and planned trajectory of the movable components. Changing the dynamic data of a facility includes changing the shape and weight of its movable components. Changing the dynamic data of a facility involves removing movable components. Changing the dynamic data of a facility involves adding movable components.

[0166] Step 311 provides a modification unit. Therefore, control device 2 is configured to provide a modification unit 25g, which modifies the facility data acquired in step 201 as a data acquisition unit and generates modified facility data. In steps 302, 303, 304, and 305, executed after step 311, the arrival determination unit, motion determination unit, risk determination unit, and display processing unit are configured to operate based on the modified facility data.

[0167] In steps 302 to 304, the processing in steps 202 to 204 is performed based on the modified facility data. Step 302 provides a facility data acquisition unit 25a, which acquires the facility data of the modified facility. Step 303 provides an arrival determination unit 25b, which determines the arrival area of ​​the target person within the modified facility. Step 304 provides a motion determination unit 25c, which determines the motion area within the modified facility. Step 304 provides a risk determination unit 25d, which determines the risk area within the modified facility. Furthermore, step 304 provides a physical quantity calculation unit 25e, which calculates the physical quantities of interference within the modified facility.

[0168] In step 312, the supporting device 1 calculates the cycle time of the facility based on the modified facility data. Step 312 provides a cycle time calculation unit. Therefore, the control device 2 is configured to provide a cycle time calculation unit 25h, which calculates the modified cycle time of the facility based on the modified facility data.

[0169] If the security control equipment, including the intrusion sensor and security control processing, is changed or added in step 311, the cycle time is recalculated in step 312. In this case, the detection area of ​​the intrusion sensor includes a deceleration zone for slowing down the facility and a stop zone for stopping the facility. The deceleration zone is the area where the movable components of the facility decelerate when the intrusion of a target person is detected by the security control equipment installed by the evaluator. The stop zone is the area where the movable components of the facility stop when the intrusion of a target person is detected by the security control equipment installed by the evaluator. In step 312, the deceleration zone and the stop zone can be defined according to the evaluator's conditions. In step 312, the evaluator defines the time ratio between the case where the target person is present in the deceleration zone and the case where the target person is present in the stop zone. Therefore, in step 312, the process of calculating the cycle time can be performed based on this time ratio.

[0170] Step 312 includes Figure 8 The multiple steps 313, 314, and 315 are shown. In step 313, the supporting device 1 obtains the initial cycle time (CT) from the initial device data. The initial cycle time is a value set when the facility is designed. For example, the initial cycle time can be included in the initial facility data. Alternatively, the initial cycle time can be calculated as, for example, the facility operation time for processing any unit task based on the initial facility data.

[0171] In step 314, support device 1 recalculates the CT under the environmentally limited speed. Support device 1 recalculates the increased cycle time due to the decrease in facility speed. For example, assume the facility is a multi-joint robot. In this case, support device 1 recalculates the increased cycle time due to the decrease in at least one angular velocity. Alternatively, support device 1 recalculates the increased CT due to the decrease in TCP (tool center point) speed. Furthermore, support device 1 can support both recalculations. "Recalculation of increased cycle time due to decrease in angular velocity" includes (i) calculating the reduction ratio based on the unreduced angular velocity and the reduced angular velocity, (ii) adjusting the number of time steps based on the reduction ratio, and (iii) calculating the cycle time by the number of time steps and the unit time step time during the period of speed reduction. "Recalculation of the increased loop time due to the reduction in TCP speed" includes (i) the step of calculating the reduction ratio based on the unreduced TCP speed and the reduced TCP speed, (ii) the step of adjusting the angular velocity and the number of time steps based on the reduction ratio, and (iii) the step of calculating the loop time in terms of the number of time steps and the unit time step time during the period of speed reduction.

[0172] If the safety control device adjusts the facility's speed in a stepwise or continuous manner, the cycle time is calculated as the effective cycle time. In step 315, the support device 1 recalculates the average CT at multiple speeds. Here, the facility's speed can be adjusted in two phases, such as high-speed operation and stop operation. Furthermore, the facility's speed can be adjusted in three phases, such as high-speed operation, reduction operation, and stop operation. The reduction ratio in the reduction operation can be set to any reduction ratio, and for example, it can be reduced by 10% or 50%. Furthermore, the facility's speed can be adjusted continuously, for example, from high-speed operation to low-speed operation. The type of these speed limits can be selected based on the type of intrusion sensor. The effective cycle time is calculated based on the ratio (time ratio) of the time the facility operates at multiple speeds, including the stop state. The time ratio can be set by the facility user (including the evaluator). The time ratio can be set, for example, based on the operational performance in a test bench. The time ratio is set for each of the multiple speeds, including the stop. The use of the time ratio is suitable for collaborative environments, such as human-robot collaborative environments. This is because in collaborative environments, the facility is frequently decelerated and stopped to protect humans. The effective cycle time (CTsp) is calculated based on the initial cycle time (CT0), the speed ratio (Sn) of multiple speeds in the operating state, and the time ratio (Pn) of the operating time at multiple speeds including the stopped state.

[0173] As an example, assume the safety control device adjusts the facility's speed into three phases: high-speed operation, deceleration operation, and stop operation. In this case, assume a speed of 100% is achieved during high-speed operation and 50% during deceleration operation. High-speed operation is represented by a speed ratio S1 and a time ratio P1. Deceleration operation is represented by a speed ratio S2 and a time ratio P2. Stop operation is represented by a speed ratio S3 and a time ratio P3. In this case, the effective cycle time CTsp is calculated using the formula CTsp = CTmean + CTstop = CTmean + CTmean × (Pstop / ΣPwithoutstop). Note that CTmean is the average cycle time for the operating state excluding the stop state, CTstop is the stop operation time, Pstop is the stop operation time ratio, and ΣPwithoutstop is the sum of the operating state time ratios excluding the stop operation. In this case, the average cycle time CTmean is calculated using the formula CT0 / S1 × P1 / (P1 + P2) + CT0 / S2 × P2 / (P2 + P1). Furthermore, the stop operation time CTstop is calculated using the formula CTstop = CTmean × P3 / (P1 + P2). The effective cycle time CTsp is calculated as the sum of the average cycle time CTmean and the stop operation time CTstop using the formula CTsp = CTmean + CTstop.

[0174] Return to Figure 6 In steps 305 to 307, the processing in steps 205 to 207 is performed based on the modified facility data. Step 305 provides a display processing unit 25f that displays support information for the modified facility. In step 307, final information is output for the modified facility data. That is, support device 1 outputs the results of the risk assessment process for the improved facility in step 311.

[0175] According to the embodiment described above, the support device 1 can display images of the facility and the risk area where interference between the facility and the target person is assumed to occur on the display device 31 in an overlapping manner. The assessor can visually and intuitively understand the existence of the risk and its location within the facility. Therefore, the support device 1 can provide the assessor with useful information for safety design.

[0176] Furthermore, the image displayed on display device 31 is a 3D image representing the location and shape of the facility within the target assessment space. Therefore, it can aid the assessor's understanding. The assessor can visually identify the facilities and risk areas displayed as overlapping 3D images, thus allowing the assessor to understand the location of the risk relative to the facility in a relative manner.

[0177] Furthermore, the risk areas include transient contact risk areas and quasi-static contact risk areas. Support device 1 displays the transient contact risk areas and quasi-static contact risk areas in a distinct manner on display device 31. Therefore, the assessor can understand the locations of the transient contact risk areas and quasi-static contact risk areas.

[0178] Furthermore, the supporting device 1 calculates a physical quantity indicating the degree of interference and displays it on the display device 31. Therefore, the evaluator can understand the degree of interference as numerical information. Moreover, the degree of interference is displayed in both transient and quasi-static contact scenarios. Thus, the evaluator can understand both the transient and quasi-static contact degrees as numerical information.

[0179] Support device 1 can accept modifications to facility data and can perform risk area identification and support information processing based on the modified facility data. Therefore, it is unnecessary to return to the facility design facility and repeat the facility design. According to this embodiment, facilities can be modified within support device 1. Furthermore, after modifying the facility, support information about the modified facility can be displayed, and the risk assessment process can continue. Additionally, once support information is displayed on support device 1, the facility can be modified again on support device 1, and support information about the modified facility can be displayed again. In this way, support device 1 can provide functionality suitable for repeating risk assessment processes.

[0180] Furthermore, if the facility is modified, support device 1 calculates the cycle time based on the modified facility and displays it on display device 31. Therefore, the evaluator can understand the efficiency of the modified facility.

[0181] Other implementation methods

[0182] The disclosure in this specification, drawings, etc., is not limited to the exemplary embodiments. This disclosure includes the illustrated embodiments and variations that would be conceived by those skilled in the art. For example, this disclosure is not limited to the combinations of components and / or elements shown in the embodiments. This disclosure can be provided in various combinations. This disclosure may include additional portions that can be added to the embodiments. This disclosure includes those components and / or elements of the embodiments in which they are omitted. This disclosure includes the reassignment or combination of components and / or elements between one embodiment and another. The scope of the disclosed technology is not limited to the description of the embodiments. It should be understood that a portion of the scope of the disclosed technology is indicated by the statement of the claims and includes every modification within the equivalent meaning and statement of the scope of the claims.

[0183] The disclosures in the specification, drawings, etc., are not limited to the descriptions in the claims. The disclosures in the specification, drawings, etc., include the technical ideas described in the claims, and extend to technical ideas that are broader than those described in the claims. Therefore, various technical ideas can be extracted from the disclosures in the specification, drawings, etc., and are not limited to the descriptions in the claims.

[0184] (Public content of technical ideas)

[0185] This specification discloses several technical concepts described in the various sections listed below. Some sections may be presented in multiple dependent forms, wherein subsequent sections selectively reference the foregoing sections. Furthermore, some sections may be written in multiple dependent forms referencing another multiple dependent form. These sections written in multiple dependent forms define multiple technical concepts.

[0186] (Technical Idea 1)

[0187] An apparatus for supporting the safety design of a facility, the apparatus comprising:

[0188] Control device (2), which has at least one processor;

[0189] Display device (31), which displays content controlled by control device; and

[0190] Input device (4), which inputs data to control device, wherein,

[0191] The control device is configured to provide:

[0192] Facility data acquisition unit (25a) acquires facility data of facilities in the target assessment space from the input device;

[0193] The arrival determination unit (25b) determines the reachable area that the target person can reach in the target assessment space based on facility data;

[0194] The motion determination unit (25c) determines the motion area that indicates the movement of the facility based on facility data;

[0195] The risk assessment unit (25d) identifies risk areas where interference is expected to occur between the facility and the target party; and

[0196] The display processing unit (25f) displays facilities arranged in the target assessment space and risk areas in the target assessment space in an overlapping manner on a display device, wherein the interference includes transient contact in which the facilities and the target person make transient contact with each other, and quasi-static contact in which the facilities and the target person make quasi-static contact with each other, and wherein...

[0197] The risk area includes a transient contact risk area assuming transient contact and a quasi-static contact risk area assuming quasi-static contact, and wherein,

[0198] The display processing unit is configured to display transient contact risk areas and quasi-static contact risk areas in an overlapping and distinguishable manner.

[0199] (Technical Idea 2)

[0200] According to the device of technical concept 1, the control device is configured to also provide a physical quantity determination unit, which determines the physical quantity experienced by the target person due to interference, and wherein,

[0201] The display processing unit is configured to also display the physical quantities in the interference.

[0202] (Technical Idea 3)

[0203] According to the device of technical concept 1 or 2, the display processing unit is configured to display the arrival area and / or movement area in addition to the facility and risk area, and wherein,

[0204] The display processing unit is configured to display at least two areas simultaneously in a manner distinguishable to human vision.

[0205] (Technical Idea 4)

[0206] According to any one of technical concepts 1 to 3, the device is configured to further provide a display switching unit, which switches between displaying or not displaying facilities, arrival areas, movement areas, and risk areas.

[0207] (Technical Idea 5)

[0208] According to any one of technical concepts 1 to 4, in the device, the control device is configured to further provide a modification unit (25g), which modifies the facility data acquired by the facility data acquisition unit and generates modified facility data, and wherein,

[0209] The arrival determination unit, motion determination unit, risk determination unit, and display processing unit are configured to operate based on modified facility data.

[0210] (Technical Idea 6)

[0211] According to the device of technical concept 5, the modification unit is configured to generate modified facility data, in which protective devices are added to the facility data, the protective devices including physical barriers and / or virtual barriers and protecting a target person from interference, and wherein,

[0212] The arrival determination unit, motion determination unit, risk determination unit, and display processing unit are configured to display transient contact risk areas and quasi-static contact risk areas in an overlapping and distinguishable manner on the modified facility, including protective devices, based on modified facility data.

[0213] (Technical Idea 7)

[0214] According to the device of technical concept 5 or 6, the control device is configured to also provide a cycle time calculation unit (25h), which calculates the cycle time of the modified facility based on the modified facility data.

[0215] (Technical Idea 8)

[0216] According to any one of technical ideas 1 to 7, the device wherein the arrival determination unit is configured to: set multiple entry points in a pedestrian area that a target person can walk into in the facility; and determine the arrival area by searching multiple routes using a branch-and-bound method, so that the target person can travel to the movement area from each of the multiple entry points via multiple routes.

[0217] The features described in technical ideas 1 to 8 can be understood as features of technical ideas that depend on any one of the invention of a method for computer implementation, the invention of a program, and the invention of a storage medium.

[0218] (Technical Concept 9)

[0219] A method for supporting the safety design of a facility, the method being performed in a control device (2) having at least one processor, the method comprising:

[0220] Acquire facility data of the facilities in the target assessment space from the input device;

[0221] Based on facility data, determine the reachable areas that the target person can reach within the target assessment space;

[0222] Determine the movement area that indicates the movement of the facility based on facility data;

[0223] Identify risk areas where interference is expected to occur between the facility and the target individuals; and

[0224] The facilities arranged in the target assessment space and the risk areas in the target assessment space are displayed in an overlapping manner on the display device, and therein,

[0225] Interference includes: transient contact in which the facility and the target person come into contact with each other in a transient manner, and quasi-static contact in which the facility and the target person come into contact with each other in a quasi-static manner, and wherein,

[0226] The risk area includes a transient contact risk area assuming transient contact and a quasi-static contact risk area assuming quasi-static contact, and wherein,

[0227] The display shows the transient contact risk area and the quasi-static contact risk area on the display device in an overlapping and distinguishable manner.

[0228] (Technical Idea 10)

[0229] A program including computer-readable instructions executable by a processor of a device for supporting the security design of a facility, the instructions being configured to cause the device to function as:

[0230] Facility data acquisition unit (25a) acquires facility data of facilities in the target assessment space from the input device;

[0231] The arrival determination unit (25b) determines the reachable area that the target person can reach in the target assessment space based on facility data;

[0232] The motion determination unit (25c) determines the motion area that indicates the movement of the facility based on facility data;

[0233] The risk assessment unit (25d) identifies risk areas where interference is expected to occur between the facility and the target party; and

[0234] The display processing unit (25f) displays, on a display device, facilities arranged in the target assessment space and risk areas in the target assessment space in an overlapping manner, and wherein,

[0235] Interference includes: transient contact in which the facility and the target person come into contact with each other in a transient manner, and quasi-static contact in which the facility and the target person come into contact with each other in a quasi-static manner, and wherein,

[0236] The risk area includes a transient contact risk area assuming transient contact and a quasi-static contact risk area assuming quasi-static contact, and wherein,

[0237] The instructions are configured to cause the display processing unit to display transient contact risk areas and quasi-static contact risk areas in an overlapping and distinguishable manner.

[0238] (Technical Concept 11)

[0239] A non-transitory computer-readable storage medium stores computer-readable instructions executable by a processor of a device for supporting a security design of a facility, the instructions being configured to cause the device to:

[0240] Acquire facility data of the facilities in the target assessment space from the input device;

[0241] Based on facility data, determine the reachable areas that the target person can reach within the target assessment space;

[0242] Determine the movement area that indicates the movement of the facility based on facility data;

[0243] Identify risk areas where interference is expected to occur between the facility and the target individuals; and

[0244] The facilities arranged in the target assessment space and the risk areas in the target assessment space are displayed in an overlapping manner on the display device, and therein,

[0245] Interference includes: transient contact in which the facility and the target person come into contact with each other in a transient manner, and quasi-static contact in which the facility and the target person come into contact with each other in a quasi-static manner, and wherein,

[0246] The risk area includes a transient contact risk area assuming transient contact and a quasi-static contact risk area assuming quasi-static contact, and wherein,

[0247] The instructions are configured to cause the display processing unit to display transient contact risk areas and quasi-static contact risk areas in an overlapping and distinguishable manner.

[0248] List of reference numerals

[0249] 1. Supported Equipment

[0250] 2. Control device

[0251] 21. Memory

[0252] 22 processors

[0253] 25 Control Processing

[0254] 3 Output device

[0255] 31 Display devices

[0256] 4 Input Device

[0257] 41 HMI devices

[0258] 42. Facility data input device.

Claims

1. An apparatus for supporting the safety design of a facility, the apparatus comprising: Control device (2), the control device having at least one processor; Display device (31), the display device displays display content controlled by the control device; as well as Input device (4), the input device inputs data to the control device, wherein, The control device is configured to provide: Facility data acquisition unit (25a), which acquires facility data of facilities in the target evaluation space from the input device; Arrival determination unit (25b), which determines the reachable area that the target person can reach in the target assessment space based on the facility data; A motion determination unit (25c) determines a motion area indicating the movement of the facility based on the facility data; Risk determination unit (25d), which determines the risk area where interference is expected to occur between the facility and the target person; and A display processing unit (25f) displays, on the display device, the facilities arranged in the target assessment space and the risk areas in the target assessment space in an overlapping manner, and wherein, The interference includes: transient contact in which the facility and the target person come into contact with each other transiently, and quasi-static contact in which the facility and the target person come into contact with each other in a quasi-static manner, wherein, The risk area includes a transient contact risk area assuming the transient contact occurs and a quasi-static contact risk area assuming the quasi-static contact occurs, wherein, The display processing unit is configured to display the transient contact risk area and the quasi-static contact risk area in an overlapping and distinguishable manner.

2. The device according to claim 1, wherein, The control device is configured to further provide a physical quantity determination unit, which determines the physical quantity experienced by the target person due to the interference, wherein... The display processing unit is configured to also display the physical quantities in the interference.

3. The device according to claim 1 or 2, wherein, The display processing unit is configured to display the arrival area and / or the movement area in addition to the facility and the risk area, and wherein, The display processing unit is configured to display at least two areas simultaneously in a manner distinguishable to human vision.

4. The device according to any one of claims 1 to 3, wherein, The control device is configured to also provide a display switching unit that switches between displaying or not displaying at least one of the facility, the arrival area, the movement area, and the risk area.

5. The device according to any one of claims 1 to 4, wherein, The control device is configured to further provide a modification unit (25g), which modifies the facility data acquired by the facility data acquisition unit and generates modified facility data, wherein... The arrival determination unit, the motion determination unit, the risk determination unit, and the display processing unit are configured to operate based on the modified facility data.

6. The device according to claim 5, wherein, The modification unit is configured to generate modified facility data, in which protective devices are added, including physical barriers and / or virtual barriers, to protect the target person from the interference, and wherein... The arrival determination unit, the motion determination unit, the risk determination unit, and the display processing unit are configured to display the transient contact risk area and the quasi-static contact risk area in an overlapping and distinguishable manner on the modified facility including the protection device, based on the modified facility data.

7. The device according to claim 5 or 6, wherein, The control device is configured to also provide a cycle time calculation unit (25h) that calculates the cycle time of the modified facility based on the modified facility data.

8. The device according to any one of claims 1 to 7, wherein, The arrival determination unit is configured to: Multiple entry points are set up in the pedestrian area that the target person can walk into within the facility; as well as By using a branch-and-bound method to search for multiple routes to determine the destination area, the target person can travel to the movement area from each of the multiple entry points via the multiple routes.

9. A computer-implemented method for supporting the security design of a facility, the method being performed in a control device (2) having at least one processor, the method comprising: Acquire facility data of the facilities in the target assessment space from the input device; Based on the facility data, determine the reachable area that the target person can reach in the target assessment space; Based on the facility data, determine the movement area that indicates the movement of the facility; Identify the risk areas where interference is expected to occur between the facility and the target person; as well as The facilities arranged in the target assessment space and the risk areas in the target assessment space are displayed in an overlapping manner on the display device, wherein, The interference includes: transient contact in which the facility and the target person come into contact with each other transiently, and quasi-static contact in which the facility and the target person come into contact with each other in a quasi-static manner, wherein, The risk area includes a transient contact risk area assuming the transient contact occurs and a quasi-static contact risk area assuming the quasi-static contact occurs, wherein, The transient contact risk area and the quasi-static contact risk area are displayed on the display device in an overlapping and distinguishable manner.

10. A non-transitory computer-readable storage medium storing computer-readable instructions executable by a processor of a device for supporting a security design of a facility, the instructions being configured to cause the device, when executed by the processor, to: Acquire facility data of the facilities in the target assessment space from the input device; Based on the facility data, determine the reachable area that the target person can reach in the target assessment space; Based on the facility data, determine the movement area that indicates the movement of the facility; Identify the risk areas where interference is expected to occur between the facility and the target person; as well as The facilities arranged in the target assessment space and the risk areas in the target assessment space are displayed in an overlapping manner on the display device, wherein, The interference includes: transient contact in which the facility and the target person come into contact with each other transiently, and quasi-static contact in which the facility and the target person come into contact with each other in a quasi-static manner, wherein, The risk area includes a transient contact risk area assuming the transient contact occurs and a quasi-static contact risk area assuming the quasi-static contact occurs, wherein, The instructions are configured to cause the display processing unit to display the transient contact risk area and the quasi-static contact risk area in an overlapping and distinguishable manner.

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