Machine operating system that uses wired and wireless communication, method, control device and computer program

Abstract

Machine operating system (100), which includes: a wireless operating device (11) which is connected to a control device (3) of a robot (2) or an industrial machine via wireless communication and is able to command the control device (3) to move the robot (2) or the industrial machine; a wired control device (12) which is detachably attached to the wireless control device (11), which is connected to the control device (3) via wired communication and which is capable of transmitting a signal to the control device (3); and an authentication unit (13) configured to release an operating content for the wireless operating device (11) when a first operation on the wired operating device (12) and a second operation on the wireless operating device (11) are assumed simultaneously or in a predetermined sequence.

Description

[0001] The present invention relates to a machine control system that uses wired and wireless communication, a method, a control device and a computer program.

[0002] For the manual operation of a robot or industrial machine, a teaching device, known as a programming handheld, is used, which is connected to the robot's or machine's control unit. A worker can use the teaching device to register, edit, adjust conditions, and view the status of a motion program related to the robot or industrial machine, as well as to teach the robot or industrial machine, and perform similar tasks. To prevent unexpected movement of the robot or machine tool and to ensure the safety of surrounding machinery and workers, the teaching device is equipped with safety switches, such as a release switch and an emergency stop button.

[0003] Furthermore, in recent years a teaching device for the manual operation of a robot and an industrial machine has been used by a multi-purpose information terminal device, such as a tablet, instead of dedicated hardware for the teaching device, in order to reduce costs, ensure versatility and the like, and the safety switch must also be present in such a teaching device.

[0004] For example, an operating device for an industrial robot is known which outputs a motion signal to cause a robot to perform a movement based on an input operation by a worker, and which supplies the motion signal to a robot control device, and which comprises: a portable operating device comprising a touch panel section for display and input and which outputs the motion signal when the worker performs an input operation of the touch panel section; and a base element arranged such that the operating device is detachably mounted and the touch panel section is exposed to the outside, wherein the base element comprises: a handle section which extends upright from a base plate facing a rear surface of the operating device, and which is held by one hand when the worker performs the input operation with the other hand;and a release switch which is provided in an actuable position by the hand holding the handle section while the handle section is being held, and the industrial robot operating device further comprises a device for detecting that the operating device is arranged on the base element (see, for example, PTL 1).

[0005] For example, an emergency stop switch is known comprising: a switch main body section that is connected in a wired manner to a robot control device for controlling the movement of a robot and that switches the control of the robot control device to an emergency stop state in response to an operation by a user; an attachment section that detachably attaches the switch main body section to a portable terminal that accepts the operation by the user; and an identification code section that is provided in a position facing a lens of a camera included in the portable terminal when the attachment section is attached to the portable terminal, and displays an identification code that identifies the switch main body section in a manner in which the identification code can be detected by the camera (see, for example, PTL 2).

[0006] PTL 3 to PTL 8 reveal further known state of the art. [PTL 1] JP 2021-164995A [PTL 2] JP 2022-028062A [PTL 3] DE 10 2016 211 244 A1 [PTL 4] DE 10 2010 025 781 A1 [PTL 5] EP 3 456 489 A1 [PTL 6] EP 3 119 105 B1 [PTL 7] EP 2 958 711 B1 [PTL 8] US 10 576 638 B2

[0007] In a machine operating system used as a training device, employing a multi-purpose information terminal, a base element equipped with a safety switch is attached to the multi-purpose information terminal. The multi-purpose information terminal is connected to the control device of a robot or industrial machine via wireless communication, while the base element is connected to the control device of the robot or industrial machine via wired communication, thus generally ensuring safety.The multi-purpose information terminal and the base element can be detachably attached to each other. Therefore, if the multi-purpose information terminal and the base element are separated and located in different places, an instructor cannot independently activate the safety switch using the multi-purpose information terminal, or the safety switch can be activated by a third party other than the instructor, thus compromising safety. The desired machine operating system, comprised of the multi-purpose information terminal and the base element with the safety switch, is one that can ensure safety at a low cost. Thus, the objective is to guarantee safety at a low cost.

[0008] According to the invention, the solution to the problem consists of a machine operating system with the features of claim 1. The machine operating system comprises: a wireless operating device that is connected to a control device of a robot or an industrial machine via wireless communication and commands a movement of the robot or the industrial machine to the control device in response to an operating command; a wired operating device that is connected to the control device via wired communication and transmits a signal to the control device in response to an operating command; and an authentication unit that is configured to enable an operating command for the wireless operating device when a first operation on the wired operating device and a second operation on the wireless operating device are performed simultaneously or in a predetermined sequence.

[0009] Further inventive solutions to the problem consist of a method with the features of claim 16, a control device with the features of claim 20 and a computer program with the features of claim 21.

[0010] According to one embodiment of the present disclosure, safety can be ensured at low cost in a machine operating system consisting of a multi-purpose information terminal and a base element with a safety switch.

[0011] They show: Fig. 1 a diagram showing a machine operating system according to an embodiment of the present disclosure; Fig. 2 a flowchart showing a sequence of movements of the machine operating system according to an embodiment of the present disclosure; Fig. 3 a diagram showing a first embodiment of the machine operating system according to an embodiment of the present disclosure; Fig. 4 a diagram showing a second embodiment of the machine operating system according to an embodiment of the present disclosure; Fig. 5 a diagram showing a third embodiment of the machine operating system according to an embodiment of the present disclosure; Fig. 6 a diagram showing a fourth embodiment of the machine operating system according to an embodiment of the present disclosure; Fig. 7 a diagram describing an authentication key provided in the machine operating system according to an embodiment of the present disclosure; Fig. 8 a diagram showing a fifth embodiment of the machine operating system according to an embodiment of the present disclosure; Fig. 9 a flowchart describing a movement sequence of a sixth embodiment of the machine operating system according to an embodiment of the present disclosure; Fig. 10 a diagram describing the sixth embodiment of the machine operating system according to an embodiment of the present disclosure; Fig. 11 a flowchart showing a sequence of movements of a seventh embodiment of the machine operating system according to an embodiment of the present disclosure; and Fig. 12 a diagram describing the seventh embodiment of the machine operating system according to an embodiment of the present disclosure.

[0012] A machine control system with wired and wireless communication is described below with reference to the drawings. The same element is designated by the same reference numeral in each of the drawings. Furthermore, the scale in the drawings is changed as needed to facilitate understanding. One embodiment shown is an example of the implementation, and the present disclosure is not limited to the embodiment shown. Furthermore, "manual operation of a robot or industrial machine" means that a control device controls a movement of the robot or industrial machine based on a command provided by a teaching device through operation of the teaching device.

[0013] First, the machine operating system is described according to an embodiment of the present disclosure.

[0014] Fig. Figure 1 shows a diagram describing the machine operating system according to an embodiment of the present disclosure.

[0015] As an example of a machine operated by a machine control system 100 according to an embodiment of the present disclosure, a robot, an industrial machine, or the like may be mentioned, with a case in which a robot 2 is operated being given here as an example. If the machine operated by the machine control system 100 is an industrial machine, the term "robot 2" in the following description may be replaced by the term "industrial machine". A machine tool, a forging machine, an injection molding machine, and the like are examples of industrial machines.

[0016] The robot 2 and a control device 3 are wired together via a cable 41 (hereinafter referred to as "robot cable 41"), and the movement of the robot 2 is controlled by the control device 3. The control device 3 incorporates an arithmetic processing device (processor). Examples of suitable arithmetic processing devices include an IC, an LSI, a CPU, an MPU, a DSP, and the like. The control device 3 with the arithmetic processing device is, for example, a functional module implemented by a computer program running on the processor. If the control device 3 is implemented as a computer program, for example, the arithmetic processing device is instructed to execute a movement according to the computer program, and thus any function for controlling the movement of the robot 2 can be achieved.A computer program for executing the processing of the control device 3 can be provided in the form of a recording on a computer-readable recording medium, such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, the control device can be implemented as an integrated semiconductor circuit in which the computer program executing the function is written.

[0017] The machine operating system 100 according to an embodiment of the present disclosure comprises a wireless operating device 11, a wired operating device 12 and an authentication unit 13. A teaching operating device 1 is formed by the combination of the wireless operating device 11 and the wired operating device 12.

[0018] The wireless control device 11 is, for example, a general-purpose information terminal, such as a tablet or a smartphone. The wireless control device 11 includes, for example, a touch panel 21 that has both a screen display function and an input acceptance function. Alternatively, the wireless control device 11 may include a display that performs the screen display and a physical button that performs the input acceptance. The wireless control device 11 also includes a power button 22 for switching on the wireless control device 11. The wireless control device 11 is activated by pressing (switching on) the power button 22 once. Furthermore, the wireless control device 11 includes a battery (not shown).The battery of the wireless control device 11 is charged via a connector or charging port (a charging station), with the wireless control device 11 being located away from the wired control device 12.

[0019] A training application software program for registering, editing, setting conditions, and displaying the status of a motion program for robot 2, for teaching robot 2, and the like, is installed in a memory unit (not shown) located in the wireless control device 11. The arithmetic processing device (not shown), also located in the wireless control device 11, executes a movement according to the training application software program installed in the memory unit. Thus, the wireless control device 11 achieves a wireless training function for operating (teaching) robot 2. Examples of suitable arithmetic processing devices include an IC, an LSI, a CPU, an MPU, a DSP, and the like. The memory unit consists of non-volatile memory that is electrically erasable and writable, such as...An EEPROM (registered trademark), a random access memory capable of high-speed reading and writing, such as DRAM and SRAM, or similar. The wireless control device 11 is wirelessly connected to the robot 2's control device 3 and includes a communication interface (not shown) for the connection. The wireless control device 11 commands the robot 2 to move in response to a command sent to the wireless control device 11.

[0020] For example, short-range wireless communication is used as wireless communication between the wireless operating device 11 and the control device 3. Short-range wireless communication has a shorter communication distance than long-range wireless communication and, in particular, communication with a communication distance of, for example, less than 10 meters. Various types of short-range wireless communication that have a short communication distance can be used as short-range wireless communication, and the communication conforms to any communication standard (e.g., Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), and the like) specified by, for example, IEEE, ISO, IEC, and the like. In the example shown, a case is given in which the communication is carried out according to Wi-Fi (registered trademark).In addition, methods such as DSRC (Dedicated Short Range Communication), RFID (Radio Frequency Identification) and similar techniques are used to carry out wireless communication in the short range.

[0021] The wired operating device 12 is connected to the control device 3 via wired communication and includes a communication interface (not shown) for the connection. The wired operating device 12 and the control device 3 are connected to each other via a cable 33 (hereinafter referred to as the "training device cable 33"). The wired operating device 12 includes a mounting base 30, an enable switch 31, and an emergency stop button 32 as a safety switch.

[0022] The mounting base 30 serves for the detachable attachment of the wireless control device 11 to the wired control device 12. Examples of methods for attaching the wireless control device 11 by the mounting base 30 include a method for clamping the wireless control device 11 by means of a spring mechanism provided in the wired control device 12 that holds the wireless control device 11, a method for attaching the wireless control device 11 with a screw, a method for adhering the wireless control device 11 with an adhesive element, and the like.It should be noted that regardless of whether the wireless control device 11 and the wired control device 12 are attached by the mounting base 30, no direct electrical connection and communication is formed between the wireless control device 11 and the wired control device 12, and communication between the wireless control device 11 and the wired control device 12 takes place via the control device 3.

[0023] The enable switch 31 is a safety switch that allows the control device 3 to control the robot 2's movement via the wireless control device 11 while the switch is pressed (activated), and prevents the control device 3 from controlling the robot 2's movement via the wireless control device 11 when the switch is released. A signal in response to an operating command for the enable switch 31 is transmitted from the wired control device 12 to the control device 3 via the cable of the training control device 33. For example, as long as the enable switch 31 is not pressed, the robot 2 will not perform any movement, even if an operation is performed via the wireless control device 11. As long as the enable switch 31 is pressed, the robot 2 can be operated via the wireless control device 11.

[0024] The emergency stop button 32 is a safety switch that sends an emergency stop command to the control device 3 for the robot 2. When the emergency stop button 32 is pressed (activated), an emergency stop signal is transmitted from the wired operating device 12 to the control device 3 via the cable 33 of the training operating device, whereupon the robot 2 executes the emergency stop.

[0025] In the example shown, the authentication unit 13 is provided in the control device 3. Alternatively, the authentication unit 13 can also be provided in the wireless operating device 11 or in the wired operating device 12.

[0026] A first operation on the wired operating device 12, as well as a second and a third operation on the wireless operating device 11, described below, are operations that are related to authentication in the machine operating system 100 and are fundamentally different from normal training operation using the wireless operating device 11 and normal safety operation using the safety switch of the wired operating device 12, but also partially overlap.

[0027] When the wired control device 12 and the wireless control device 11 are in a non-operating state, the wireless control device 11 does not issue a movement command to the control device 3 for the robot 2. The authentication unit 13 releases an operating content for the wireless control device 11 when the first operation on the wired control device 12 and the second operation on the wireless control device 11 are performed simultaneously or in a predetermined sequence after the wired control device 12 and the wireless control device 11 have been in the non-operating state.Furthermore, the authentication unit 13 locks the operating content for the wireless control device 11 when the execution of the first operation on the wired control device 12 or the second operation on the wireless control device 11 ends, after the operating content for the wireless control device 11 has been released by the simultaneous or predetermined execution of the first operation on the wired control device 12 and the second operation on the wireless control device 11. It should be noted that an configuration of the controls on the wired control device 12 and the wireless control device 11, which is required for authentication by the authentication unit 13, is described below.

[0028] Fig. Figure 2 shows a flowchart illustrating a sequence of movements of the machine operating system according to an embodiment of the present disclosure.

[0029] If the wired control device 12 and the wireless control device 11 are in a non-operating state in step S101, the wireless control device 11 does not issue a command to the control device 3 to move the robot 2.

[0030] In step S102, the authentication unit 13 determines, based on a signal received from the wired operating device 12, whether the first operation is performed on the wired operating device 12. The processing in step S102 is repeated in a predetermined cycle. If step S102 determines that the first operation is performed on the wired operating device 12, the processing continues with step S103; if it does not determine that the first operation is performed on the wired operating device 12, the processing returns to step S101.

[0031] In step S103, the authentication unit 13 determines, based on a signal received from the wireless operating device 11, whether the second operation is performed on the wireless operating device 11. The processing in step S103 is repeated in a predetermined cycle.

[0032] If step S103 does not determine that the second operation is performed on the wireless operating device 11, the authentication unit 13 determines, based on a signal received from the wired operating device 12 in step S109, whether the first operation ends on the wired operating device 12. The processing in step S109 is repeated in a predetermined cycle. If step S109 determines that the first operation ends on the wired operating device 12, the processing returns to step S101; if it does not determine that the first operation ends on the wired operating device 12, the processing returns to step S103.

[0033] If step S103 determines that the second operation is performed on the wireless operating device 11, the processing proceeds to step S104.

[0034] In step S104, the authentication unit 13 determines, based on a signal received from the wired operating device 12, whether the first operation at the wired operating device 12 ends. The processing in step S104 is repeated in a predetermined cycle. If step S104 determines that the first operation at the wired operating device 12 ends, the processing returns to step S101; if it does not determine that the first operation at the wired operating device 12 ends, the processing proceeds to step S105.

[0035] It should be noted that step S104 can be omitted. In an example where step S104 is omitted, processing continues with step S105 if it is determined that the second operation on the wireless operating device 11 is performed in step S103. In other words, in the example where step S104 is omitted, the first operation is performed once in step S102 and the second operation is performed once in step S103, and thus step S105 is executed.

[0036] In step S105, the authentication unit 13 releases an operating content for the wireless control device 11. This allows a worker to use the wireless control device 11 to perform tasks such as teaching (manual operation) of the robot 2, registration, editing, or setting conditions of a motion program related to the robot 2, and similar operations. In response to the worker's manual operation of the wireless control device 11, the control device 3 controls the movement of the robot 2 (step S106). It should be noted that during the processing in step S106, the robot 2 can be operated via the wireless control device 11 while the enable switch 31 is pressed, and that the robot 2 also performs an emergency stop when the emergency stop button 32 is pressed.

[0037] In step S107, the authentication unit 13 determines, based on a signal received from the wired operating device 12, whether the first operation at the wired operating device 12 has ended. The processing in step S107 is repeated in a predetermined cycle. If step S107 determines that the first operation at the wired operating device 12 has ended, the processing continues with step S108; if it does not determine that the first operation at the wired operating device 12 has ended, the processing returns to step S106.

[0038] It should be noted that step S107 can be omitted. In an example where step S107 is omitted, processing can, for instance, automatically proceed to step S108 after a predetermined time has elapsed since the start of step S105, and the authentication unit 13 can lock the operator content for the wireless operator device 11.

[0039] If in step S107 it is determined that the first operation ends at the wired operating device 12, the authentication unit 13 locks the operating content for the wireless operating device 11 in step S108.

[0040] The following are some configurations of the controls on the wired control device 12 and the wireless control device 11 that are required for authentication by the authentication unit 13. It should be noted that in the Fig. 3 to 6, 8, 10 and 12 have a different configuration than that of the teaching operating device 1 in the drawing, which has been omitted.

[0041] Fig. Figure 3 shows a diagram describing a first embodiment of the machine operating system according to an exemplary embodiment of the present disclosure. In the first embodiment, it is assumed that the first operation at the wired operating device 12 is the operation of pressing the release switch 31, and the second operation at the wireless operating device 11 is the operation of pressing an OK button 51, which is a release button displayed on the touch panel 21.

[0042] As in Fig. As shown in Figure 3, in the first embodiment, the wireless control device 11 does not issue a command to the control device 3 for a movement of the robot 2 when the wired control device 12 and the wireless control device 11 are in a non-operating state. If the operation of pressing the release switch 31 of the wired control device 12 is performed as the first operation after the wired control device 12 and the wireless control device 11 are in a non-operating state (Yes in step S102 in Figure 3), the control device 3 does not issue a command to the control device 3 for a movement of the robot 2. Fig. 2) The non-operating state changes to an "authentication processing" state. In the "authentication processing" state, the authentication unit 13 displays an indicator 61 on the touch panel 21, which is a display for the wireless operating device 11. This indicator prompts the user to perform the second operation, such as "PRESS OK BUTTON," and displays the OK button 51. If the OK button 51 displayed on the touch panel 21 is pressed once as the second operation while the release switch 31 is pressed (Yes in step S103 in Fig. 2) The "authentication processing" state changes to a "manual movement possible" state, in which an operating screen for the wireless control device 11 is enabled (steps S105 and S106). In the "manual movement possible" state, if a teaching application software program is activated, a manual operating screen for the robot 2, based on the teaching application software program that controls the control device 3, is displayed on the touch panel 21. As long as the enable switch 31 is pressed, manual operation of the robot 2 can be performed using (the touch panel 21) the wireless control device 11. If the enable switch 31 is turned off in the "manual movement possible" state (Yes in step S107 in Fig. 2), the operating content for the wireless control device 11 is locked (step S108 in Fig. 2) Control of the movement of the robot 2 by the control device 3 via the wireless control device 11 is not permitted, and manual operation of the robot 2 using (the touch panel 21) the wireless control device 11 is not possible.

[0043] Fig. Figure 4 shows a diagram illustrating a second embodiment of the machine operating system according to an exemplary embodiment of the present disclosure. In the second embodiment, it is assumed that the first operation at the wired operating device 12 is the operation of the enable switch 31, and that the second operation at the wireless operating device 11 is the operation of a hardware switch provided in the wireless operating device 11. An example is described here in which the hardware switch pressed in the second operation is assumed to be the power button 22, but, for example, pressing a volume button (not shown) could be considered the second operation.

[0044] As in Fig. As shown in Figure 4, in the second embodiment, the wireless control device 11 does not issue a command to move the robot 2 to the control device 3 when the wired control device 12 and the wireless control device 11 are in a non-operating state. This is the case if the operation of pressing the release switch 31 of the wired control device 12 is performed as the first operation after the wired control device 12 and the wireless control device 11 are in a non-operating state (Yes in step S102 in Figure 4). Fig. 2) The non-operating state changes to an "authentication processing" state. In the "authentication processing" state, the authentication unit 13 displays an indicator 62 on the touch panel 21, which is a display for the wireless operating device 11, prompting the user to perform the second operation, such as "PRESS POWER BUTTON". Note that the display of indicator 62 can be omitted. If the power button 22 is pressed once as the second operation while the enable switch 31 is pressed (Yes in step S103 in Fig. 2) The "authentication processing" state changes to a "manual movement possible" state, in which an operating screen for the wireless control device 11 is enabled (steps S105 and S106). In the "manual movement possible" state, if a teaching application software program is activated, a manual operating screen for the robot 2, based on the teaching application software program that controls the control device 3, is displayed on the touch panel 21. Subsequently, with the enable switch 31 pressed, the robot 2 can be operated manually using the wireless control device 11 (via the touch panel 21). If the enable switch 31 is turned off in the "manual movement possible" state (Yes in step S107 in Fig. 2), the operating content for the wireless control device 11 is locked (step S108 in Fig. 2) Control of the movement of the robot 2 by the control device 3 via the wireless control device 11 is not permitted and manual operation of the robot 2 using (the touch panel 21) the wireless control device 11 is not possible.

[0045] Fig. Figure 5 shows a diagram describing a third embodiment of the machine operating system according to an exemplary embodiment of the present disclosure. In the third embodiment, it is assumed that the first operation at the wired operating device 12 is the operation of pressing the enable switch 31, and the second operation at the wireless operating device 11 is the operation of pressing (touching) an activation symbol 52, which is displayed on the touch panel 21 and is used to activate a training application software program for controlling a control device 3.

[0046] As in Fig. As shown in Figure 5, in the third embodiment, the wireless control device 11 does not issue a command to move the robot 2 to the control device 3 when the wired control device 12 and the wireless control device 11 are in the non-operating state. This is the case if the operation of pressing the release switch 31 of the wired control device 12 is performed as the first operation after the wired control device 12 and the wireless control device 11 are in the non-operating state (Yes in step S102 in Figure 5). Fig. 2) The non-operating state changes to an "authentication processing" state. In the "authentication processing" state, the activation symbol 52 for activating the teaching application software program for controlling the control device 3 is displayed on the touch panel 21, which is a display for the wireless operating device 11. Likewise, a symbol for activating a different application software program than the activation symbol 52 can be displayed on the touch panel 21. If the symbol 52 displayed on the touch panel 21 is pressed (touched) once as a second operation while the release switch 31 is pressed (Yes in step S103 in Fig. 2) The teaching application software program is activated, and the "authentication processing" state also changes to a "manual movement possible" state, in which an operating content for the wireless control device 11 is enabled (steps S105 and S106). In the "manual movement possible" state, a screen for the manual operation of the robot 2 is displayed on the touch panel 21, based on the teaching application software program that controls the control device 3. Subsequently, with the enable switch 31 pressed, manual operation of the robot 2 can be performed using (the touch panel 21) the wireless control device 11. If the enable switch 31 is in the "manual movement possible" state (Yes in step S107 in Fig. 2) If switched off, the operating content for the wireless control device 11 is locked (step S108 in Fig. 2) Control of the movement of the robot 2 by the control device 3 via the wireless control device 11 is not permitted, and manual operation of the robot 2 using (the touch panel 21) the wireless control device 11 is not possible.

[0047] Fig. Figure 6 shows a diagram describing a fourth embodiment of the machine operating system according to an exemplary embodiment of the present disclosure. In the fourth embodiment, it is assumed that the first operation at the wired operating device 12 is the operation of pressing the release switch 31 and the second operation at the wireless operating device 11 is the operation of moving a position and / or a state of the wireless operating device 11.

[0048] As in Fig. As shown in Figure 6, in the fourth embodiment of the control device 3, the wireless control device 11 does not command any movement of the robot 2 if the wired control device 12 and the wireless control device 11 are in a non-operating state. This occurs when the operation of pressing the release switch 31 of the wired control device 12 is performed as the first operation after the wired control device 12 and the wireless control device 11 are in a non-operating state (Yes in step S102 in Figure 6). Fig. 2) The non-operating state changes to an "authentication processing" state. In the "authentication processing" state, the authentication unit 13 determines whether the operation of moving a position and / or a position of the wireless control device 11 is carried out (step S103 in Fig. 2) The wireless control device 11 generally includes a sensor 23, such as an accelerometer, a magnetic field sensor, a vibration sensor, or an air pressure sensor. A physical movement (change) of the main body of the wireless control device 11, generated by the movement of a position and / or orientation of the wireless control device 11, can be detected by the sensor 23. Examples of physical movement of the main body of the wireless control device 11 include movement of the wireless control device 11 forwards and backwards, left and right, and / or up and down; movement of tilting and turning the wireless control device 11 over; movement combining the movements described above; a gesture by a worker holding the wireless control device 11; and the like.The authentication unit 13 determines, based on a signal emitted by the sensor 23, whether the operation of moving a position and / or a position of the wireless control device 11 is carried out. It should be noted that the control of the authentication unit 13 can display an indicator element (not shown) prompting the execution of the second operation, such as "MOUNT MAIN BODY OF WIRELESS CONTROL DEVICE", on the touch panel 21, which is an indicator of the wireless control device 11. If a position and / or a position of the wireless control device 11 is moved as the second operation while the enable switch 31 is pressed (Yes in step S103 in . ), Fig. 2) The "authentication processing" state changes to a "manual movement possible" state, in which an operating content for the wireless control device 11 is enabled (steps S105 and S106). In the "manual movement possible" state, a screen for the manual operation of the robot 2 is displayed on the touch panel 21. This screen is based on a software program for a learning application that controls the control device 3. Subsequently, with the enable switch 31 pressed, the robot 2 can be operated manually using the wireless control device 11 (via the touch panel 21). If the enable switch 31 is turned off in the "manual movement possible" state (Yes in step S107 in Fig. 2), the operating content for the wireless control device 11 is locked (step S108 in Fig. 2) Control of the movement of the robot 2 by the control device 3 via the wireless control device 11 is not permitted, and manual operation of the robot 2 using (the touch panel 21) the wireless control device 11 is not possible.

[0049] Fig. Figure 7 shows a diagram describing an authentication key provided in the machine operating system according to an embodiment of the present disclosure.

[0050] In the first to fourth embodiments, it is assumed that pressing the release switch 31 is the first operation, but in a fifth embodiment, it is assumed that pressing (activating) an authentication key 34, which is different from the release switch 31, is the first operation. As in Fig. As shown in Figure 7, the machine operating system 100 also includes an authentication button 34 in the wired operating device 12. When the authentication button 34 is pressed, an authentication signal is output by the wired operating device 12. The authentication unit 13 determines whether the authentication button 34 has been pressed or not, based on the presence or absence of the authentication signal. The authentication unit 13 releases operating content for the wireless operating device 11 when the authentication button 34 is pressed and locks the operating content for the wireless operating device 11 when the authentication button 34 is no longer pressed.Alternatively, the control content for the wireless control device 11 can be enabled when the authentication button 34 is pressed once, and the control content for the wireless control device 11 can be locked when a predetermined time period has elapsed since the control content for the wireless control device 11 was enabled. A configuration other than the authentication unit 13 and the authentication button 34 is described with reference to... Fig. 1 described.

[0051] Fig. Figure 8 shows a diagram illustrating the fifth embodiment of the machine operating system according to an embodiment of the present disclosure.

[0052] As in Fig. As shown in Figure 8, in the fifth embodiment, the wireless control device 11 does not issue a command to the control device 3 to move the robot 2 when both the wired control device 12 and the wireless control device 11 are in the non-operating state. If the operation of pressing the authentication button 34 of the wired control device 12 is performed after both the wired control device 12 and the wireless control device 11 are in the non-operating state, the non-operating state changes to an "authentication processing" state. In the "authentication processing" state, the control of the authentication unit 13 displays an indicator 61 prompting the execution of the second operation, such as "PRESS OK BUTTON," and the OK button 51 on the touch panel 21, which is a display of the wireless control device 11.If the OK button 51 displayed on the touch panel 21 is pressed once as a second operation while the authentication button 34 is pressed, the "authentication processing" state changes to a "manual movement possible" state, in which an operating menu for the wireless control device 11 is enabled. In the "manual movement possible" state, if a teaching application software program is activated, a manual operating screen for the robot 2, based on the teaching application software program that controls the control device 3, is displayed on the touch panel 21. Subsequently, with the enable switch 31 pressed, the robot 2 can be operated manually using the wireless control device 11 (via the touch panel 21), and if the emergency stop button 32 is also pressed, the robot 2 performs an emergency stop.To further ensure safety, the operating content for the wireless control device 11 can be locked if a predetermined time period has elapsed since the operating content for the wireless control device 11 was released, and in this case, control of a movement of the robot 2 by the control device 3 via the wireless control device 11 is not permitted, and manual operation of the robot 2 using (the touch panel 21 of the) wireless control device 11 cannot be carried out.

[0053] Fig. Figure 9 shows a flowchart describing a movement sequence of a sixth embodiment of the machine operating system according to an embodiment of the present disclosure. Fig. Figure 10 shows a diagram describing the sixth embodiment of the machine operating system according to an exemplary embodiment of the present disclosure. In the sixth embodiment, it is assumed that the first operation at the wired operating device 12 is the operation of pressing the release switch 31 and the second operation at the wireless operating device 11 is the operation of pressing a release button 53, which is displayed on the touch panel 21.

[0054] If the wired control device 12 and the wireless control device 11 are in a non-operating state in step S201, the wireless control device 11 does not issue a command to the control device 3 to move the robot 2.

[0055] In step S202, the authentication unit 13 determines, based on a signal received from the wired operating device 12, whether the release switch 31, which is the first operation on the wired operating device 12, will be pressed. The processing in step S202 is repeated in a predetermined cycle. If it is determined that the first operation on the wired operating device 12 will be performed in step S202, the non-operating state changes to an "authentication processing" state, and the processing proceeds to step S203. As in Fig. As shown in Figure 10, in the "Authentication Processing" state, the control of the authentication unit 13 displays an indicator 64 prompting the execution of the second operation, such as "PRESS RELEASE BUTTON CONTINUED," and the release button 53 on the touch panel 21, which is an indicator for the wireless operating device 11. If it is not determined in step S202 that the first operation is performed on the wired operating device 12, the processing returns to step S201.

[0056] In step S203, the authentication unit 13 determines, based on a signal received from the wireless control device 11, whether the pressing of the release button 53, which represents the second operation on the wireless control device 11, will proceed. The processing in step S103 is repeated in a predetermined cycle.

[0057] If step S203 does not determine that pressing the release button 53, which represents the second operation on the wireless control device 11, will continue, the authentication unit 13 determines, based on a signal received from the wired control device 12 in step S209, whether pressing the release button 31, which represents the first operation on the wired control device 12, will end. The processing in step S209 is repeated in a predetermined cycle. If step S209 determines that the first operation on the wired control device 12 ends, the processing returns to step S201; if it does not determine that the first operation on the wired control device 12 ends, the processing returns to step S203.

[0058] If step S203 determines that the second operation on the wireless control device 11 will continue, the authentication unit 13 determines, based on a signal received from the wired control device 12 in step S204, whether pressing the enable switch 31 will result in the first operation on the wired control device 12. The processing in step S204 is repeated in a predetermined cycle. If step S204 determines that the first operation on the wired control device 12 will end, the processing returns to step S201; if it is not determined that the first operation on the wired control device 12 will end, the processing proceeds to step S205.

[0059] In step S205, the authentication unit 13 releases an operating content for the wireless operating device 11, and the state "authentication processing" changes to a state "manual movement possible". As in Fig. As shown in Figure 10, in the "manual movement possible" state, when a training application software program is activated, a screen for the manual operation of the robot 2 based on the training application software program, which controls the control device 3, and the release button 53 on the touch panel 21 are displayed. In this way, a worker can perform the teaching (manual operation) of the robot 2, the registration, editing, or condition setting of a motion program relating to the robot 2, and similar operations, using the wireless control device 11. In response to the worker's manual operation of the wireless control device 11, the control device 3 controls a movement of the robot 2 (step S206).During processing in step S206, the robot 2 can be operated via the wireless control device 11 while the release switch 31 is pressed and the release button 53 is pressed, and in addition, the robot 2 performs an emergency stop when the emergency stop button 32 is pressed.

[0060] In step S207, the authentication unit 13 determines, based on the signals received from the wired control device 12 and the wireless control device 11, whether pressing the release switch 31, which represents the first operation on the wired control device 12, or pressing the release button 53, which represents the second operation on the wireless control device 11, has ended. The processing in step S207 is repeated in a predetermined cycle. If step S207 determines that the first operation on the wired control device 12 or the second operation on the wireless control device 11 has ended, the processing proceeds to step S208; if it does not determine that the first operation on the wired control device 12 or the second operation on the wireless control device 11 has ended, the processing returns to step S206.

[0061] If in step S207 it is determined that the first operation on the wired control device 12 or the second operation on the wireless control device 11 ends, the state “manual movement possible” changes to a state “manual movement prohibited”, and the authentication unit 13 locks the control content for the wireless control device 11 in step S208. As in Fig. As shown in 10, in the state “manual movement prohibited” the screen for manual operation of the robot 2, which is based on the software program of the learning application, and the button 53 are not displayed on the touch panel 21.

[0062] Fig. Figure 11 shows a flowchart describing the movement sequence of a seventh embodiment of the machine operating system according to an exemplary embodiment of the present disclosure. Fig. Figure 12 shows a diagram describing the seventh embodiment of the machine operating system according to an exemplary embodiment of the present disclosure. In the seventh embodiment, it is assumed that the first operation on the wired operating device 12 is the operation of pressing the enable switch 31, that the second operation on the wireless operating device 11 is the operation of pressing a start button 54, which is displayed on the touch panel 21, and that furthermore, the third operation on the wireless operating device 11 to end the authentication is the operation of pressing an end button 55, which is displayed on the touch panel 21.

[0063] If the wired control device 12 and the wireless control device 11 are in a non-operating state in step S301, the wireless control device 11 does not issue a command to the control device 3 to move the robot 2.

[0064] In step S302, the authentication unit 13 determines, based on a signal received from the wired operating device 12, whether the release switch 31, which represents the first operation on the wired operating device 12, will be pressed. The processing in step S302 is repeated in a predetermined cycle. If step S302 determines that the first operation on the wired operating device 12 will be performed, the non-operating state changes to an "authentication processing" state, and the processing proceeds to step S303. As in Fig. As shown in Figure 12, in the "Authentication Processing" state, the control of the authentication unit 13 displays an indicator 65, which prompts the execution of the second operation, such as "PRESS START BUTTON", and the start button 54 on the touch panel 21, which is an indicator for the wireless operating device 11. If it is not determined in step S302 that the first operation is performed on the wired operating device 12, the processing returns to step S301.

[0065] In step S303, the authentication unit 13 determines, based on a signal received from the wireless operating device 11, whether the start button 54, representing the second operation on the wireless operating device 11, will be pressed. The processing in step S303 is repeated in a predetermined cycle. If step S303 determines that the second operation on the wireless operating device 11 will be performed, the processing continues with step S304.

[0066] If step S303 does not determine that the start button 54, representing the second operation on the wireless control device 11, is pressed, the authentication unit 13 determines, based on a signal received from the wired control device 12 in step S309, whether the pressing of the release switch 31, representing the first operation on the wired control device 12, is completed. The processing in step S309 is repeated in a predetermined cycle. If step S309 determines that the first operation on the wired control device 12 is completed, the processing returns to step S301; if it does not determine that the first operation on the wired control device 12 is completed, the processing returns to step S303.

[0067] If, in step S303, it is determined that the start button 54, representing the second operation on the wireless control device 11, is being pressed, the authentication unit 13, based on a signal received from the wired control device 12, determines in step S304 whether the pressing of the release switch 31, representing the first operation on the wired control device 12, is ending. The processing in step S304 is repeated in a predetermined cycle. If, in step S304, it is determined that the first operation on the wired control device 12 is ending, the processing returns to step S301; if it is not determined that the first operation on the wired control device 12 is ending, the processing continues with step S305.

[0068] In step S305, the authentication unit 13 releases an operating content for the wireless operating device 11, and the state "authentication processing" changes to a state "manual movement possible". As in Fig. As shown in Figure 12, in the "manual movement possible" state, when a training application software program is activated, a screen for the manual operation of the robot 2 based on the training application software program, which controls the control device 3, and the exit button 55 on the touch panel 21 are displayed. In this way, a worker can perform the teaching (manual operation) of the robot 2, the registration, editing, or condition setting of a motion program relating to the robot 2, and similar operations, using the wireless control device 11. In response to the worker's manual operation of the wireless control device 11, the control device 3 controls a movement of the robot 2 (step S306).During processing in step S306, the robot 2 can be operated via the wireless control device 11 while the enable switch 31 is pressed, and the robot 2 also performs an emergency stop when the emergency stop button 32 is pressed. Furthermore, when the enable switch 31 is switched off, the operating content for the wireless control device 11 is locked, control of the robot 2's movement by the control device 3 via the wireless control device 11 is not permitted, and manual operation of the robot 2 using the wireless control device 11 (via the touch panel 21) is not possible.

[0069] In step S307, the authentication unit 13 determines, based on a signal received from the wireless control device 11, whether the press of the exit button 55, which represents the third operation on the wireless control device 11, will be performed. The processing in step S307 is repeated in a predetermined cycle. If step S307 determines that the third operation on the wireless control device 11 will be performed, the processing continues with step S308; if it does not determine that the third operation on the wireless control device 11 will be performed, the processing returns to step S306.

[0070] If, in step S307, it is determined that the third operation is performed on the wireless control device 11, the state "manual movement possible" changes to a state "manual movement prohibited", and the authentication unit 13 locks the control content for the wireless control device 11 in step S308. As in Fig. As shown in Figure 12, in the state “manual movement prohibited”, the screen for the manual operation of the robot 2, which is based on the software program of the learning application, as well as the start button 54 and the end button 55 are not displayed on the touch panel 21.

[0071] It should be noted that the first to fifth configurations described above can be combined and implemented in a suitable manner.

[0072] Although the case in which the machine operated by the machine operating system 100 operates the robot 2 has been described above as an example, the description above can be applied similarly to a case in which a machine operated by the machine operating system 100 is an industrial machine.

[0073] According to an embodiment of the present disclosure, safety can be ensured at low cost in the machine operating system 100, which consists of the wireless operating device 11, which is a multi-purpose information terminal, and the wired operating device 12, which is a base element with a safety switch.

[0074] According to the machine control system 100 of an embodiment of the present disclosure, an operating content for the wireless control device 11 is not released unless the first operation on the wired control device 12 and the second operation on the wireless control device 11 are performed simultaneously or in a predetermined sequence. The wired control device 12 and the wireless control device 11 can be detachably attached to one another, but the first operation on the wired control device 12 and the second operation on the wireless control device 11 can be performed simultaneously or in a predetermined sequence if an instructor possesses both the wired control device 12 and the wireless control device 11 at the same time. Therefore, the instructor can actuate a safety switch at their discretion, thus ensuring a high level of safety.Likewise, the possibility of the safety switch being operated by a third party other than the instructor can be eliminated, thus ensuring a high level of safety. Even if the wired control device 12 and the wireless control device 11 are separate and located in different places, and the instructor possesses the wireless control device 11, while a third party other than the instructor possesses the wired control device 12 and the safety switch, the instructor can detect the third party's use of the wired control device 12, for example, through the indicator elements 61 to 65 displayed on the touch panel of the wireless control device 11 possessed by the instructor, and can use this information to ensure their own safety.Furthermore, in the machine operating system 100 according to an embodiment of the present disclosure, the existing enable switch 31, which is provided in the wired operating device 12, can be used, and the authentication processing can be achieved by processing in the software, thereby keeping costs low. 1 teaching device 2 robots 3 Control device 11 Wireless Control Device 12 Wired control device 13 Authentication unit 21 Touch Panel 22 Power button 23 Sensor 30 Mounting base 31 release switches 32 Emergency stop button 33 cables for the teaching device 34 Authentication key 41 robot cables 51 OK button 52 Activation symbol 53 Release button 54 Start button 55 Exit key 61, 62, 63, 64, 65 Display element 100 machine operating systems

Claims

[1] Machine operating system (100) comprising: a wireless operating device (11) which is connected to a control device (3) of a robot (2) or an industrial machine via wireless communication and is able to command the control device (3) to move the robot (2) or the industrial machine; a wired control device (12) which is detachably attached to the wireless control device (11), which is connected to the control device (3) via wired communication and which is capable of transmitting a signal to the control device (3); and an authentication unit (13) configured to release an operating content for the wireless operating device (11) when a first operation on the wired operating device (12) and a second operation on the wireless operating device (11) are assumed simultaneously or in a predetermined sequence. [2] Machine operating system (100) according to claim 1, wherein the wireless operating device (11) does not command the control device (3) to move the robot (2) or the industrial machine when the wired operating device (12) and the wireless operating device (11) are in a non-operating state. [3] Machine operating system (100) according to claim 1 or 2, wherein the authentication unit (13) releases an operating content for the wireless operating device (11) when the first operation and the second operation are assumed simultaneously or in a predetermined sequence after a non-operating state of the wired operating device (12) and the wireless operating device (11). [4] Machine operating system (100) according to claim 3, wherein the authentication unit (13) locks an operating content for the wireless operating device (11) when the acceptance of the first operation or the second operation ends after an operating content for the wireless operating device (11) has been released by the first operation and the second operation, which are accepted simultaneously or in a predetermined sequence. [5] Machine operating system (100) according to one of claims 1 to 4, wherein the wireless control device (11) further comprises a display that shows a screen to prompt the second operation if the first operation is assumed to have occurred after a non-operation state of the wired control device (12) and the wireless control device (11), and A control content for the wireless control device (11) is released when the second operation is performed while the screen is displayed on the display. [6] Machine operating system (100) according to claim 5, wherein the second operation is an operation of pressing a release button (53) which is displayed on a touch panel (21) for display and input of what the display is. [7] Machine operating system (100) according to claim 5 or 6, wherein the second operation is an operation of pressing an activation symbol (52) which is displayed on a touch panel (21) for display and input, which is the display, and is used to activate an application software program for controlling the control device (3). [8] Machine operating system (100) according to one of claims 1 to 7, wherein the second operation is an operation of pressing a hardware switch provided in the wireless operating device (11). [9] Machine operating system (100) according to any one of claims 1 to 8, wherein the second operation is an operation of moving a position and / or a position of the wireless control device (11), and the wireless control device (11) further comprises a sensor (23) to detect that a position and / or orientation of the wireless control device (11) is being moved. [10] Machine operating system (100) according to claim 3, wherein the authentication unit (13) locks an operating content for the wireless operating device (11) when a third operation is accepted on the wireless operating device (11) after an operating content for the wireless operating device (11) has been released by the first operation and the second operation, which are accepted simultaneously or in a predetermined sequence. [11] Machine operating system (100) according to claim 3, wherein the authentication unit (13) locks an operating content for the wireless operating device (11) when a predetermined time period has elapsed since an operating content for the wireless operating device (11) was released by the first operation and the second operation, which are assumed simultaneously or in a predetermined sequence. [12] Machine operating system (100) according to any one of claims 1 to 11, wherein the wired operating device (12) comprises an enabling switch (31) which allows the control of a movement of the robot (2) or the industrial machine by the control device (3) while the pressing is being carried out, and does not allow the control of a movement of the robot (2) or the industrial machine by the control device (3) when the pressing is released. [13] Machine operating system (100) according to claim 12, wherein the first operation is an operation of pressing the release switch (31). [14] Machine operating system (100) according to any one of claims 1 to 11, wherein the wired control device (12) includes an authentication button (34), and The first operation is an operation of pressing the authentication key (34). [15] Machine operating system (100) according to one of claims 1 to 14, wherein the authentication unit (13) is provided in one of the wireless operating device (11), the wired operating device (12) and the control device (3). [16] Procedure that includes: a step of accepting a connection with a wireless control device (11) that is capable of transmitting a command relating to a movement of a robot (2) or an industrial machine; a step of accepting a connection with a wired control device (12) which is detachably attached to the wireless control device (11); and a step of releasing an operating content to the wireless operating device (11) as soon as a first operation on the wired operating device (12) and a second operation on the wireless operating device (11) are accepted simultaneously or in a predetermined sequence. [17] Method according to claim 16, wherein the release step further comprises locking an operating content for the wireless operating device (11) when the acceptance of the first operation or the second operation ends after an operating content for the wireless operating device (11) has been released by simultaneous acceptance or acceptance in a predetermined sequence of the first operation and the second operation. [18] Method according to claim 16 or 17, wherein the second operation is at least one operation of pressing a release button (53) that is displayed on a screen, one operation of pressing an activation symbol (52) that is displayed on the screen and is used to activate an application software program, one operation of pressing a hardware switch provided in the wireless control device (11), and one operation of moving a position and / or a state of the wireless control device (11), and The first operation is an operation by pressing a release switch (31) provided in the wired control device (12), or an operation by pressing an authentication button (34). [19] Method according to any one of claims 16 to 18, further comprising: a step of displaying, on the display, a screen to request the second operation, if the first operation has been accepted; and Releasing an operating content for the wireless control device (11) when the second operation is accepted while the screen is being viewed on the display. [20] Control device (3) comprising: at least one storage device; and at least one processor, whereby the at least one processor performs the method according to one of claims 16 to 19. [21] Computer program for causing at least one computer to execute the method according to any one of claims 16 to 19.

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