Mechanical actuation system for carrying out an authentication process and computer program

Abstract

This mechanical actuation system comprises: a wireless operating device connected via wireless communication to a control device of a robot or industrial machine, which commands the control device to operate the robot or industrial machine according to the operating content; and a wired operating device connected via wired communication to the control device and which has a contactless authentication mark.The wireless operating device comprises: an event detection unit that detects an approach event, in which the contactless authentication marker enters a predefined first area from outside the first area, and a retreat event, in which the contactless authentication marker leaves the first area; and an authentication unit that determines, based on the content of the detected event, whether the operating content is valid for the wireless operating device or not.

Description

Technical area

[0001] The present invention relates to a machine operating system and a computer program for carrying out authentication processes. Related prior art

[0002] To perform manual operation of a robot or industrial machine, a teaching device called a teach pendant is used. This device is connected to a control device of the robot or industrial machine. With this device, a worker can perform registration, editing, condition setting, and status display of a motion program for the robot or industrial machine, teaching the robot or industrial machine, manual operation, and the like. A safety switch, such as a release switch and an emergency stop button, is provided in the teaching device to prevent unexpected movement of the robot or machine tool and ensure the safety of the machine and the worker near the robot or machine tool.

[0003] Moreover, in recent years, a teaching operation device that performs manual operation of a robot and an industrial machine through a general-purpose information terminal such as a tablet is used instead of hardware dedicated to the teaching operation device in order to reduce costs, ensure versatility, and the like, and a safety switch must also be provided in such a teaching operation device.

[0004] For example, a robot control system is known that includes a control device that controls a machine, a portable wireless operation panel that can perform wireless communication with the control device and is used to operate the machine, a distance measuring unit configured to measure a distance between the machine and the portable wireless operation panel, and an alarm output unit configured to output an alarm to a worker or stop the machine when the distance between the machine and the portable wireless operation panel exceeds a predetermined threshold (see, for example, PTL 1).

[0005] For example, a robot system is known that includes: a robot; an RF tag including a detection device that detects biometric authentication information of a person; a memory that stores unique biometric authentication information of a qualified person authorized to perform an operation related to the work of the robot; a first processor that obtains a biometric authentication result by comparing the biometric authentication information detected by the detection device with the unique biometric authentication information stored in the memory; and a first antenna that transmits the biometric authentication result detected by the first processor;and a control device having a second antenna that receives the biometric authentication result transmitted by the RF tag and continues the processing of the operation when the biometric authentication result indicates that the person is the qualified person (see, for example, PTL 2).;

[0006] For example, a robot control system is known that includes a robot, a safety fence surrounding a movement area of ​​the robot, a robot control device that controls a movement of the robot, and a teaching device that includes a communication device for communicating with the robot control device and transmitting a movement command to the robot control device in response to an operation of a worker. The teaching device includes a storage device for reading or writing information in a contactless manner and a first access device for writing and reading information to and from the storage device. An entrance of the safety fence is provided with a passage detection device that is a device for detecting an access of a worker.and a second access device for writing a detection result of the detection device into the storage device and for reading information written into the storage device, and the teaching device validates or invalidates a movement command and a movement mode switching based on the detection result stored in the storage device when a worker performs an operation input on the teaching device (see, for example, PTL 3). Citation listPatent literature [PTL 1] JP 2016-172303A [PTL 2] JP 2018-176300A [PTL 3] JP 2009-262257A Summary of the inventionTechnical problem

[0007] In a machine operation system using a multi-purpose information terminal as a teaching and operating device, a base unit equipped with a safety switch is attached to the multi-purpose information terminal. The multi-purpose information terminal is connected to a control device of a robot or industrial machine via wireless communication, but generally, the base unit is connected to the control device of the robot or industrial machine via wired communication, ensuring safety.However, the multi-purpose information terminal and the base unit are detachably mounted. If the multi-purpose information terminal and the base unit are separated and located in different locations, there is a possibility that a teaching worker with the multi-purpose information terminal cannot operate the safety switch at their own will, or that the safety switch is operated by a third party other than the teaching worker, thus making safety impossible. It is conceivable to ensure safety by installing various sensors, such as an optical sensor and a magnetic sensor, respectively in the multi-purpose information terminal and the base unit, and detecting the connection between the multi-purpose information terminal and the base unit, but the installation of the sensors causes increased costs and increased size.Therefore, in a machine operating system composed of a multi-purpose information terminal and a base element with a safety switch, a machine operating system that can ensure safety at low cost is desired. Solution to the problem

[0008] According to one aspect of the present disclosure, a machine operating system includes: a wireless operating device connected to a control device of a robot or an industrial machine via wireless communication and commanding a movement of the robot or the industrial machine to the control device in response to an operation content;and a wired operating device connected to the control device via wired communication and comprising a contactless authentication mark, wherein the wireless operating device comprises an event detection unit configured to detect an approach event in which the contactless authentication mark enters the interior of a predefined first area of ​​the wireless operating device from outside the first area and a retreat event in which the contactless authentication mark leaves the interior of the first area to outside the first area, and an authentication unit configured to determine whether an operation content is valid or invalid for the wireless operating device in response to a content of an event detected by the event detection unit.

[0009] According to a further embodiment of the present disclosure, a machine operating system comprises: a control device of a robot or an industrial machine; a wireless operating device connected to the control device via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content; and a wired operating device connected to the control device via wired communication and comprising a contactless authentication tag assigned an individual identifier, wherein the wireless operating device comprises an event detection unit configured to detect an approach event in which the contactless authentication tag enters the interior of a predefined first area of ​​the wireless operating device from outside the first area, an identifier acquisition unit configured toto obtain the identifier of the contactless authentication mark when the proximity event is detected by the event detection unit, an identifier writing unit configured to write, as a reference identifier, the identifier of the contactless authentication mark obtained by the detection unit in a setting mode into a storage unit of the control device via wireless communication, and an identifier reading unit configured to read the reference identifier from the storage unit of the control device via wireless communication when the proximity event is detected by the event detection unit in an operation mode after the setting mode, and the control device comprises an authentication unit configured to validate an operation content for the wireless operation device,if the identifier obtained by the acquisition unit matches the reference identifier in the operating mode.

[0010] According to a further embodiment of the present disclosure, a computer program is a computer program that causes a computer to execute authentication processing in a machine operating system that includes a wireless operating device connected to a control device of a robot or an industrial machine via wireless communication and commands the control device to move the robot or the industrial machine in response to an operation content, and a wired operating device connected to the control device via wired communication and including a contactless authentication mark, and the computer program includes: an event detection step for detecting an approach event in which the contactless authentication mark enters the interior of a predefined first area of ​​the wireless operating device from outside the first area,and a withdrawal event in which the contactless authentication mark leaves the interior of the first area to the outside of the first area; and an authentication step of determining whether an operation content is valid or invalid for the wireless operation device in response to a content of an event detected in the event detection step.

[0011] According to a further embodiment of the present disclosure, a computer program is a computer program that causes a computer to execute authentication processing in a machine operation system including a control device of a robot or an industrial machine, a wireless operation device connected to the control device via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content, and a wired operation device connected to the control device via wired communication and including a contactless authentication tag assigned an individual identifier, and the computer program includes: an event detection step for detecting an approach event,wherein the contactless authentication mark enters the interior of a predefined first area of ​​the wireless operating device from outside the first area; an identifier acquiring step for acquiring the identifier of the contactless authentication mark when the proximity event is detected in the event detecting step; an identifier writing step for setting the identifier of the contactless authentication mark acquired in the identifier acquiring step as a reference identifier in a setting mode and writing the reference identifier into a storage unit of the control device via wireless communication; an identifier reading step for reading the reference identifier from the storage unit of the control device via wireless communication when the proximity event is detected in the event detecting step in an operation mode after the setting mode; and an authentication step of causingthat the control device executes the processing of validating an operation content for the wireless operation device when the identifier obtained in the identifier acquisition step matches the reference identifier acquired in the identifier reading step in the operation mode.,

[0012] According to another aspect of the present disclosure, a machine operating system includes: a wireless operating device connected to a control device of a robot or an industrial machine via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content; and a wired operating device connected to the control device via wired communication and including a contactless authentication mark, wherein the wireless operating device includes a mark detecting unit configured to detect the contactless authentication mark and an authentication unit configured to validate an operation content for the wireless operating device when the contactless authentication mark is detected in the mark detecting step.

[0013] According to another aspect of the present disclosure, a computer program is a computer program that causes a computer to execute authentication processing in a machine operation system including a wireless operation device connected to a control device of a robot or an industrial machine via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content, and a wired operation device connected to the control device via wired communication and including a contactless authentication mark, and the computer program includes: a mark detecting step of detecting the contactless authentication mark;and an authentication step of validating an operation content for the wireless operation device when the contactless authentication mark is detected in the mark detection step;

[0014] According to a further embodiment of the present disclosure, a machine operating system further comprises: a control device of a robot or an industrial machine; a wireless operating device connected to the control device via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content; and a wired operating device connected to the control device via wired communication and comprising a contactless authentication tag assigned an individual identifier, wherein the wireless operating device comprises a tag acquisition unit configured to acquire the contactless authentication tag, an identifier acquisition unit configured to acquire the identifier of the contactless authentication tag,when the contactless authentication mark is detected by the mark detection unit, an identifier writing unit configured to set the identifier of the contactless authentication mark acquired by the identifier acquisition unit as a reference identifier in a setting mode and write the reference identifier into a storage unit of the control device via wireless communication, and an identifier reading unit configured to read the reference identifier from the storage unit of the control device via wireless communication when the contactless authentication mark is detected by the mark acquisition unit in an operation mode after the setting mode, and the control device comprises an authentication unit configured to validate an operation content for the wireless operation device,if the identifier obtained by the identifier acquisition unit matches the reference identifier in the operating mode.,

[0015] Furthermore, according to another aspect of the present disclosure, a computer program is a computer program for causing a computer to execute authentication processing in a machine operation system including a control device of a robot or an industrial machine, a wireless operation device connected to the control device via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content, and a wired operation device connected to the control device via wired communication and including a contactless authentication mark assigned an individual identifier, and the computer program includes: a mark detecting step for detecting the contactless authentication mark;An identifier acquisition step for acquiring the identifier of the contactless authentication mark when the contactless authentication mark is detected in the mark acquisition step; An identifier writing step for setting the identifier of the contactless authentication mark acquired in the identifier acquisition step as a reference identifier in a setting mode and writing the reference identifier into a storage unit of the control device via wireless communication; An identifier reading step of reading the reference identifier from the storage unit of the control device via wireless communication when the contactless authentication mark is detected in the mark acquisition step in an operation mode after the setting mode;and an authentication step that causes the control device to execute processing of validating an operation content for the wireless operation device when the identifier obtained in the identifier obtaining step matches the reference identifier obtained in the identifier reading step in the operation mode.; Advantageous effects of the invention

[0016] According to an aspect of the present disclosure, safety can be ensured at low cost in a machine operating system formed of a multi-purpose information terminal and a base member having a safety switch. Brief description of the drawings

[0017] They show: Fig. 1 is a diagram showing a machine operating system according to the first to third embodiments of the present disclosure; Fig. 2 is a flowchart showing a movement sequence of the machine operating system according to the first embodiment of the present disclosure; Fig. 3 is a diagram showing a first specific example of movement of the machine operating system according to the first embodiment of the present disclosure; Fig. 4 is a diagram showing a second specific example of movement of the machine operating system according to the first embodiment of the present disclosure; Fig. 5 is a flowchart showing a movement sequence of the machine operating system according to the second embodiment of the present disclosure; Fig. 6 is a diagram (part 1) showing a specific example of a movement of the machine operating system according to the second embodiment of the present disclosure; Fig. 7 is a diagram (part 2) showing a specific example of a movement of the machine operating system according to the second embodiment of the present disclosure; Fig. 8 is a flowchart showing a movement sequence of the machine operating system according to the third embodiment of the present disclosure; Fig. 9 is a diagram showing a specific example of a movement of the machine operating system according to the third embodiment of the present disclosure; Fig. 10 is a diagram showing a machine operating system according to a fourth embodiment of the present disclosure; Fig. 11 is a flowchart showing a movement sequence in a setting mode of the machine operating system according to the fourth embodiment of the present disclosure; Fig. 12 is a diagram showing a specific example of movement in the setting mode of the machine operating system according to the fourth embodiment of the present disclosure; Fig. 13 is a flowchart showing a movement sequence in an operation mode of the machine operating system according to the fourth embodiment of the present disclosure; Fig. 14 is a diagram showing a specific example of a movement in the operation mode of the machine operating system according to the fourth embodiment of the present disclosure; Fig. 15 is a diagram showing a machine operating system according to a fifth embodiment of the present disclosure; Fig. 16 is a flowchart showing a movement sequence in a setting mode of the machine operating system according to the fifth embodiment of the present disclosure; Fig. 17 is a diagram showing a specific example of movement in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure; Fig. 18 is a diagram showing a machine operating system according to a modification example of the fifth embodiment of the present disclosure; Fig. 19 is a flowchart showing a movement sequence in an operation mode of the machine operating system according to the fifth embodiment of the present disclosure; Fig. 20 is a diagram (part 1) showing a specific example of a movement in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure; and Fig. 21 is a diagram (part 2) showing a specific example of a movement in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure. Description of implementation examples

[0018] Hereinafter, a machine operation system and a computer program for performing authentication processing will be described with reference to the drawings. The same element is denoted by the same reference numeral in each of the drawings. In addition, the scale in the drawings is changed where appropriate for ease of understanding. The illustrated embodiment is an implementation example, and the present disclosure is not limited to the illustrated embodiment. "Manual operation of a robot or an industrial machine" means that a control device controls a movement of the robot or the industrial machine based on a command issued from a teaching operation device by operating the teaching operation device. <Erstes Ausführungsbeispiel>

[0019] First, a machine operating system according to a first embodiment of the present disclosure will be described.

[0020] Fig. 1 is a diagram for describing the machine operating system according to the first embodiment to a third embodiment of the present disclosure.

[0021] A robot, an industrial machine, or the like is envisaged as the machine operated by a machine operating system 100 according to the first embodiment and all embodiments of the present disclosure described below, but a case where a robot 2 is operated is given here as an example. When the machine operated by the machine operating system 100 is an industrial machine, the term "robot 2" in the following description may be replaced with the term "industrial machine." Examples of industrial machines include machine tools, forging machines, injection molding machines, and the like.

[0022] The robot 2 and a control device 3 are connected by a cable 41 (hereinafter referred to as "robot cable 41") so that wired communication is possible, and a movement of the robot 2 is controlled by the control device 3. An arithmetic processing device (processor) is provided in the control device 3. As the arithmetic processing device, for example, an IC, an LSI, a CPU, an MPU, a DSP, and the like can be considered. The control device 3 with the arithmetic processing device is, for example, a functional module realized by a computer program executed on a processor. When the control device 3 is implemented in the form of a computer program, for example, the arithmetic processing device is operated according to the computer program, so that each function for controlling a movement of the robot 2 can be achieved.Furthermore, a computer program for executing the processing of the control device 3 may be provided in the form of a recording in a computer-readable recording medium, such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, the control device may be implemented as a semiconductor integrated circuit in which a computer program executing the function is written.

[0023] The machine operating system 100 according to the first embodiment of the present disclosure includes a wireless operating device 11 and a wired operating device 12. The wireless operating device 11 and the wired operating device 12 together form a teaching operating device 1.

[0024] The wireless control device 11 is 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 screen display and input acceptance functions. As an alternative example, the wireless control device 11 may include a display that displays the screen and a physical button that accepts input. The wireless control device 11 includes a power button 22 for supplying power to the wireless control device 11. The wireless control device 11 is activated by pressing the power button 22 once (turning it on). The wireless control device 11 includes a battery (not shown) in the wireless control device 11.The battery of the wireless control device 11 is charged via a connector or a charging port (a charging station) after the wireless control device 11 has been removed from the wired control device 12.

[0025] An operation application software program for performing registration, editing, condition setting, and state display of a motion program related to the robot 2, teaching of the robot 2, manual operation, and the like is installed in a storage unit (not shown) included in the wireless operation device 11, and an arithmetic processing device (not shown) also included in the wireless operation device 11 performs a motion according to the operation application software program installed in the storage unit, and thus the wireless operation device 11 achieves a wireless teaching operation function for operating (teaching) the robot 2. As the arithmetic processing device, for example, an IC, an LSI, a CPU, an MPU, a DSP, and the like can be used.The storage unit is formed of a non-volatile memory that is electrically erasable and writable, such as an EEPROM (registered trademark), a random access memory that can be read and written at high speed, such as a DRAM and an SRAM, or the like. The wireless operation device 11 is connected to the control device 3 of the robot 2 via wireless communication and includes a communication interface (not shown) for the connection. The wireless operation device 11 commands the control device 3 to move the robot 2 in response to an operation content for the wireless operation device 11.

[0026] For example, short-range wireless communication is used as wireless communication between the wireless operation device 11 and the control device 3. Short-range wireless communication refers to communication with a communication distance shorter than that of long-range wireless communication, and specifically, it refers to communication with a communication distance of less than 10 meters, for example. As short-range wireless communication, various types of short-range wireless communication with a short communication distance can be used, and the communication conforms to any communication standard (e.g., Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark) and the like) developed by, for example, IEEE, ISO, IEC and the like.As an example, the example shown illustrates a case where communication is carried out using Wi-Fi (a registered trademark). Dedicated Short Range Communication (DSRC), Radio Frequency Identification (RFID), and similar technologies are used to implement wireless short-range communication.

[0027] 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 "teaching operating device cable 33"). The wired operating device 12 includes a mounting base 30, as well as a release switch 31 and an emergency stop button 32 as safety switches.

[0028] The attachment base 30 is for detachably attaching the wireless operation device 11 to the wired operation device 12. As an attachment method of the wireless operation device 11 by the attachment base 30, there are, for example, a method of gripping the wireless operation device 11 by clamping the wireless operation device 11 by a spring mechanism provided in the wired operation device 12, a method of fixing the wireless operation device 11 with a screw, a method of adhering the wireless operation device 11 by using an adhesive member, and the like.It should be noted that regardless of the presence or absence of attachment between the wireless operation device 11 and the wired operation device 12, no direct electrical connection and communication is formed between the wireless operation device 11 and the wired operation device 12 by the attachment base 30, and the communication between the wireless operation device 11 and the wired operation device 12 is performed via the control device 3.

[0029] The release switch 31 is a safety switch that allows the control device 3 to control a movement of the robot 2 via the wireless operation device 11 while the release switch 31 is pressed (turned on), which disallows the control device 3 to control a movement of the robot 2 via the wireless operation device 11 when the press is released (turned on). A signal in response to an operation content for the release switch 31 is transmitted from the wired operation device 12 to the control device 3 via the teaching operation device cable 33. For example, as long as the release switch 31 is not pressed, the robot 2 does not perform any movement even if an operation is performed via the wireless operation device 11. As long as the release switch 31 is pressed, the robot 2 can be operated via the wireless operation device 11.

[0030] The emergency stop button 32 is a safety switch that issues an emergency stop command to the controller 3 for the robot 2. When the emergency stop button 32 is pressed (turned on), an emergency stop signal is transmitted from the wired operator 12 to the controller 3 via the teaching operator cable 33, and the robot 2 performs an emergency stop in response to the signal.

[0031] Furthermore, a contactless authentication mark 26 is located near or in the mounting base 30 of the wired operating device 12. A read / write function for reading and writing the contactless authentication mark 26 is provided in the wireless operating device 11. The contactless authentication mark 26 is formed, for example, from a near-field communication (NFC) mark. NFC is a type of individual identification technology through wireless communication using radio frequency identification (RFID). In the present embodiment, for example, ISO / IEC 14443 is used as an international standard for a contactless IC card.For example, ISO / IEC 14443 specifies that communication is performed by electromagnetic induction, that the communication-capable distance between a reader / writer and a contactless authentication mark is approximately 10 cm, that a frequency of 13.56 MHz is used for communication, and the like. In this embodiment, for example, ISO / IEC 18092 (NFC IP-1) is used as an international standard for a communication protocol. Note that other international standards for a contactless IC card and communication protocol may also be used.

[0032] The wireless operating device 11 includes an event detection unit 23, an authentication unit 24, and an application execution unit 25. The event detection unit 23, the authentication unit 24, and the application execution unit 25 are realized as a function of the arithmetic processing device provided in the wireless operating device 11. Fig. 1 schematically shows the event detection unit 23, the authentication unit 24 and the application execution unit 25. The event detection unit 23, the authentication unit 24 and the application execution unit 25 can be formed, for example, in the form of a software program or by a combination of various electronic circuits and a software program.For example, when the event detection unit 23, the authentication unit 24, and the application execution unit 25 are formed in the form of a software program, various software programs are installed in the storage unit (not shown) in the wireless operation device 11, an arithmetic processing unit (not shown) in the wireless operation device 11 executes a movement according to the software program installed in the storage unit, and thus a function of the event detection unit 23, the authentication unit 24, and the application execution unit 25 is achieved.Alternatively, the event detection unit 23, the authentication unit 24, and the application execution unit 25 may be implemented as a semiconductor integrated circuit in which a software program that achieves a function of each of the units is written, and in this case, the function of the event detection unit 23, the authentication unit 24, and the application execution unit 25 is achieved by incorporating the semiconductor integrated circuit into the wireless operating device 11.

[0033] The application execution unit 25 executes an operation application software program that controls the control device 3 so that the robot 2 executes a movement in response to an operation content related to a teaching operation on the robot 2. When the operation application software program is executed by the application execution unit 25 (that is, when the operation application software program is already activated), event detection processing is performed by the event detection unit 23. The software program including the event detection unit 23 and the operation application software program can be implemented separately.

[0034] The event detection unit 23 detects an approach event in which the contactless authentication mark 26 enters a first area, which is a predefined proximity range of the wireless operation device 11, from outside the first area, and a retreat event in which the contactless authentication mark 26 leaves the first area to outside the first area. Generally, a multi-purpose information terminal, which is the wireless operation device 11, is provided with a read / write function for reading and writing the contactless authentication mark 26, and the event detection unit 23 detects an approach event and a retreat event through an application programming interface (API) of the read / write function.For example, in the read / write function according to ISO / IEC 14443, a range of approximately 10 cm around the wireless control device 11 can be set as the "first range" described above. Note that the numerical value given here is only an example, and the first range can also be defined with a different numerical value.

[0035] The event detection unit 23 detects the occurrence of a proximity event at a time when the contactless authentication mark 26, which is located outside the first range of the wireless operation device 11, gradually approaches the wireless operation device 11 and enters the interior of the first range of the wireless operation device 11. For example, the event detection unit 23 detects a proximity event when the wireless operation device 11, which is located in a remote position, gradually approaches the wired operation device 12 and is attached to the attachment base 30 of the wired operation device 12.

[0036] The event detection unit 23 detects the occurrence of a withdrawal event at a time when the contactless authentication mark 26 located within the first range of the wireless operation device 11 is gradually separated from the wireless operation device 11 and leaves the first range of the wireless operation device 11. For example, the event detection unit 23 detects a withdrawal event when the wireless operation device 11 attached to the attachment base 30 of the wired operation device 12 is removed from the wired operation device 12 and gradually separated from the wired operation device 12, and the wired operation device 12 reaches the outside of the first range of the wireless operation device 11.

[0037] The authentication unit 24 determines whether an operation content for the wireless operation device 11 is valid or invalid in response to the content of an event detected by the event detection unit 23. When an approach event is detected by the event detection unit 23, the authentication unit 24 validates an operation content for the wireless operation device 11. When a retreat event is detected by the event detection unit 23, the authentication unit 24 invalidates an operation content for the wireless operation device 11. Note that in a non-operation state of the control device 3, the wired operation device 12 and the wireless operation device 11 do not command any movement of the robot 2.When the wired operation device 12 and the wireless operation device 11 are in a non-operation state, if an activation icon 51 displayed on the touch panel 21 and used to activate an operation application software program is pressed (touched) by a worker, the operation application software program is activated. When a proximity event is detected by the event detection unit 23 during the execution of the operation application software program by the application execution unit 25, an operation content for the wireless operation device 11 is validated by the authentication unit 24.When an operation content for the wireless operation device 11 is validated by the authentication unit 24, the worker can perform teaching (manual operation) of the robot 2, registration, editing, or condition setting of a motion program related to the robot 2, and the like as manual operation of the robot 2 using the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 using the wireless operation device 11. When a retraction event is detected by the event detection unit 23 during the execution of the operation application software program by the application execution unit 25, an operation content for the wireless operation device 11 is invalidated by the authentication unit 24.When an operation content for the wireless control device 11 is invalidated by the authentication unit 24, the worker of the control device 3 cannot command a movement of the robot 2 by using the teaching operation device 1 constituted of the wireless control device 11 and the wired control device 12.

[0038] Fig. 2 is a diagram showing a movement sequence of the machine operating system according to the first embodiment of the present disclosure.

[0039] When the wired operation device 12 and the wireless operation device 11 are in a non-operation state in step S101, the wireless operation device 11 does not issue a command to the control device 3 for a movement of the robot 2.

[0040] In step S102, it is determined whether an operation application software program is activated. The processing in step S102 may be executed by the event detection unit 23, may be executed by the authentication unit 24, or may be executed in a processing unit other than the event detection unit 23 and the authentication unit 24 provided in the arithmetic processing device in the wireless operation device 11. The processing in step S102 is repeatedly executed in a predetermined cycle.

[0041] If it is not determined in step S102 that the operation application software program is activated, the authentication unit 24 invalidates an operation content for the wireless operation device 11 in step S108. Then, the processing returns to step S102.

[0042] If it is determined in step S102 that the operation application software program is activated, the authentication unit 24 determines in step S103 whether a proximity event is detected by the event detection unit 23. The processing in step S103 is repeatedly executed in a predetermined cycle.

[0043] If the approach event is not detected in step S103, the authentication unit 24 invalidates an operation content for the wireless operation device 11 in step S109. Then, the processing returns to step S103.

[0044] When the approach event is detected in step S103, the authentication unit 24 validates an operation content for the wireless operation device 11 in step S104. In this way, a worker can perform teaching (manual operation) of the robot 2, registration, editing, or condition setting of a motion program related to the robot 2, and the like as manual operation of the robot 2 using the wireless operation device 11. In response to the worker's manual operation of the wireless operation device 11, the control device 3 controls a movement of the robot 2 (step S105). Note that, in the processing in step S105, operation of the robot 2 via the wireless operation device 11 can be achieved while the enable switch 31 is pressed, and the robot 2 performs an emergency stop when the emergency stop button 32 is pressed.

[0045] In step S106, the authentication unit 24 determines whether a withdrawal event is detected by the event detection unit 23. The processing in step S106 is repeatedly executed in a predetermined cycle.

[0046] If the retraction event is not detected in step S106, the processing returns to step S105.

[0047] When the retraction event is detected in step S106, the authentication unit 24 invalidates an operation content for the wireless operation device 11 in step S107. In this way, the worker of the control device 3 cannot command a movement of the robot 2 by using the teaching operation device 1 constituted of the wireless operation device 11 and the wired operation device 12.

[0048] It should be noted that each step described above can be implemented in the form of a software program (hereinafter also referred to as a "computer program") that can be executed by the arithmetic processing device in the wireless operating device 11. Creating a device that executes the above-described processing and the software program that causes a computer to execute the above-described processing is a matter that can be easily accomplished by one of ordinary skill in the art. Likewise, storing a computer program that causes a computer to execute the above-described processing on a recording medium is obvious to one of ordinary skill in the art.

[0049] The computer program for causing a computer (the arithmetic processing device in the wireless operation device 11) to execute authentication processing in the machine operation system 100 includes an event detection step, an authentication step, and an application execution step. In the event detection step, an approach event in which the contactless authentication mark 26 enters the interior of a predefined first area of ​​the wireless operation device 11 from outside the first area and a retreat event in which the contactless authentication mark 26 leaves the interior of the first area to outside the first area are detected. In the authentication step, whether an operation content is valid or invalid for the wireless operation device 11 is determined in response to the content of an event detected in the event detection step.In other words, in the authentication step, an operation content for the wireless operation device 11 is validated when the approach event is detected in the event detection step, and an operation content for the wireless operation device 11 is invalidated when the withdrawal event is detected in the event detection step. In the application execution step, an operation application software program for controlling the control device 3 is executed so that the robot 2 executes a movement in response to an operation content related to a teaching operation on the robot 2. The event detection processing in the event detection step is executed when the operation application software program is executed by the application execution step.

[0050] Several specific examples of movement of the machine operating system 100 according to the first embodiment of the present disclosure are listed below.

[0051] Fig. 3 is a diagram showing a first specific example of movement of the machine operating system according to the first embodiment of the present disclosure.

[0052] In Fig. 3, in a state A1, the wireless operation device 11 is away from the wired operation device 12, and the wired operation device 12 is located outside the first range of the wireless operation device 11. In the state A1, an operation content for the wireless operation device 11 is invalidated by the authentication unit 24, and thus, operation of the teaching operation device 1 formed from the wireless operation device 11 and the wired operation device 12 by a worker is prohibited.

[0053] In state A1, when an operation application software program is activated and the wireless operation device 11 is also attached to the wired operation device 12, an approach event is detected by the event detection unit 23, and an operation content for the wireless operation device 11 is validated by the authentication unit 24, and thus, the state A1 transitions to a state A2. In state A2, a teaching operation screen of the robot 2 based on the operation application software program is displayed on the touch panel 21. In this way, the worker can perform an operation such as teaching (manual operation) of the robot 2 and registering, editing, or setting conditions of a motion program related to the robot 2 as an operation using the wireless operation device 11.

[0054] In state A2, when the wireless operation device 11 is removed from the wired operation device 12 and the wired operation device 12 moves from the inside to the outside of the first range of the wireless operation device 11, a withdrawal event is detected by the event detection unit 23, and the state A2 transitions to state A1. In state A1, the withdrawal event is detected by the event detection unit 23, and an operation content for the wireless operation device 11 is invalidated by the authentication unit 24, and thus, operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 by the worker is prohibited.In addition, since manual operation by the worker is not possible, a screen prompting the attachment of the wireless operation device 11 to the wired operation device 12 may be displayed on the touch panel 21 instead of displaying the teaching operation screen.

[0055] Fig. 4 is a diagram showing a second specific example of movement of the machine operating system according to the first embodiment of the present disclosure.

[0056] In Fig. 4, in a state B1, the wireless operation device 11 is remote from the wired operation device 12, and the wired operation device 12 is located outside the first range of the wireless operation device 11. In state B1, an operation content for the wireless operation device 11 is invalidated by the authentication unit 24, and thus, operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 by a worker is prohibited. Furthermore, in state B1, an operation application software program is not activated.

[0057] In state B1, when the wireless operation device 11 is attached to the wired operation device 12, a proximity event occurs, and state B1 transitions to state B2. However, in state B2, the operation application software program is not yet executed by the application execution unit 25 (the operation application software program is not yet activated), and therefore the event detection unit 23 cannot detect the proximity event. Thus, an operation content for the wireless operation device 11 is invalidated, and operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 by the worker is still prohibited. In state B2, the activation icon 51 for activating the operation application software program is displayed on the touch panel 21 instead of the teaching operation screen of the robot 2.

[0058] In state B2, when the activation icon 51 is pressed (touched) by the worker, the operation application software program is activated, and state B2 transitions to state B3. In state B3, the wireless operation device 11 is already attached to the wired operation device 12, and therefore, the event detection unit 23 does not detect the proximity event. Thus, an operation content for the wireless operation device 11 is invalidated by the authentication unit 24, and thus, the worker's operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 is still prohibited.

[0059] In state B3, when the wireless operation device 11 is removed from the wired operation device 12 and the wired operation device 12 moves from the inside to the outside of the first range of the wireless operation device 11, a withdrawal event is detected by the event detection unit 23, and the state B3 transitions to a state B4. In state B4, the withdrawal event is already detected by the event detection unit 23, and an operation content for the wireless operation device 11 is accordingly invalidated by the authentication unit 24, and thus, operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 by the worker is still prohibited.

[0060] In state B4, the approach event is detected by the event detection unit 23 when the wireless operation device 11 is still attached to the wired operation device 12, and the state B4 transitions to a state B5. In state B5, the approach event is already detected by the event detection unit 23, and thus, an operation content for the wireless operation device 11 is validated by the authentication unit 24. In state B5, the teaching operation screen of the robot 2 based on the operation application software program is displayed on the touch panel 21. In this way, the worker can perform an operation such as teaching (manual operation) of the robot 2 and registering, editing, or setting conditions of a motion program related to the robot 2 as an operation using the wireless operation device 11. <Zweites Ausführungsbeispiel>

[0061] Next, the machine operating system according to the second embodiment of the present disclosure will be described.

[0062] In the second embodiment of the present disclosure, when a wireless operating device 11 is turned on, an operating application software program is automatically activated as a background process, and event detection processing by an event detection unit 23 can be executed immediately after the wireless operating device 11 is turned on. A configuration of a machine operating system 100 according to the second embodiment of the present disclosure is substantially as described with reference to Fig. 1, but differs from the configuration of the machine operating system 100 according to the first embodiment of the present disclosure in the following points.

[0063] The second embodiment of the present disclosure includes a mode in which an operation application software program is executed as a background process and a mode in which the operation application software program is executed as a foreground process. In both modes, the operation application software program is executed by an application execution unit 25, and thus, event detection processing is performed by the event detection unit 23.

[0064] Switching from the background process of the operation application software to the foreground process is performed when a teaching operation start command is received. The teaching operation start command is issued, for example, by pressing (touching) an activation icon 51 displayed on a touch panel 21 of the wireless operation device 11, which serves to activate the operation application software program. When the activation icon 51 displayed on the touch panel 21 is pressed, the command to start the teaching operation is transmitted from a control unit (not shown) configured to control a movement of the wireless operation device 11 to the application execution unit 25 in an arithmetic processing device in the wireless operation device 11.

[0065] Switching from the foreground process of the operation application software program to the background process is performed when a command to end the teaching operation is issued. The command to end the teaching operation is issued, for example, by pressing (touching) an end button (not shown) displayed on the touch panel 21 of the wireless operation device 11, which serves to end the operation application software program in a teaching operation screen. When the end button displayed on the touch panel 21 is pressed, the command to end the teaching operation is transmitted from the control unit (not shown) configured to control a movement of the wireless operation device 11 to the application execution unit 25 in the arithmetic processing device in the wireless operation device 11.

[0066] The power supply of the wireless control device 11 is turned on by pressing (turning on) a power button 22 of the wireless control device 11. The application execution unit 25 activates the control application software program as a background process when the wireless control device 11 is turned on.

[0067] The application execution unit 25 performs control so that the teaching operation screen is not displayed on the touch panel 21 while the operation application software program is executed as a background process. While the operation application software program is executed as a background process, a worker can use an application software program different from the operation application software program in a multi-purpose information terminal that is the wireless operation device 11.

[0068] When the teaching operation start command is issued while the operation application software program is running as a background process, the application execution unit 25 brings the operation application software program to the foreground and executes the operation application software program. The application execution unit 25 controls the display of the teaching operation screen on the touch panel 21 while the operation application software program is running as a foreground process.

[0069] When the instruction to end the teaching operation is given while the operation application software program is executed as a foreground process, the application execution unit 25 switches the operation application software program to the background process and executes the operation application software program.

[0070] Fig. 5 is a flowchart showing a movement sequence of the machine operating system according to the second embodiment of the present disclosure.

[0071] When a wired operating device 12 and the wireless operating device 11 are in a non-operation state in step S201, the wireless operating device 11 does not issue any movement commands to a control device 3 for a robot 2. Furthermore, at a time point in step S201, the wireless operating device 11 is not turned on.

[0072] In step S202, the power supply of the wireless control device 11 is turned on by pressing the power supply button 22 of the wireless control device 11 (turned on).

[0073] In step S203, the application execution unit 25 executes an operation application software program as a background process. During the execution of step S203, the application execution unit 25 performs control so that the teaching operation screen is not displayed on the touch panel 21. During the execution of step S203, an authentication unit 24 also invalidates an operation content for the wireless operation device 11. Furthermore, during the execution of step S203, a worker can use an application software program different from the operation application software program in the multi-purpose information terminal that is the wireless operation device 11.

[0074] In step S204, the authentication unit 24 determines whether a proximity event is detected by the event detection unit 23. The processing in step S204 is repeatedly executed in a predetermined cycle.

[0075] When the approach event is detected in step S204, the application execution unit 25 determines in step S205 whether there is a command to start the teaching operation. The processing in step S205 is repeatedly executed in a predetermined cycle.

[0076] If it is determined in step S205 that the command to start the teaching operation is present, the application execution unit 25 executes the operation application software program as a foreground process in step S206. During the execution of step S206, the application execution unit 25 performs control of the display of the teaching operation screen on the touch panel 21.

[0077] In step S207, the authentication unit 24 validates an operation content for the wireless operation device 11. In this way, the worker can perform teaching (manual operation) of the robot 2, registration, editing, or condition setting of a motion program for the robot 2, and the like as manual operation of the robot 2 using the wireless operation device 11. In response to the worker's manual operation of the wireless operation device 11, the control device 3 controls a movement of the robot 2 (step S208). Note that, in the processing in step S208, operation of the robot 2 via the wireless operation device 11 can be achieved while a release switch 31 is pressed, and the robot 2 performs an emergency stop when an emergency stop button 32 is pressed.

[0078] In step S209, the application execution unit 25 determines whether there is a command to terminate the teaching operation. The processing in step S209 is repeatedly executed in a predetermined cycle.

[0079] If it is not determined in step S209 that the instruction to end the teaching operation is present, the processing returns to step S208.

[0080] If it is determined in step S209 that the instruction to end the teaching operation is present, the application execution unit 25 executes the operation application software program as a background process in step S210. During the execution of step S210, the application execution unit 25 performs control so that the teaching operation screen is not displayed on the touch panel 21. Further, during the execution of step S210, the worker can use an application software program different from the operation application software program in the multi-purpose information terminal that is the wireless operation device 11.

[0081] In step S211, the authentication unit 24 determines whether a withdrawal event is detected by the event detection unit 23. The processing in step S211 is repeatedly executed in a predetermined cycle.

[0082] If the retraction event is not detected in step S211, the processing returns to step S205.

[0083] When the retraction event is detected in step S211, the authentication unit 24 invalidates an operation content for the wireless operation device 11 in step S212. In this way, the worker of the control device 3 cannot command a movement of the robot 2 by using a teaching operation device 1 constituted of the wireless control device 11 and the wired operation device 12.

[0084] It should be noted that each step described above can be implemented in the form of a software program (computer program) that can be executed by the arithmetic processing device in the wireless operation device 11. Creating a device that executes the above-described processing and the software program that causes a computer to execute the above-described processing is a matter that can be easily accomplished by one of ordinary skill in the art. Likewise, storing a computer program that causes a computer to execute the above-described processing on a recording medium is obvious to one of ordinary skill in the art.

[0085] The computer program for causing a computer (the arithmetic processing device in the wireless operation device 11) to execute authentication processing in the machine operation system 100 includes an event detection step, an authentication step, and an application execution step. In the event detection step, an approach event in which the contactless authentication mark 26 enters the interior of a predefined first area of ​​the wireless operation device 11 from outside the first area and a retreat event in which the contactless authentication mark 26 leaves the interior of the first area to outside the first area are detected. In the authentication step, whether an operation content is valid or invalid for the wireless operation device 11 is determined in response to the content of an event detected in the event detection step.In other words, in the authentication step, an operation content for the wireless operation device 11 is validated when the approach event is detected in the event detection step, and an operation content for the wireless operation device 11 is invalidated when the withdrawal event is detected in the event detection step. In the application execution step, an operation application software program is executed that controls the control device 3 so that the robot 2 executes a movement in response to an operation content related to a teaching operation on the robot 2. The event detection processing in the event detection step is executed when the operation application software program is executed by the application execution step. The application execution step is activated when the wireless operation device is turned on.Furthermore, in the application execution step, the operation application software program is executed as a background process until a command to start teaching operation is issued to the wireless operation device 11 after the operation application software program is activated, and the operation application software program is executed as a foreground process after the command to start teaching operation is issued. Furthermore, in the application execution step, after a command to end teaching operation is issued to the wireless operation device 11 while the operation application software program is executed as a foreground process, the operation application software program is executed as a background process.Further, in the application execution step, while the operation application software program is executed as a background process, the control not to display the teaching operation screen on the touch panel 21 is performed, and while the operation application software program is executed as a foreground process, the control to display the teaching operation screen on the touch panel 21 is performed.

[0086] Fig. 6 and Fig. 7 are diagrams showing a specific example of a movement of the machine operating system according to the second embodiment of the present disclosure.

[0087] In Fig. 6, in a state C1, the wireless operation device 11 is remote from the wired operation device 12, and the wired operation device 12 is located outside the first range of the wireless operation device 11. Furthermore, in the state C1, the wireless operation device 11 is not turned on. In the state C1, an operation content for the wireless operation device 11 is invalidated, and operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 by a worker is prohibited.

[0088] In state C1, when the power is turned on while the wireless operation device 11 is away from the wired operation device 12, an operation application software program is executed as a background process. The operation application software program is executed, and thus, when the wireless operation device 11 is attached to the wired operation device 12, a proximity event is detected by the event detection unit 23, and state C1 transitions to state C2. In state C2, the activation icon 51 for activating the operation application software program is displayed on the touch panel 21 instead of the teaching operation screen of the robot 2. In state C2, the activation icon 51 is not pressed (touched), and thus no command to start teaching operation is issued.Therefore, an operation content for the wireless operation device 11 is still invalidated by the authentication unit 24, and operation of the teaching operation device 1 formed of the wireless operation device 11 and the wired operation device 12 by the worker is prohibited.

[0089] When the activation icon 51 is pressed in state C2, state C2 transitions to state C3. In state C3, pressing the activation icon 51 issues the command to start the teaching operation, and thus the operation application software program is executed as a foreground process. Therefore, in state C3, the teaching operation screen is displayed on the touch panel 21, and an operation content for the wireless operation device 11 is validated by the authentication unit 24. In this way, the worker can perform an operation such as teaching (manual operation) of the robot 2 and registering, editing, or setting conditions of a motion program related to the robot 2 as an operation using the wireless operation device 11.

[0090] The state C4 in Fig. 7 is the same as state C3 in Fig. 6.

[0091] In state C4, when an end button is pressed on the teaching operation screen of the touch panel 21 of the wireless operation device 11, the state C4 transitions to state C5. In state C5, a command to end the teaching operation is issued by pressing the end button, and thus the operation application software program is executed as a background process. Therefore, in state C5, an operation content for the wireless operation device 11 is invalidated by the authentication unit 24, and thus the worker's operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 is prohibited. Furthermore, in state C5, the activation icon 51 for activating the operation application software program is displayed on the touch panel 21 instead of the teaching operation screen.

[0092] In state C5, when the wireless operation device 11 is removed from the wired operation device 12 and the wired operation device 12 moves from the inside to the outside of the first range of the wireless operation device 11, a withdrawal event is detected by the event detection unit 23, and the state C5 transitions to a state C6. In state C6, the withdrawal event is already detected by the event detection unit 23, and an operation content for the wireless operation device 11 is accordingly invalidated by the authentication unit 24, and thus, operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 by the worker is still prohibited.

[0093] In state C6, when the activation icon 51 is pressed (touched) by the worker, state C6 transitions to state C7. In state C7, pressing the activation icon 51 issues the teaching operation start command, thereby executing the operation application software program as a foreground process. However, in state C7, the wireless operation device 11 is moved away from the wired operation device 12, and the proximity event is not detected by the event detection unit 23. Thus, an operation content for the wireless operation device 11 is invalidated by the authentication unit 24. Thus, the worker is still prohibited from operating the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12. <Drittes Ausführungsbeispiel>

[0094] Next, the machine operating system according to the third embodiment of the present disclosure will be described.

[0095] The third embodiment of the present disclosure is achieved by further improving the operability for a worker. In the third embodiment of the present disclosure, the execution of an operation application software program is automatically switched between a background process and a foreground process in response to the detection of an approach event and a retreat event by an event detection unit 23. A configuration of a machine operating system 100 according to the third embodiment of the present disclosure is substantially as described with reference to Fig. 1, but differs from the configuration of the machine operating system 100 according to the first embodiment of the present disclosure in the following points.

[0096] If an approach event is detected by the event detection unit 23 while an application execution unit 25 is executing the operating application software program as a background process, the application execution unit 25 executes the operating application software program as a foreground process. Furthermore, if a retreat event is detected by the event detection unit 23 while the application execution unit 25 is executing the operating application software program as a foreground process, the application execution unit 25 executes the operating application software program as a background process.

[0097] Fig. 8 is a flowchart showing a movement sequence of the machine operating system according to the third embodiment of the present disclosure.

[0098] When a wired operation device 12 and a wireless operation device 11 are in a non-operation state in step S301, the wireless operation device 11 does not issue a command to move a robot 2 to a control device 3.

[0099] In step S302, when an activation icon 51 displayed on a touch panel 21, which serves to activate an operation application software program, is pressed (touched) by a worker, the operation application software program is activated. The application execution unit 25 executes the operation application software program as a background process immediately after the operation application software program is activated.

[0100] In step S303, an authentication unit 24 determines whether a proximity event is detected by the event detection unit 23. The processing in step S303 is repeatedly executed in a predetermined cycle.

[0101] If the approach event is not detected in step S303, the authentication unit 24 invalidates an operation content for the wireless operation device 11 in step S310. Then, the processing returns to step S303.

[0102] When the approach event is detected in step S303, the application execution unit 25 executes the operating application software program as a foreground process in step S304.

[0103] In step S305, the authentication unit 24 validates an operation content for the wireless operation device 11. In this way, the worker can perform teaching (manual operation) of the robot 2, registration, editing, or condition setting of a motion program related to the robot 2, and the like as manual operation of the robot 2 using the wireless operation device 11. In response to the worker's manual operation of the wireless operation device 11, the control device 3 controls a movement of the robot 2 (step S306). Note that, in the processing in step S306, operation of the robot 2 via the wireless operation device 11 can be achieved while a release switch 31 is pressed, and the robot 2 performs an emergency stop when an emergency stop button 32 is pressed.

[0104] In step S307, the authentication unit 24 determines whether a withdrawal event is detected by the event detection unit 23. The processing in step S307 is repeatedly executed in a predetermined cycle.

[0105] If the retraction event is not detected in step S307, the processing returns to step S306.

[0106] When the retraction event is detected in step S307, the authentication unit 24 invalidates an operation content for the wireless operation device 11 in step S308. In this way, the worker of the control device 3 cannot command a movement of the robot 2 by using a teaching operation device 1 constituted of the wireless control device 11 and the wired operation device 12.

[0107] In step S309, the application execution unit 25 executes the operating application software program as a background process.

[0108] It should be noted that each step described above can be implemented in the form of a software program (computer program) that can be executed by the arithmetic processing device in the wireless operation device 11. Creating a device that executes the above-described processing and the software program that causes a computer to execute the above-described processing is a matter that can be easily accomplished by one of ordinary skill in the art. Likewise, storing a computer program that causes a computer to execute the above-described processing on a recording medium is obvious to one of ordinary skill in the art.

[0109] The computer program that causes a computer (the arithmetic processing device in the wireless operation device 11) to execute authentication processing in the machine operation system 100 includes an event detection step, an authentication step, and an application execution step. In the event detection step, an approach event in which a contactless authentication mark 26 enters the interior of a predefined first area of ​​the wireless operation device 11 from outside the first area and a retreat event in which the contactless authentication mark 26 leaves the interior of the first area to outside the first area are detected. In the authentication step, whether an operation content is valid or invalid for the wireless operation device 11 is determined in response to the content of an event detected in the event detection step.In other words, in the authentication step, an operation content for the wireless operation device 11 is validated when the approach event is detected in the event detection step, and an operation content for the wireless operation device 11 is invalidated when the withdrawal event is detected in the event detection step. In the application execution step, an operation application software program is executed that controls the control device 3 so that the robot 2 executes a movement in response to an operation content related to a teaching operation on the robot 2. In the application execution step, when the approach event is detected in the event detection step while the operation application software program is executing as a background process, the operation application software program is executed as a foreground process.In the application execution step, if the retraction event is detected in the event detection step while the operator application software program is running as a foreground process, the operator application software program is executed as a background process.

[0110] Fig. 9 is a diagram showing a specific example of a movement of the machine operating system according to the third embodiment of the present disclosure.

[0111] In Fig. 9, in a state D1, the wireless operation device 11 is remote from the wired operation device 12, and the wired operation device 12 is located outside the first range of the wireless operation device 11. In state D1, an operation content for the wireless operation device 11 is invalidated by the authentication unit 24, and operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 by a worker is prohibited. Furthermore, in state D1, an operation application software program is executed as a background process, and a teaching operation screen is not displayed on the touch panel 21.

[0112] In state D1, when the wireless operation device 11 is attached to the wired operation device 12, a proximity event occurs, and the state D1 transitions to a state D2. In state D2, the proximity event is detected by the event detection unit 23, and thus the operation application software program is executed as a foreground process. In state D2, the teaching operation screen is displayed on the touch panel 21, and an operation content for the wireless operation device 11 is validated by the authentication unit 24. In this way, the worker can perform an operation such as teaching (manual operation) of the robot 2 and registering, editing, or condition setting of a motion program related to the robot 2 as an operation using the wireless operation device 11.

[0113] In state D2, when the wireless operation device 11 is removed from the wired operation device 12 and the wired operation device 12 moves from the inside to the outside of the first range of the wireless operation device 11, a withdrawal event is detected by the event detection unit 23, and the state D2 transitions to a state D3. In state D3, the withdrawal event is detected by the event detection unit 23, and thus the operation application software program is executed as a background process. In state D3, the teaching operation screen is not displayed on the touch panel 21. Furthermore, an operation content for the wireless operation device 11 is invalidated by the authentication unit 24, and thus, operation of the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12 by the worker is prohibited. <Viertes Ausführungsbeispiel>

[0114] Next, a machine operating system according to a fourth embodiment of the present disclosure will be described.

[0115] In the fourth embodiment of the present disclosure, a unique identifier for a wired operation device 12 provided with a contactless authentication mark 26 is recorded in advance in the contactless authentication mark 26, and coupling of a wireless operation device 11 and the wired operation device 12 is managed based on the identifier.

[0116] The fourth embodiment of the present disclosure includes a setting mode for coupling the wireless operation device 11 and the wired operation device 12, and a normal operation mode as the teaching operation device 1. The setting mode is performed in advance before the operation mode.

[0117] Fig. 10 is a diagram for describing the machine operating system according to the fourth embodiment of the present disclosure.

[0118] As in Fig. 10, a machine operating system 100 according to the fourth embodiment of the present disclosure further comprises an identifier acquisition unit 27 in the wireless operating device 11 of the Fig. 1. A robot 2, a control device 3, a teaching control device cable 33 and a robot cable 41 are arranged as shown in Fig. 1 described.

[0119] A unique identifier of the wired operating device 12 is stored in the contactless authentication mark 26 provided in the wired operating device 12. Therefore, if there are a plurality of wired operating devices 12, a unique identifier for each of the wired operating devices 12 is assigned to the contactless authentication mark 26 of each of the wired operating devices 12. A configuration of the wired operating device 12 other than the contactless authentication mark 26 is as shown in Fig. 1 described.

[0120] The wireless operating device 11 includes the identifier acquisition unit 27 in addition to an event detection unit 23, an authentication unit 24, and an application execution unit 25. Fig. 10 schematically shows the event detection unit 23, the authentication unit 24, the application execution unit 25 and the identifier acquisition unit 27.

[0121] The event detection unit 23, the application execution unit 25, a touch panel 21 and a power button 22 are arranged as shown in Fig. 1 described.

[0122] The ID acquisition unit 27 acquires an ID of the contactless authentication tag 26 when a proximity event is detected by the event detection unit 23. In both the setting mode and the operation mode, the ID acquisition unit 27 can perform ID acquisition processing.

[0123] In the operation mode, the authentication unit 24 validates an operation content for the wireless operation device 11 when an identifier acquired by the identifier acquisition unit 27 matches an identifier previously acquired by the identifier acquisition unit 27 in the setting mode. Furthermore, in the operation mode, the authentication unit 24 invalidates an operation content for the wireless operation device 11 when an identifier acquired by the identifier acquisition unit 27 does not match the identifier previously acquired by the identifier acquisition unit 27 in the setting mode.

[0124] The event detection unit 23, the authentication unit 24, the application execution unit 25 and the identification acquisition unit 27 may be formed, for example, in the form of a software program or by a combination of various electronic circuits and a software program.For example, when the event detection unit 23, the authentication unit 24, the application execution unit 25, and the ID acquisition unit 27 are implemented in the form of a software program, various software programs are installed in the storage unit (not shown) in the wireless operation device 11, an arithmetic processing unit (not shown) in the wireless operation device 11 executes a movement according to the software program installed in the storage unit, and thus a function of the event detection unit 23, the authentication unit 24, the application execution unit 25, and the ID acquisition unit 27 is achieved.Alternatively, the event detection unit 23, the authentication unit 24, the application execution unit 25, and the ID acquisition unit 27 may be implemented as a semiconductor integrated circuit in which a software program that achieves a function of each of the units is written, and in this case, the function of the event detection unit 23, the authentication unit 24, the application execution unit 25, and the ID acquisition unit 27 is achieved by incorporating the semiconductor integrated circuit into the wireless operating device 11.

[0125] Fig. 11 is a flowchart showing a movement sequence in the setting mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0126] If the wired operation device 12 and the wireless operation device 11 are in a non-operation state in step S401, the wireless operation device 11 does not issue a command to the control device 3 to move the robot 2. In step S401, a worker activates an operation application software program by pressing (touching) an activation icon 51, and a teaching operation screen is displayed on the touch panel 21. Then, the worker activates the setting mode on the operation application software program. The setting mode is activated, for example, by pressing (touching) a setting mode activation button on the teaching operation screen.

[0127] In step S402, the authentication unit 24 determines whether a proximity event is detected by the event detection unit 23. The processing in step S402 is repeatedly executed in a predetermined cycle.

[0128] When the worker attaches the wireless operation device 11 to the wired operation device 12, the event detection unit 23 detects the approach event, and the authentication unit 24 determines that the approach event was detected by the event detection unit 23 in step S402, and then the processing proceeds to step S403.

[0129] In step S403, the identifier acquiring unit 27 acquires an identifier of the contactless authentication mark 26.

[0130] In step S404, the identifier acquiring unit 27 writes the acquired identifier of the contactless authentication mark 26 into a storage unit (in Fig. 10 not shown) in the wireless control device 11. In this way, the pairing of the wireless control device 11 and the wired control device 12 is completed, and the setting mode is thereby ended.

[0131] Fig. Fig. 12 is a diagram showing a specific example of a movement in the setting mode of the machine operating system according to the fourth embodiment of the present disclosure. It should be noted that in Fig. 12, the wireless operating device 11 and the wired operating device 12 are separated from each other for the convenience of description, but it is assumed that the wireless operating device 11 is actually attached to the wired operating device 12.

[0132] In Fig. 12, a unique identifier ID1 for the wired operation device 12 provided with the contactless authentication mark 26 is stored in the contactless authentication mark 26. When a worker attaches the wireless operation device 11 to the wired operation device 12, the event detection unit 23 detects a proximity event, and the authentication unit 24 determines that the proximity event was detected by the event detection unit 23. In response to the detection of the proximity event by the event detection unit 23, the identifier acquisition unit 27 acquires the identifier ID1 of the contactless authentication mark 26 and writes the identifier ID1 into a storage unit 81 in the wireless operation device 11. In this way, the pairing of the wireless operation device 11 and the wired device 12 is completed.

[0133] Fig. 13 is a flowchart describing a movement sequence in the operation mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0134] In step S501, the pairing of the wireless operation device 11 and the wired operation device 12 in the setting mode is already completed. A worker activates an operation application software program by pressing (touching) the activation icon 51, and displays a teaching operation screen on the touch panel 21. The worker then activates the operation mode on the operation application software program. The operation mode is activated, for example, by pressing (touching) a button for activating the operation mode on the teaching operation screen. If the wired operation device 12 and the wireless operation device 11 are in a non-operation state in step S501, the wireless operation device 11 does not issue a command to the control device 3 for a movement of the robot 2.

[0135] In step S502, the authentication unit 24 determines whether a proximity event is detected by the event detection unit 23. The processing in step S502 is repeatedly executed in a predetermined cycle.

[0136] When the worker attaches the wireless operation device 11 to the wired operation device 12, the event detection unit 23 detects the approach event, and the authentication unit 24 determines that the approach event was detected by the event detection unit 23 in step S502, and then the processing proceeds to step S503.

[0137] In step S503, the identifier acquiring unit 27 acquires an identifier of the contactless authentication mark 26.

[0138] In step S504, the authentication unit 24 determines whether the ID acquired by the ID acquisition unit 27 in step S503 matches the ID acquired by the ID acquisition unit 27 and stored in the storage unit in the setting mode.

[0139] If it is determined in step S504 that the IDs match each other, the authentication unit 24 validates an operation content for the wireless operation device 11 in step S505. In this way, the worker can perform teaching (manual operation) of the robot 2, registration, editing, or condition setting of a motion program related to the robot 2, and the like as manual operation of the robot 2 using the wireless operation device 11. In response to the worker's manual operation of the wireless operation device 11, the control device 3 controls a movement of the robot 2 (step S506). Note that, in the processing in step S506, operation of the robot 2 via the wireless operation device 11 can be achieved while an enable switch 31 is pressed, and the robot 2 performs an emergency stop when an emergency stop button 32 is pressed.

[0140] In step S507, the authentication unit 24 determines whether a withdrawal event is detected by the event detection unit 23. The processing in step S507 is repeatedly executed in a predetermined cycle.

[0141] If the retraction event is not detected in step S507, the processing returns to step S506.

[0142] When the retraction event is detected in step S507, the authentication unit 24 invalidates an operation content for the wireless operation device 11 in step S508. In this way, the worker of the control device 3 cannot command a movement of the robot 2 by using a teaching operation device 1 constituted of the wireless control device 11 and the wired operation device 12.

[0143] Further, when it is determined in step S504 that the ID acquired by the ID acquisition unit 27 in step S503 does not match the ID acquired by the ID acquisition unit 27 and stored in the storage unit in the setting mode, the authentication unit 24 also invalidates an operation content for the wireless operation device 11 in step S508. In this way, the worker of the control device 3 cannot command a movement of the robot 2 by using the teaching operation device 1 constituted by the wireless operation device 11 and the wired operation device 12.

[0144] It should be noted that each step described above can be implemented in the form of a software program (computer program) that can be executed by the arithmetic processing device in the wireless operation device 11. Creating a device that executes the above-described processing and the software program that causes a computer to execute the above-described processing is a matter that can be easily accomplished by one of ordinary skill in the art. Likewise, storing a computer program that causes a computer to execute the above-described processing on a recording medium is obvious to one of ordinary skill in the art.

[0145] The computer program for causing a computer (the arithmetic processing device in the wireless operation device 11) to execute authentication processing in the machine operation system 100 includes an event detection step, an authentication step, an application execution step, and an identifier acquisition step. In the event detection step, an approach event in which the contactless authentication mark 26 enters a predefined first area of ​​the wireless operation device 11 from outside the first area and a withdrawal event in which the contactless authentication mark 26 leaves the first area to outside the first area are detected.In the application execution step, an operation application software program is executed that controls the control device 3 so that the robot 2 executes a movement in response to an operation content related to a teaching operation on the robot 2. In the identifier acquisition step, a unique identifier for the wired operation device 12 of the contactless authentication tag 26 is acquired when the approach event is detected in the event detection step. In the authentication step, whether an operation content is valid or invalid for the wireless operation device 11 is determined in response to the content of an event detected in the event detection step.In other words, in the authentication step in the operation mode, an operation content for the wireless operation device 11 is validated when an identifier obtained in the identifier acquisition step matches an identifier previously obtained in the identifier acquisition step in the setting mode. Furthermore, in the authentication step in the operation mode, an operation content for the wireless operation device 11 is invalidated when an identifier obtained in the identifier acquisition step does not match the identifier previously obtained in the identifier acquisition step in the setting mode.

[0146] Fig. 14 is a diagram showing a specific example of a movement in the operation mode of the machine operating system according to the fourth embodiment of the present disclosure.

[0147] In Fig. 14, it is assumed that the pairing of the wireless operating device 11 and the wired operating device 12 in the setting mode has already been completed and the identifier ID1 of the contactless authentication mark 26 obtained in the setting mode is stored in the storage unit 81 of the wireless operating device 11. It should be noted that in Fig. 14, the wireless operating device 11 and the wired operating device 12 are separated from each other for the convenience of description, but it is assumed that the wireless operating device 11 is actually attached to the wired operating device 12.

[0148] When the wireless operation device 11 is attached to the wired operation device 12 provided with the contactless authentication mark 26 in which the identifier ID1 is recorded, the identifier ID1 acquired by the identifier acquisition unit 27 matches the identifier ID1 acquired by the identifier acquisition unit 27 and stored in the storage unit 81 in the setting mode, and thus an operation content for the wireless operation device 11 is validated by the authentication unit 24. In this way, using the teaching operation device 1 constituted by the wireless operation device 11 and the wired operation device 12, a worker can perform teaching (manual operation) of the robot 2, registration, editing, or condition setting of a motion program related to the robot 2, and the like as manual operation of the robot 2 using the wireless operation device 11.

[0149] On the other hand, when the wireless operation device 11 is attached to the wired operation device 12 provided with the contactless authentication mark 26 in which an ID ID2 is recorded, the ID ID2 acquired by the ID acquisition unit 27 does not match the ID ID1 acquired by the ID acquisition unit 27 and stored in the storage unit 81 in the setting mode, and thus an operation content for the wireless operation device 11 is invalidated by the authentication unit 24. Thus, the worker of the control device 3 cannot command a movement of the robot 2 using the teaching operation device 1 constituted by the wireless operation device 11 and the wired operation device 12. <Fünftes Ausführungsbeispiel>

[0150] Next, a machine operating system according to a fifth embodiment of the present disclosure will be described.

[0151] In the fourth embodiment of the present disclosure described above, an ID of the contactless authentication mark 26 acquired in the setting mode is written into the storage unit 81 in the wireless operation device 11, but in the fifth embodiment of the present disclosure, an ID of a contactless authentication mark 26 acquired in a setting mode is written into a storage unit in a control device 3.

[0152] Fig. 15 is a diagram for describing the machine operating system according to the fifth embodiment of the present disclosure.

[0153] As in Fig. 15, a machine operating system 100 according to the fifth embodiment of the present disclosure further includes an ID acquisition unit 27, an ID writing unit 28, and an ID reading unit 29 in the wireless operating device 11 of the Fig. 1. A robot 2, the control device 3, a teaching control device cable 33 and a robot cable 41 are arranged as shown in Fig. 1 described.

[0154] A unique identifier for a wired operating device 12 is stored in the contactless authentication mark 26 provided in the wired operating device 12. Therefore, if there are a plurality of wired operating devices 12, a unique identifier for each of the wired operating devices 12 is assigned to the contactless authentication mark 26 of each of the wired operating devices 12. A configuration of the wired operating device 12 other than the contactless authentication mark 26 is as shown in Fig. 1 described.

[0155] Similar to the fourth embodiment, the fifth embodiment of the present disclosure also includes a setting mode for coupling a wireless operation device 11 and the wired operation device 12 and a normal operation mode as the teaching operation device 1. The setting mode is performed in advance before the operation mode.

[0156] The wireless operating device 11 includes an event detection unit 23, an authentication unit 24 and an application execution unit 25, as well as the identifier acquisition unit 27, the identifier writing unit 28 and the identifier reading unit 29. Fig. 15 schematically shows the event acquisition unit 23, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28 and the identifier reading unit 29.

[0157] The event detection unit 23, the application execution unit 25, a touch panel 21 and a power button 22 are arranged as shown in Fig. 1 described.

[0158] The ID acquisition unit 27 acquires an ID of the contactless authentication tag 26 when a proximity event is detected by the event detection unit 23. In both the setting mode and the operation mode, the ID acquisition unit 27 can perform ID acquisition processing.

[0159] The identifier writing unit 28 writes an identifier of the contactless authentication mark 26 obtained by the identifier obtaining unit 27 in the setting mode as a reference identifier in a (in Fig. 15 (not shown) storage unit of the control device 3. When the reference identifier has been written into the storage unit of the control device 3 by the identifier writing unit 28 in the wireless control device 11, the reference identifier is transmitted from the wireless control device 11 to the control device 3 via wireless communication. The previously described short-range wireless communication is used as wireless communication between the wireless control device 11 and the control device 3.

[0160] The identifier reading unit 29 reads the reference identifier from the memory unit of the control device 3 when a proximity event is detected in the operating mode after the setting mode. When the reference identifier is read from the memory unit of the control device 3 by the identifier writing unit 28 in the wireless operating device 11, the reference identifier is transmitted from the control device 3 to the wireless operating device 11 via wireless communication. The previously described short-range wireless communication is used for wireless communication between the control device 3 and the wireless operating device 11.

[0161] In the operation mode, the authentication unit 24 validates an operation content for the wireless operating device 11 if an identifier obtained by the identifier acquisition unit 27 matches the reference identifier. Furthermore, in the operation mode, the authentication unit 24 invalidates an operation content for the wireless operating device 11 if an identifier obtained by the identifier acquisition unit 27 does not match the reference identifier.

[0162] The event detection unit 23, the authentication unit 24, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28 and the identifier reading unit 29 may be formed, for example, in the form of a software program or by a combination of various electronic circuits and a software program.For example, when the event detection unit 23, the authentication unit 24, the application execution unit 25, the ID acquisition unit 27, the ID writing unit 28, and the ID reading unit 29 are implemented in the form of a software program, various software programs are installed in the storage unit (not shown) in the wireless operation device 11, an arithmetic processing unit (not shown) in the wireless operation device 11 executes an operation according to the software program installed in the storage unit, and thus a function of the event detection unit 23, the authentication unit 24, the application execution unit 25, the ID acquisition unit 27, the ID writing unit 28, and the ID reading unit 29 is achieved.Alternatively, the event detection unit 23, the authentication unit 24, the application execution unit 25, the ID acquisition unit 27, the ID writing unit 28, and the ID reading unit 29 may be implemented as a semiconductor integrated circuit in which a software program that achieves a function of each of the units is written, and in this case, the function of the event detection unit 23, the authentication unit 24, the application execution unit 25, the ID acquisition unit 27, the ID writing unit 28, and the ID reading unit 29 is achieved by incorporating the semiconductor integrated circuit into the wireless operating device 11.

[0163] Fig. 16 is a flowchart showing a movement sequence in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0164] If the wired operation device 12 and the wireless operation device 11 are in a non-operation state in step S601, the wireless operation device 11 does not issue a command to the control device 3 to move the robot 2. In step S601, a worker activates an operation application software program by pressing (touching) an activation icon 51, and a teaching operation screen is displayed on the touch panel 21. Then, the worker activates the setting mode on the operation application software program. The setting mode is activated, for example, by pressing (touching) a setting mode activation button on the teaching operation screen.

[0165] In step S602, the authentication unit 24 determines whether a proximity event is detected by the event detection unit 23. The processing in step S602 is repeatedly executed in a predetermined cycle.

[0166] When the worker attaches the wireless operation device 11 to the wired operation device 12, the event detection unit 23 detects the approach event, and thus the authentication unit 24 determines that the approach event was detected by the event detection unit 23 in step S602, and the processing then proceeds to step S603.

[0167] In step S603, the ID acquiring unit 27 acquires an ID of the contactless authentication mark 26 and sets the ID as a reference mark.

[0168] In step S604, the ID acquisition unit 27 writes the acquired reference ID of the contactless authentication tag 26 into the storage unit of the control device 3. When the reference ID is written by the ID writing unit 28 in the wireless operation device 11 into the storage unit of the control device 3, the reference ID is transmitted from the wireless operation device 11 to the control device 3 via wireless communication. Thus, the pairing between the wireless operation device 11 and the wired operation device 12 is completed, and the setting mode is ended.

[0169] Fig. Fig. 17 is a diagram showing a specific example of a movement in the setting mode of the machine operating system according to the fifth embodiment of the present disclosure. It should be noted that in Fig. 17, the wireless operating device 11 and the wired operating device 12 are separated from each other for convenience of description, but it is assumed that the wireless operating device 11 is actually attached to the wired operating device 12.

[0170] In Fig. 17, a unique identifier ID1 for the wired operating device 12 provided with the contactless authentication mark 26 is recorded in the contactless authentication mark 26. When a worker attaches the wireless operating device 11 to the wired operating device 12, the event detection unit 23 detects a proximity event, and thus the authentication unit 24 determines that the proximity event was detected by the event detection unit 23. In response to the detection of the proximity event by the event detection unit 23, the identifier acquisition unit 27 acquires the identifier ID1 of the contactless authentication mark 26 and writes the identifier ID1 as a reference identifier ID1. The identifier acquisition unit 27 writes the acquired reference identifier of the contactless authentication mark 26 into a storage unit 82 in the control device 3 via wireless communication.When the reference identifier is written into the storage unit of the control device 3 by the identifier writing unit 28 in the wireless control device 11, the reference identifier is transmitted from the wireless control device 11 to the control device 3 via wireless communication. Thus, the coupling of the wireless operation device 11 and the wired operation device 12 is completed.

[0171] It should be noted that the authentication unit 24 is provided in the wireless operation device 11 in the fifth embodiment of the present disclosure, but an authentication unit may be provided in the control device 3 as a modification example thereof. Fig. Fig. 18 is a diagram showing a machine operating system according to a modification example of the fifth embodiment of the present disclosure. In the modification example of the fifth embodiment of the present disclosure, an authentication unit 71 is provided in the control device 3. The authentication unit 71 has the same function as the authentication unit 71 shown in Fig. 15. However, at the time of authentication processing by the authentication unit 71, an identifier acquired by the identifier reading unit 29 in the operating mode is transmitted to the control device 3 via wireless communication. Furthermore, an event detection unit 61, an application execution unit 62, an identifier acquisition unit 63, an identifier writing unit 64, and an identifier reading unit 65 have the same function as the event detection unit 23, the application execution unit 25, the identifier acquisition unit 27, the identifier writing unit 28, and the identifier reading unit 29 shown in Fig. 15 are shown. Fig. 18 schematically shows the event detection unit 61, the application execution unit 62, the identifier acquisition unit 63, the identifier writing unit 64, and the identifier reading unit 65.

[0172] The event detection unit 61, the application execution unit 62, the identifier acquisition unit 63, the identifier writing unit 64 and the identifier reading unit 65 may be formed, for example, in the form of a software program or by a combination of various electronic circuits and a software program.For example, when the event detection unit 61, the application execution unit 62, the ID acquisition unit 63, the ID writing unit 64, and the ID reading unit 65 are implemented in the form of a software program, various software programs are installed in the storage unit (not shown) in the wireless operation device 11, an arithmetic processing unit (not shown) in the wireless operation device 11 executes a movement according to the software program installed in the storage unit, and thus a function of the event detection unit 61, the application execution unit 62, the ID acquisition unit 63, the ID writing unit 64, and the ID reading unit 65 is achieved.Alternatively, the event detection unit 61, the application execution unit 62, the ID acquisition unit 63, the ID writing unit 64, and the ID reading unit 65 may be implemented as a semiconductor integrated circuit in which a software program that achieves a function of each of the units is written, and in this case, the function of the event detection unit 61, the application execution unit 62, the ID acquisition unit 63, the ID writing unit 64, and the ID reading unit 65 is achieved by incorporating the semiconductor integrated circuit into the wireless operating device 11.

[0173] The authentication unit 71 can be implemented, for example, in the form of a software program or by a combination of various electronic circuits and a software program. For example, when the authentication unit 71 is implemented in the form of a software program, various software programs are installed in the storage unit (not shown) in the control device 3. An arithmetic processing unit (not shown) in the control device 3 executes an operation according to the software program installed in the storage unit, thus achieving a function of the authentication unit 71.Alternatively, the authentication unit 71 may be implemented as a semiconductor integrated circuit in which a software program is written that achieves a function of the authentication unit 71, and in this case, the function of the authentication unit 71 is achieved by incorporating the semiconductor integrated circuit into the control device 3.

[0174] Fig. 19 is a flowchart describing a movement sequence in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0175] In step S701, the pairing of the wireless operation device 11 and the wired operation device 12 in the setting mode is already completed. A worker activates an operation application software program by pressing (touching) the activation icon 51, and displays a teaching operation screen on the touch panel 21. The worker then activates the operation mode in the operation application software program. The operation mode is activated, for example, by pressing (touching) a button for activating the operation mode on the teaching operation screen. If the wired operation device 12 and the wireless operation device 11 are in a non-operation state in step S701, the wireless operation device 11 does not issue a command to the control device 3 for moving the robot 2.

[0176] In step S702, the authentication unit 24 determines whether a proximity event is detected by the event detection unit 23. The processing in step S702 is repeatedly executed in a predetermined cycle.

[0177] When the worker attaches the wireless operation device 11 to the wired operation device 12, the event detection unit 23 detects the approach event, and the authentication unit 24 determines that the approach event was detected by the event detection unit 23 in step S702, and then the processing proceeds to step S703.

[0178] In step S703, the identifier acquiring unit 27 acquires an identifier of the contactless authentication mark 26.

[0179] In step S704, the identifier reading unit 29 reads a reference identifier from the storage unit of the control device 3 via wireless communication.

[0180] In step S705, the authentication unit 24 determines whether the identifier acquired by the identifier acquiring unit 27 in step S703 matches the reference identifier read by the identifier reading unit 29 in step S704.

[0181] If it is determined that the ID acquired by the ID acquisition unit 27 matches the reference ID in step S705, the authentication unit 24 validates an operation content for the wireless operation device 11 in step S706. Thus, the worker can perform teaching (manual operation) of the robot 2, registration, editing, or condition setting of a motion program related to the robot 2, and the like as manual operation of the robot 2 using the wireless operation device 11. In response to the worker's manual operation of the wireless operation device 11, the control device 3 controls a movement of the robot 2 (step S707).It should be noted that in the processing in step S707, operation of the robot 2 can be achieved via the wireless operation device 11 while a release switch 31 is pressed, and the robot 2 performs an emergency stop when an emergency stop button 32 is pressed.

[0182] In step S708, the authentication unit 24 determines whether a withdrawal event is detected by the event detection unit 23. The processing in step S708 is repeatedly executed in a predetermined cycle.

[0183] If the retraction event is not detected in step S708, the processing returns to step S707.

[0184] When the retraction event is detected in step S708, the authentication unit 24 invalidates an operation content for the wireless operation device 11 in step S709. In this way, the worker of the control device 3 cannot command a movement of the robot 2 by using the teaching operation device 1 constituted of the wireless operation device 11 and the wired operation device 12.

[0185] Furthermore, if it is determined that the ID acquired by the ID acquisition unit 27 does not match the reference ID in step S705, the authentication unit 24 also invalidates an operation content for the wireless operation device 11 in step S709. Thus, the worker of the control device 3 cannot command a movement of the robot 2 using the teaching operation device 1 formed by the wireless operation device 11 and the wired operation device 12.

[0186] It should be noted that each step described above can be implemented in the form of a software program (computer program) that can be executed by the arithmetic processing device in the wireless operation device 11. Creating a device that executes the above-described processing and the software program that causes a computer to execute the above-described processing is a matter that can be easily accomplished by one of ordinary skill in the art. Likewise, storing a computer program that causes a computer to execute the above-described processing on a recording medium is obvious to one of ordinary skill in the art.

[0187] The computer program for causing a computer (the arithmetic processing device in the wireless operation device 11) to execute authentication processing in the machine operation system 100 according to the fifth embodiment of the present disclosure includes an event detection step, an authentication step, an application execution step, an identifier acquisition step, an identifier writing step, and an identifier reading step. In the event detection step, an approach event in which the contactless authentication mark 26 enters a predefined first area of ​​the wireless operation device 11 from outside the first area and a retreat event in which the contactless authentication mark 26 leaves the first area to outside the first area are detected.In the application execution step, an operation application software program is executed that controls the control device 3 so that the robot 2 performs a movement in response to an operation content related to a teaching operation on the robot 2. In the identifier acquisition step, a unique identifier for the wired operation device 12 of the contactless authentication tag 26 is acquired when the approach event is detected in the event detection step. In the identifier writing step, the identifier of the contactless authentication tag 26 acquired in the identifier acquisition step in the setting mode is written as a reference identifier into the storage unit of the control device 3 via wireless communication. In the identifier reading step, the reference identifier is read from the storage unit of the control device 3 via wireless communication when the approach event is detected in the event detection step in the operation mode.In the authentication step, in the operation mode, an operation content for the wireless operation device 11 is validated when the identifier obtained in the identifier acquisition step matches the reference identifier obtained in the identifier reading step, and an operation content for the wireless operation device 11 is invalidated when the identifier obtained in the identifier acquisition step does not match the reference identifier obtained in the identifier reading step.

[0188] Furthermore, the computer program that causes a computer (the arithmetic processing device in the wireless operation device 11 or the arithmetic processing device in the control device 3) to execute authentication processing in the machine operation system 100 according to the modification example of the fifth embodiment of the present disclosure includes an event detection step, an authentication step, an application execution step, an ID acquisition step, an ID writing step, and an ID reading step.In the event detection step, an approach event in which the contactless authentication mark 26 enters a predefined first area of ​​the wireless operation device 11 from outside the first area and a retreat event in which the contactless authentication mark 26 leaves the interior of the first area to outside the first area are detected. In the application execution step, an operation application software program is executed that controls the control device 3 such that the robot 2 executes a movement in response to an operation content related to a teaching operation on the robot 2. In the identifier acquisition step, a unique identifier for the wired operation device 12 of the contactless authentication mark 26 is acquired when the approach event is detected in the event detection step.In the identifier writing step, the identifier of the contactless authentication tag 26 obtained in the identifier acquiring step in the setting mode is written as a reference identifier into the storage unit of the control device 3 via wireless communication. In the identifier reading step, the reference identifier is read from the storage unit of the control device 3 via wireless communication when the proximity event is detected in the event detecting step in the operation mode. In the authentication step, an operation content for the wireless operation device 11 is validated in the operation mode when the identifier obtained in the identifier acquiring step matches the reference identifier obtained in the identifier reading step.Further, in the authentication step in the operation mode, the control device 3 is caused to execute processing for invalidating an operation content for the wireless operation device 11 when the identifier obtained in the identifier acquisition step does not match the reference identifier obtained in the identifier reading step.

[0189] Fig. 20 is a diagram (part 1) showing a specific example of a movement in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0190] In Fig. 20, it is assumed that the coupling of the wireless operating device 11 and the wired operating device 12 in the setting mode has already been completed and a reference identifier ID1 of the contactless authentication mark 26 obtained in the setting mode is stored in the storage unit 82 of the control device 3. It should be noted that in Fig. 20, the wireless operating device 11 and the wired operating device 12 are separated from each other for convenience of description, but it is assumed that the wireless operating device 11 is actually attached to the wired operating device 12.

[0191] When the wireless operation device 11 is attached to the wired operation device 12 provided with the contactless authentication mark 26 in which the reference ID1 is recorded, an ID1 acquired by the ID acquisition unit 27 matches the reference ID1 acquired by the ID reading unit 29, and thus an operation content for the wireless operation device 11 is validated by the authentication unit 24. In this way, using the teaching operation device 1 constituted by the wireless operation device 11 and the wired operation device 12, a worker can perform teaching (manual operation) of the robot 2, registration, editing, or condition setting of a motion program related to the robot 2, and the like as manual operation of the robot 2 using the wireless operation device 11.

[0192] Fig. 21 is a diagram (part 2) showing a specific example of a movement in the operation mode of the machine operating system according to the fifth embodiment of the present disclosure.

[0193] In Fig. 21, it is assumed that the coupling of the wireless operating device 11 and the wired operating device 12 in the setting mode has already been completed and a reference identifier ID2 of the contactless authentication mark 26 obtained in the setting mode is stored in the storage unit 82 of the control device 3. It should be noted that in Fig. 21, the wireless operating device 11 and the wired operating device 12 are separated from each other for convenience of description, but it is assumed that the wireless operating device 11 is actually attached to the wired operating device 12.

[0194] When the wireless operation device 11 is attached to the wired operation device 12 provided with the contactless authentication mark 26 in which the reference ID ID2 is recorded, an ID ID1 acquired by the ID acquisition unit 27 does not match the reference ID ID2 acquired by the ID reading unit 29, and thus an operation content for the wireless operation device 11 is invalidated by the authentication unit 24. Therefore, a worker of the control device 3 cannot command a movement of the robot 2 using the teaching operation device 1 constituted by the wireless operation device 11 and the wired operation device 12. <Sechstes Ausführungsbeispiel>

[0195] A sixth embodiment includes a mark detection unit configured to detect a contactless authentication mark 26 instead of the event detection unit 23 of the first embodiment. When the mark detection unit detects the contactless authentication mark 26 in a first area, which is a predefined proximity range of a wireless operating device 11, an authentication unit 24 validates an operation content for the wireless operating device 11. The mark detection unit can be implemented, for example, in the form of a software program or by a combination of various electronic circuits and a software program.For example, when the mark detection unit is implemented as a software program, various software programs are installed in the storage unit (not shown) in the wireless operation device 11. An arithmetic processing unit (not shown) in the wireless operation device 11 executes a movement according to the software program installed in the storage unit, thus achieving a function of the mark detection unit. Alternatively, the mark detection unit may be implemented as a semiconductor integrated circuit in which a software program that achieves a function of the mark detection unit is written, and in this case, the function of the mark detection unit is achieved by incorporating the semiconductor integrated circuit into the wireless operation device 11.

[0196] The computer program for causing a computer (the arithmetic processing device in the wireless operation device 11) to execute authentication processing in a machine operation system 100 according to the sixth embodiment of the present disclosure includes a mark detection step, an authentication step, and an application execution step. In the mark detection step, the contactless authentication mark 26 is detected. In the authentication step, when the contactless authentication mark 26 is detected in the mark detection step, an operation content for the wireless operation device 11 is validated. In the application execution step, an operation application software program is executed that controls a control device 3 such that a robot 2 executes a movement in response to an operation content related to a teaching operation on the robot 2. <Siebtes Ausführungsbeispiel>

[0197] A seventh embodiment includes a mark detecting unit configured to detect a contactless authentication mark 26 instead of the event detecting unit 23 in the fifth embodiment.

[0198] When the detection unit detects the contactless authentication mark 26 in a first area, which is a predefined proximity range of a wireless operating device 11, an identifier acquisition unit 27 acquires an identifier of the contactless authentication mark 26. In both a setting mode and an operation mode, the identifier acquisition unit 27 may perform identifier acquisition processing.

[0199] An identifier writing unit 28 writes an identifier of the contactless authentication mark 26 acquired by the identifier acquiring unit 27 in the setting mode into a storage unit of a control device 3 as a reference identifier. When the reference identifier is written by the identifier writing unit 28 in the wireless operation device 11 into the storage unit of the control device 3, the reference identifier is transmitted from the wireless operation device 11 to the control device 3 via wireless communication. The short-range wireless communication described above is used as wireless communication between the wireless operation device 11 and the control device 3.

[0200] An ID reading unit 29 reads the reference ID from the storage unit of the control device 3 when the contactless authentication mark 26 is detected in the operation mode after the setting mode. When the reference ID is read from the storage unit of the control device 3 by the ID writing unit 28 in the wireless operation device 11, the reference ID is transmitted from the control device 3 to the wireless operation device 11 via wireless communication. The previously described short-range wireless communication is used for wireless communication between the control device 3 and the wireless operation device 11.

[0201] In the operation mode, an authentication unit 24 validates an operation content for the wireless operating device 11 if an identifier obtained by the identifier acquisition unit 27 matches the reference identifier. Furthermore, in the operation mode, the authentication unit 24 invalidates an operation content for the wireless operating device 11 if an identifier obtained by the identifier acquisition unit 27 does not match the reference identifier.

[0202] The mark detecting unit, the authentication unit 24, an application executing unit 25, the identifier acquiring unit 27, the identifier writing unit 28 and the identifier reading unit 29 may be formed, for example, in the form of a software program or by a combination of various electronic circuits and a software program.For example, when the mark detection unit, the authentication unit 24, the application execution unit 25, the ID acquisition unit 27, the ID writing unit 28, and the ID reading unit 29 are implemented in the form of a software program, various software programs are installed in the storage unit (not shown) in the wireless operation device 11, an arithmetic processing unit (not shown) in the wireless operation device 11 executes a movement according to the software program installed in the storage unit, and thus a function of the mark detection unit, the authentication unit 24, the application execution unit 25, the ID acquisition unit 27, the ID writing unit 28, and the ID reading unit 29 is achieved.Alternatively, the mark detecting unit, the authentication unit 24, the application executing unit 25, the ID acquiring unit 27, the ID writing unit 28, and the ID reading unit 29 may be implemented as a semiconductor integrated circuit in which a software program that achieves a function of each of the units is written, and in this case, the function of the mark detecting unit, the authentication unit 24, the application executing unit 25, the ID acquiring unit 27, the ID writing unit 28, and the ID reading unit 29 is achieved by incorporating the semiconductor integrated circuit into the wireless operating device 11.

[0203] The computer program for causing a computer (the arithmetic processing device in the wireless operation device 11) to execute authentication processing in a machine operation system 100 according to the seventh embodiment of the present disclosure includes a mark detection step, an authentication step, an application execution step, an identifier acquisition step, an identifier writing step, and an identifier reading step. In the mark detection step, it is detected whether the contactless authentication mark 26 is provided in the predefined first area of ​​the wireless operation device 11. In the application execution step, an operation application software program is executed that controls the control device 3 so that a robot 2 performs a movement in response to operation content related to a teaching operation on the robot 2.In the identifier acquisition step, an identifier unique to a wired operating device 12 of the contactless authentication mark 26 is acquired when the contactless authentication mark 26 is detected in the mark acquisition step. In the identifier writing step, the identifier of the contactless authentication mark 26 obtained in the identifier acquisition step in the setting mode is written as a reference identifier into the storage unit of the control device 3 via wireless communication. In the identifier reading step, the reference identifier is read from the storage unit of the control device 3 via wireless communication when a proximity event is detected in the event acquisition step in the operation mode.In the authentication step, in the operation mode, an operation content for the wireless operation device 11 is validated when the identifier obtained in the identifier acquisition step matches the reference identifier obtained in the identifier reading step, and an operation content for the wireless operation device 11 is invalidated when the identifier obtained in the identifier acquisition step does not match the reference identifier obtained in the identifier reading step.

[0204] It should be noted that the first to seventh embodiments described above (also including the modification examples) can be combined and implemented as appropriate. For example, in a teaching operation screen of an operation application software program, a setting menu screen may be provided in which any of the first to seventh embodiments (also including the modification example) can be selected, and a worker may be able to select a desired embodiment.

[0205] As an example, the case where a machine operated by the machine operation system 100 operates the robot 2 is described above, but the above description can also be applied to a case where a machine operated by the machine operation system 100 is an industrial machine.

[0206] According to the first to seventh embodiments of the present disclosure, security can be ensured at low cost in the machine operation system 100 composed of the wireless operation device 11, which is a multi-purpose information terminal, and the wired operation device 12, which is a basic element with a safety switch. In the first to seventh embodiments of the present disclosure, a low-cost contactless authentication mark 26 can be provided in the wired operation device 12, and the authentication processing can be performed in software processing, resulting in low cost.

[0207] According to the machine operation system 100 in the first to fourth and sixth embodiments of the present disclosure, the wired operation device 12 and the wireless operation device 11 are detachably mounted, but an operation content for the wireless operation device 11 is not validated unless the wireless operation device 11 is attached to the wired operation device 12. Therefore, a teaching worker can operate a safety switch at their own will, resulting in a high degree of safety. Furthermore, the possibility of a safety switch being operated by a third party other than the teaching worker can be eliminated, resulting in a high degree of safety.Even if the wired operating device 12 and the wireless operating device 11 are separated from each other and located at different locations, the teaching worker has the wireless operating device 11 and a third person who is not the same as the teaching worker has the wired operating device 12 and has a safety switch, the third person cannot operate the safety switch.

[0208] According to the machine operation system 100 in the fifth and seventh embodiments of the present disclosure, a unique identifier for the wired operation device 12 is provided at the contactless authentication mark 26 provided in the wired operation device 12, and the coupling of the wireless operation device 11 and the wired operation device 12 is managed based on the identifier. Thus, an operation content for the wireless operation device 11 is not validated even if the wired operation device 12 and the wireless operation device 11, which are not coupled, are attached to each other via an identifier. Therefore, a teaching worker can operate a safety switch at his own will, resulting in a high level of safety.Furthermore, the possibility of a safety switch being operated by a third party other than the teaching worker can be eliminated, resulting in a high level of safety. Even if the wired operating device 12 and the wireless operating device 11 are separated from each other and located at different locations, the teaching worker possesses the wireless operating device 11, and a third party other than the teaching worker possesses the wired operating device 12 and a safety switch, the third party cannot operate the safety switch.

[0209] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various kinds of additions, replacements, modifications, partial deletions, and the like can be made to the embodiments without affecting the purpose of the invention or the content described in the claims and the scope of the present invention derived from equivalents thereof. In the embodiments described above, for example, an order of operations and an order of processing sections are given as a non-limiting example. The same also applies to the case where a numerical value or a numerical expression is used in the description of the embodiments described above. List of reference symbols 1 teaching control device 2 robots 3 Control device 11 Wireless control device 12 Wired control device 21 Touch panel 22 Power button 23 Event recording unit 24 Authentication Unit 25 Application execution unit 26 Contactless authentication marking 27 Identification Acquisition Unit 28 Identification writing unit 29 Identification reading unit 30 Mounting base 31 Release switch 32 Emergency stop button 33 Teaching control device cable 41 robot cables 51 Activation symbol 61 Event recording unit 62 Application execution unit 63 Identification Acquisition Unit 64 Identification writing unit 65 Identification reading unit 71 Authentication Unit 81 storage unit 82 storage unit 71 Authentication Unit 100 machine operating system QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2016-172303A

[0006] JP 2018-176300A

[0006] JP 2009-262257A

[0006]

Claims

[1] Machine operating system that includes: a wireless operating device that is connected to a control device of a robot or an industrial machine via wireless communication and commands the control device to move the robot or the industrial machine in response to an operation content; and a wired operating device connected to the control device via wired communication and comprising a contactless authentication mark, wherein the wireless control device includes an event detection unit configured to detect an approach event in which the contactless authentication marker enters the interior of a predefined first area of the wireless operating device from outside the first area, and a withdrawal event in which the contactless authentication marker leaves the interior of the first area to outside the first area, and an authentication unit configured to determine whether an operation content is valid or invalid for the wireless operation device in response to a content of an event acquired by the event acquisition unit. [2] The machine operating system according to claim 1, wherein the authentication unit validates an operation content for the wireless operating device when the approach event is detected by the event detection unit, and invalidates an operation content for the wireless operating device when the retreat event is detected by the event detection unit. [3] The machine operating system according to claim 1 or 2, wherein the wireless operating device comprises an application execution unit configured to execute an operation application software program that controls the control device such that the robot or the industrial machine executes a movement in response to an operation content related to a teaching operation on the robot or the industrial machine. [4] The machine operation system according to claim 3, wherein the event detection processing is executed by the event detection unit when the operation application software program is executed by the application execution unit. [5] Machine operating system according to claim 4, wherein the application execution unit the control application software program is activated when the power supply of the wireless control device is switched on, and executes the operation application software program as a background process until a command to start teaching operation is issued after the operation application software program of the wireless operation device is activated, and executes the operation application software program as a foreground process after the command to start teaching operation is issued. [6] The machine operation system according to claim 5, wherein after the wireless operation device is given a command to terminate the teaching operation while the operation application software program is executed as a foreground process, the application execution unit executes the operation application software program as a background process. [7] The machine operating system according to claim 3, wherein the application execution unit executes the operating application software program as a foreground process when the approach event is detected by the event detection unit while the operating application software program is executing as a background process, and the application execution unit executes the operating application software program as a background process when the retreat event is detected by the event detection unit while the operating application software program is executing as a foreground process. [8] Machine operating system according to claim 1, wherein the contactless authentication mark includes a unique identifier for the wired operating device, the wireless operating device comprises an identifier acquisition unit configured to acquire the identifier of the contactless authentication marker when the proximity event is detected by the event detection unit, and the authentication unit validates an operation content for the wireless operation device in an operation mode when the identifier acquired by the identifier acquisition unit matches the identifier previously acquired by the identifier acquisition unit in a setting mode before the operation mode, and the authentication unit invalidates an operation content for the wireless operation device when the identifier acquired by the acquisition unit does not match the identifier previously acquired by the acquisition unit in the setting mode. [9] Machine operating system according to claim 1, wherein the contactless authentication mark includes a unique identifier for the wired operating device, the wireless operating device comprises an identifier acquisition unit configured to acquire the identifier of the contactless authentication mark when the proximity event is detected by the event acquisition unit, an identifier writing unit configured to set the identifier of the contactless authentication mark acquired by the identifier acquisition unit as a reference identifier in a setting mode and write the reference identifier into a storage unit of the control device via wireless communication, and an identifier reading unit configured to read the reference identifier from the storage unit of the control device via wireless communication when the proximity event is detected by the event acquisition unit in an operation mode after the setting mode, and in the operation mode, the authentication unit validates an operation content for the wireless operation device when the identifier acquired by the identifier acquisition unit matches the reference identifier, and the authentication unit invalidates an operation content for the wireless operation device when the identifier acquired by the identifier acquisition unit does not match the reference identifier. [10] Machine operating system comprising: a control device for a robot or industrial machine; a wireless operating device connected to the control device via wireless communication and commanding the control device to move the robot or industrial machine in response to an operation content; and a wired operating device connected to the control device via wired communication and comprising a contactless authentication marker assigned an individual identifier, wherein the wireless control device includes an event detection unit configured to detect a proximity event in which the contactless authentication marker enters the interior of a predefined first area of the wireless operating device from outside the first area, an identifier acquisition unit configured to acquire the identifier of the contactless authentication marker when the proximity event is detected by the event detection unit, an identifier writing unit configured to set the identifier of the contactless authentication mark acquired by the identifier acquiring unit in a setting mode as a reference identifier and write the reference identifier into a storage unit of the control device via wireless communication, and an identifier reading unit configured to read the reference identifier from the storage unit of the control device via wireless communication when the approach event is detected by the event detection unit in an operation mode after the setting mode, and the control device comprises an authentication unit configured to validate an operation content for the wireless operation device when the identifier acquired by the identifier acquisition unit matches the reference identifier in the operation mode. [11] The machine operating system according to claim 10, wherein the control device invalidates an operation content for the wireless operating device when the identifier acquired by the identifier acquiring unit does not match the reference identifier in the operation mode. [12] The machine operating system according to claim 10 or 11, wherein the event detection unit detects the approach event and a retreat event in which the contactless authentication mark leaves the inside of the first area to the outside of the first area. [13] A computer program for causing a computer to perform authentication processing in a machine operating system comprising a wireless operating device connected to a control device of a robot or an industrial machine via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content, and a wired operating device connected to the control device via wired communication and comprising a contactless authentication mark, the computer program for causing a computer to perform authentication processing comprising: an event detection step for detecting an approach event in which the contactless authentication mark enters the interior of a predefined first area of the wireless operating device from outside the first area, and a retreat event in which the contactless authentication mark leaves the interior of the first area to outside the first area; and an authentication step of determining whether an operation content is valid or invalid for the wireless operation device in response to a content of an event detected in the event detection step. [14] A computer program for causing a computer to perform authentication processing according to claim 13, wherein, in the authentication step, an operation content for the wireless operation device is validated when the approach event is detected in the event detection step, and an operation content for the wireless operation device is invalidated when the retreat event is detected in the event detection step. [15] A computer program that causes a computer to execute authentication processing according to claim 13 or 14, further comprising an application execution step of executing an operation application software program that controls the control device such that the robot or the industrial machine executes a movement in response to an operation content related to a teaching operation on the robot or the industrial machine. [16] A computer program that causes a computer to execute authentication processing according to claim 15, wherein event detection processing is executed in the event detection step when the operation application software program is executed by the application execution step. [17] A computer program for causing a computer to perform authentication processing according to claim 16, further comprising Activating the operating application software program when the power of the wireless operating device is switched on; and Executing the operation application software program as a background process until a command to start teaching operation is issued after the operation application software program is activated to the wireless operation device, and executing the operation application software program as a foreground process after the command to start teaching operation is issued. [18] A computer program for causing a computer to execute authentication processing according to claim 17, further comprising, after the wireless operation device is given a command to terminate the teaching operation while the operation application software program is executed as a foreground process, executing the operation application software program as a background process. [19] A computer program for causing a computer to execute authentication processing according to claim 15, further comprising executing the operation application software program as a foreground process when the approach event is detected in the event detecting step while the operation application software program is executing as a background process, and executing the operation application software program as a background process when the retreat event is detected in the event detecting step while the operation application software program is executing as a foreground process. [20] A computer program for causing a computer to perform authentication processing according to claim 13, further comprising an identifier obtaining step for obtaining an identifier of the contactless authentication mark that is unique to the wired operating device when the approach event is detected in the event detecting step, wherein in the authentication step in an operation mode, an operation content for the wireless operation device is validated when the identifier obtained in the identifier acquisition step matches the identifier acquired in advance in the identifier acquisition step in a setting mode before the operation mode, and an operation content for the wireless operation device is invalidated when the identifier obtained in the identifier acquisition step does not match the identifier obtained in advance in the identifier acquisition step in the setting mode. [21] A computer program for causing a computer to perform authentication processing according to claim 13, further comprising an identifier acquisition step for acquiring an identifier of the contactless authentication mark that is unique to the wired operating device when the proximity event is detected in the event detection step; an identifier writing step for setting the identifier of the contactless authentication mark acquired in the identifier acquisition step as a reference identifier in a setting mode and writing the reference identifier into a storage unit of the control device via wireless communication; and an identifier reading step for reading the reference identifier from the storage unit of the control device via wireless communication when the proximity event is detected in the event detection step in an operation mode after the setting mode, wherein in the authentication step in the operation mode, an operation content for the wireless operation device is validated when the identifier obtained in the identifier acquisition step matches the reference identifier obtained in the identifier reading step, and an operation content for the wireless operation device is invalidated when the identifier obtained in the identifier acquisition step does not match the reference identifier obtained in the identifier reading step. [22] A computer program for causing a computer to perform authentication processing in a machine operating system comprising a control device of a robot or an industrial machine, a wireless operating device connected to the control device via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content, and a wired operating device connected to the control device via wired communication and comprising a contactless authentication marker assigned an individual identifier, the computer program for causing a computer to perform authentication processing comprising: an event detection step of detecting a proximity event in which the contactless authentication marker enters the interior of a predefined first area of the wireless operating device from outside the first area; an identifier acquiring step of acquiring the identifier of the contactless authentication mark when the approach event is detected in the event detecting step; an identifier writing step of setting the identifier of the contactless authentication mark obtained in the identifier obtaining step as a reference identifier in a setting mode and writing the reference identifier into a storage unit of the control device via wireless communication; an identifier reading step for reading the reference identifier from the storage unit of the control device via wireless communication when the approach event is detected in the event detection step in an operation mode after the setting mode; and an authentication step of causing the control device to execute processing for validating an operation content for the wireless operation device when the identifier obtained in the identifier obtaining step matches the reference identifier obtained in the identifier reading step in the operation mode. [23] A computer program for causing a computer to execute authentication processing according to claim 22, wherein in the authentication step in the operation mode, the control device is caused to execute processing for invalidating an operation content for the wireless operation device when the identifier obtained in the identifier acquiring step does not match the reference identifier obtained in the identifier reading step. [24] A computer program for causing a computer to execute authentication processing according to claim 22 or 23, wherein in the event detecting step, the approach event and a retreat event in which the contactless authentication mark leaves the inside of the first area to outside the first area are detected. [25] Machine operating system comprising: a wireless operating device that is connected to a control device of a robot or an industrial machine via wireless communication and commands the control device to move the robot or the industrial machine in response to an operation content; and a wired operating device connected to the control device via wired communication and comprising a contactless authentication mark, wherein the wireless control device includes a mark detecting unit configured to detect the contactless authentication mark, and an authentication unit configured to validate an operation content for the wireless operation device when the contactless authentication mark is detected in the mark detection step. [26] A computer program for causing a computer to perform authentication processing in a machine operating system comprising a wireless operating device connected to a control device of a robot or an industrial machine via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content, and a wired operating device connected to the control device via wired communication and comprising a contactless authentication mark, the computer program for causing a computer to perform authentication processing comprising: a mark detecting step for detecting the contactless authentication mark; and an authentication step of validating an operation content for the wireless operation device when the contactless authentication mark is detected in the mark detection step. [27] Machine operating system comprising: a control device for a robot or industrial machine; a wireless operating device connected to the controller via wireless communication and commanding the control device to move the robot or industrial machine in response to an operation content; and a wired operating device connected to the control device via wired communication and comprising a contactless authentication marker to which an individual identifier is assigned, wherein the wireless control device includes a mark detecting unit configured to detect the contactless authentication mark, an identifier acquiring unit configured to acquire the identifier of the contactless authentication mark when the contactless authentication mark is detected by the mark detecting unit, an identifier writing unit configured to set the identifier of the contactless authentication mark acquired by the identifier acquiring unit in a setting mode as a reference identifier and to write the reference identifier into a storage unit of the control device via wireless communication, and an identifier reading unit configured to read the reference identifier from the storage unit of the control device via wireless communication when the contactless authentication mark is detected by the mark detecting unit in an operation mode after the setting mode, and the control device comprises an authentication unit configured to validate an operation content for the wireless operation device when the identifier acquired by the acquisition unit matches the reference identifier in the operation mode. [28] The machine operating system according to claim 27, wherein the authentication unit invalidates an operation content for the wireless operating device when the identifier acquired by the identifier acquiring unit does not match the reference identifier in the operation mode. [29] A computer program for causing a computer to perform authentication processing in a machine operating system comprising a control device of a robot or an industrial machine, a wireless operating device connected to the control device via wireless communication and commanding the control device to move the robot or the industrial machine in response to an operation content, and a wired operating device connected to the control device via wired communication and comprising a contactless authentication mark to which an individual identifier is assigned, the computer program for causing a computer to perform authentication processing comprising: a mark detecting step for detecting the contactless authentication mark; an identifier acquiring step of acquiring the identifier of the contactless authentication mark when the contactless authentication mark is detected in the identifier acquiring step; an identifier writing step of setting the contactless authentication mark obtained in the identifier obtaining step as a reference mark in a setting mode and writing the reference mark into a storage unit of the control device via wireless communication; an identifier reading step for reading the reference identifier from the storage unit of the control device via wireless communication when the contactless authentication mark is detected in the mark detecting step in an operation mode after the setting mode; and an authentication step of causing the control device to execute processing for validating an operation content for the wireless operation device when the identifier obtained in the identifier obtaining step matches the reference identifier obtained in the identifier reading step in the operation mode. [30] A computer program for causing a computer to execute authentication processing according to claim 29, wherein in the authentication step in the operation mode, the control device is caused to execute processing for invalidating an operation content for the wireless operation device when the identifier obtained in the identifier acquiring step does not match the reference identifier obtained in the identifier reading step.

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