Distance recognition control system, electromagnetic signal oscillation device, and distance recognition control program

Abstract

To down-size a device itself and make only a part of an operator an emission source of an electromagnetic field with no need of preparing a function as a GND part in the device.SOLUTION: Since a body surface and / or the interior of a body of an operator 12 is set as a GND line side in a wrist band 16, a length of an electrode corresponding to an oscillation frequency (wavelength) can be secured, so that wiring of a length necessary as a GND line is not needed. An electromagnetic signal generating part 18 is mounted on the wrist band 16 worn by the operator 12. Since an electromagnetic wave oscillation source is restricted to a wrist part 12A (a second electrode 32 provided on an outer periphery of a band part 16A) of the operator 12, distance recognition control is executed with respect to a portion having a degree of risk higher than other portions, or a portion having a higher possibility of approaching the robot arm 14 at an earliest stage, when approaching a robot arm 14.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a distance recognition control system, an electromagnetic wave signal oscillator, and a distance recognition control program for recognizing the distance between individuals approaching and moving away from each other. [Background technology]

[0002] Industrial robots with moving parts such as manipulators are equipped with safety devices to prevent the moving parts from coming into contact with workers. For example, in a personal protection device described in Patent Document 1, when an AC electric field is applied near the surface of the worker's body and the robot approaches the worker, the voltage of an electrode on the robot increases. A control signal for personal protection corresponding to the voltage value measured by a measuring instrument is sent to a controller. The controller slows down or stops the robot based on the control signal.

[0003] Furthermore, Patent Document 2 describes a personal protection device that uses an electric field method for a collaborative robot, which uses a simple configuration that does not use floor electrodes and increases the distance at which it can detect the approach of the robot to a worker.

[0004] More specifically, Patent Document 2 describes a simple configuration consisting of a wearable device that is attached to the upper garment of a worker working around a robot and applies an AC electric field near the worker's body surface, a detection electrode provided on the robot, and a measuring instrument that measures the voltage of the detection electrode.When the robot and worker come close to each other and the voltage of the detection electrode increases, the measuring instrument sends a control signal corresponding to the voltage value measured to the robot's controller, and the controller causes the robot to take action to protect the person based on the control signal received. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-15160 [Patent Document 2] Patent Publication No. 2021-109288 Summary of the Invention [Problem to be solved by the invention]

[0006] However, even if there is a demand to use only a portion of the worker as the source of the electromagnetic field, it is necessary to ensure the length of the GND section that serves as the voltage reference. For example, when a frequency of 1 MHz to 10 MHz is used, a quarter wavelength is approximately 75 m to 7.5 m. For this reason, with conventional technologies including Patent Document 2, it is difficult to integrate all functions, including the wiring of the GND section, within a portion of the worker's body and to miniaturize the device that generates the electromagnetic field.

[0007] Taking the above facts into consideration, the present invention aims to provide a distance recognition control system, an electromagnetic wave signal oscillator, and a distance recognition control program that do not require the device to have a function as a GND section, can make the device itself smaller, and can use only a portion of the worker as the source of the electromagnetic field. [Means for solving the problem]

[0008] The distance recognition control system of the present invention is a distance recognition control system for recognizing the distance between a first individual and a second individual that can approach and move away from each other, and comprises an electromagnetic wave signal generating unit provided in the first individual that generates and oscillates an electromagnetic wave signal, and a control unit provided in the second individual that receives the electromagnetic wave signal oscillated from the electromagnetic wave signal generating unit and calculates the distance to the first individual from the state of the received electromagnetic wave signal, characterized in that the electromagnetic wave signal generating unit has a pair of electrodes, and one electrode of the pair of electrodes that serves as a voltage reference is electrically connected to a conductive portion of the first individual that occupies an area of ​​a predetermined size or more, and the other electrode of the pair of electrodes is positioned in a specific portion insulated from the conductive portion of the first individual.

[0009] In the distance recognition control system of the present invention, the area of ​​the first individual larger than the specified area is a human body, and when one of the electrodes is connected to the human body, the human body functions as a reference for the voltage applied to the pair of electrodes.

[0010] In the distance recognition control system of the present invention, the area of ​​the first individual larger than the specified area is a conductive moving body, and by connecting one of the electrodes to the moving body, the moving body functions as a reference for the voltage applied to the pair of electrodes.

[0011] In the distance recognition control system of the present invention, the electrical length of the other electrode is determined based on the frequency of the electromagnetic wave signal, and the specific part is set to a length that serves as the starting point for the distance calculated by the control unit.

[0012] In the distance recognition control system of the present invention, the one electrode is electrically connected to the conductive part of the first individual with a predetermined amount of capacitance.

[0013] In the distance recognition control system of the present invention, the control unit is characterized in that it has a plurality of input terminals to which the electromagnetic wave signals can be input, and calculates the distance from the specific location by obtaining the phase difference between each of the electromagnetic fields emitted by the electromagnetic wave signals that have propagated to the plurality of input terminals.

[0014] In the distance recognition control system of the present invention, the control unit instructs to restrict movement of the second individual when the distance to the first individual becomes equal to or less than a predetermined value.

[0015] The electromagnetic wave signal oscillator of the present invention is an electromagnetic wave signal oscillator that has an electromagnetic wave signal generating unit that has a pair of electrodes and generates and oscillates an electromagnetic wave signal, and is used in a distance recognition control system that calculates the distance to the receiving position of the electromagnetic wave signal, and is characterized in that one electrode of the pair of electrodes of the electromagnetic wave signal generating unit, to which a voltage is applied to oscillate the electromagnetic wave signal, serves as a reference for the voltage, and is electrically connected to a conductive portion occupying an area of ​​a predetermined size or more, and the other electrode of the pair of electrodes of the electromagnetic wave signal generating unit is positioned in a specific portion insulated from the conductive portion.

[0016] A distance recognition control program according to the present invention is characterized in that it causes a computer to operate as a control unit of the distance recognition control system. [Effects of the Invention]

[0017] As described above, the present invention has the advantage that it is not necessary to provide the device with a function as a GND section, the device itself can be made smaller, and only a portion of the worker can be used as the source of the electromagnetic field. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram showing a situation in which a worker, which is a first individual, approaches a robot arm, which is a second individual, in an environment to which a distance recognition control system according to a first embodiment is applied. FIG. [Figure 2] 1A is a perspective view showing a state in which a wristband equipped with an electromagnetic wave signal generating unit is worn by a worker according to a first embodiment, and FIG. 1B is a front view of the wristband in the axial direction. [Figure 3] (A) is a schematic diagram of a control unit provided on a robot arm, which is a second individual, and has a function for determining the approach of a worker, which is a first individual, and (B) is a control block diagram showing details of a detector mounted on the control unit. [Figure 4] 10 is a timing chart showing a control state of an approach determination function in a control unit. [Figure 5]FIG. 10 is a schematic diagram showing a situation in which a worker, which is a first individual, approaches a robot arm, which is a second individual, in an environment to which a distance recognition control system according to a second embodiment is applied. [Figure 6] FIG. 11 is a schematic diagram showing a situation in which a worker, which is a first individual, approaches a robot arm, which is a second individual, in an environment to which a distance recognition control system according to a third embodiment is applied. [Figure 7] 10A is a perspective view showing a state in which a worker wears a wristband equipped with an electromagnetic wave signal generating unit according to a fourth embodiment, and FIG. 10B is a front view in the axial direction of the wristband. [Figure 8] FIG. 13 is a perspective view showing a state in which a worker wears a wristband equipped with an electromagnetic wave signal generating unit according to a fifth embodiment. [Figure 9] FIG. 13 is a perspective view showing a state in which a worker wears a wristband equipped with an electromagnetic wave signal generating unit according to a sixth embodiment. [Figure 10] 10A is a front view of work clothes equipped with an electromagnetic wave signal generating unit, and FIG. 10B is a back view of the work clothes according to a seventh embodiment. [Figure 11] 13A is a front view of work clothes equipped with an electromagnetic wave signal generating unit, and FIG. 13B is a back view of the work clothes according to an eighth embodiment. [Figure 12] FIG. 13(A) is a rear view of work clothes equipped with an electromagnetic wave signal generating unit according to the ninth embodiment. [Figure 13] FIG. 16(A) is a rear view of work clothes equipped with an electromagnetic wave signal generating unit according to the tenth embodiment. [Figure 14] FIG. 23 is a perspective view showing a state in which a worker wears a ring equipped with an electromagnetic wave signal generating unit according to an eleventh embodiment. [Figure 15] FIG. 22 is a side view showing the internal structure of a helmet equipped with an electromagnetic wave signal generating unit according to a twelfth embodiment. [Figure 16] 13A and 13B are perspective views showing the state in which a worker wears shoes equipped with an electromagnetic wave signal generating unit according to a thirteenth embodiment, and FIG. 13B is a perspective view showing the internal structure. [Figure 17]14A and 14B are external views of a hat provided with an electromagnetic wave signal generating unit according to a fourteenth embodiment, in which (A) shows the front side and (B) shows the back side. DETAILED DESCRIPTION OF THE INVENTION

[0019] [First embodiment] FIG. 1 is a schematic diagram showing a situation in which a worker 12, which is a first individual, approaches a robot arm 14, which is a second individual, in an environment in which a distance recognition control system 10 according to a first embodiment is applied.

[0020] The distance recognition control system 10 has the function of recognizing the distance between a first individual and a second individual that can approach and move away from each other, and is composed of an electromagnetic wave signal generating unit 18 attached to a wristband 16 worn by a worker 12, and a control device 20 mounted on a robot arm 14.

[0021] The wristband 16 includes an electromagnetic wave signal generating unit 18, and in the first embodiment, is worn on the wrist 12A of the worker 12 (see FIG. 2).

[0022] The robot arm 14 has a housing 14A that serves as a support, and an arm-type movable part 14B attached to the housing 14A. Both the housing 14A and the movable part 14B are formed of conductive materials.

[0023] The control device 20 is provided inside the housing 14A of the robot arm 14, and the electromagnetic wave signal generator 18 of the wristband 16 outputs an oscillation signal such as a square wave, a sine wave, or a triangular wave. The frequency of the oscillation signal is not particularly limited, but is, for example, 10 KHz to 300 MHz, preferably 1 MHz to 10 MHz. When the control device 20 detects that the worker 12 wearing the wristband 16 has approached the robot arm 14, it performs control to prevent the movable part 14B from contacting the worker 12. The means for preventing contact is not particularly limited, but possible methods include actively stopping or slowing down the movement of the movable part 14B, alerting the worker of the approach with an alarm or the like, or blocking (blocking) the worker's approach route.

[0024] (Wristband 16) As shown in Figures 2(A) and (B), the wristband 16 comprises an electromagnetic wave signal generating unit 18 and a band portion 16A that is wrapped around the wrist portion 12A of the worker 12, and the electromagnetic wave signal generating unit 18 is attached to this band portion 16A.

[0025] The base material of band 16A is, for example, an insulating material, and is made of cloth, plastic, or other synthetic resin. Band 16A may be attached to wrist 12A by its stretchability, or may be fastened with a buckle or the like.

[0026] 2(B), the electromagnetic wave signal generating unit 18 includes an oscillator 22 that outputs an oscillation signal of a predetermined frequency (for example, in the above-mentioned range of 1 MHz to 10 MHz), and a power supply unit 24 (for example, a battery, etc.). The power supply unit 24 is connected to the oscillator 22 by a positive (+) wire 26 and a negative (-) wire 28, and supplies power to the oscillator 22.

[0027] The oscillator 22 has a pair of output terminals that emit electromagnetic waves, one of which is connected to the negative wire 28 of the power supply unit 24 and is connected to a first electrode 30 (one of the electrodes) laid on a part of the inner surface of the band portion 16A, while being used as a common GND line (a line that serves as a reference for voltage) for the oscillator 22 and the power supply unit 24.

[0028] The first electrode 30 is configured to be in electrical contact with the body of the worker 12, for example, the body surface, when the worker 12 wears the wristband 16 on his / her wrist 12A. In other words, the body surface of the worker 12 functions as a GND line. When the first electrode 30 is in electrical contact with the body surface, the inside of the body also functions as a GND line.

[0029] The other of the pair of output terminals of oscillator 22 is connected to a second electrode 32 (the other electrode) laid on the outer circumferential surface of band portion 16A. The second electrode 32 is a specific part insulated from the first electrode 30 (i.e., a conductive part such as the body surface) by the insulating material used as the base material of band portion 16A.

[0030] In wristband 16 configured as described above, by placing the body surface of worker 12 on the GND line side, it is possible to ensure the length of the electrode corresponding to the oscillation frequency (wavelength). In other words, there is no need for wiring of the length required for the GND line. Specifically, because the GND line (first electrode 30) uses the body surface of worker 12, if the oscillation frequency is 10 MHz, there is no need for electrical wiring of λ / 4 (2.5 m) converted from 10 MHz.

[0031] Furthermore, since the second electrode 32 is located on the outer peripheral surface of the band portion 16A of the wristband 16 (a small area such as the wrist 12A of the worker 12), the electromagnetic wave oscillation area can be made small, making pinpoint oscillation possible.

[0032] Pinpoint oscillation allows monitoring of approach to the robot arm 14 by focusing on areas that are more dangerous than other areas when approaching the robot arm 14, or areas that are likely to approach the robot arm 14 first.

[0033] (Distance recognition control) 3 is a schematic diagram of the control device 20. The control device 20 includes a detector 34, an isolated communication device 36, a controller 38, and an isolated power supply 40.

[0034] The detector 34, the insulated communication device 36, the controller 38, and the insulated power supply 40 are each provided inside a housing 14A of the robot arm 14. The housing 14A is made of a conductor such as metal, and is connected to a ground line GL1. The ground line GL1 is connected to a ground potential V G1 is applied

[0035] The detector has a pair of input terminals, one of which, an input terminal A, is connected to the housing 14A, and the other input terminal B is connected to the signal receiving unit .

[0036] The detector 34 receives the oscillation signal S1 from the wristband 16 (electromagnetic wave signal generator 18) via the housing 14A.

[0037] Furthermore, the detector receives an oscillation signal S1 from the wristband 16 (electromagnetic wave signal generator 18) received by a signal receiver .

[0038] The detector 34 outputs a detection signal S4 whose level changes according to the distance between the electromagnetic wave signal generator 18 and the robot arm 14, based on the transmission signal S1 input from a different route.

[0039] By monitoring this detection signal S4, it is possible to detect that the worker 12 wearing the wristband 16 has approached the robot arm 14.

[0040] The detector 34 operates based on the ground potential VG2 applied to the second ground line GL2. That is, the oscillation signal S1 is input to the detector 34 as a signal based on the ground potential VG2, and the detection signal S4 is output as a signal based on the ground potential VG2. The configuration and operation of the detector 34 will be described in detail later.

[0041] The second ground line GL2 is insulated from the first ground line GL1. The second ground line GL2 may be connected to the first ground line GL1 via an impedance. The impedance is sufficiently high (for example, on the order of several tens of kilohms) to provide insulation for the frequency of the oscillation signal from the electromagnetic wave signal generating unit 18. The first ground line GL1 and the second ground line GL2 may be connected via at least one of a resistor, an inductor, and a capacitor, which serve as impedance components.

[0042] The isolated power supply 40 supplies power to the detector 34. An arbitrary AC or DC primary voltage VB1 referenced to a ground potential VG1 is input to an input terminal 40A of the isolated power supply 40. A DC secondary voltage VB2 referenced to a ground potential VG2 is output from an output terminal 40B of the isolated power supply 40. The isolated power supply 40 may be, for example, a galvanic isolated converter. Also, a battery may be used as a means for supplying power to the detector 34 instead of the isolated power supply 40.

[0043] The isolated communication device 36 transmits the detection signal S4 output from the detector 34 to the controller 38 via isolated communication. The detection signal S4 is input to the isolated communication device 36 as a signal referenced to the ground potential VG22. The detection signal S4 input to the isolated communication device 36 is output as a signal referenced to the ground potential VG1 and supplied to the controller 38. The isolated communication device 36 may be configured to include, for example, a photocoupler, an isolation transformer, or a coupling capacitor.

[0044] When the detection signal S4 indicates the proximity of a signal source (i.e., the proximity of the operator 12), the controller 38 performs predetermined control on the controlled object. The controlled object may be, for example, the movable part 14B of the robot arm 14. In this case, the controller 38 may slow down or stop the movement of the movable part 14B when the detection signal S4 indicates the proximity of the electromagnetic wave signal generating unit 18. Furthermore, the controller 38 may slow down the movement of the movable part 14B when the detection signal S4 indicates the proximity of the electromagnetic wave signal generating unit 18, and may stop the movement of the movable part 14B when the detection signal S4 indicates further proximity of the electromagnetic wave signal generating unit 18. Furthermore, the controller 38 may issue an alarm when the detection signal S4 indicates the proximity of the electromagnetic wave signal generating unit 18. The alarm may be issued, for example, by outputting a predetermined sound from a speaker or by turning on a lamp.

[0045] The controller 38 operates based on the ground potential VG1 applied to the first ground line GL1. That is, the controller 38 receives the detection signal S4 as a signal based on the ground potential VG1, and outputs a control signal for controlling the controlled object as a signal based on the ground potential VG1.

[0046] 4 is a circuit block diagram showing an example of the configuration of the detector 34. The detector 34 has a first amplifier 44, a second amplifier 46, a phase shifter 48, a multiplier 50, and a signal processor 52. The input terminal of the first amplifier 44 is connected to the housing 14A of the robot arm 14. The first amplifier 44 amplifies the oscillation signal S1 input via the housing 14A and outputs it as an amplified oscillation signal S1. a Output as

[0047] The input terminal of the second amplifier 46 is connected to the signal receiving unit 42. The signal receiving unit 42 is configured by, for example, a resistive element 42A having one end connected to the second ground line GL2 and the other end connected to the input terminal of the second amplifier 46.

[0048] The signal receiving unit 42 functions as an antenna, and the oscillation signal S1 output from the electromagnetic wave signal generating unit 18 is received not only by the housing 14A but also by the signal receiving unit 42. The signal receiving unit 42 may be configured by a circuit including at least one of an electrode (conductor), a resistive element, a capacitor, and an inductor.

[0049] The oscillation signal S1 received by the signal receiving unit 42 is a signal that is input to the detector 34 via a path different from the path that passes through the housing 14A. The oscillation signal S1 received by the signal receiving unit 42 (oscillation signal S1 received via a path different from the path that passes through the housing 14A) is input to the second amplifier 46 as a reference signal S2. The second amplifier 46 amplifies the reference signal S2 and outputs it as an amplified reference signal S2a. The amplified oscillation signal S1a and amplified reference signal S2a are converted into square waves by a waveform conversion circuit (not shown). It is also possible to input the oscillation signal S1 to the second amplifier 46 and input the reference signal S2 to the first amplifier 44.

[0050] The phase shifter 48 shifts the phase of the amplified reference signal S2a by, for example, 90° or −90° and outputs it as a phase-shifted signal S2b. The amount of phase shift imparted by the phase shifter 48 is not limited to 90° or −90° and can be determined arbitrarily. The detector 34 may have two or more phase shifters. The positions of the phase shifter 48 and the second amplifier 46 may be interchanged. The multiplier 50 multiplies the amplified oscillation signal S1a by the phase-shifted signal S2b and outputs the multiplication result as a detection signal S3.

[0051] The signal processor 52 averages the detection signal S3 and outputs the averaged signal as a detection signal S4. The level of the detection signal S4 increases as the duty ratio of the detection signal S3 increases. The duty ratio of the detection signal S3 varies depending on the phase difference between the amplified oscillation signal S1a and the phase-shifted signal S2b. The phase difference between the amplified oscillation signal S1a and the phase-shifted signal S2b varies depending on the distance between the electromagnetic wave signal generating unit 18 and the robot arm 14. In other words, the level of the detection signal S4 varies depending on the distance between the electromagnetic wave signal generating unit 18 and the robot arm 14. Therefore, by monitoring the detection signal S4, it can be detected that the worker 12 wearing the electromagnetic wave signal generating unit 18 has approached the robot arm 14.

[0052] The operation of the first embodiment will be described below.

[0053] (Distance recognition control operation) 4A and 4B are timing charts showing the distance recognition control operation for determining whether the worker 12 is approaching the robot arm 14. FIG.

[0054] 5(A) and 5(B) are time charts showing examples of signal waveforms at various parts of the detector 34. The amplified input signal S1a, the phase-shifted signal S2b, the detection signal S3, and the detection signal S4 are shown in Fig. 5(A) and 5(B). Fig. 5(A) shows the case where the electromagnetic wave signal generating unit 18 (worker 12) is not close to the robot arm 14, and Fig. 5(B) shows the case where the electromagnetic wave signal generating unit 18 (worker 12) is close to the robot arm 14.

[0055] When the electromagnetic wave signal generating unit 18 is located sufficiently far away from the robot arm 14, i.e., when there is no risk of contact between the worker 12 and the movable part 14B, as shown in FIG. 5(A), the phase difference between the amplified oscillation signal S1a and the phase-shifted signal S2b is maintained at 90°, which is the phase change amount provided by the phase shifter 48 (initial state phase difference 90°).

[0056] As a result, the duty ratio of the detection signal S3 becomes 50%, and the level of the detection signal S4 obtained by averaging the detection signal S3 becomes 0. When the level of the detection signal S4 is close to 0, the controller 38 does not perform control to prevent the movable part 14B from coming into contact with the operator 12.

[0057] The phase of the amplified oscillation signal S1a changes when the electromagnetic wave signal generating unit 18 approaches the robot arm 14. In the example shown in Fig. 5(B), the phase of the amplified oscillation signal S1a is delayed by 45° (+45°) compared to the case shown in Fig. 5(A).

[0058] As a result, the phase difference between the amplified oscillation signal S1a and the phase-shifted signal S2b becomes larger (90°+45°) than the 90° phase change amount provided by the phase shifter 48. As a result, the duty ratio of the detection signal S3 becomes smaller than 50%, and the level of the detection signal S4 obtained by averaging the detection signal S3 becomes smaller than zero (−1).

[0059] When the level of the detection signal S4 is equal to or lower than the threshold, the controller 38 performs a predetermined control on the controlled object in order to prevent the movable part 14B from coming into contact with the operator 12.

[0060] If the phase of the amplified oscillation signal S1a changes in the direction of leading as the electromagnetic wave signal generating unit 18 approaches the robot arm 14, the level of the detection signal S4 becomes greater than zero in response to the proximity of the electromagnetic wave signal generating unit 18 to the robot arm 14. In this case, the controller 38 performs control to avoid contact between the movable part 14B and the worker 12 when the level of the detection signal S4 is equal to or greater than a threshold value.

[0061] (Effects of distance recognition control) As described above, the first embodiment includes a conductive housing 14A, and a detector 34 and a controller 38 each provided inside the housing 14A. The detector 34 has an input terminal 35 connected to the housing 14A, processes an oscillation signal S1 input via the housing 14A, and outputs a detection signal S4 from an output terminal according to the distance from the electromagnetic wave signal generating unit 18. When the detection signal S4 indicates that the electromagnetic wave signal generating unit 18 is approaching, the controller 38 performs a predetermined control on the controlled object.

[0062] According to the first embodiment, the housing 14A, which constitutes the entire surface of the robot arm 14 including the movable part 14B, functions as an antenna that receives the oscillation signal S1. This makes it possible to suppress the position dependency of the detection sensitivity of the proximity of the electromagnetic wave signal generating unit 18 (worker 12). Furthermore, because the housing 14A constitutes the entire surface of the robot arm 14 including the movable part 14B, the movable part 14B itself also functions as an antenna that receives the oscillation signal S1. Therefore, the oscillation signal S1 is not blocked by the movable part 14B. In other words, it is possible to ensure the detection sensitivity of the proximity of the electromagnetic wave signal generating unit 18 (worker 12) for all postures of the robot arm 14.

[0063] In addition, in the control device 20 according to the embodiment of the disclosed technology, the housing 14A is connected to the first ground line GL1. The detector 34 is insulated from the first ground line GL1 or operates based on a ground potential VG2 applied to a second ground line GL2 connected to the first ground line GL1 via an impedance. The controller 38 operates based on a ground potential VG1 applied to the first ground line GL1. By separating the grounds of the housing 14A and the controller 38 from the ground of the detector 34, the housing 14A, to which the ground potential VG1 is applied, can effectively function as an antenna for receiving the oscillation signal S1. Furthermore, the isolated communication device 36 transmits the detection signal S4 to the controller 38 via isolated communication, thereby enabling appropriate transmission and reception of the detection signal S4 between the detector 34 and the controller 38, whose grounds are separated.

[0064] Furthermore, in the control device 20 according to the first embodiment, the detector 34 outputs, as a detection signal S4, a signal corresponding to the phase difference between the oscillation signal S1 input via the housing 14A and the reference signal S2, which is an oscillation signal received via a path different from the path via the housing 14A. This makes it possible to appropriately detect the approach of the electromagnetic wave signal generating unit 18 (worker 12).

[0065] Furthermore, if the function of the control unit 20 is configured to receive electromagnetic wave signals at two or more different positions on the robot arm 14, the direction in which the electromagnetic wave signal generating unit 18 (worker 12) is approaching can be recognized based on the relative difference in the received signals.

[0066] In the first embodiment, the first individual that emits the electromagnetic wave signal is the worker 12 (mobile), and the second individual that receives the electromagnetic wave signal is the robot arm 14 (fixed placement), but the first individual and the second individual may be configured to move relative to each other. That is, the first individual and the second individual may be a combination of the worker 12, a humanoid robot, an autonomous vehicle, etc.

[0067] Here, when they move together, it is particularly preferable to grasp the approaching direction as described above. For example, when they approach each other head-on, it is possible to respond by changing the direction of movement rather than simply stopping the movement (movement).

[0068] (Actions and Effects of the Configuration of the Electromagnetic Wave Signal Generator 18) In the wristband 16 of the first embodiment, the body surface (including inside the body) of the worker 12 is on the GND line side, so that the length of the electrode corresponding to the oscillation frequency (wavelength) can be ensured, and wiring of the length required for the GND line is not required.

[0069] For example, if the oscillation frequency is 10 MHz, electrical wiring of λ / 4 (2.5 m) converted from 10 MHz is required, whereas in the first embodiment, the body surface functions as the GND line, allowing the device itself to be made compact.

[0070] Furthermore, according to the first embodiment, the electromagnetic wave signal generating unit 18 is attached to the wristband 16 worn by the worker 12. Therefore, the electromagnetic wave oscillation source is limited to the wrist 12A of the worker 12 (the second electrode 32 provided on the outer periphery of the band 16A), and therefore distance recognition control can be performed on a part of the body that is more dangerous than other parts when approaching the robot arm 14, or a part that is likely to approach the robot arm 14 first.

[0071] On the other hand, since the GND (first pole) uses the human epidermis, there is no need to run electrical wiring for λ / 4 (2.5 m) converted from 10 MHz.

[0072] [Second embodiment "Signal receiving configuration 1 of robot arm 14"] The second embodiment will be described below with reference to Fig. 5. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and a description of the configuration will be omitted.

[0073] The second embodiment is characterized in that the input point of the oscillation signal S1 received via the housing 14A is provided near the movable part 14B, not near the stationary housing 14A.

[0074] 5, an oscillation signal input device 60 is attached to a support 62 of the movable part 14B. The oscillation signal input device 60 is connected to the detector 34 by a wiring 64, and the oscillation signal S1 can be input directly to the detector 34.

[0075] Furthermore, since the oscillation signal input device 60 is provided near the movable part 14B, it is possible to recognize the distance to an area that poses a higher risk of contact with the worker 12 than the housing 14A.

[0076] [Third embodiment "Signal receiving configuration 2 of robot arm 14"] The third embodiment will be described below with reference to Fig. 6. In the third embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and a description of the configuration will be omitted.

[0077] The third embodiment is characterized in that the input point of the oscillation signal S1 received via the housing 14A is movable.

[0078] 6, the oscillation signal input device 66 has a structure in which the mounting position thereof is movable. The oscillation signal input device 66 is composed of a dish-shaped seat portion 66A and a pole-shaped antenna portion 66B erected on the seat portion 66A.

[0079] The bottom surface of the seating surface portion 66A can be fixed by suction or magnetic attraction at any position on the outer periphery of the robot arm 14. For example, in Fig. 6, it is attached near the movable portion 14B on the top surface of the housing 14A.

[0080] The oscillation signal input device 66 is connected to the detection unit by a wiring 68, and can input the oscillation signal S1 directly to the detection unit .

[0081] Furthermore, since the oscillation signal input unit 66 is provided near the movable part 14B, it is possible to recognize the distance to an area that poses a higher risk of contact with the worker 12 than the housing 14A.

[0082] Furthermore, the position of the robot arm 14 can be changed to an appropriate location depending on the sensitivity of the oscillation signal, etc., thereby improving convenience.

[0083] Hereinafter, examples of how the electromagnetic wave generator 18 is attached to the worker 14 will be described as the fourth to fourteenth embodiments.

[0084] In each embodiment, the environment is assumed to be a situation in which a worker 12, which is a first individual, approaches a robot arm 14, which is a second individual, as shown in FIG.

[0085] [Fourth embodiment] The fourth embodiment will be described below with reference to Fig. 7. The fourth embodiment is a modified example of the wristband 16 described in the first embodiment.

[0086] 7, the electromagnetic wave generator 18 of the fourth embodiment is attached to a wristband 70 having the same structure as that of the first embodiment. In the fourth embodiment, the worker 14 is wearing long-sleeved clothing 12B, and as a result, the wristband 70 (band portion 70A) does not come into direct contact with the body surface of the worker 14, but comes into contact with the clothing 12B.

[0087] Therefore, in the fourth embodiment, the first electrode 72 (electrode electrically connected to the body surface as a GND) is provided around the entire periphery of the band portion 16A. This increases the area where the first electrode 72 faces the body surface of the worker 12, thereby increasing the capacitance. As a result, the electromagnetic wave signal can be electrically connected to the body surface via the capacitance, and even if the worker 12 is wearing long-sleeved clothing 12B, the body surface can be used as a GND circuit to generate a stable electromagnetic field.

[0088] [Fifth embodiment] The fifth embodiment will be described below with reference to Fig. 8. The fifth embodiment is a modified example of the wristband 16 described in the first embodiment.

[0089] In the first embodiment, the second electrode 32 disposed on the outer peripheral surface of the band portion 16A of the wristband 16 is ring-shaped, but in the wristband 74 (band portion 74) of the fifth embodiment, the second electrode 76 is provided with a slit portion 76A, as shown in Fig. 8. The second electrode 76 is not limited to the slit portion 76A, and may be made to meander.

[0090] By increasing the degree of freedom in designing the shape of second electrode 76, the wearing comfort of wristband 74 can be improved.

[0091] [Sixth embodiment] The sixth embodiment will be described below with reference to Fig. 9. The sixth embodiment is a modified example of the wristband 16 described in the first embodiment.

[0092] In the first embodiment, the second electrode 32 was provided on the outer peripheral surface of the band portion 16A of the wristband 16, but in the wristband 78 (band portion 78A) of the sixth embodiment, as shown in Fig. 9, the second electrode 80 is provided around the periphery of the housing 18A of the electromagnetic wave signal generating unit 18. In this case, although the housing 18A itself needs to be insulated from GND, there is no need to change the material of the band portion 16A, and therefore the wearing comfort of the wristband 78 can be improved.

[0093] [Seventh embodiment] The seventh embodiment will be described below with reference to Fig. 10. In the seventh embodiment, as shown in Fig. 10, the electromagnetic wave signal generating unit 18 is provided on clothing 82 worn by a worker 12 (not shown in Fig. 10, see Fig. 1, and the same applies hereinafter).

[0094] As shown in FIG. 10(A), the electromagnetic wave signal generating unit 18 is housed in a breast pocket 82A of clothing 82.

[0095] 10(A) and 10(B), a first electrode 84 is laid along both sleeves 82B of the garment 82, is connected to the electromagnetic wave signal generating unit 18, and functions as one of the electrodes. The first electrode 84 is electrically connected to the worker 12 directly or via underwear or the like, and therefore the body surface of the worker 12 can be used as GND.

[0096] A second electrode 86 is provided on the inner surface of breast pocket 82A, and is connected to electromagnetic wave signal generating unit 18, functioning as the other electrode.

[0097] Since the second electrode 86 is provided in the breast pocket 82A, the phenomenon of the oscillation position of the electromagnetic wave signal changing when the worker 12 swings his / her arm does not occur, and the accuracy of the distance recognition of the worker 12 on the receiving side can be improved.

[0098] [Eighth embodiment] The eighth embodiment will be described below with reference to Fig. 11. The eighth embodiment is a modified example of the structure in which the electromagnetic wave signal generating unit 18 is attached to the clothing 82 described in the seventh embodiment.

[0099] In the eighth embodiment, as shown in FIG. 11, the electromagnetic wave signal generating unit 18 is provided on clothing 82 worn by the worker 12 (not shown in FIG. 11, see FIG. 1, and the same applies below).

[0100] As shown in FIG. 11(A), the electromagnetic wave signal generating unit 18 is housed in a breast pocket 82A of clothing 82.

[0101] 11(A) and 11(B), a first electrode 84 is laid along both sleeves 82B of the garment 82, is connected to the electromagnetic wave signal generating unit 18, and functions as one of the electrodes. The first electrode 84 is electrically connected to the worker 12 directly or via underwear or the like, and therefore the body surface of the worker 12 can be used as GND.

[0102] A second electrode 88 is provided in the waist region 82C of the clothing 82 and is connected to the electromagnetic wave signal generating unit 18, functioning as the other electrode.

[0103] By making the second electrode 88 larger (wider in area), a stable electromagnetic field can be generated when connected to the body surface directly or via capacitance.

[0104] Since the second electrode 88 is located in the waist region 82C of the clothing 82, the phenomenon of the oscillation position of the electromagnetic wave signal changing when the worker 12 swings his / her arm does not occur, and the accuracy of the distance recognition of the worker 12 on the receiving side can be improved.

[0105] [Ninth embodiment] The ninth embodiment will be described below with reference to Fig. 12. The ninth embodiment is a modification of the structure in which the second electrode 88 is provided in the waist region 82C of the garment 82 described in the eighth embodiment.

[0106] In the eighth embodiment (see FIG. 11), the second electrode 88 provided in the waist region 82C of the garment 82 may be a factor that inhibits the breathability of the garment 82. Particularly when working in summer, the inhibition of breathability may lead to a decrease in work performance itself.

[0107] Therefore, in the ninth embodiment, as shown in FIG. 12, a slit portion 90A is provided in a second electrode 90 provided in a waist region 82C of a garment 82.

[0108] This makes it possible to ensure both the area of ​​the second electrode 90 and breathability.

[0109] [Tenth embodiment] The tenth embodiment will be described below with reference to Fig. 13. The tenth embodiment is a modification of the eighth embodiment in which the second electrode 88 is provided in the waist region 82C of the garment 82.

[0110] In the eighth embodiment (see FIG. 11), the second electrode 88 provided in the waist region 82C of the garment 82 may be a factor that inhibits the breathability of the garment 82. Particularly when working in summer, the inhibition of breathability may lead to a decrease in work performance itself.

[0111] Therefore, in the tenth embodiment, as shown in Fig. 13, a through-hole 92A is provided in a second electrode 92 provided in a waist region 82C of a garment 82. The shape of the through-hole 92A is diamond-shaped in Fig. 13, but it may be circular, elliptical, oblong, star-shaped, or the like, and is not particularly limited, but it is preferable to configure the second electrode 92 so that its area is not uneven.

[0112] This makes it possible to ensure both the area of ​​the second electrode 92 and breathability.

[0113] [Eleventh embodiment] An eleventh embodiment will be described below with reference to Fig. 14. In the eleventh embodiment, as shown in Fig. 14, an electromagnetic wave signal generating unit 18 is provided on a finger 12D of an operator 12 (not shown in Fig. 14, see Fig. 1, and the same applies hereinafter).

[0114] 14, the electromagnetic field signal generator 18 is attached to a ring 94 that is worn on the finger 12D of the worker 12. At least the surface of the ring 94 is made of an insulating material, and although not shown, a first electrode 96 is provided on the inner peripheral surface and a second electrode 98 is provided on the outer peripheral surface, similar to the band portion 16A of the wristband 16 shown in the first embodiment (see FIG. 2(A)).

[0115] The first electrode 96 is electrically connected to the body surface of the worker 12 via the finger 12D, and the body surface functions as a GND line.

[0116] The second electrode 98 is a specific part insulated from the first electrode 96 (that is, a conductive part such as the body surface) by the insulating material used as the base material of the ring 94.

[0117] [Twelfth embodiment] The twelfth embodiment will be described below with reference to Fig. 15. In the twelfth embodiment, as shown in Fig. 15, an electromagnetic wave signal generating unit 18 is provided in a helmet 100 that is worn by a worker 12 during work.

[0118] As shown in FIG. 15, the electromagnetic field signal generating unit 18 is attached to a part of the outer periphery of the helmet 100 .

[0119] The helmet 100 has a cushioning material 104 attached along the inside of the outermost shell 102. An electromagnetic field signal generator 18 is attached to the outer peripheral surface of the shell 102.

[0120] Furthermore, a hammock 106 and a headband 108 are arranged inside the cushioning material 104 as an interior part. Both ends of ear straps 110 are attached to the headband 108, and the worker 12 (not shown in FIG. 15, see FIG. 1, and the same applies below) puts the helmet 100 on his / her head and fastens the chin strap 112, completing the wearing process. At least the surfaces of the cap body 102 and the cushioning material 104 are formed from an insulating material.

[0121] When the worker 12 wears the helmet 100, the hammock 106 and the headband 108, which come into direct contact with the head of the worker 12, serve as a first electrode 114. In addition, a second electrode 116 is provided on the outer periphery of the cap body 102 in the shape of a headband, for example.

[0122] The first electrode 114 is electrically connected to the body surface of the worker 12, and the body surface functions as a GND line.

[0123] The second electrode 116 is a specific part insulated from the first electrode 114 (i.e., a conductive part such as the body surface) by the insulating material used as the base material of the cap body 102 and the cushioning material 104.

[0124] [Thirteenth embodiment] The thirteenth embodiment will be described below with reference to Fig. 16. In the thirteenth embodiment, as shown in Fig. 16, an electromagnetic wave signal generating unit 18 is provided in shoes 118 worn by a worker 12 during work.

[0125] As shown in FIG. 16, the electromagnetic field signal generating unit 18 is attached to a part of the outer periphery of a shoe 118 (for example, the heel part).

[0126] The shoe 118 is constructed by combining an upper base material 120, a sole base material 122, an insole 124, etc., in accordance with a predetermined foot shape, and at least the surface is formed of an insulating material.

[0127] Here, when the worker 12 wears the shoes 118, the insole 124 that comes into direct contact (or indirectly through socks or the like) with the sole of the worker 12's foot serves as the first electrode 126. In addition, a second electrode 128, for example, is provided on the outer periphery of the upper base material 120.

[0128] The first electrode 126 is electrically connected to the body surface of the worker 12, and the body surface functions as a GND line.

[0129] The second electrode 128 is a specific part insulated from the first electrode 126 (that is, a conductive part such as the body surface) by the insulating material applied as the upper base material 120.

[0130] [Fourteenth embodiment] The fourteenth embodiment will be described below with reference to Fig. 17. In the fourteenth embodiment, as shown in Fig. 17, the electromagnetic wave signal generating unit 18 is provided in a hat 130 that is worn by a worker 12 during work. The hat 130 is composed of a hat body 130A and a brim 130B.

[0131] 17, the electromagnetic field signal generator 18 is attached to a part of the outer periphery of the cap 130. The electromagnetic field signal generator 18 is attached to the outer periphery of the cap 130.

[0132] A first electrode 132 is attached in a ring shape along the inner periphery of the cap 130. Second electrodes 134 are provided on the outer periphery of the cap body 130A and on the brim 130B, respectively.

[0133] The first electrode 132 is electrically connected to the body surface of the worker 12 (not shown in FIG. 17, see FIG. 1, and the same applies below), and the body surface functions as a GND line.

[0134] The second electrode 134 is a specific part insulated from the first electrode 132 (that is, a conductive part such as the body surface) by the insulating material used as the base material of the hat 130.

[0135] [Note] (Appendix 1) A distance recognition control system for recognizing a distance between a first individual and a second individual that can approach and move away from each other, an electromagnetic wave signal generating unit provided in the first individual that generates and oscillates an electromagnetic wave signal; a control unit provided in the second individual, receiving the electromagnetic wave signal oscillated from the electromagnetic wave signal generating unit, and calculating a distance from the first individual based on a state of the received electromagnetic wave signal; the electromagnetic wave signal generating unit includes a pair of electrodes, one of the pair of electrodes being a reference for voltage, electrically connected to a conductive portion of the first individual occupying a predetermined area or more; A distance recognition control system in which the other electrode of the pair of electrodes is placed at a specific location insulated from the conductive location of the first individual.

[0136] (Appendix 2) A distance recognition control system as described in Appendix 1, wherein the area of ​​the first individual larger than the specified size is a human body, and one of the electrodes is connected to the human body, so that the human body functions as a reference for the voltage applied to the pair of electrodes.

[0137] (Appendix 3) A distance recognition control system as described in Appendix 1 or Appendix 2, wherein the area of ​​the first individual larger than the specified area is a conductive moving body, and when one of the electrodes is connected to the moving body, the moving body functions as a reference for the voltage applied to the pair of electrodes.

[0138] (Appendix 4) A distance recognition control system described in any one of Appendix 1 to Appendix 3, wherein the electrical length of the other electrode is determined based on the frequency of the electromagnetic wave signal, and the specific part is set to a length that becomes the starting point of the distance calculated by the control unit.

[0139] (Appendix 5) 2. The distance recognition control system according to claim 1, wherein the one electrode is electrically connected to the conductive portion of the first individual with a predetermined amount of capacitance.

[0140] (Appendix 6) the control unit includes a plurality of input terminals to which the electromagnetic wave signals can be input, A distance recognition control system according to any one of appendices 1 to 5, which calculates the distance from the specific location by obtaining the phase difference between each of the electromagnetic fields emitted by the electromagnetic wave signals that have propagated to the multiple input terminals.

[0141] (Appendix 7) 2. The distance recognition control system according to claim 1, wherein the control unit issues an instruction to restrict movement of the second individual when the distance to the first individual becomes equal to or less than a predetermined value.

[0142] (Appendix 8) An electromagnetic wave signal oscillator device for use in a distance recognition control system, which includes an electromagnetic wave signal generator having a pair of electrodes and which generates and oscillates an electromagnetic wave signal, and calculates a distance to a receiving position of the electromagnetic wave signal, a pair of electrodes of the electromagnetic wave signal generating unit to which a voltage is applied to oscillate an electromagnetic wave signal, one of which serves as a reference for the voltage, being electrically connected to a conductive portion occupying an area equal to or larger than a predetermined area; An electromagnetic wave signal oscillator device, wherein the other electrode of the pair of electrodes of the electromagnetic wave signal generating unit is disposed at a specific location insulated from the conductive location.

[0143] (Appendix 9) Computer, Operate as a control unit according to any one of Supplementary Note 1 to Supplementary Note 7. Distance recognition control program. [Explanation of symbols]

[0144] 10. Distance Recognition Control System 12 Worker (first individual) 12A wrist part 14 Robot arm (second individual) 14A housing 14B Moving part 16 Wristbands 16A Band section 18 Electromagnetic wave signal generator 20 Control device 22 Oscillator 24 Power supply section 26 positive (+) wire 28 negative (-) wire 30 First electrode (one electrode) 32 Second electrode (other electrode) 34 detector 34A One input terminal 34B The other input terminal 36 Insulated communication device 38 Controller 40 Isolated Power Supply 40A input terminal 40B force end 42 Signal receiving unit 42A resistor element 44 First Amplifier 46 Second Amplifier 48 Phase shifter 50 Multiplier 52 Signal processor

Claims

1. A distance recognition control system for recognizing a distance between a first individual and a second individual that can approach and move away from each other, comprising: an electromagnetic wave signal generating unit provided in the first individual that generates and oscillates an electromagnetic wave signal; a control unit provided in the second individual, receiving the electromagnetic wave signal oscillated from the electromagnetic wave signal generating unit, and calculating a distance from the first individual based on a state of the received electromagnetic wave signal; the electromagnetic wave signal generating unit includes a pair of electrodes, one of the pair of electrodes being a reference for voltage, electrically connected to a conductive portion of the first individual occupying a predetermined area or more; A distance recognition control system in which the other electrode of the pair of electrodes is positioned at a specific location insulated from the conductive location of the first individual.

2. The distance recognition control system of claim 1, wherein the area of ​​the first individual larger than the specified size is a human body, and when one of the electrodes is connected to the human body, the human body functions as a reference for the voltage applied to the pair of electrodes.

3. A distance recognition control system as described in claim 1, wherein the area of ​​the first individual larger than the specified size is a conductive moving body, and when one of the electrodes is connected to the moving body, the moving body functions as a reference for the voltage applied to the pair of electrodes.

4. 2. The distance recognition control system according to claim 1, wherein the electrical length of the other electrode is determined based on the frequency of the electromagnetic wave signal, and the specific portion is set to a length that serves as the starting point for the distance calculated by the control unit.

5. 2. The distance recognition control system according to claim 1, wherein the one electrode is electrically connected to a conductive portion of the first individual with a predetermined amount of capacitance.

6. the control unit includes a plurality of input terminals to which the electromagnetic wave signals can be input, 2. The distance recognition control system according to claim 1, wherein the distance from the specific location is calculated by obtaining a phase difference between each of the electromagnetic fields emitted by the electromagnetic wave signals propagated to the plurality of input terminals.

7. The distance recognition control system according to claim 1 , wherein the control unit issues an instruction to restrict movement of the second individual when the distance to the first individual becomes equal to or less than a predetermined value.

8. An electromagnetic wave signal oscillator device for use in a distance recognition control system, which includes an electromagnetic wave signal generator having a pair of electrodes and which generates and oscillates an electromagnetic wave signal, and calculates a distance to a receiving position of the electromagnetic wave signal, a pair of electrodes of the electromagnetic wave signal generating unit to which a voltage is applied to oscillate an electromagnetic wave signal, one of which serves as a reference for the voltage, being electrically connected to a conductive portion occupying an area equal to or larger than a predetermined area; An electromagnetic wave signal oscillator device, wherein the other electrode of the pair of electrodes of the electromagnetic wave signal generating unit is disposed at a specific location insulated from the conductive location.

9. Computer, Operated as a control unit according to any one of claims 1 to 7. Distance recognition control program.

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