Safety sensor and adjustment method thereof

Abstract

To enable one person to easily perform work for adjusting an installation position and an installation angle of a safety sensor.SOLUTION: A safety sensor 12 that detects a person is equipped with a control substrate 21 mounted with a control part 23 that controls detection operation of a sensor part 22. The control substrate 21 is mounted with: a communication part 25 that outputs information about a detection state of the safety sensor 12 to an information processing device 24 and displays the information on a display screen 24a of the information processing device 24 when the information processing device 24 that is used in adjusting the safety sensor 12 is connected thereto so that the device and the part can communicate with each other; and a display part 26 whose display operation is controlled by the control part 23. The control part 23 makes the display part 26 display the detection state of the safety sensor 12 when adjusting the safety sensor 12.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] This specification discloses a technology relating to a safety sensor for detecting a person and a method for adjusting the same. [Background technology]

[0002] For example, as described in Patent Document 1 (International Publication No. WO2018 / 131237), in order to ensure the safety of workers in a workspace where humans and robots work together, multiple proximity sensors (ultrasonic sensors, optical sensors, capacitance sensors, radio wave sensors, etc.) are installed on the robot arm as safety sensors, and the multiple proximity sensors detect the approach of a worker to the robot arm.

[0003] Furthermore, as described in Patent Document 2 (JP 2017-150859 A), when adjusting the settings of a safety sensor, a setting support device such as a personal computer is connected to the safety sensor, and the worker operates the setting support device to rewrite the setting data of the safety sensor, or inputs information about the detection status of the safety sensor into the setting support device and displays the information about the detection status of the safety sensor on the display screen of the setting support device, allowing the worker to check the detection status of the safety sensor by looking at the display screen of the setting support device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. WO2018 / 131237 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-150859 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, when a setting support device such as a personal computer is connected to a safety sensor installed on a robot arm or the like to adjust the installation position and installation angle of the safety sensor, two workers work together: one who operates the setting support device and another who acts as a model detected by the safety sensor. This is because, in order to adjust the installation position and installation angle of the safety sensor while checking the detection state of the safety sensor on the display screen of the setting support device, in addition to the worker who checks the detection state of the safety sensor on the display screen of the setting support device, another worker is required to enter the detection area of ​​the safety sensor according to the instructions of the first worker and adjust the installation position and installation angle of the safety sensor while being detected.

[0006] Even in this case, if a portable information terminal such as a portable tablet PC or smartphone is used as the setting assistance device, an operator who enters the detection area of ​​the safety sensor can carry the portable information terminal and perform adjustment work by himself while checking the detection status of the safety sensor. However, when adjusting multiple safety sensors, it is not easy for an operator to adjust the installation position and installation angle of each of the multiple safety sensors by himself while accurately checking the detection status of the multiple safety sensors on the display screen of the portable information terminal in correspondence with each safety sensor, and work errors due to misreading the display are likely to occur. [Means for solving the problem]

[0007] In order to solve the above problem, in a safety sensor for detecting a person, the safety sensor is provided with a control board on which a control unit for controlling a detection operation is mounted, and the control board is provided with a communication unit for outputting information on the detection state of the safety sensor to an information processing device used when adjusting the safety sensor and displaying the information on the display screen of the information processing device when the information processing device is connected and capable of communicating with the safety sensor. of Detection target A predetermined surface of the safety sensor that is visible to a person being detected as A plurality of light emitting elements are arranged ,beforeThe safety sensor is equipped with a display unit whose display operation is controlled by the control unit, and the control unit causes the display unit to display status information during normal operation of the safety sensor, and causes the display unit to display the detection status of the safety sensor when the safety sensor is being adjusted.

[0008] In this configuration, the control board of the safety sensor is equipped with a display unit that displays the detection status of the safety sensor when adjusting the safety sensor, so when an operator adjusts the installation position or installation angle of the safety sensor, the operator can easily adjust the installation position or installation angle of the safety sensor by looking at the display unit of the safety sensor and checking the detection status of the safety sensor. Furthermore, even when adjusting multiple safety sensors, the operator can check the detection status of each safety sensor individually by looking at the display unit of each safety sensor, so the operator can easily check the detection status of each safety sensor while clearly distinguishing between them, and the operator can easily adjust multiple safety sensors by himself. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating a state in which an adjustment work for a safety sensor according to an embodiment is performed. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the safety sensor. [Figure 3] FIG. 3 is a perspective view of the safety sensor. [Figure 4] FIG. 4 is a diagram illustrating an example of the status display displayed on the display unit of the safety sensor in the status display mode. [Figure 5] FIG. 5 is a diagram illustrating an example of the reception power display displayed on the display unit of the safety sensor in the reception power display mode (detection state display mode). [Figure 6] FIG. 6 is a flowchart showing the processing flow of the display mode switching control program. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present invention will be described below. 1, in this embodiment, a plurality of safety sensors 12, 13, and 14 are installed in a workspace where a human and a robot 11 work together to ensure the safety of the worker. Each of the safety sensors 12, 13, and 14 is configured using a sensor capable of detecting a human, such as a radio wave sensor, an ultrasonic sensor, an optical sensor, or a capacitance sensor.

[0011] For example, one safety sensor 12 is installed on the arm 11a of the robot 11, and the other safety sensors 13 and 14 are installed on a conveyor 16 that transports a workpiece 15 to the working position of the robot 11. The installation positions and installation angles of the safety sensors 12, 13, and 14 are adjusted so that the detection areas 12a, 13a, and 14a of the safety sensors 12, 13, and 14 share the responsibility of covering the entire dangerous area of ​​the working space, and are adjusted so that any of the multiple safety sensors 12, 13, and 14 can reliably detect a human body that enters the dangerous area.

[0012] Next, the configuration of the safety sensor 12 will be described with reference to FIGS. 2 and 3, and the other safety sensors 13 and 14 also have the same configuration.

[0013] A control board 21 is provided inside the case of the safety sensor 12, and this control board 21 is equipped with a sensor unit 22 for detecting a person, a control unit 23 for controlling the detection operation of this sensor unit 22, a communication unit 25 for outputting information on the detection state of the sensor unit 22 to an information processing device 24 described later, a display unit 26 that can switch between a status display and a reception power display (detection state display) described later, and a memory unit 27 in which various data such as a display mode switching control program shown in Figure 6 described later and setting data are stored.

[0014] For example, if the safety sensor 12 is configured as a radio wave sensor, the sensor unit 22 is configured to include a radio wave transmitter that transmits radio waves toward the detection area 12a and a radio wave receiver that receives radio waves reflected by a detection target (person or object) that enters the detection area 12a, and the detection state is determined based on the strength of the receiving power of the radio wave receiver.

[0015] The display unit 26 is configured to be switchable between a status display mode that displays status information of the safety sensor 12 and a reception power display mode (detection state display mode) that displays the reception power (detection state) of the safety sensor 12. In this embodiment, as shown in FIGS. 1 and 3, the display unit 26 displays the reception power (detection state) of the safety sensor 12. of Detection target A predetermined surface of the safety sensor 12 that is visible to the person being detected as A plurality of light emitting elements 28a, 28b such as LEDs are arranged in a line. Re The plurality of light-emitting elements 28a, 28b may all emit the same light color, or some may emit light of different colors. Note that Figures 4 and 5 show an example of a configuration in which the light-emitting element 28a on the left side emits light of a different color from the other light-emitting elements 28b.

[0016] In the status display mode, as shown in FIG. 4, the number or position of the light-emitting elements 28a, 28b that are lit or blinking among the multiple light-emitting elements 28a, 28b is switched depending on the type of status information of the safety sensor 12. FIG. 4 shows an example of displaying three types of status information: "standby," "normal measurement," and "abnormality." However, other status information may be displayed, such as "writing to memory unit" when communication with the information processing device 24 (described later) is established. The key is to display status information recognized by the control unit 23. For example, if the display unit 26 is configured with eight light-emitting elements 28a, 28b, 256 types of status information can be displayed.

[0017] On the other hand, in the reception power display mode, as shown in Fig. 5, the number or positions of the light-emitting elements 28a, 28b that light up or blink among the plurality of light-emitting elements 28a, 28b are switched depending on the reception power (detection level) of the safety sensor 12. Fig. 5 shows three display examples of reception power levels: "25," "50," and "100," where the maximum reception power is "100." However, two or four or more reception power levels may be displayed. In the display example of Fig. 5, the intensity of the reception power is displayed like a level meter, with the two rightmost light-emitting elements 28b lighting up or blinking when the minimum reception power is "25," all (eight) of the light-emitting elements 28a, 28b lighting up or blinking when the maximum reception power is "100," and half (four) of the light-emitting elements 28b lighting up or blinking when the intermediate reception power is "50."

[0018] The communication unit 25 of each of the safety sensors 12, 13, 14 is configured with an interface such as Ethernet (registered trademark), and can be connected to an information processing device 24 such as a personal computer via a cable 29. When adjusting the installation position or installation angle of each of the safety sensors 12, 13, 14 installed on the arm 11a of the robot 11, the conveyor 16, etc., or rewriting the setting data stored in the memory unit 27 of each of the safety sensors 12, 13, 14, the information processing device 24 is connected to the communication units 25 of each of the safety sensors 12, 13, 14 via the cable 31, and when they are able to communicate with each other (when a link activity signal is detected), it is determined that it is time to adjust each of the safety sensors 12, 13, 14, and information on the reception power of each of the safety sensors 12, 13, 14 is output from the communication unit 25 to the information processing device 24, and the information on the reception power of each of the safety sensors 12, 13, 14 is displayed on the display 24a of the information processing device 24. When the safety sensors 12, 13, and 14 are in normal operation (normal use), the information processing device 24 is not connected to the safety sensors 12, 13, and 14.

[0019] The control unit 23 of each safety sensor 12, 13, 14 executes a display mode switching control program shown in FIG. 6 to monitor whether the information processing device 24 is connected or not. When the information processing device 24 is not connected, the control unit 23 determines that the device is in normal operation (normal use) and maintains the display mode of the display unit 26 in a status display mode that displays status information of each safety sensor 12, 13, 14. When the information processing device 24 is connected, the control unit 23 determines that the device is in adjustment mode for each safety sensor 12, 13, 14 and switches the display mode of the display unit 26 to a reception power display mode that displays the reception power of each safety sensor 12, 13, 14.

[0020] 6 at a predetermined interval while the safety sensors 12, 13, and 14 are powered on. When this program is started, first, in step 101, it is determined whether the information processing device 24 is connected to the communication unit 25 of each safety sensor 12, 13, and 14 via the cable 31 based on whether a link activity signal is detected. If a link activity signal is detected, it is determined that the information processing device 24 is connected, and the process proceeds to step 102, where it is determined that it is time to adjust each safety sensor 12, 13, and 14, and the display mode of the display unit 26 is maintained or switched to a reception power display mode that displays the reception power of each safety sensor 12, 13, and 14.

[0021] On the other hand, if in step 101 above it is determined that the link activity signal is not detected and the information processing device 24 is not connected, the process proceeds to step 103, where it is determined that normal operation (normal use) is in progress, and the display mode of the display unit 26 is maintained or switched to a status display mode that displays the status information of each safety sensor 12, 13, 14.

[0022] According to the present embodiment described above, when an operator adjusts the installation position or installation angle of each of the safety sensors 12, 13, and 14 installed on the arm 11a of the robot 11, the conveyor 16, etc., or operates the keyboard, mouse, etc. of the information processing device 24 to rewrite the setting data of each of the safety sensors 12, 13, and 14, the operator connects the information processing device 24 to the communication unit 25 of each of the safety sensors 12, 13, and 14 via the cable 31. As a result, when the control unit 23 of each of the safety sensors 12, 13, and 14 detects a link activity signal, it determines that the information processing device 24 is connected, and automatically switches the display mode of the display unit 26 of each of the safety sensors 12, 13, and 14 to a reception power display mode that displays the reception power of each of the safety sensors 12, 13, and 14.

[0023] After that, when the worker adjusts the installation position and installation angle of each safety sensor 12, 13, 14, the worker himself becomes the detection target of each safety sensor 12, 13, 14. Each When a worker approaches the safety sensors 12, 13, and 14 to work, the reception power displayed on the display unit 26 of each safety sensor 12, 13, and 14 changes depending on the positional relationship between the worker and the detection areas 12a, 13a, and 14a of each safety sensor 12, 13, and 14. Therefore, the worker can easily adjust the installation position and installation angle of each safety sensor 12, 13, and 14 by himself while checking the reception power displayed on the display unit 26 of each safety sensor 12, 13, and 14.

[0024] Furthermore, even when adjusting the installation positions and installation angles of the multiple safety sensors 12, 13, and 14, the worker can check the receiving power of each safety sensor 12, 13, and 14 individually by looking at the display unit 26 of each safety sensor 12, 13, and 14, so the worker can easily check the receiving power of each safety sensor 12, 13, and 14 while clearly distinguishing it from one another, and the work of adjusting the installation positions and installation angles of the multiple safety sensors 12, 13, and 14 can be easily performed by even one person.

[0025] The locations where the safety sensors 12, 13, and 14 are installed are not limited to the arm 11a of the robot 11 or the conveyor 16, and the present invention can be applied to cases where safety sensors are installed in various areas where worker safety needs to be ensured in a work space where people work together with robots, production machines, etc.

[0026] Furthermore, the connection between each of the safety sensors 12, 13, and 14 and the information processing device 24 is not limited to wired communication, but may be wireless communication.

[0027] The display method of the display unit 26 of each safety sensor 12, 13, 14 may be changed, and for example, a digital display may be used. Also, a display unit that displays the status information of each safety sensor 12, 13, 14 and a display unit that displays the reception power (detection state) may be provided separately.

[0028] In addition, the present invention is not limited to the above-described embodiments, and can be implemented with various modifications within the scope of the present invention, such as changing the configuration of the safety sensors 12, 13, and 14, installing the detection areas 12a, 13a, and 14a of the multiple safety sensors 12, 13, and 14 so that they do not overlap, or installing only one safety sensor. [Explanation of symbols]

[0029] 11...robot, 11a...arm, 12, 13, 14...safety sensor, 12a, 13a, 14a...detection area, 16...conveyor, 21...control board, 22...sensor unit, 23...control unit, 24...information processing device, 25...communication unit, 26...display unit, 27...storage unit, 28a, 28b...light-emitting element, 29...cable

Claims

1. In a safety sensor for detecting a person, The safety sensor is provided with a control board on which a control unit for controlling a detection operation is mounted, The control board is equipped with a communication unit for outputting information on the detection state of the safety sensor to an information processing device used when adjusting the safety sensor and displaying the information on a display screen of the information processing device when the information processing device is connected and capable of communicating with the safety sensor, and a display unit configured by arranging a plurality of light-emitting elements on a predetermined surface of the safety sensor that is visible to a person detected as a detection target of the safety sensor, and whose display operation is controlled by the control unit, The control unit causes the display unit to display status information during normal operation of the safety sensor, and causes the display unit to display a detection state of the safety sensor during adjustment of the safety sensor.

2. In a safety sensor for detecting a person, The safety sensor is provided with a control board on which a control unit for controlling a detection operation is mounted, The control board is equipped with a communication unit for outputting detection state information, which is the intensity at which the safety sensor detects the presence or absence of an object, to the information processing device when the control board is connected to an information processing device used for adjusting the safety sensor and is in a state where they can communicate with each other, and displaying the information on the display screen of the information processing device; and a display unit configured by arranging a plurality of light-emitting elements on a predetermined surface of the safety sensor that is visible to a person detected as a detection target of the safety sensor, and whose display operation is controlled by the control unit. The control unit displays the detection status of the safety sensor by switching the number or position of the light-emitting elements that are lit or flashing among the plurality of light-emitting elements depending on the detection intensity of the safety sensor when adjusting the safety sensor.

3. 3. The safety sensor according to claim 1, wherein the control unit monitors whether the information processing device is connected or not, and when the information processing device is connected, determines that it is time to adjust the safety sensor and causes the display unit to display the detection status of the safety sensor.

4. the display unit is configured to be switchable between a status display mode that displays status information of the safety sensor and a detection state display mode that displays a detection state of the safety sensor, 4. The safety sensor according to claim 3, wherein the control unit monitors whether the information processing device is connected or not, and when the information processing device is not connected, maintains the display mode of the display unit in the status display mode, and when the information processing device is connected, switches the display mode of the display unit to the detection state display mode.

5. In the status display mode, the number or positions of the light-emitting elements to be turned on or blinking among the plurality of light-emitting elements are switched according to the type of status information of the safety sensor; The safety sensor according to claim 4 , wherein in the detection state display mode, the number or positions of the light-emitting elements to be lit or blinking among the plurality of light-emitting elements are switched depending on the detection state of the safety sensor.

6. 6. The method for adjusting the installation position and / or installation angle of the safety sensor according to claim 1, A safety sensor adjustment method in which, when adjusting the safety sensor, the worker himself / herself becomes the detection target of the safety sensor, and the worker adjusts the installation position and / or installation angle of the safety sensor while visually checking the detection state of the safety sensor displayed on the display unit.

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