A control device and method for controlling the movement of a robot, a device and method for setting an entry monitoring function, and a computer program

Abstract

The control device (26) as the first invention includes an entry monitoring unit (70) that determines whether an entry has occurred based on a detection signal from an entry detection sensor (20) that detects the entry of a worker into a work area, and executes an entry monitoring function that causes the robots (12, 14, 16) to be stopped in an emergency if an entry has been determined to have occurred; a function switching unit (76) that switches the entry monitoring function by the entry monitoring unit (70) on or off; a signal receiving unit (72) that receives a permission signal to allow entry when the entry monitoring function is on off; and a stop command unit (74) that sends a stop command to stop the operation of the robots (12, 14, 16) when the signal receiving unit (72) has received a permission signal. The function switching unit (76) switches the entry monitoring function for the robots (12, 14, 16) from on or off when it stops the operation of the robots (12, 14, 16) in accordance with the stop command. The second invention, an access monitoring function (MF) setting device (80), sets an access monitoring function that determines whether or not an access has occurred based on a detection signal from an access detection sensor (20) that detects the access of a worker to a work area where a robot (12, 14, 16) is performing work. The device includes an image data generation unit (82) that generates setting image data (200) including a permission signal setting image (210) for setting parameters for determining the communication destination of the permission signal for allowing access (i.e., an access permission button (22)) and a detection signal setting image (214) for setting parameters for determining the communication destination of the detection signal (DS) for the access monitoring function (i.e., an access detection sensor (20)) and a logic (LG) for determining whether or not an access has occurred based on the detection signal (DS) in the access monitoring function (MF), and an input receiving unit (84) that receives input for the setting through the permission signal setting image (210) and the detection signal setting image (214).

Description

[Technical Field]

[0001] This disclosure relates to a control device and method for controlling the movement of a robot, an apparatus and method for setting an entry monitoring function, and a computer program. [Background technology]

[0002] A system is known that performs an access monitoring function to monitor the entry of workers into a work area (for example, Patent Document 1). [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2010-208002 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] Traditionally, there has been a demand to enable and disable the access monitoring function as needed, depending on the work situation. There is also a demand for easier configuration of the access monitoring function. [Means for solving the problem]

[0005] In one embodiment of the present disclosure, a control device for controlling the operation of a robot performing work within a work area includes: an entry monitoring unit that determines whether or not a worker has entered the work area based on a detection signal from an entry detection sensor that detects the entry of a worker into the work area, and executes an entry monitoring function that performs an emergency stop of the robot if an entry is determined to have occurred; a function switching unit that switches the entry monitoring function by the entry monitoring unit on or off; a signal receiving unit that receives a permission signal to allow entry when the entry monitoring function is on; and a stop command unit that issues a stop command to stop the robot's operation when the signal receiving unit receives a permission signal. The function switching unit switches the entry monitoring function for the robot from on or off when it stops the robot's operation in accordance with the stop command.

[0006] In another aspect of the present disclosure, an apparatus for setting an entry monitoring function for determining the presence or absence of entry based on a detection signal from an entry detection sensor that detects the entry of an operator into a work area where a robot performs work includes a permission signal setting image for setting communication of a permission signal for permitting entry and a detection signal setting image for setting communication of a detection signal for the entry monitoring function, and an image data generation unit that generates setting image data including the permission signal setting image and the detection signal setting image, and an input reception unit that receives an input for setting through the permission signal setting image and the detection signal setting image.

[0007] In still another aspect of the present disclosure, a method for controlling the operation of a robot that performs work in a work area includes a processor determining the presence or absence of entry based on a detection signal from an entry detection sensor that detects the entry of an operator into the work area, executing an entry monitoring function for emergency stopping the robot when it is determined that the entry exists, switching the entry monitoring function between being enabled and disabled, receiving a permission signal for permitting entry, transmitting a stop command for stopping the operation of the robot when the permission signal is received, and switching the entry monitoring function to being disabled when the operation of the robot is stopped according to the stop command.

[0008] In still another aspect of the present disclosure, a method for setting an entry monitoring function for determining the presence or absence of entry based on a detection signal from an entry detection sensor that detects the entry of an operator into a work area where a robot performs work includes a processor generating setting image data including a permission signal setting image for setting communication of a permission signal for permitting entry and a detection signal setting image for setting communication of a detection signal for the entry monitoring function, and receiving an input for setting through the permission signal setting image and the detection signal setting image.

Brief Description of the Drawings

[0009] [Figure 1] It is a schematic diagram of a robot system according to an embodiment. [Figure 2] It is a block diagram of the robot system shown in FIG. 1. [Figure 3]It is a flowchart showing an example of a method for controlling the robot shown in FIG. 1. [Figure 4] It is a flowchart showing an example of an entry monitoring function. [Figure 5] It is a flowchart showing another example of the entry monitoring function. [Figure 6] It is a block diagram showing other functions of the robot system shown in FIG. 1. [Figure 7] It is a flowchart showing an example of a method for setting an entry monitoring function. [Figure 8] It is a diagram of setting image data according to an embodiment. [Figure 9] It shows a state in which an alarm signal is displayed in the setting image data shown in FIG. 8.

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present disclosure will be described in detail based on the drawings. In the various embodiments described below, the same elements are denoted by the same reference numerals, and duplicate descriptions are omitted. First, referring to FIGS. 1 and 2, a robot system 10 according to an embodiment will be described. The robot system 10 includes a plurality of robots 12, 14, and 16, a safety fence 18, an entry detection sensor 20, an entry permission button 22, an entry permission notification device 24, and a control device 26 (FIG. 2).

[0011] The robots 12, 14, and 16 perform work within the work area 100. Specifically, the robot 12 (the first robot) is, for example, a vertically articulated robot, and has a robot base 30, a multi-degree-of-freedom robot arm 32 rotatably connected to the robot base 30, and an end effector 34 provided at the tip of the robot arm 32. The end effector 34 is, for example, a robot hand, and grips the workpiece so as to be able to release it.

[0012] The robot base 30 and robot arm 32 are equipped with multiple servo motors 36. Each servo motor 36 receives power (specifically, current) from a servo amplifier AM (not shown) according to a command from the control device 26, and rotates the movable components of the robot 12 (robot arm 32, end effector 34) around the drive axis. Each servo motor 36 is equipped with a rotation sensor (encoder, Hall element, etc.) that detects the rotational position (or rotational angle) RP1 of the servo motor 36, and each rotation sensor supplies the detected rotational position RP1 to the control device 26.

[0013] Robot 14 (the second robot), like robot 12, is, for example, a vertical articulated robot and has a robot base 40, a robot arm 42, an end effector 44, and a plurality of servo motors 46. Each servo motor 46 receives power from a servo amplifier AM according to a command from the control device 26 and rotates the movable components of robot 14 (robot arm 42, end effector 44) around the drive axis. Each servo motor 46 is also provided with a rotation sensor (encoder, Hall element, etc.) that detects the rotational position (or rotational angle) RP2 of the servo motor 46, and each rotation sensor supplies the detected rotational position RP2 to the control device 26.

[0014] On the other hand, robot 16 (the third robot) has a turntable 50 and a servo motor 52. The turntable 50 is provided in the work area 100 so that it can rotate around a rotation axis 54. The robot base 30 of robot 12 and the robot base 40 of robot 14 are fixed on the turntable 50. Note that the robot base 30 may be positioned at a position that is rotationally symmetric with respect to the robot base 40 with respect to the rotation axis 54 (in other words, at a position 180° from the robot base 40 around the rotation axis 54).

[0015] The servo motor 52 receives power from the servo amplifier AM according to a command from the control device 26 and rotates the turntable 50, thereby rotating the robots 12 and 14 around the rotation axis 54. The servo motor 52 is equipped with a rotation sensor (encoder, Hall element, etc.) that detects the rotation position (or rotation angle) RP3 of the servo motor 52, and the rotation sensor supplies the detected rotation position RP3 to the control device 26. The rotation position RP3 indicates the rotation position of the turntable 50 that rotates the robots 12 and 14.

[0016] The safety fence 18 defines the work area 100 in which the robots 12, 14, and 16 perform their work. Specifically, the safety fence 18 has a physical fence (or wall) surrounding the robots 12, 14, and 16, isolating them from the outside in order to ensure the safety of the worker 102. The safety fence 18 is provided with an entrance / exit 28 for the worker 102 to enter and exit the work area 100.

[0017] The entry detection sensor 20 detects the entry of a worker 102 into the work area 100. In this embodiment, the entry detection sensor 20 has an optical sensor such as a laser sensor or an infrared sensor and is positioned at the entrance 28 of the safety fence 18. The entry detection sensor 20 detects objects (i.e., workers 102) passing through the entrance 28 without contact (a so-called light curtain). Specifically, when the entry detection sensor 20 detects an object passing through the entrance 28, it supplies a first detection signal DS1 (OFF signal, 0 signal, etc.) to the control device 26, while it does not detect an object passing through the entrance 28, it supplies a second detection signal DS2 (ON signal, 1 signal, etc.) to the control device 26.

[0018] The entry permission button 22 is located outside the safety fence 18 and supplies a permission signal AS to the control device 26 to allow the worker 102 to enter the work area 100. Specifically, when the worker 102 presses the entry permission button 22 to enter the work area 100, the entry permission button 22 transmits a permission signal AS (for example, an ON signal or a 1 signal) to the control device 26.

[0019] The entry permission notification device 24 is installed outside the safety fence 18 and, in response to a notification signal NS from the control device 26, notifies the worker 102 whether entry into the work area 100 is permitted or prohibited. The notification signal NS is a signal for notifying the worker 102 whether entry into the work area 100 is permitted or prohibited. For example, the notification signal NS indicates permission for entry for the worker 102. + And, a warning signal NS indicating that worker 102 is prohibited from entering. - This includes.

[0020] The entry permission notification device 24 has a lamp that lights up in response to a notification signal NS. For example, the entry permission notification device 24 lights up in response to a notification signal NS indicating permission. + If a signal is received, the lamp will illuminate in the first color (for example, green), while simultaneously displaying the prohibition signal NS. - If a signal is received, the lamp may be made to illuminate in a second color (for example, red). Alternatively, the entry permission notification device 24 may have a speaker that announces permission or prohibition by voice in response to the notification signal NS.

[0021] As shown in Figure 1, a world coordinate system 110 is set for the work area 100. The world coordinate system 110 is a fixed coordinate system fixed to the work area 100 and defines a virtual three-dimensional space representing the work area 100. On the other hand, a robot coordinate system 112 is set for the robot 12. In this embodiment, the robot coordinate system 112 is a movable coordinate system whose origin is fixed to the robot base 30 and which rotates within the world coordinate system 110 together with the turntable 50.

[0022] Furthermore, a robot coordinate system 114 is set for robot 14. The robot coordinate system 114 is a mobile coordinate system whose origin is fixed to the robot base 40 and which rotates within the world coordinate system 110 together with the turntable 50. The coordinate P1 of the robot coordinate system 112 in the world coordinate system 110 and the coordinate P2 of the robot coordinate system 114 in the world coordinate system 110 can be determined from the rotation position RP3 of the turntable 50 (or servo motor 52). Coordinate P1 indicates the position of the robot base 30 of robot 12 in the work area 100, and coordinate P2 indicates the position of the robot base 40 of robot 14 in the work area 100.

[0023] On the other hand, the coordinate Q1 of any movable component of robot 12 (e.g., end effector 34) in world coordinate system 110 can be determined from the rotational position RP1 of each servo motor 36 and the rotational position RP3 of servo motor 52 (i.e., coordinate P1). Similarly, the coordinate Q2 of any movable component of robot 14 (e.g., end effector 44) in world coordinate system 110 can be determined from the rotational position RP2 of each servo motor 46 and the rotational position RP3 of servo motor 52 (coordinate P1). Coordinate Q1 indicates the position of the movable component of robot 12 (end effector 34) in the work area 100, and coordinate P2 indicates the position of the movable component of robot 14 (end effector 44) in the work area 100.

[0024] In this embodiment, the work area 100 is divided into a restricted area 104 where entry by a worker 102 is prohibited, and a permitted area 106 where entry is permitted. In the example shown in Figure 1, the permitted area 106 is defined in the work area 100 as the area closer to the entrance / exit 28 with respect to the robot 16 (or rotation axis 54).

[0025] On the other hand, the no-entry zone 104 is defined in the work area 100 as the area furthest from the entrance / exit 28, relative to the robot 16 (rotation axis 54). The no-entry zone 104 and the permitted entry zone 106 are represented as coordinates in the world coordinate system 110. The robot 16 rotates the turntable 50 to alternately position robots 12 and 14 in the no-entry zone 104 and the permitted entry zone 106.

[0026] The control device 26 controls the movements of robots 12, 14, and 16. As shown in Figure 2, the control device 26 is a computer having a processor 60, memory 62, I / O interface 64, input device 66, and display device 68. The processor 60 has a CPU or GPU, and is communicatively connected to the memory 62, I / O interface 64, input device 66, and display device 68 via a bus 69. While communicating with these components, it performs calculation processing for the function of controlling the movements of robots 12, 14, and 16.

[0027] Memory 62 has RAM or ROM, and temporarily or permanently stores various data used in the arithmetic processing performed by the processor 60, as well as various data generated during the arithmetic processing. Memory 62 may consist of a computer-readable non-temporary storage medium such as volatile memory, non-volatile memory, magnetic storage medium, or optical storage medium.

[0028] The I / O interface 64 has, for example, an Ethernet® port, a USB port, an optical fiber connector, an RS-232C connector, or an HDMI® terminal, and communicates data with external devices via wired or wireless connection under the command of the processor 60. In this embodiment, the robots 12, 14 and 16, the entry detection sensor 20, the entry permission button 22, and the entry permission notification device 24 are communicated to the I / O interface 64.

[0029] The input device 66 has buttons, switches, a keyboard, a mouse, or a touch panel, and accepts data input from the operator. The display device 68 has a liquid crystal display or an organic EL display, and displays various data in a visible manner. The input device 66 and the display device 68 may be integrated into the housing of the control device 26, or they may be provided separately from the housing of the control device 26 (for example, as a PC) and connected to the I / O interface 64 by wire or wireless.

[0030] In this embodiment, the processor 60 operates robots 12, 14, and 16 to perform the following operations. Specifically, as shown in Figure 1, the processor 60 operates robot 16 to position robot 12 in the no-entry area 104, while positioning robot 14 in the permitted entry area 106. In this state, the processor 60 sets the unworked workpiece 108, which has been grasped by robot 12, onto the work table 116, and performs operations on the workpiece 108 (cutting, laser processing, welding, etc.) using robot 12 (or another robot such as a machine tool, laser processing machine, or welding machine). Meanwhile, worker 102 enters the permitted entry area 106 within the work area 100 from the entrance / exit 28, removes the worked workpiece 108 from robot 14, and has robot 14 grasp the unworked workpiece 108.

[0031] Once robot 12 has finished its work, processor 60 operates robot 16 to rotate turntable 50 by 180°. This positions robot 12 in the permitted entry area 106, while robot 14 is positioned in the restricted entry area 104 (i.e., the positions of robots 12 and 14 are swapped). Then, processor 60 places the unworked workpiece 108, which robot 14 has grasped, onto worktable 116, and robot 14 (or another robot) performs work on the workpiece 108.

[0032] Meanwhile, worker 102, having re-entered the permitted entry area 106, removes the completed workpiece 108 from robot 12 and has robot 12 grasp the unworked workpiece 108. Once robot 14 has finished its work, processor 60 operates robot 16 to reposition robot 12 back into the restricted entry area 104, as shown in Figure 1, while repositioning robot 16 back into the permitted entry area 106. In this way, robots 12, 14, and 16 cooperate with each other to perform the work by repeatedly executing the series of actions described above.

[0033] Here, it is necessary to ensure the safety of the worker 102 while robots 12, 14, and 16 are working. An example of how to control the operation of robots 12, 14, and 16 will be described below with reference to Figure 3. When the processor 60 receives a work start command from the operator, the higher-level controller, or the computer program PG1, it starts the flow shown in Figure 3.

[0034] In step S1, the processor 60 switches on the entry monitoring function MF. The entry monitoring function MF determines whether a worker 102 has entered the work area 100 based on the detection signal DS from the entry detection sensor 20, and if it determines that an entry has occurred, it performs an emergency stop on the robots 12, 14 and 16.

[0035] In this embodiment, the processor 60 executes the flow of the first entry monitoring function MF1 for each of the robots 12 and 14, while for robot 16, it executes the flow of the second entry monitoring function MF1. The flow of the entry monitoring function MF2 is executed. The flow of the first entry monitoring function MF1, which is executed for robots 12 and 14, is described below with reference to Figure 4. The flow in Figure 4 is: The process starts when the entry monitoring function MF is enabled in step S1. At the start of the flow in Figure 4, worker 102 is assumed to be outside the safety fence 18 (i.e., the work area 100).

[0036] In step S11, the processor 60 determines whether the first determination condition CD1 regarding the detection signal DS from the entry detection sensor 20 is satisfied. In the present embodiment, the first determination condition CD1 is the condition that a detection signal DS indicating the entry of the worker 102 into the work area 100 is received. Specifically, when the processor 60 receives the above-described first detection signal DS1 (that is, a signal indicating that an object has passed through the entrance / exit 28) from the entry detection sensor 20, it determines that the first determination condition CD1 is satisfied (that is, YES).

[0037] On the other hand, while the processor 60 is receiving the above-described second detection signal DS2 (that is, a signal indicating that an object has not passed through the entrance / exit 28), it determines that the first determination condition CD1 is not satisfied (that is, NO). When the processor 60 determines YES, it proceeds to step S12, and when it determines NO, it proceeds to step S15.

[0038] In step S12, the processor 60 determines whether the second determination condition CD2 regarding the positions of the robots 12 and 14 in the work area 100 is satisfied. In the present embodiment, the second determination condition CD2 is the condition that the robot 12 or 14 is arranged within the entry permission area 106 or outside the entry prohibition area 104. Hereinafter, the case where the first entry monitoring function MF1 is executed for the robot 12 will be described.

[0039] As an example, the processor 60 acquires the rotational position RP3 of the turntable 50 at this time as the position of the robot 12 in the work area 100, and determines that the second determination condition CD2 is satisfied (that is, YES) when the rotational position RP3 is within a predetermined range [RP3 th1 , RP3 th2 . That is, when RP3 th1 ≦ RP3 ≦ RP3 th2 ). This range [RP3 th1 , RP3 th2This range is determined by the operator as the range of rotational position RP3 of the turntable 50 when the robot 12 is positioned inside the permitted entry area 106 (or outside the prohibited entry area 104).

[0040] As another example, the processor 60 obtains the coordinates P1(x,y,z) of the origin of the robot coordinate system 112 in the world coordinate system 110 at this point, as the position of the robot 12 in the work area 100. Then, the processor 60 determines that the second determination condition CD2 is satisfied (i.e., YES) if coordinates P1 are within the permitted entry area 106 (or outside the prohibited entry area 104).

[0041] The processor 60 then processes multiple rotational positions RP3_ in a time-series sequence. n and RP3_ n +1 Obtain the rotation position RP3_ n and RP3_ n+1 Based on this, the rotational speed V3 (or acceleration) of the robot 16 may be determined. Then, the processor 60 may take the rotational speed V3 into consideration and determine whether the coordinate P1 is within the permitted entry area 106 (or outside the prohibited entry area 104).

[0042] For example, if coordinate P1 is close to the outside of the boundary of the permitted entry area 106 (or inside the boundary of the prohibited entry area 104), and the calculated rotational velocity vector V3 is pointing towards the inside of the permitted entry area 106 (or outside the prohibited entry area 104), then it may be determined that coordinate P1 is inside the permitted entry area 106 (or outside the prohibited entry area 104).

[0043] As yet another example, the processor 60 obtains the coordinates Q1 of the movable components (end effector 34, etc.) of the robot 12 in the world coordinate system 110 at this point, as the position of the robot 12 in the work area 100. The processor 60 determines that the second determination condition CD2 is satisfied (i.e., YES) if coordinates Q1 are within the permitted entry area 106 (or outside the prohibited entry area 104).

[0044] The processor 60 then processes multiple coordinates Q1_ that are sequentially continuous over time. n and Q1_ n+1 Obtain the coordinate Q1_ n and Q1_ n+1 Based on this, the moving speed V1 (or acceleration) of the movable component of the robot 12 may be determined. Then, the processor 60 may determine whether coordinate Q1 is inside the permitted entry area 106 (or outside the prohibited entry area 104) by taking the moving speed V1 into account, using the same method as described above for the rotation speed V3. In this way, the processor 60 determines whether the robot 12 satisfies the second determination condition CD2 based on the rotation position RP3 of the turntable 50.

[0045] Furthermore, when the first entry monitoring function MF1 is executed for robot 14, the second determination condition CD2 can be determined using the same method as for robot 12. For example, the processor 60 determines the position of robot 14 in the work area 100 by considering the rotation position RP3 of the turntable 50 at this point to be within a predetermined range [RP3 th3 RP3 th4 If it is within this range [RP3 th3 RP3 th4 This range is determined by the operator as the range of rotational position RP3 of the turntable 50 when the robot 14 is positioned inside the permitted entry area 106 (or outside the prohibited entry area 104).

[0046] As another example, the processor 60 obtains the coordinates P2(x,y,z) of the origin of the robot coordinate system 114 in the world coordinate system 110 at this point, as the position of the robot 14 in the work area 100. Then, the processor 60 determines that the second determination condition CD2 is satisfied for the robot 14 if coordinates P2 are within the permitted entry area 106 (or outside the prohibited entry area 104). In addition, the processor 60 may also determine whether coordinates P2 are within the permitted entry area 106 (or outside the prohibited entry area 104) by taking into account the rotation speed V3 described above, similar to the robot 12.

[0047] As yet another example, the processor 60 obtains the coordinates Q2 of the movable components (end effector 44, etc.) of the robot 14 in the world coordinate system 110 at this point, as the position of the robot 14 in the work area 100. The processor 60 determines that the robot 14 satisfies the second determination condition CD2 if coordinates Q2 are within the permitted entry area 106 (or outside the prohibited entry area 104).

[0048] Furthermore, the processor 60, like the robot 12, processes multiple coordinates Q2_ that are sequentially continuous over time. n and Q2_ n+1 Based on this, the moving speed V2 (or acceleration) of the movable component of the robot 14 may be determined. Then, the processor 60 may take the moving speed V2 into consideration and determine whether coordinate Q2 is within the permitted entry area 106 (or outside the prohibited entry area 104). In this way, the processor 60 determines whether the robot 14 satisfies the second determination condition CD2 based on the rotation position RP3 of the turntable 50. If the processor 60 determines YES in step S12, it proceeds to step S13; otherwise, it proceeds to step S15.

[0049] In step S13, the processor 60 determines that worker 102 has entered the work area 100. At this time, the processor 60 may set a flag FL to indicate that worker 102 has entered. Then, in step S14, the processor 60 emergency stops robots 12, 14 and 16. As an example, the processor 60 emergency stops robots 12, 14 and 16 by cutting off the power supply to their servo motors 36, 46 and 52.

[0050] Specifically, the processor 60 cuts off the power supply by disconnecting the electrical connection between the servo amplifier AM and the servo motors 36, 46, and 52. To cut off the power supply to the servo motor 36, the processor 60 may, for example, cut off the power supply to the robots 12, 14, and 16 by switching an electromagnetic switch built into the servo amplifier AM to OFF. Alternatively, the processor 60 may cut off the power supply to the robots 12, 14, and 16 by executing the "Safe Torque Off (STO) function" specified in IEC61800-5-2.

[0051] As another example, each of the servo motors 36, 46, and 52 may be provided with a brake mechanism BR (not shown) that brakes the drive shaft of the servo motor 36, 46, and 52. The processor 60 may then activate each brake mechanism BR to brake the servo motors 36, 46, and 52, thereby causing the robots 12, 14, and 16 to be brought to an emergency stop.

[0052] The processor 60 may also emergency stop robots 12, 14, and 16 by cutting off the power supply to servo motors 36, 46, and 52 and activating the brake mechanism BR. In this case, the processor 60 may emergency stop robots 12, 14, and 16 by activating each brake mechanism BR to brake them, and then cutting off the power supply to robots 12, 14, and 16. In other words, the processor 60 may emergency stop robots 12, 14, and 16 by combining braking by the brake mechanism BR and cutting off the power supply. The processor 60 may also execute step S14 by referring to the flag FL described above. The processor 60 may also generate an alarm signal AL1 indicating that robots 12, 14, and 16 have been emergency stopped.

[0053] For example, the processor 60 may generate the alarm signal AL1 as an image or sound and display it on the display device 68 or output it through a speaker. After step S14, the processor 60 may maintain the emergency stop state of robots 12, 14 and 16 until it receives a command to resume operation from the operator. After that, the processor 60 proceeds to step S16.

[0054] On the other hand, if NO is determined in step S11 or S12, in step S15 the processor 60 determines that there is no entry of worker 102 into the work area 100 and proceeds to step S16. In step S16 the processor 60 uses the entry monitoring function MF (first entry The system determines whether the monitoring function MF1) has been switched to disabled. The processor 60 determines that the intrusion monitoring function MF has been switched to disabled, and the first intrusion monitoring device shown in Figure 4 is activated. The process for MF1 is terminated, but if the result is NO, the process returns to step S11.

[0055] As described above, in the first intrusion monitoring function MF1 shown in Figure 4, the processor 60 is Steps S11 and S12 determine whether or not worker 102 has entered the work area 100. If at least one of the first determination condition CD1 and the second determination condition CD2 is not met (i.e., if NO is determined in step S11 or S12), the processor 60 determines that worker 102 has not entered the work area 100 (step S15) and permits the operation of robots 12 and 14.

[0056] For example, when performing the first entry monitoring function MF1 for robot 12. Suppose the processor 60 receives a first detection signal DS1 from the entry detection sensor 20 indicating that it has detected an object passing through the entrance / exit 28, and determines that the first determination condition CD1 is met (YES in step S11). In this case, if the robot 12 is positioned in the no-entry area 104 by the robot 16 (see Figure 1), the processor 60 will determine NO in step S12, and will allow the robot 12 to continue operating.

[0057] On the other hand, if the processor 60 satisfies both the first determination condition CD1 and the second determination condition CD2 (i.e., if it determines YES in steps S11 and S12), it determines that a worker 102 has entered the work area 100 (step S13) and will emergency stop the robots 12, 14 and 16. Note that if the processor 60 is executing the first entry monitoring function MF1 for robot 12 (or 14), it may emergency stop only robot 12 (or 14) in step S14.

[0058] Next, with reference to Figure 5, the flow of the second intrusion monitoring function MF2 performed for the robot 16 will be described. In the flow of Figure 5, the same step numbers are used for processes that are the same as in the flow of Figure 4, and redundant explanations are omitted. In the flow of Figure 5, if the processor 60 determines YES in step S11, it proceeds to step S13.

[0059] In other words, in the second intrusion monitoring function MF2, the processor 60 determines whether or not a worker 102 has entered the work area 100 by executing step S11. If the first determination condition CD1 is met for robot 16 (YES in step S11), it is determined that a worker 102 has entered (step S13), and robots 12, 14, and 16 are emergency stopped (step S14). Note that when the processor 60 is executing the second intrusion monitoring function MF2, it may emergency stop only robot 16 in step S14.

[0060] The processor 60 executes the entry monitoring functions MF (MF1, MF2) as described above. Therefore, the processor 60 functions as an entry monitoring unit 70 (Figure 2) that executes the entry monitoring functions MF. After switching the entry monitoring functions MF to active in step S1, the processor 60 starts the flow of the first entry monitoring function MF1 (Figure 4) for each of the robots 12 and 14, and starts the flow of the second entry monitoring function MF2 (Figure 5) for robot 16.

[0061] Referring again to Figure 3, in step S2, the processor 60 transmits an alert signal NS to the entry permission alert device 24. Specifically, the processor 60 transmits an alert signal NS indicating that entry into the work area 100 is prohibited. - This is transmitted to the entry permission notification device 24. The entry permission notification device 24 receives the notification signal NS - Depending on the situation, the lamp will either illuminate in a second color (red) or an audio announcement of entry prohibition will be made through the speaker. This allows the worker 102 outside the safety fence 18 to recognize that entry into the work area 100 is prohibited.

[0062] In step S3, the processor 60 operates the robot 16 to rotate the turntable 50. For example, suppose that before step S3, robot 12 holding an unworked workpiece 108 was positioned in the permitted entry area 106, while robot 14 holding a worked workpiece 108 was positioned in the restricted entry area 104. In this case, as shown in Figure 1, step S3 causes robot 12 holding the unworked workpiece 108 to be positioned in the restricted entry area 104, while robot 14 holding the worked workpiece 108 is positioned in the permitted entry area 106.

[0063] In step S4, the processor 60 performs operations on the workpiece 108. Specifically, the processor 60 operates the robot 12 to place the unworked workpiece 108, which is being held by the robot 12, onto the worktable 116. Then, the processor 60 operates the robot 12 (or another robot) to begin operations on the workpiece 108 on the worktable 116.

[0064] In step S5, the processor 60 determines whether or not it has received the permission signal AS. Specifically, the worker 102, who is outside the safety fence 18, performs an input operation by pressing the entry permission button 22 in order to enter the work area 100, depending on the progress of the work. In response to this input operation, the entry permission button 22 transmits the permission signal AS to the control device 26.

[0065] If the processor 60 receives the permission signal AS, it determines it to be YES and proceeds to step S6; however, if it determines it to be NO, it loops back to step S5. In this way, the processor 60 receives the permission signal AS when the entry monitoring function MF is enabled. Therefore, the processor 60 functions as a signal receiving unit 72 (Figure 2) that receives the permission signal AS.

[0066] In step S6, the processor 60 issues a stop command SC to stop the operation of robots 12, 14, and 16. In this embodiment, in step S6, the processor 60 issues a stop command SC to stop one of robots 12 and 14 that is located within the permitted entry area 106 (or outside the prohibited entry area 104), and also to stop robot 16. On the other hand, the processor 60 does not issue a stop command SC for the other of robots 12 and 14 that is located within the prohibited entry area 104 (or outside the permitted entry area 106).

[0067] For example, suppose that at the start of step S6, as shown in Figure 1, robot 12 is positioned in the no-entry area 104, while robot 14 is positioned in the permitted entry area 106. In this case, the processor 60 issues a stop command SC2 to stop the operation of robot 14, which is positioned in the permitted entry area 106 (or outside the no-entry area 104), and also issues a stop command SC3 to stop the operation of robot 16. On the other hand, the processor 60 does not issue a stop command SC1 for robot 12, which is positioned in the no-entry area 104 (or outside the permitted entry area 106).

[0068] Conversely, if at the start of step S6, robot 12 is located in the permitted entry area 106 and robot 14 is located in the prohibited entry area 104, the processor 60 issues a stop command SC1 to stop the operation of robot 12 and also issues a stop command SC3 for robot 16. On the other hand, the processor 60 does not issue a stop command SC1 for robot 14.

[0069] The stop commands SC1, SC2, and SC3 may also be commands to stop robots 12, 14, and 16 by cutting off the power supply to the servo motors 36, 46, and 52 of robots 12, 14, and 16 (specifically, by turning off the electromagnetic switch of the servo amplifier AM or using the STO function, etc.). In this case, the processor 60 transmits the stop commands SC1, SC2, and SC3 to the servo amplifier AM, respectively, in order to cut off the electrical connection between the servo amplifier AM and the servo motors 36, 46, and 52.

[0070] Alternatively, the stop commands SC1, SC2, and SC3 may be commands to activate the brake mechanism BR of the servo motors 36, 46, and 52. In this case, the processor 60 transmits the stop commands SC1, SC2, and SC3 to the brake mechanism BR, respectively. Note that the stop commands SC1, SC2, and SC3 may also be commands to perform both the interruption of power supply to the servo motors 36, 46, and 52 and the activation of the brake mechanism BR. In this case, the processor 60 transmits the command SC1 to activate the brake mechanism BR. _1 SC2 _1 SC3 _1 After sending the command SC1 to shut off the power supply, _2 SC2 _2 SC3 _2 You may send it.

[0071] For example, the processor 60 can determine which of the robots 12 and 14 is positioned in the access permitted area 106 based on the rotational position RP3 of the turntable 50. Alternatively, the processor 60 may determine which of the robots 12 and 14 is positioned in the access permitted area 106 based on counter information CT, which is updated each time step S3 is executed.

[0072] The counter information CT may be the number of times step S3 is executed, or it may be robot identification information that alternately switches the signal indicating robot 12 or 14 located in the entry permission area 106 each time step S3 is executed. In this way, the processor 60 sends a stop command SC1 or SC2 to stop the operation of robot 12 or 14 located in the entry permission area 106, and a stop command SC3 to stop the operation of robot 16.

[0073] Therefore, the processor 60 functions as a stop command unit 74 (Figure 2) that issues stop commands SC (SC1, SC2, SC3). These stop commands SC cause robots 12 or 14 and robot 16 located in the permitted entry area 106 to stop. On the other hand, robots 12 or 14 located in the prohibited entry area 104 are permitted to continue operating and continue their work.

[0074] Furthermore, if worker 102 presses the entry permission button 22 when the work started in step S4 is completed, the processor 60 will send a stop command SC to robot 12 or 14 and robot 16, which have finished their work and stopped operating, in step S6. In this case, the processor 60 may send a stop command SC1 or SC2 to cut off the power supply to robot 12 or 14 located in the entry permission area 106, and may also send a stop command SC3 to cut off the power supply to robot 16.

[0075] Alternatively, if the determination in step S5 is YES and the work started in step S4 is still in progress, the processor 60 may, in step S6, issue a stop command SC to cut off the power supply or activate the brake mechanism BR in order to stop the operating robot 12 or 14 and robot 16.

[0076] The processor 60 may, after sending the stop command SC in step S6, determine whether or not the robots 12, 14, and 16 have finished stopping. For example, suppose the processor 60 sends stop commands SC2 and SC3 to the servo amplifier AM to cut off the power supply to the servo motors 46 and 52 of robots 14 and 16.

[0077] The servo amplifier AM switches the electromagnetic switch to OFF according to the stop commands SC2 and SC3, and then sends a cutoff completion signal back to the control device 26. When the processor 60 receives the cutoff completion signal, it determines that the robots 14 and 16 have finished stopping. The same procedure applies when cutting off the power supply to the servo motors 36 and 52 of robots 12 and 16.

[0078] Alternatively, power sensors may be provided to detect the power supplied to robots 12, 14, and 16 (servo motors 36, 46, and 52). The processor 60 may then determine, based on the power detected by the power sensors, whether or not the power supply to robots 12, 14, and 16 has been cut off (i.e., stopped operating).

[0079] As another example, if the processor 60 transmits stop commands SC1, SC2, and SC3 to the brake mechanism BR, the brake mechanism BR may return a braking completion signal to the control device 26 when it has completed braking the servo motors 36, 46, and 52 in accordance with the stop commands SC1, SC2, and SC3. The processor 60 may determine that the robots 12, 14, and 16 have finished stopping when it receives the braking completion signal.

[0080] In step S7, the processor 60 switches the entry monitoring function MF for robot 12 or 14 and robot 16, which have stopped operating in accordance with the stop command SC transmitted in the preceding step S6, from enabled to disabled. For example, suppose in the preceding step S6, the processor 60 transmitted stop commands SC2 and SC3 to robots 14 and 16, respectively.

[0081] In this case, the processor 60 switches the first intrusion monitoring function MF1 (Figure 4) that it is running for the robot 14 from enabled to disabled. As a result, the processor 60 determines YES at step S16 of the flow in Figure 4 that it is running for the robot 14, and terminates the first intrusion monitoring function MF1 for the robot 14.

[0082] Furthermore, the processor 60 switches the second access monitoring function MF2 (Figure 5), which is executed for robot 16, from enabled to disabled. As a result, the processor 60 determines YES at step S16 of the flow in Figure 5, which is executed for robot 16, and terminates the second access monitoring function MF2 for robot 16. On the other hand, the processor 60 keeps the first access monitoring function MF1, which is executed for robot 12, enabled. Thus, the processor 60 continues the flow of the first access monitoring function MF1 shown in Figure 4 for robot 12.

[0083] Conversely, suppose that in the previous step S6, the processor 60 sent stop commands SC1 and SC3 to robots 12 and 16, respectively. In this case, the processor 60 switches the first access monitoring function MF1 (Figure 4) running for robot 12 from enabled to disabled, and also disables the second access monitoring function MF2 for robot 16. Meanwhile, the processor 60 keeps the first access monitoring function MF1 running for robot 14 enabled.

[0084] Thus, in this embodiment, the processor 60 switches the entry monitoring functions MF (MF1, MF2) for robots 12, 14, and 16 on or off in steps S1 and S7. Therefore, the processor 60 functions as a function switching unit 76 (Figure 2) that switches the entry monitoring functions MF on or off.

[0085] In step S8, the processor 60 transmits an announcement signal NS. Specifically, the processor 60 transmits an announcement signal NS indicating permission to enter the work area 100. +This is transmitted to the entry permission notification device 24. The entry permission notification device 24 receives the notification signal NS + Depending on the situation, the lamp will illuminate in the first color (green), or an audio notification of permission to enter will be given via a speaker. This allows the worker 102 outside the safety fence 18 to recognize that they are permitted to enter the work area 100.

[0086] Worker 102 passes through the entrance / exit 28 and enters the permitted entry area 106 of the work area 100. For example, suppose that at this point, as shown in Figure 1, robot 12 is positioned in the restricted entry area 104 and robot 14 is positioned in the permitted entry area 106. In this case, since the entry monitoring function MF of robots 14 and 16 is switched off in step S7, even if worker 102 passes through the entrance / exit 28, robots 12, 14 and 16 will not be emergency stopped (i.e., step S14 will not be executed) by the entry monitoring function MF of robots 14 and 16.

[0087] On the other hand, although the entry monitoring function MF (MF1) of robot 12, which is positioned in the no-entry area 104, is enabled, it is determined to be NO in step S12 in Figure 4, so robots 12, 14 and 16 are not emergency stopped in step S14. Also, at this time, the operation of robots 14 and 16 is stopped in step S6. Therefore, worker 102, who has entered the permitted entry area 106, can safely remove the worked workpiece 108 from robot 14 and have robot 14 grasp the unworked workpiece 108. After this operation, worker 102 passes through the entrance / exit 28 again and exits the work area 100.

[0088] In step S9, the processor 60 determines whether or not to perform the following operation. For example, an exit button (not shown) may be provided outside the safety fence 18. When a worker 102 who has exited the work area 100 presses the exit button, the exit button transmits an exit confirmation signal ES to the control device 26. As another example, the entry permission button 22 may be configured as a button that can be pressed in stages, transmitting the permission signal AS described above when pressed in the first stage, and transmitting an exit confirmation signal ES to the control device 26 when pressed in the second stage (or when returned to the initial position). In this step S9, the processor 60 determines YES when it receives the exit confirmation signal ES.

[0089] As another example, the processor 60 may perform the determination in step S9 based on the detection signal DS received from the entry detection sensor 20 after step S6, S7, or S8. For example, suppose after step S8, worker 102 enters the work area 100 and then exits the work area 100. In this case, the entry detection sensor 20 will transmit the first detection signal DS1 twice to the control device 26.

[0090] In step S9, the processor 60 determines that the number of times α has received the first detection signal DS1 is equal to a predetermined threshold α th (α th The processor may determine YES when it reaches =2j (where j is a positive integer). If the processor 60 determines YES in step S9, it returns to step S1. The processor 60 then releases the stop command SC issued in step S6 for robots 12 or 14 and robot 16 (specifically, it resumes power supply or releases the brake of the brake mechanism BR), and also functions as a function switching unit 76 to enable the entry monitoring function MF of robots 12, 14 and 16. On the other hand, if the processor 60 determines NO in step S9, it terminates the flow shown in Figure 3.

[0091] As described above, in the control device 26, the entry monitoring unit 70 executes the entry monitoring function MF (Figures 4 and 5), and the function switching unit 76 switches the entry monitoring function MF by the entry monitoring unit 70 to enable or disable it (steps S1 and S7). The signal receiving unit 72 receives a permission signal AS to permit entry when the entry monitoring function MF is enabled (step S5). The stop command unit 74 sends a stop command SC (SC1, SC2, SC3) to stop the operation of robots 12, 14, and 16 when the signal receiving unit 72 has received the permission signal AS (YES in step S5) (step S6).

[0092] Then, when the operation of robots 12, 14, and 16 is stopped in accordance with the stop command SC, the function switching unit 76 switches the entry monitoring function MF for robots 12, 14, and 16 from enabled to disabled (step S7). With this configuration, the entry monitoring function MF can be switched to disabled in a timely manner in response to the stopping of the operation of robots 12, 14, and 16. Therefore, the entry monitoring function MF can be switched on or off in a timely manner according to the work situation while ensuring the safety of the worker 102.

[0093] In this embodiment, the work area 100 is further divided into an access-permitted area 106 where worker 102 is permitted to enter, and an access-restricted area 104 where entry is prohibited. The stop command unit 74 then issues a stop command SC1 or SC2 for the robot 12 or 14 located within the access-permitted area 106 (or outside the access-restricted area 104) when the signal reception unit 72 receives the permission signal AS.

[0094] On the other hand, the stop command unit 74 does not issue a stop command SC1 or SC2 for robots 12 or 14 located within the no-entry area 104 (or outside the permitted entry area 106). As a result, the function switching unit 76 disables the entry monitoring function MF1 for robots 12 or 14 that have issued a stop command SC1 or SC2, while maintaining the entry monitoring function MF1 for robots 12 or 14 that have not issued a stop command SC1 or SC2.

[0095] This configuration ensures the safety of worker 102 by stopping the operation of robot 12 or 14 located within the permitted entry area 106 (or outside the prohibited entry area 104) where worker 102 can enter. On the other hand, for robot 12 or 14 located within the prohibited entry area 104 (or outside the permitted entry area 106) where worker 102 is prohibited from entering, the entry monitoring function MF1 can be effectively maintained to ensure safety while allowing operation to continue. Furthermore, the entry monitoring function MF1 for robots 12 and 14 can be executed based on the detection signal DS of a common entry detection sensor 20. This reduces the number of entry detection sensors 20.

[0096] In this embodiment, the work area 100 is provided with a first robot 12 and a second robot 14, and a third robot 16 which alternately positions the first robot 12 and the second robot 14 in the permitted entry area 106 or the prohibited entry area 104. When the signal receiving unit 72 receives the permission signal AS, the stop command unit 74 sends stop commands SC1 or SC2 and SC3 for the one of the first robot 12 and the second robot 14 that is positioned inside the permitted entry area 106 (or outside the prohibited entry area 104) (robot 14 in Figure 1) and for the third robot 16.

[0097] On the other hand, the stop command unit 74 does not send a stop command SC1 or SC2 for the other robot (robot 12 in Figure 1) of the first robot 12 and the second robot 14, which is located outside the permitted entry area 106 (or inside the prohibited entry area 104). As a result, the function switching unit 76 disables the entry monitoring functions MF1 and MF2 for the first robot and the third robot 16 that sent the stop commands SC1 or SC2 and SC3. On the other hand, the function switching unit 76 keeps the entry monitoring function MF1 enabled for the other robot that did not send the stop command SC1 or SC2.

[0098] With this configuration, the safety of worker 102 can be reliably ensured by stopping the operation of robots 12 or 14 located within the permitted entry area 106 (or outside the prohibited entry area 104) and the robot 16 that moves robots 12 or 14 within the work area 100. At the same time, robots 12 or 14 located within the prohibited entry area 104 (or outside the permitted entry area 106) can continue to operate.

[0099] Furthermore, the entry monitoring unit 70 performs a determination of the entry monitoring function MF1 (Figure 4) according to a first determination condition CD1 relating to the detection signal DS and a second determination condition CD2 relating to the positions of the robots 12 and 14 in the work area 100 (steps S11, S12). With this configuration, the determination of whether or not entry has occurred by the entry monitoring function MF1 can be performed by taking into account the positions of the robots 12 and 14 in the work area 100, in addition to the detection signal DS from the entry detection sensor 20. This makes it possible to avoid unnecessarily stopping the robots 12 and 14 in an emergency by the entry monitoring function MF1 while ensuring the safety of the worker 102.

[0100] Furthermore, if the entry monitoring unit 70 does not satisfy at least one of the following conditions in the entry monitoring function MF1: a first determination condition CD1, which is that a detection signal DS1 indicating entry has been received, and a second determination condition CD2, which is that the robots 12 and 14 are located within the permitted entry area 106 (or outside the prohibited entry area 104) (NO in step S11 or S12), it determines that there is no entry (step S15) and permits the operation of the robot 12 or 14.

[0101] On the other hand, if the entry monitoring unit 70 satisfies both the first determination condition CD1 and the second determination condition CD2 (YES in steps S11 and S12), it determines that an entry has occurred (step S13) and emergency stops the robots 12 and 14. With this configuration, even if the entry detection sensor 20 detects the entry of a worker 102, if the robots 12 and 14 are not positioned in the permitted entry area 106 into which the worker 102 can enter (or are positioned in the prohibited entry area 104 into which entry is prohibited), the robots 12 and 14 can continue to operate without emergency stopping. This makes it possible to improve work efficiency while ensuring the safety of the worker 102.

[0102] Furthermore, in this embodiment, a first robot 12 and a second robot 14 are provided in the work area 100, and the entry monitoring unit 70 performs an entry monitoring function MF1 determination for each of the first robot 12 and the second robot 14 according to the first determination condition CD1 and the second determination condition CD2. With this configuration, even when multiple robots 12 and 14 are performing work, the safety of the worker 102 can be ensured while avoiding unnecessary emergency stops of the robots 12 and 14, thereby improving work efficiency.

[0103] Furthermore, in the entry monitoring function MF2 (Figure 5), the entry monitoring unit 70 determines that an entry has occurred in the third robot 16 if the determination condition CD1, which is that a detection signal DS1 indicating entry has been received, is met (step S13), and the third robot 16 is emergency stopped. With this configuration, the robot 16 that moves robots 12 and 14 within the work area 100 can be emergency stopped immediately when the entry detection sensor 20 detects the entry of a worker 102. This ensures the safety of the worker 102 more reliably.

[0104] Furthermore, the third robot 16 has a turntable 50 that rotates the first robot 12 and the second robot 14 around a rotation axis 54, and the entry monitoring unit 70 determines whether the second determination condition CD2 is met for each of the first robot 12 and the second robot 14 based on the rotation position RP3 of the turntable 50. With this configuration, the first robot 12 and the second robot 14 can be efficiently positioned in the entry permitted area 106 or the entry prohibited area 104, and the determination of the second determination condition CD2 can be quickly performed from the rotation position RP3.

[0105] The processor 60 may execute the flow shown in Figure 3 according to the computer program PG1 pre-stored in memory 62. Furthermore, the functions of the entry monitoring unit 70, signal reception unit 72, stop command unit 74, and function switching unit 76 executed by the processor 60 may be function modules realized by the computer program PG1.

[0106] Furthermore, the processor 60 may execute the flow shown in Figure 4 according to the computer program PG2 pre-stored in memory 62, and the flow shown in Figure 5 according to the computer program PG3 pre-stored in memory 62. In other words, in this case, the processor 60 executes computer programs PG1, PG2, and PG3 in parallel. These computer programs PG1, PG2, and PG3 may be provided as program products recorded in memory 62.

[0107] The flow shown in Figure 3 can be modified in various ways. For example, the processor 60 may execute step S5 before step S1, and if it determines YES in step S5, it may execute steps S1 to S4 and S6 to S9 in sequence. Then, if the processor 60 determines YES in step S9, it returns to step S5. The flow shown in Figure 4 can also be modified in various ways. For example, the processor 60 may execute step S12 after the start of the flow shown in Figure 4, and if it determines YES, it may execute step S11.

[0108] An operation start button (not shown) for operating the robot 16 may be provided outside the safety fence 18. The operation start button supplies an operation start signal to the control device 26 in response to an input operation by the worker 102. In this case, after step S2 in Figure 3, the processor 60 may determine whether or not it has received an operation start signal from the operation start button, and if it determines that it has received it (i.e., YES), it may execute step S3.

[0109] In addition, the processor 60 may execute an motion detection function DF to detect the operating status of the robots 12, 14, and 16 during operation, in parallel with the flows shown in Figures 3, 4, and 5. In this motion detection function DF, the processor 60 monitors whether the operating status information OI, including the rotational positions RP1, RP2, and RP3, coordinates Q1 and Q2, and velocities V1, V2, and V3, is within a predetermined tolerance range.

[0110] The processor 60 then performs an emergency stop on robots 12, 14, and 16 if at least one of the operating state information OI is outside the acceptable range. At this time, the processor 60 may generate an alarm signal AL2. In addition, as an operation detection function DF, the processor 60 may monitor whether the movable components of robot 12 or 14 interfere with surrounding environmental objects based on at least one of the operating state information OI. When such interference occurs, the processor 60 may perform an emergency stop on robots 12, 14, and 16 and generate an alarm signal AL2.

[0111] Furthermore, the processor 60 may also function as a function switching unit 76 and further switch on or off the operation state acquisition function OF, which acquires at least one of the operation state information OI (rotational positions RP1, RP2 and RP3, coordinates Q1 and Q2, and velocities V1, V2 and V3) in order to determine the second determination condition CD2 in step S12 in Figure 4.

[0112] For example, when the processor 60 switches on the first intrusion monitoring function MF1 in step S1, it switches on the operation status acquisition function OF. While the operation status acquisition function OF is enabled, the processor 60 periodically acquires at least one of the operation status information OI, and based on the operation status information OI, it determines the second determination condition CD2 in step S12 in Figure 4.

[0113] Furthermore, while the operating state acquisition function OF is enabled, the processor 60 may receive the operating state information OI acquired for the aforementioned operating detection function DF from the operating state detection function DF (in other words, the operating state information OI acquired by the operating state detection function DF is reused for the operating state acquisition function OF). Then, in step S7 described above, the processor 60, acting as a function switching unit 76, switches the operating state acquisition function OF to disabled when it switches the first entry monitoring function MF1 for the robot 12 or 14 to disabled.

[0114] In this embodiment, as an example, we have described the case in which the entry permission button 22, as a physical button, transmits the permission signal AS. However, the embodiment is not limited to this, and for example, the entry permission button 22 may be configured as an entry permission button image 22' displayed as a graphical user interface (GUI).

[0115] For example, the processor 60 displays an entry permission button image 22' on the display device 68 of the control device 26 located outside the safety fence 18. The worker 102 operates the input device 66 to perform an input operation on the entry permission button image 22'. The processor 60 then receives a permission signal AS through the entry permission button image 22'. The entry permission button image 22' may also be displayed on the display device of any computer (higher-level controller, external server, PC, etc.) located outside the safety fence 18.

[0116] In addition, in step S4 described above, the processor 60 may operate the robot 12 or 14 (robot 14 in Figure 1) located within the permitted entry area 106 (or outside the prohibited entry area 104) according to the operation program to perform a predetermined operation (for example, finishing work on the gripped workpiece 108). In this case, if the processor 60 determines YES in step S5, it may stop the currently running operation program and execute step S6.

[0117] In this embodiment, the case described is one in which a restricted area 104 and an permitted area 106 are set in the work area 100. However, the invention is not limited to this, and the work area 100 may have only one of the restricted area 104 and the permitted area 106. In this case as well, the processor 60 can execute steps S6 and S12 described above based on the restricted area 104 or the permitted area 106.

[0118] Furthermore, in this embodiment, we have described the case where the second determination condition CD2 is the condition that the robot 12 or 14 is located within the permitted entry area 106 or outside the prohibited entry area 104. However, the second determination condition CD2 is not limited to this, and can be arbitrarily determined according to the work as any condition to ensure the safety of the worker 102 who has entered the work area 100. Also, the second determination condition CD2 can be omitted. In this case, step S12 is omitted from the flow chart in Figure 4.

[0119] Furthermore, in this embodiment, we have described a case where robot 16 has a turntable 50 for rotating robots 12 and 14. However, the embodiment is not limited to this, and for example, robot 16 may have a traveling device that moves robots 12 and 14 back and forth along a rail. Alternatively, robot 16 may have two automated guided vehicles (AGVs) that move robots 12 and 14 individually.

[0120] Furthermore, the entry permission notification device 24 can be omitted from the robot system 10. In this case, steps S2 and S8 are omitted from the flow chart in Figure 3. Also, at least one of robots 14 and 16 can be omitted from the robot system 10. The concepts of this disclosure can also be applied to the control of a robot system 10 comprising only robot 12.

[0121] Next, with reference to Figure 6, the device 80 for setting the intrusion monitoring function MF will be described. In this embodiment, the processor 60 functions as the device 80 and sets various parameters for the intrusion monitoring function MF described above. Hereinafter, with reference to Figure 7, an example of how to set the intrusion monitoring function MF will be described. When the processor 60 receives a setting start command from the operator, the higher-level controller, or the computer program PG4, it starts the flow shown in Figure 7.

[0122] In step S21, the processor 60 generates configuration image data 200. The configuration image data 200 is a GUI for setting parameters related to the communication of the permission signal AS, notification signal NS, and detection signal DS used in the entry monitoring function MF. For example, the processor 60 generates the configuration image data 200 shown in Figure 8 and displays it on the display device 68. Therefore, the processor 60 functions as an image data generation unit 82 (Figure 6) that generates the configuration image data 200.

[0123] In the example shown in Figure 8, the setting image data 200 includes a stop method setting image 202, communication setting image areas 204A, 204B, and 204C, and a setting completion button image 206. The stop method setting image 202 is a GUI for setting the stop method SM when the robots 12, 14, and 16 are emergency stopped in step S14 described above in the entry monitoring function MF (MF1, MF2).

[0124] The stopping method SM includes, for example, the emergency stopping method SM1, the deceleration stopping method SM2, and the retraction stopping method SM3. The emergency stopping method SM1 is a stopping method SM that brings robots 12, 14, and 16 to an emergency stop by immediately cutting off the power supply to robots 12, 14, and 16 (servo motors 36, 46, and 52) or by immediately activating the braking mechanism BR.

[0125] On the other hand, deceleration stopping method SM2 is a stopping method SM in which the operating robots 12, 14 and 16 are gradually decelerated by performing a deceleration operation, and after the robots 12, 14 and 16 are stopped by deceleration, the power supply to the robots 12, 14 and 16 is cut off (or the brake mechanism BR is activated). Furthermore, retraction stopping method SM3 is a stopping method SM in which the operating robots 12, 14 and 16 are moved away from the entrance / exit 28 (i.e., the worker 102) (or in a predetermined direction), and then the robots 12, 14 and 16 are stopped, and the power supply to the robots 12, 14 and 16 is cut off (or the brake mechanism BR is activated).

[0126] The worker 102 can operate the input device 66 to select either the emergency stop method SM1, the deceleration stop method SM2, or the evasive stop method SM3 from the stop method setting image 202. The processor 60 receives input IP1 to select the stop method SM through the stop method setting image 202. Therefore, the processor 60 functions as an input receiving unit 84 (Figure 6) that receives input IP1.

[0127] Communication setting image areas 204A, 204B, and 204C are assigned to the multiple robots 12, 14, and 16 that constitute the robot system 10, respectively. Each of the communication setting image areas 204A, 204B, and 204C includes an allow signal setting image 210, a notification signal setting image 212, and a detection signal setting image 214.

[0128] The permission signal setting image 210 is a GUI for setting the communication of the permission signal AS. The worker 102 can operate the input device 66 to set parameters related to the communication of the permission signal AS through the permission signal setting image 210. The parameters related to the communication of the permission signal AS include the type of permission signal AS (digital input (DI) signal, digital output (DO) signal, robot input (RI) signal, or robot output (RO) signal, etc.) and are used to determine the communication destination of the permission signal (i.e., the entry permission button 22). The processor 60 functions as an input receiving unit 84 and receives input IP2 for setting the communication of the permission signal AS through the permission signal setting image 210.

[0129] The notification signal setting image 212 is a GUI for setting the communication of notification signal NS. The worker 102 can operate the input device 66 to set parameters related to the communication of notification signal NS through the permission signal setting image 210. The parameters related to the communication of notification signal NS include the type of notification signal NS (DO signal, RO signal, etc.) and are used to determine the communication destination of notification signal NS (i.e., the entry permission notification device 24). The processor 60 functions as an input receiving unit 84 and receives input IP3 for setting the communication of notification signal NS through the notification signal setting image 212.

[0130] The detection signal setting image 214 is a GUI for configuring the communication of the detection signal DS for the intrusion monitoring function MF. The worker 102 can operate the input device 66 to set parameters related to the communication of the detection signal DS through the detection signal setting image 214. The parameters related to the communication of the detection signal DS include the type of the detection signal DS, the communication destination of the detection signal DS (i.e., the intrusion detection sensor 20), and the logic LG for determining whether or not an intrusion has occurred based on the detection signal DS in the intrusion monitoring function MF.

[0131] For example, the logic LG for robot 12 or 14 is expressed as "Signal A = Signal B AND Signal C". Here, "Signal B" means that the detection signal DS referenced in step S11 (Figure 4) of the first approach monitoring function MF1 is a signal of type "B" (e.g., an SPI standard signal). On the other hand, "Signal C" means that the signals of the operating state information OI (rotational positions RP1, RP2 and RP3, coordinates Q1 and Q2, velocities V1, V2 and V3) referenced in step S12 of the first approach monitoring function MF1 are signals of type "C" (e.g., CPC standard, CSC standard, JPC standard, or JSC standard signals).

[0132] Furthermore, "Signal A" corresponds to an internal signal of the control device 26 that represents the determination result of whether or not entry has occurred in the first entry monitoring function MF1, and means that it is a type "A" signal (for example, a signal conforming to the SIR standard). The logic LG "Signal A = Signal B AND Signal C" means that the detection signal DS as "Signal B" satisfies the first determination condition CD1 (i.e., it is the first detection signal DS1), and the signal of the operating state information OI (e.g., rotation position RP3) as "Signal C" satisfies the second determination condition CD2 (i.e., RP3 th1 ≤RP3≦RP3 th2 In this case, an internal signal (SIR signal) is output as "Signal A" to indicate that worker 102 has entered (step S13).

[0133] On the other hand, the logic LG of the second entry monitoring function MF2 for robot 16 is represented, for example, as "signal A = signal B". In this way, worker 102 sets various parameters related to the communication of detection signal DS, including logic LG, through detection signal setting image 214. Processor 60 functions as an input receiving unit 84 and receives input IP4 through detection signal setting image 214 to set the communication of detection signal DS.

[0134] The detection signal DS may also be communicated between the entry detection sensor 20 and the control device 26 as a redundant safety signal (i.e., two separate signals). In this case, the entry detection sensor 20 will communicate the detection signal DS (DS1 or DS2) to each other as the same first signal DS A and second signal DS B These are generated as two separate signals and transmitted to the control device 26. The processor 60 may also accept input IP4 for setting the detection signal DS to be communicated as a safety signal via the detection signal setting image 214.

[0135] Furthermore, the signals of the operational status information OI used to determine the second determination condition CD2 may be communicated as redundant safety signals. For example, in the operation detection function DF described above, the signals of the operational status information OI (e.g., rotational position RP1, RP2, and RP3) are transmitted as safety signals from each servo motor 36, 46, and 52 to the control device 26. The processor 60 may accept an input IP4 for setting the operation status information OI signals to be communicated as safety signals through the detection signal setting image 214.

[0136] Thus, the setting image data 200 includes an allow signal setting image 210, a notification signal setting image 212, and a detection signal setting image 214 for each of the multiple robots 12, 14, and 16. For example, the communication setting image area 204A for "Robot No. 1" may be assigned to robot 12, the communication setting image area 204B for "Robot No. 2" may be assigned to robot 14, and the communication setting image area 204C for "Robot No. 3" may be assigned to robot 16.

[0137] The processor 60 functions as an input receiving unit 84 and can receive inputs IP2, IP3, and IP4 for communication settings for each robot 12, 14, and 16 through the permission signal setting image 210, the notification signal setting image 212, and the detection signal setting image 214. The worker 102 may also operate the input device 66 to provide the processor 60 with input IP5 to assign "Robot No. 1," "Robot No. 2," and "Robot No. 3" to robots 12, 14, and 16.

[0138] The "Finish Settings" button image 206 is a GUI for ending the settings process via the "Finish Settings" image data 200. The worker 102 can operate the input device 66 to provide the processor 60 with an input IP6, which is a click on the "Finish Settings" button image 206. In this way, the processor 60 generates the "Finish Settings" image data 200 for setting various parameters of the intrusion monitoring function MF (MF1, MF2) in step S21. The processor 60 may also generate a password input image requesting a password after receiving the input IP6. Furthermore, the processor 60 may set the various parameters when the password entered via the password input image is authenticated.

[0139] Referring again to Figure 7, in step S22, the processor 60 determines whether or not it has received an input IP for setting. Specifically, the processor 60 determines whether or not it has received an input IP2 for the permission signal setting image 210, an input IP3 for the broadcast signal setting image 212, or an input IP4 for the detection signal setting image 214.

[0140] If the processor 60 determines that the answer is YES, it updates the setting image data 200 to display the input setting content as either the permission signal setting image 210, the notification signal setting image 212, or the detection signal setting image 214. Then, the processor 60 proceeds to step S23. On the other hand, if the processor 60 determines that the answer is NO, it proceeds to step S25.

[0141] In step S23, the processor determines whether the setting based on input IP2, IP3, or IP4 received in the preceding step S21 is appropriate. For example, if the processor 60 receives input IP2 for the permission signal setting image 210 while it has not received input IP4 for the detection signal setting image 214 in the communication setting image area 204A, 204B, or 204C, it determines that the setting based on input IP2 for the permission signal setting image 210 is inappropriate.

[0142] For example, suppose worker 102, in the communication setting image area 204A, does not input IP2 to the detection signal setting image 214, leaving the detection signal setting image 214 blank, and then provides input IP2 to the permit signal setting image 210. In this case, in step S23, the processor 60 determines that the setting by input IP2 is inappropriate (i.e., YES) and invalidates the setting input to the permit signal setting image 210. Note that the processor 60 may also determine that the setting by input IP3 is inappropriate if it receives input IP3 to the broadcast signal setting image 212 while it has not received input IP4 to the detection signal setting image 214.

[0143] As another example, the processor 60 determines that a setting by input IP2 or IP3 is invalid when communication of the same (i.e., common) signal is set by input IP2 to the permit signal setting image 210 and input IP3 to the broadcast signal setting image 212. For example, suppose worker 102 sets the broadcast signal NS to "DO signal [1]" by input IP3 to the broadcast signal setting image 212 in the communication setting image area 204A, and then sets the permit signal AS to "DO signal [1]", which is the same signal as the broadcast signal NS, by input IP2 to the permit signal setting image 210. In this case, the processor 60 determines in step S23 that the setting by input IP2 (or IP3) is invalid (i.e., YES) and invalidates the setting input to the permit signal setting image 210 (or broadcast signal setting image 212).

[0144] As yet another example, the processor 60 determines that the setting by input IP2, IP3, or IP4 is inappropriate when the communication of an unavailable signal is set by input IP2, IP3, or IP4 to the permission signal setting image 210, the notification signal setting image 212, or the detection signal setting image 214. Here, there is a signal that is unavailable for communication of the intrusion monitoring function MF. In this embodiment, a signal database DB1 indicating unavailable (or available) signals is pre-stored in memory 62.

[0145] The processor 60 compares the permission signal AS, broadcast signal NS, or detection signal DS set by input IP2, IP3, or IP4 with the signal database DB1 and determines whether the permission signal AS, broadcast signal NS, or detection signal DS is unavailable. If it is unavailable, the processor 60 determines it as YES and disables the setting by input IP2, IP3, or IP4.

[0146] As yet another example, when communication of different signals is set between multiple robots performing a predetermined synchronous operation SO by input IP2 to the permission signal setting image 210, it is determined that the setting by input IP2 to the permission signal setting image 210 is inappropriate. This synchronous operation SO includes, for example, a synchronous braking operation SO1 and a synchronous power cutoff operation SO2.

[0147] Synchronized braking operation SO1 is a synchronous operation SO in which, for example, multiple robots receive a common brake command from the control device 26 and operate their respective brake mechanisms BR in a synchronous manner. Synchronized power cutoff operation SO2 is a synchronous operation SO in which, when the power supply to one robot is cut off, the power supply to the other robot is also cut off in a synchronous manner.

[0148] For example, suppose the robot system 10 further includes another robot RB (not shown) that performs synchronous operation SO with robot 12. In this case, the other robot RB is assigned another communication configuration image area 204D (not shown) in the configuration image data 200, which includes an allow signal configuration image 210, a broadcast signal configuration image 212, and a detection signal configuration image 214.

[0149] In such a case, suppose worker 102 sets the permit signal AS to "DI signal [1]" by input IP2 to the permit signal setting image 210 in the communication setting image area 204A assigned to robot 12, and also sets the permit signal AS to a different "DI signal [2]" than robot 12 by input IP2 to the permit signal setting image 210 in the communication setting image area 204D assigned to robot RB. In this case, the processor 60 determines in step S23 that the setting by input IP2 to the permit signal setting image 210 is inappropriate (i.e., YES) and disables the setting.

[0150] As described above, in this embodiment, when the processor 60 receives input IP2, IP3, or IP4, it determines whether the setting provided by the input IP2, IP3, or IP4 is appropriate. Therefore, the processor 60 functions as a setting confirmation unit 86 (Figure 6) that determines whether the setting is appropriate. If the processor 60 determines YES in step S23, it invalidates the setting provided by input IP2, IP3, or IP4 and proceeds to step S23; if it determines NO, it proceeds to step S25.

[0151] In step S24, the processor 60 generates an alarm signal AL3. For example, in the preceding step S23, the communication setting image area 204A for "Robot No. 1" received input IP2 to the permission signal setting image 210 while it had not received input IP4 to the detection signal setting image 214, and thus determined to be YES.

[0152] In this case, the processor 60 generates an alarm signal AL3 as an image, for example, as shown in Figure 9, which represents the message "Detection signal for robot No. 1 is not set!", and displays it on the setting image data 200. The processor 60 may also generate the alarm signal AL3 as sound and output it through a speaker. It should be understood that the processor 60 may also generate an alarm signal AL3 indicating other settings that were determined to be unsuitable in the previous step S23. Thus, in this embodiment, the processor 60 functions as an alarm generation unit 88 (Figure 6) that generates the alarm signal AL3.

[0153] In step S25, the processor 60 determines whether the setting process via the setting image data 200 has been completed. Specifically, when the processor 60 receives the input IP6 to the setting completion button image 206 described above, it determines that it is YES and proceeds to step S26; however, if it determines that it is NO, it returns to step S22.

[0154] In step S26, the processor 60 registers the setting information set through the setting image data 200 as formal setting information. Specifically, when the processor 60 determines YES in step S25, it registers the setting information input to the permission signal setting image 210, broadcast signal setting image 212, and detection signal setting image 214 of the respective communication setting image areas 204A, 204B, and 204C as formal setting information for executing the flow in Figures 3 to 5 in the setting information database DB2. This setting information database DB2 is stored in memory 62, and the processor 60 refers to the setting information registered in the setting information database DB2 and executes the flow in Figures 3 to 5.

[0155] As described above, in this embodiment, the processor 60 functions as an image data generation unit 82, an input reception unit 84, a setting confirmation unit 86, and an alarm generation unit 88 to set the intrusion monitoring function MF. Therefore, the image data generation unit 82, the input reception unit 84, the setting confirmation unit 86, and the alarm generation unit 88 constitute the device 80 for setting the intrusion monitoring function MF.

[0156] In this device 80, the image data generation unit 82 generates setting image data 200 which includes a permission signal setting image 210 for setting the communication of a permission signal AS to allow the worker 102 to enter, and a detection signal setting image 214 for setting the communication of a detection signal DS for the entry monitoring function MF (step S21). Then, the input receiving unit 84 receives setting inputs IP2 and IP4 through the permission signal setting image 210 and the detection signal setting image 214 (step S22).

[0157] Conventionally, when setting up the entry monitoring function MF, it was necessary to construct a complex program using a PLC or similar device that took into account the restrictions associated with the permission signal AS and the detection signal DS. According to this embodiment, the worker 102 can easily set all the parameters related to the communication of the entry monitoring function MF at once through the setting image data 200, and can also visually confirm the input settings from the setting image data 200. Therefore, the work of designing the entry monitoring function MF can be simplified.

[0158] Furthermore, in this embodiment, the setting image data 200 includes a permit signal setting image 210 and a detection signal setting image 214 for each of the multiple robots 12, 14, 16, and RB (for example, communication setting image areas 204A, 204B, 204C, and 204D). The input receiving unit 84 can receive input IP2 and IP4 for each robot 12, 14, 16, and RB through the permit signal setting image 210 and the detection signal setting image 214. With this configuration, the worker 102 can perform the communication settings for the entry monitoring function MF for multiple robots 12, 14, 16, and RB all at once, and can easily grasp the settings for each robot 12, 14, 16, and RB from the setting image data 200.

[0159] Furthermore, in the device 80, the setting confirmation unit 86 determines whether the settings based on the input IP2 and IP4 are appropriate (step S23) when the input reception unit 84 receives the input IP2 and IP4 to the permission signal setting image 210 or the detection signal setting image 214 (YES in step S22). Then, the alarm generation unit 88 generates an alarm signal AL3 (step S24) when the setting confirmation unit 86 determines that the settings are inappropriate (YES in step S23). With this configuration, the worker 102 can easily recognize whether the input settings are appropriate. Also, even a worker 102 who is not familiar with setting up the communication of the intrusion monitoring function MF can perform the setting.

[0160] Furthermore, in the device 80, if the setting confirmation unit 86 receives an input IP2 for the permission signal setting image 210 while the input reception unit 84 has not received an input IP4 for the detection signal setting image 214, it determines that the setting by the input IP2 for the permission signal setting image 210 is inappropriate (NO in step S23) and invalidates the setting. Here, if worker 102 completes the setting of the entry monitoring function MF without setting the communication of the detection signal DS, the entry monitoring function MF may not operate effectively during actual work. According to this embodiment, such inappropriate settings can be reliably avoided, thereby ensuring the safety of the work.

[0161] Furthermore, in the device 80, the setting confirmation unit 86 determines that the setting made by the input IP2 to the permission signal setting image 210 is inappropriate and disables the setting when communication of different signals is set between multiple robots 12 and RB that perform predetermined synchronous operations SO (SO1, SO2) by the input IP2 to the permission signal setting image 210.

[0162] Here, among the multiple robots 12 and RB performing synchronous operation SO, it is necessary to execute the entry monitoring function MF using a common permission signal AS. According to this embodiment, it is possible to reliably avoid inappropriate settings such as using different permission signals AS among the multiple robots 12 and RB performing synchronous operation SO.

[0163] Furthermore, in the device 80, the setting confirmation unit 86 determines that the setting made by the input IP4 to the detection signal setting image 214 is inappropriate and disables the setting when communication of an unavailable signal is set by the input IP4 to the detection signal setting image 214. With this configuration, it is possible to reliably avoid setting inappropriate communication using an unavailable signal.

[0164] Furthermore, in this embodiment, the setting image data 200 further includes a notification signal setting image 212 for setting the communication of a notification signal NS to notify whether entry by worker 102 is permitted or prohibited. The input receiving unit 84 then further receives an input IP3 for setting through the notification signal setting image 212. With this configuration, worker 102 can easily set the parameters related to the communication of the notification signal NS used in the entry monitoring function MF.

[0165] Furthermore, in the device 80, the setting confirmation unit 86 determines that the setting by input IP2 or IP3 is inappropriate and invalidates the setting when the same signal communication is set by input IP2 to the permission signal setting image 210 and input IP3 to the broadcast signal setting image 212. Here, since the permission signal AS and the broadcast signal NS basically have an input-output relationship, it is not possible to set the same signal (for example, the same DO signal). According to this embodiment, it is possible to reliably avoid setting the same signal for the permission signal AS and the broadcast signal NS.

[0166] The processor 60 may execute the flow shown in Figure 7 according to a computer program PG4 pre-stored in memory 62. Furthermore, the functions of the device 80 executed by the processor 60 (image data generation unit 82, input reception unit 84, setting confirmation unit 86, alarm generation unit 88) may be functional modules realized by the computer program PG4. The computer program PG4 may also be provided as a program product recorded in memory 62.

[0167] Note that the setting image data 200 shown in Figures 8 and 9 is an example, and various modifications can be made. For example, if the entry permission notification device 24 is omitted from the robot system 10, the notification signal setting image 212 can be omitted from the setting image data 200. Also, if at least one of the robots 14 and 16 is omitted from the robot system 10, at least one of the communication setting image areas 204B and 204C can be omitted from the setting image data 200.

[0168] Note that the flow in Figure 7 is just one example, and various modifications can be made. For example, steps S23 and S24 may be omitted from the flow in Figure 7. In this case, each time the processor 60 receives an input IP in step S22, it updates the setting image data 200 to display the input setting content in the permission signal setting image 210, the notification signal setting image 212, or the detection signal setting image 214, and then proceeds to step S25.

[0169] In other words, in this case, the setting confirmation unit 86 and the alarm generation unit 88 can be omitted from the device 80. Also, in step S23, the processor 60 may determine whether the setting is appropriate or not according to any judgment conditions. The worker 102 can arbitrarily determine the judgment conditions in step S23 according to the work. In addition, the processor 60 may read the setting data stored in the memory 62 in step S22 and display the setting data on the display device 68. In this case, the processor 60 may determine whether the read setting data is appropriate or not and display the judgment result.

[0170] In this embodiment, the case in which the device 80 is implemented in the control device 26 has been described. However, the functions of the device 80 are not limited to this, and may be implemented in any computer, such as a teaching device that teaches the robots 12, 14, or 16 how to operate, a higher-level controller of the control device 26, or a PC owned by the worker 102. In this case, the processor of the computer functions as the device 80, sets the parameters of the entry monitoring function MF, and supplies the setting information to the control device 26.

[0171] In the above-described embodiment, the case where the intrusion detection sensor 20 is an optical sensor such as a laser sensor or an infrared sensor was mentioned. However, the intrusion detection sensor 20 is not limited to this, and may have an optical sensor capable of imaging the worker 102, such as a camera or a laser scanner. Alternatively, the intrusion detection sensor 20 may be a safety mat installed on the floor within the work area 100. This safety mat may have, for example, a weight sensor capable of detecting the weight of the worker 102, and the entry of the worker 102 into the work area 100 can be detected by this weight. In addition, a door that can be opened and closed may be provided at the entrance 28 of the safety fence 18, and the intrusion detection sensor 20 may have a door switch that detects the opening and closing of the door. Furthermore, the intrusion detection sensor 20 may be a signal that can be detected from any medium, as long as it can detect the entry of the worker 102.

[0172] The tasks performed by robots 12, 14, and 16, as described with reference to Figure 1, are merely examples, and robots 12, 14, and 16 may be configured to perform any type of task. Furthermore, robot 12 or 14 is not limited to vertical articulated robots, but may be any type of robot, such as a horizontal articulated robot, a parallel link robot, a machine tool, a laser processing machine, or a welding machine.

[0173] Although the present disclosure has been described in detail above, it is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of the present disclosure or from the spirit of the present disclosure derived from the claims and their equivalents. Furthermore, these embodiments can be implemented in combination. For example, the order of operations and processes in the embodiments described above are shown as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above.

[0174] As described above, this disclosure describes the following aspects. (Aspect 1) A control device 26 for controlling the operation of robots 12, 14, and 16 performing work in a work area 100, comprising: an entry monitoring unit 70 that determines whether or not a worker 102 has entered the work area 100 based on a detection signal DS from an entry detection sensor 20 that detects the entry of a worker 102, and executes an entry monitoring function MF that causes the robots 12, 14, and 16 to be stopped in an emergency if an entry is determined to have occurred; a function switching unit 76 that switches the entry monitoring function MF by the entry monitoring unit 70 to enable or disable; a signal receiving unit 72 that receives a permission signal AS to permit entry when the entry monitoring function MF is enabled; and a stop command unit 74 that sends a stop command SC to stop the operation of robots 12, 14, and 16 when the signal receiving unit 72 has received the permission signal AS, wherein the control device 26 switches the entry monitoring function MF for robots 12, 14, and 16 from enabled to disabled when the operation of robots 12, 14, and 16 is stopped in accordance with the stop command SC. (Aspect 2) The control device 26 according to Aspect 1, wherein the work area 100 is set up with an entry-permitted area 106 where entry is permitted, or an entry-prohibited area 104 where entry is prohibited, and the stop command unit 74 transmits stop commands SC1 and SC2 for robots 12 and 14 located within the entry-permitted area 106 or outside the entry-prohibited area 104 when the signal reception unit 72 receives a permission signal AS, while not transmitting stop commands SC1 and SC2 for robots 12 and 14 located outside the entry-permitted area 106 or inside the entry-prohibited area 104. (Aspect 3) The work area 100 is provided with a first robot 12 and a second robot 14, and a third robot 16 which alternately arranges the first robot 12 and the second robot 14 in the permitted entry area 106 or the prohibited entry area 104, and the stop command unit 74, when the signal receiving unit 72 receives a permission signal AS, issues a stop command SC1 or SC2 for one of the first robot 12 and the second robot 16 which is located inside the permitted entry area 106 or outside the prohibited entry area 104, and for the third robot 16. The control device 26 according to embodiment 2, wherein the control device transmits SC1 or SC3, but does not transmit a stop command SC1 or SC2 for the other of the first robot 12 and the second robot 14 that is located outside the permitted entry area 106 or inside the prohibited entry area 104, and the function switching unit 76 switches the entry monitoring functions MF1 and MF2 for the one that transmitted the stop command SC1 or SC2 and SC3 and for the third robot 16 to disabled, while keeping the entry monitoring function MF2 enabled for the other that did not transmit the stop command SC1 or SC2. (Aspect 4) The control device 26 according to any one of aspects 1 to 3, wherein the entry monitoring unit 70 performs a determination of the entry monitoring function MF1 according to a first determination condition CD1 relating to the detection signal DS and a second determination condition CD2 relating to the positions of the robots 12 and 14 in the work area 100. (Aspect 5) The control device 26 according to Aspect 4, wherein the work area 100 is set up with an entry-permitted area 106 where entry is permitted, or an entry-prohibited area 104 where entry is prohibited, and the entry monitoring unit 70 determines that there is no entry if at least one of the following conditions is not met: a first determination condition CD1 in which a detection signal DS1 indicating entry is received, and a second determination condition CD2 in which the robots 12 and 14 are located within the entry-permitted area 106 or outside the entry-prohibited area 104, and permits the operation of the robots 12 and 14, while determining that there is an entry if both the first determination condition CD1 and the second determination condition CD2 are met, and emergency stops the robots 12 and 14. (Aspect 6) The control device 26 according to aspect 5, wherein a first robot 12 and a second robot 14 are provided in the work area 100, and the entry monitoring unit 70 performs a determination of the entry monitoring function MF1 for each of the first robot 12 and the second robot 14 according to the first determination condition CD1 and the second determination condition CD2. (Aspect 7) The control device 26 according to embodiment 6 is provided in the work area 100, which is equipped with a third robot 16 that alternately positions the first robot 12 and the second robot 14 in the permitted entry area 106 or the prohibited entry area 104, and the entry monitoring unit 70 determines that an entry has occurred if the entry monitoring function MF2 satisfies the determination condition CD1, which is that a detection signal DS1 indicating entry has been received by the third robot 16, and the control device 26 emergency stops the third robot 16. (Aspect 8) The control device 26 according to aspect 7, wherein the third robot 16 has a turntable 50 that rotates the first robot 12 and the second robot 14 around a rotation axis 54, and the entry monitoring unit 70 determines whether the second determination condition CD2 is met for each of the first robot 12 and the second robot 14 based on the rotation position RP3 of the turntable 50. (Aspect 9) The control device according to any one of aspects 1 to 8, wherein the stop command SC includes a command to stop the robots 12, 14, and 16 by cutting off the power supply to the robots 12, 14, and 16. (Aspect 10) An apparatus 80 for setting an entry monitoring function MF which determines whether or not a worker 102 has entered a work area 100 in which robots 12, 14, and 16 perform work, based on a detection signal DS from an entry detection sensor 20 which detects the entry of a worker 102, the apparatus 80 comprising: an image data generation unit 82 which generates setting image data 200 including a permission signal setting image 210 for setting the communication of a permission signal AS for permitting entry and a detection signal setting image 214 for setting the communication of a detection signal DS for the entry monitoring function MF; and an input receiving unit 84 which receives inputs IP2 and IP4 for setting through the permission signal setting image 210 and the detection signal setting image 214. (Aspect 11) The apparatus 80 according to aspect 10, wherein the setting image data 200 includes an permission signal setting image 210 and a detection signal setting image 214 for each of the multiple robots 12, 14, and 16, and the input receiving unit 84 is capable of receiving input IP2 and IP4 for each of the robots 12, 14, and 16 through the permission signal setting image 210 and the detection signal setting image 214. (Aspect 12) The apparatus 80 according to embodiment 10 or 11, further comprising: a setting confirmation unit 86 that determines whether the settings based on input IP2 and IP4 are appropriate when the input receiving unit 84 receives input IP2 and IP4 to the permission signal setting image 210 or the detection signal setting image 214; and an alarm generation unit 88 that generates an alarm signal AL3 when the setting confirmation unit 86 determines that the settings are inappropriate. (Aspect 13) The apparatus 80 according to aspect 12, wherein the setting confirmation unit 86 determines that the setting made by the input IP2 to the permit signal setting image 210 is inappropriate and invalidates the setting when the input receiving unit 84 has not yet received the input IP4 to the detection signal setting image 214 and has received the input IP2 to the permit signal setting image 210. (Aspect 14) The apparatus 80 according to aspect 12 or 13, wherein the setting image data 200 includes an allow signal setting image 210 and a detection signal setting image 214 for each of the multiple robots 12, 14, 16, and RB, the input receiving unit 84 is capable of receiving input IP2 and IP4 for each of the robots 12, 14, 16, and RB through the allow signal setting image 210 and the detection signal setting image 214, and the setting confirmation unit 86 determines that the setting by the input IP2 to the allow signal setting image 210 is inappropriate and invalidates the setting when communication of different signals is set between multiple robots 12, RB that perform a predetermined synchronous operation SO by input IP2 to the allow signal setting image 210, and invalidates the setting. (Aspect 15) The device 80 according to any one of embodiments 12 to 14, wherein the setting confirmation unit 86 determines that the setting made by the input IP4 to the detection signal setting image 214 is inappropriate and disables the setting when the communication of an unusable signal is set by the input IP4 to the detection signal setting image 214. (Aspect 16) The apparatus 80 according to any one of embodiments 10 to 15, wherein the setting image data 200 further includes a notification signal setting image 212 for setting the communication of a notification signal NS for notifying permission or prohibition of entry, and the input receiving unit 84 further receives an input IP3 for setting through the notification signal setting image 212. (Aspect 17) The apparatus 80 according to aspect 16, further comprising: a setting confirmation unit 86 that determines whether the settings based on input IP2 and IP3 are appropriate when the input receiving unit 84 receives input IP2 and IP3 to the permission signal setting image 210 or the notification signal setting image 212; and an alarm generation unit 88 that generates an alarm signal AL3 when the setting confirmation unit 86 determines that the settings are inappropriate. (Aspect 18) The device 80 as in Aspect 17, wherein the setting confirmation unit 86 determines that the setting by inputs IP2 and IP3 is inappropriate and disables the setting when communication of the same signal is set by input IP2 to the permission signal setting image 210 and input IP3 to the broadcast signal setting image 212. (Aspect 19) A method for controlling the operation of robots 12, 14, and 16 performing work within a work area 100, wherein a processor 60 determines whether a worker 102 has entered the work area 100 based on a detection signal DS from an entry detection sensor 20 that detects the entry of a worker 102; if it determines that an entry has occurred, it executes an entry monitoring function MF to emergency stop the robots 12, 14, and 16; switches the entry monitoring function MF on or off; receives a permission signal AS to permit entry; when it receives the permission signal AS, it issues a stop command SC to stop the operation of the robots 12, 14, and 16; and when it stops the operation of the robots 12, 14, and 16 in accordance with the stop command SC, it switches the entry monitoring function MF off. (Aspect 20) A method for setting up an entry monitoring function MF that determines whether or not a worker 102 enters a work area 100 where robots 12, 14, and 16 perform work, based on a detection signal DS from an entry detection sensor 20 that detects the entry of a worker 102, the processor 60 generates setting image data 200 including a permit signal setting image 210 for setting up the communication of a permit signal AS for permitting entry and a detection signal setting image 214 for setting up the communication of a detection signal DS for the entry monitoring function MF, and accepts setting inputs IP2 and IP4 through the permit signal setting image 210 and the detection signal setting image 214. (Aspect 21) Computer programs PG1, PG4 that cause a processor 60 to execute the method described in embodiment 19 or 20. [Explanation of Symbols]

[0175] 10 Robot Systems 12, 14, 16 Robots 20 Intrusion detection sensor 22 Entry permission button 24 Entry permission notification device 26 Control device 50 Turntables 54 Rotation axis 60 processors 62 memory 70 Approach monitoring department 72 Signal reception unit 74 Stop command section 76 Function switching section 80 equipment 82 Image Data Generation Unit 84 Input Reception Section 86. Settings Confirmation Section 88 Alarm generation unit

Claims

1. A control device for controlling the movements of a robot performing work within a work area, An entry monitoring unit that determines whether or not a worker has entered the work area based on a detection signal from an entry detection sensor that detects the entry of a worker into the work area, and executes an entry monitoring function that performs an emergency stop of the robot if it is determined that an entry has occurred, A function switching unit that switches the entry monitoring function by the entry monitoring unit to enable or disable the entry monitoring function, When the aforementioned entry monitoring function is enabled, a signal receiving unit receives a permission signal to permit entry, The signal receiving unit, upon receiving the permission signal, includes a stop command unit that stops the operation of the robot positioned at a first location within the work area, while not stopping the operation of the robot positioned at a second location within the work area. The function switching unit is a control device that switches the entry monitoring function for the robot from enabled to disabled when the robot's operation is stopped.

2. A control device for controlling the movements of a robot performing work within a work area, An entry monitoring unit that determines whether or not a worker has entered the work area based on a detection signal from an entry detection sensor that detects the entry of a worker into the work area, and executes an entry monitoring function that performs an emergency stop of the robot if it is determined that an entry has occurred, A function switching unit that switches the entry monitoring function by the entry monitoring unit to enable or disable the entry monitoring function, When the aforementioned entry monitoring function is enabled, a signal receiving unit receives a permission signal to permit entry, The system includes a stop command unit that, when the signal receiving unit receives the permission signal, issues a stop command to stop the robot's operation, The function switching unit switches the entry monitoring function for the robot from enabled to disabled when the robot's operation is stopped in accordance with the stop command. Within the aforementioned work area, an access-permitted area where entry is permitted, or an access-restricted area where entry is prohibited, is defined. The stop command unit, when the signal receiving unit receives the permission signal, While issuing the stop command for the robot located within the permitted entry area or outside the prohibited entry area, A control device that does not issue the stop command for the robot located outside the permitted entry area or within the prohibited entry area.

3. The work area is provided with a first robot and a second robot, and a third robot which alternately arranges the first robot and the second robot in the permitted entry area or the prohibited entry area. The stop command unit, when the signal receiving unit receives the permission signal, One of the first robot and the second robot, which is located within the permitted entry area or outside the prohibited entry area, and the third robot, both of which issue the stop command. If the first robot and the second robot are located outside the permitted entry area or within the prohibited entry area, the stop command will not be issued for the other robot. The aforementioned function switching unit is The entry monitoring function for the first and third robots that issued the stop command is disabled. The control device according to claim 2, which maintains the entry monitoring function for the other that has not issued the stop command.

4. The control device according to claim 1, wherein the entry monitoring unit performs the determination of the entry monitoring function according to a first determination condition relating to the detection signal and a second determination condition relating to the position of the robot in the work area.

5. A control device for controlling the movements of a robot performing work within a work area, An entry monitoring unit that determines whether or not a worker has entered the work area based on a detection signal from an entry detection sensor that detects the entry of a worker into the work area, and executes an entry monitoring function that performs an emergency stop of the robot if it is determined that an entry has occurred, A function switching unit that switches the entry monitoring function by the entry monitoring unit to enable or disable the entry monitoring function, When the aforementioned entry monitoring function is enabled, a signal receiving unit receives a permission signal to permit entry, The system includes a stop command unit that, when the signal receiving unit receives the permission signal, issues a stop command to stop the robot's operation, The function switching unit switches the entry monitoring function for the robot from enabled to disabled when the robot's operation is stopped in accordance with the stop command. Within the aforementioned work area, an access-permitted area where entry is permitted, or an access-restricted area where entry is prohibited, is defined. The aforementioned entry monitoring unit, in its entry monitoring function, If at least one of the first determination condition, that the detection signal indicating entry has been received, and the second determination condition, that the robot is located within the permitted entry area or outside the prohibited entry area, is not met, then it is determined that there is no entry, and the operation of the robot is permitted. A control device that determines that an entry has occurred and immediately stops the robot if both the first and second determination conditions are met.

6. The work area is provided with the first robot and the second robot, The control device according to claim 5, wherein the entry monitoring unit performs the determination of the entry monitoring function for each of the first robot and the second robot according to the first determination condition and the second determination condition.

7. The work area is provided with a third robot which alternately arranges the first robot and the second robot in the permitted entry area or the prohibited entry area. The control device according to claim 6, wherein the entry monitoring unit, in the entry monitoring function, determines that an entry has occurred in the third robot if the determination condition of receiving the detection signal indicating entry is met, and the third robot is stopped in an emergency.

8. The third robot has a turntable that rotates the first robot and the second robot around a rotation axis. The control device according to claim 7, wherein the entry monitoring unit determines whether the second determination condition is met for each of the first robot and the second robot based on the rotational position of the turntable.

9. The stop command unit transmits a stop command to stop the operation of the robot, The control device according to claim 1, wherein the stop command includes a command to stop the robot by cutting off the power supply to the robot.

10. A method for controlling the movements of a robot performing work within a work area, The processor, Based on the detection signal from the entry detection sensor that detects the entry of a worker into the work area, the system determines whether or not such entry has occurred, and if it determines that such entry has occurred, it executes an entry monitoring function that causes the robot to be stopped in an emergency. Switch the aforementioned entry monitoring function to enabled, Upon receiving the permission signal to authorize the aforementioned entry, When the permission signal is received, the operation of the robot positioned at the first position within the work area is stopped, while the operation of the robot positioned at the second position within the work area is not stopped. A method for switching the entry monitoring function from enabled to disabled when the operation of the robot is stopped.

11. A computer program that causes the processor to execute the method according to claim 10.

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