Remote support system
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- FANUC LTD
- Filing Date
- 2025-04-02
- Publication Date
- 2026-06-30
Smart Images
Figure 0007883013000001 
Figure 0007883013000002 
Figure 0007883013000003
Abstract
Description
Technical Field
[0001] The present invention relates to a remote support system.
Background Art
[0002] In recent years, the introduction of high-functional industrial machines such as robots and machine tools into manufacturing factories has been progressing. For example, robots are equipped with dedicated operating devices, and users can intuitively teach operations to the robots by operating the operating devices. On the other hand, robots can be connected to general-purpose information processing terminals such as PCs and tablets, and users can confirm and change the setting data of the robots without using a dedicated operating device by connecting a PC to the robots.
[0003] However, in the case of unexpected situations such as when a robot stops and cannot move, the on-site workers alone may not be able to handle it. In such a case, the person in charge of the robot manufacturer is inquired by email, phone, etc., and the on-site workers operate the robot as instructed by the person in charge. Even if it still cannot be solved, the engineer of the robot manufacturer visits directly and operates the robot. If the engineer of the robot manufacturer cannot visit immediately, the stop period of the robot becomes long, resulting in a delay in the manufacturing schedule. To solve this, Patent Document 1 discloses a remote operation system for realizing support by a service technician when a robot has a trouble.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] However, with remote control systems, problems can arise due to unintended actions by third parties who infiltrate the system or by service personnel acting as remote operators. For example, a robot might be moved by an operator who is unaware of the situation on site, potentially causing it to collide with workers or obstacles. Furthermore, data on information processing terminals being remotely controlled could be accessed illegally. Thus, there is room for improvement in terms of security for service personnel performing remote operations and network intruders, as well as on-site security during remote operation, and a more secure remote support system is desired. [Means for solving the problem]
[0006] A remote support system according to one aspect of this disclosure includes a control device for controlling industrial machinery and a connection to the control device. , as an external device to the control device One information processing terminal and a device connected to the first information processing terminal in a manner that enables data communication. The first It is equipped with two information processing terminals. The first information processing terminal has control rights, which are the authority to control the control device in accordance with user operations on the first information processing terminal, and the control scope is defined. The second information processing terminal has operation rights, which are the authority to operate the first information processing terminal in accordance with user operations on the first information processing terminal. The second information processing terminal controls the control device via the first information processing terminal by remotely operating the first information processing terminal using its operation rights, thereby controlling the control device within the control scope of the control rights held by the first information processing terminal. [Effects of the Invention]
[0007] According to one aspect of this disclosure, highly secure remote support can be achieved. [Brief explanation of the drawing]
[0008] [Figure 1] Figure 1 shows an example of a remote support system according to this embodiment. [Figure 2] Figure 2 is a block diagram of the remote support system shown in Figure 1. [Figure 3] Figure 3 shows the control mode selection screen for the control device displayed on the user terminal in Figure 1. [Figure 4] Figure 4 shows the connection mode selection screen for the technician's terminal, as displayed on the user terminal in Figure 1. [Figure 5] Figure 5 shows an example of a remote support service using the remote support system shown in Figure 1. [Figure 6]Figure 6 shows another example of a remote support service using the remote support system shown in Figure 1. [Figure 7] Figure 7 shows another example of a remote support service using the remote support system shown in Figure 1. [Figure 8] Figure 8 shows another example of the remote support system according to this embodiment. [Figure 9] Figure 9 shows a first modified example of the remote support system according to this embodiment. [Figure 10] Figure 10 shows a second modified example of the remote support system according to this embodiment. [Figure 11] Figure 11 shows a third modified example of the remote support system according to this embodiment. [Figure 12] Figure 12 shows a fourth modified example of the remote support system according to this embodiment. [Figure 13] Figure 13 shows a fifth modified example of the remote support system according to this embodiment. [Modes for carrying out the invention]
[0009] Hereinafter, a remote support system according to an embodiment of the present invention will be described with reference to the drawings. In the following description, components having substantially the same function and configuration will be denoted by the same reference numerals, and redundant explanations will be given only when necessary.
[0010] As shown in Figure 1, the remote support system 1 according to this embodiment includes a robot arm mechanism 10 installed in a factory, a camera 20 for photographing a workpiece W, a control device 40 for controlling the robot arm mechanism 10 and the camera 20, a dedicated operation pendant 30 for operating the robot arm mechanism 10, a first information processing terminal 50 (user terminal 50) such as a PC or tablet operated by a factory worker (user), and a second information processing terminal 60 (technician terminal 60) such as a PC or tablet operated by a robot manufacturer's technician or a maintenance company technician commissioned by the robot manufacturer located in a remote location. Typically, the operation pendant 30 and the user terminal 50 are connected to the control device 40 by a wired cable. The technician terminal 60 is connected to the user terminal 50 so as to be able to communicate data via an external network 100 such as the Internet. The operation pendant 30 and the user terminal 50 may also be connected so as to be able to communicate data via a wired or wireless connection via a local area network including the control device 40. The robot arm mechanism 10, the camera 20, and the control device 40 constitute a robot system.
[0011] As shown in Figure 2, the control device 40 is connected to the robot arm mechanism 10, camera 20, operation pendant 30, and user terminal 50 via interfaces 46, 47, 48, and 49. The control device 40 has a processor 41. The processor 41 is composed of a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), and comprehensively controls each device and controller connected to the system bus. The ROM 42 stores the BIOS (Basic Input Output System), operating system program (OS), etc., executed by the processor 41. The RAM 43 functions as the main memory, work area, etc., of the processor 41. The storage device 44 stores various programs, various setting information, etc. Specifically, the storage device 44 stores information related to the robot system. The information related to the robot system includes task programs for causing the robot arm mechanism 10 and camera 20 to perform predetermined tasks, setting information for the robot arm mechanism 10, and setting information for the camera 20. The configuration information for the robot arm mechanism 10 includes, for example, various parameter information related to the control of the robot arm mechanism 10, such as the operating speed, acceleration, and operating range of the robot arm mechanism 10, as well as on / off information for functions. The configuration information for the camera 20 includes the shooting range and shooting speed. The storage device 44 also stores a control application for controlling the robot arm mechanism 10 and the camera 20 by operating an external terminal. Control here includes controlling the operation of the motors of each joint of the robot arm mechanism 10, modifying the task program, and changing the configuration information. When the control application is executed by the processor 41, the control device 40 can provide a control page to the user terminal 50 that accesses the control device 40, and based on the data entered from the user terminal 50 via the control page, it can modify and change data related to the robot system, such as modifying the task program and changing the configuration information.
[0012] The user terminal 50 is connected to the control device 40 via the control device interface 59. The user terminal 50 has a processor 51. The processor 51 is composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), etc., and comprehensively controls devices and controllers such as an operating device 55 and a display device 56 connected to the system bus. The ROM 52 stores a BIOS (Basic Input Output System), an operating system program (OS), etc. that are executed by the processor 51. The RAM 53 functions as the main memory, work area, etc. of the processor 51. The storage device 54 stores various programs, various setting information, etc.
[0013] Specifically, the storage device 54 stores an access application for accessing the control device 40. As the access application, an existing application such as a browser can be used. By starting the browser on the user terminal 50 and specifying the control device 40 to be controlled, the control page of the control device 40 can be displayed on the browser. The user can control the control device 40 via the control page displayed on the user terminal 50 and update the data held by the control device 40 such as modification of the task program and change of setting information. As long as it is possible to access the control page provided by the control device 40, the access application is not limited to a browser and may be a dedicated application.
[0014] The memory device 54 stores a remote support application for using the remote support service. As the remote support application, an existing application such as Skype can be used. The user can make a voice call or a video call with the engineer by starting Skype and performing predetermined instructions. Further, the operation right of the user terminal 50 can be transferred to the engineer terminal 60, or the viewing right of the display screen of the user terminal 50 can be transferred. If the operation right or the viewing right of the user terminal 50 can be transferred to the engineer terminal 60, the remote support application may be a remote desktop or the like built in Windows. Also, the remote support application may be software that can transfer only one of the operation right or the viewing right.
[0015] FIG. 3 shows an example of a control mode selection screen displayed on the user terminal 50 that has accessed the control device 40. The control mode selection screen corresponds to the top page of the control page. The remote support system 1 according to the present embodiment has three control modes with different control ranges of the control device 40. Here, as shown in FIG. 3, three modes, "Control (including motor operation)", "Control (excluding motor operation)", and "Monitor", are provided as the control modes.
[0016] When "Control (including motor operation)" is selected as the control mode, the control right (first control right) of the control device 40 capable of controlling the operation of the motor of the robot arm mechanism 10 is given to the user terminal 50. A control page corresponding to the first control right is displayed on the user terminal 50. In the control page corresponding to the first control right, the following operations (controls) can be performed.
[0017] · Confirmation of alarm contents such as abnormalities and warnings occurring in the robot system · Confirmation of the input / output states of the robot arm mechanism 10 and the camera 20 · Confirmation, change, and switching of the validity of functions of various setting information related to the robot arm mechanism 10 and the camera 20 • Verification and modification of task programs (robot control program and camera 20 control program) • Backup of control unit 40 (save task program, configuration information, and image file of the control unit 40's internal memory) • Motor motion control of the robot arm mechanism 10 When "Control (excluding motor operation)" is selected as the control mode, control rights (second control rights) for the control device 40, which does not allow motor operation control, are granted to the user terminal 50. The user terminal 50 displays a control page corresponding to the second control rights. On the control page corresponding to the second control rights, it is possible to perform operations (controls) other than "motor operation control of the robot arm mechanism 10" from among the controls permitted by the first control rights.
[0018] When "Monitor" is selected as the control mode, the user terminal 50 is granted viewing rights to the operation pendant 30. These viewing rights only allow viewing of the operation pendant 30's display screen. Once viewing rights are granted to the user terminal 50, the same screen as the operation pendant 30's display screen is displayed on the user terminal 50. The user can then understand the operation status of the operation pendant 30 through the display screen of the operation pendant 30 shown on the user terminal 50.
[0019] The operating pendant 30 connected to the control device 40 is not limited by the control range of the control device 40. In this embodiment, the operating pendant 30 can be considered to have been granted the first control right described above.
[0020] Figure 4 shows an example of a remote support screen displayed when a remote control application is executed on the user terminal 50. The remote support screen displays an area for displaying video captured by the camera mounted on the user terminal 50, an area for displaying video captured by the camera mounted on the technician terminal 60, a remote control button, and a screen sharing button.
[0021] When the user clicks the remote control button, the connection mode with the technician terminal 60 is set to remote control, and the authority (operation rights) to operate the user terminal 50 is transferred to the technician. The technician can then remotely control the user terminal 50 by operating the operating devices of the technician terminal 60, such as the mouse and keyboard.
[0022] When the user clicks the screen sharing button, the connection mode with the technician terminal 60 is set to screen sharing, and the right to view the user terminal 50's display screen (viewing rights for user terminal 50) is transferred to the technician. The technician can then view the user terminal 50's display screen, which is displayed on the technician terminal 60's display screen, to check the user's operation status on user terminal 50.
[0023] The remote support service using the remote support system 1 according to this embodiment will be described with reference to Figures 5, 6, and 7.
[0024] Figure 5 shows a case where the user transfers control of the user terminal 50 to the technician before selecting the control mode of the control device 40 on the user terminal 50. As shown in Figure 5, when a malfunction occurs, such as the robot arm mechanism 10 stopping, the user contacts the technician using means such as email, telephone, or chat. Upon receiving the inquiry, the technician sends an invitation email to the user terminal 50 for remote support services. When the user clicks the URL included in the body of the received invitation email, the remote support application is launched on the user terminal 50, and a remote support screen as shown in Figure 4 is displayed. On the remote support screen, the user can consult with the technician about the situation of the malfunction and possible solutions.
[0025] When a user is unable to resolve a problem through their own actions, or when they accept a remote operation request from a technician, they click the remote operation button on the remote support screen. This transfers control of the user terminal 50 to the technician, who can then remotely operate the user terminal 50 via the technician's terminal 60.
[0026] The technician remotely operates the user terminal 50 to launch the access application. The user terminal 50 displays a control mode selection screen for the control device 40, as shown in Figure 3. The technician remotely operates the user terminal 50 and clicks "Control (excluding motor operation)" as the control mode. This grants the user terminal 50 second control rights. The technician remotely operates the user terminal 50 to access the control device 40 and can operate it within the scope defined by the second control rights to investigate the cause of any malfunctions in the robot system. Once the cause of the malfunction is identified, the technician performs correction and modification work, such as changing the setting information and modifying the task program. After the correction and modification work by the technician is completed, the user actually operates the robot system to confirm that the malfunction has been resolved.
[0027] Figure 6 shows the case where the right to view the user terminal 50 is transferred to the technician. When the user does not want the technician to operate the user terminal 50, or when the user accepts the technician's offer to share their screen, they click the screen sharing button on the remote support screen. As a result, the right to view the user terminal 50 is transferred to the technician, and the technician can view the display screen of the user terminal 50 via the technician terminal 60 and confirm the user's operations on the user terminal 50.
[0028] The user operates the user terminal 50 to launch the access application, following instructions from the technician. The user terminal 50 displays a control mode selection screen for the control device 40, as shown in Figure 3. Following instructions from the technician, the user clicks "Control (including motor operation)" as the control mode. This grants the user terminal 50 first control rights. The user can then operate the user terminal 50 to access the control device 40 and perform operations within the scope defined by the first control rights. The technician investigates the cause of a malfunction in the robot system, giving instructions to the user on how to operate the user terminal 50 or by marking on the shared screen. Once the cause of the malfunction is identified, the technician instructs the user to change parameters, modify the program, etc., and the user operates the user terminal 50 according to the technician's instructions for modification and change. After the modification and change work is completed, the user actually operates the robot system to confirm that the malfunction has been resolved.
[0029] Figure 7 shows the case where a user operates the user terminal 50 to launch the access application, selects a control mode, and then transfers control of the user terminal 50 to the technician. As shown in Figure 7, before clicking the remote operation button on the remote support screen, the user launches the access application and clicks "Control (excluding motor operation)" as the control mode on the control mode selection screen (see Figure 3) displayed on the user terminal 50. This grants the user terminal 50 second control rights. After selecting the control mode, the user clicks the remote operation button on the remote support screen. This transfers control of the user terminal 50 to the technician. The technician can remotely operate the user terminal 50 to access the control device 40, perform operations within the scope defined by the second control rights, and investigate the cause of any malfunctions in the robot system. The process from the technician remotely operating the user terminal 50 to resolving the malfunction and the user actually operating the robot system for verification is the same as described in Figure 5.
[0030] According to the remote support system 1 of this embodiment, the user terminal 50 connected to the control device 40, rather than the control device 40 itself, is connected to the technician terminal 60 via an external network 100. The security level for the external network 100 mainly depends on the user terminal 50. Therefore, if the user terminal 50 has sufficient security functions, the control device 40 does not need to have special security functions for connecting to the external network 100, preventing third-party intrusion into the control device 40 when using the remote support service and reducing the risk of information leakage from the control device 40 to the outside. This lowers the barrier to using the remote support service.
[0031] Furthermore, the process of transferring control and viewing rights of the user terminal 50 to the technician can utilize the functions of general existing applications, eliminating the need for a special application solely for using the remote support service. Therefore, there is no cost associated with developing such a special application. Because existing applications can be used, setting up the connection between the user terminal 50 and the technician terminal 60 is simple, and the barrier to users using the remote support service is quite low.
[0032] Furthermore, with the user's consent, the right to operate the user terminal 50 is transferred to the technician, so the technician cannot forcibly acquire control of the user terminal 50. In addition, the user can view the process of the technician remotely controlling the user terminal 50 on the display screen of the user terminal 50. Since the remote operation of the user terminal 50 is performed by the technician under the user's supervision, it is possible to prevent the user terminal 50 from being illegally operated by the technician.
[0033] If a user is concerned that their user terminal 50 may be illegally operated by a technician, they can, as explained with reference to Figure 6, transfer access rights to the user terminal 50 to the technician rather than transferring control rights to the user terminal 50, and then operate the user terminal 50 themselves according to the technician's instructions. Alternatively, as explained with reference to Figure 7, the user can launch the access application and select the control mode before transferring control rights to the user terminal 50 to the technician. This ensures that the control mode is already selected when the technician gains remote control of the user terminal 50. The technician can only perform the controls (operations) defined by the control mode selected by the user. Therefore, there is no need to worry about operations outside the user's intended control range being input to the control device 40. Since the technician only remotely operates the control page after the control mode has been selected, the opportunities for the technician to view the top screen of the user terminal 50 and access other applications installed on the user terminal 50 are reduced, thus ensuring the security of the user terminal 50 for the technician.
[0034] The remote support system 1 according to this embodiment has three control modes with different control ranges for the control device 40, and two connection modes for the connection between the user terminal 50 and the technician terminal 60. The selection of each mode can be performed on the user terminal 50. Therefore, if the control mode is selected in advance before transferring the right to operate the user terminal 50 to the technician, the technician will only be able to perform the controls (operations) permitted in that control mode, even if they access the control page. If the user does not want the technician to remotely operate the user terminal 50, they can transfer the right to view the user terminal 50 to the technician and operate the user terminal 50 themselves while receiving instructions from the technician. In this way, the user can substantially limit the range of control of the control device 40 by the technician depending on the type of control mode selected. Furthermore, the user can arbitrarily set the security level for the technician depending on the timing of selecting the control mode, the type of control mode selected, the timing of selecting the connection mode, and the type of connection mode selected. This prevents both unauthorized operations on the control device 40 and unauthorized operations on the user terminal 50 by the technician.
[0035] The control modes selectable by the user include a control mode that does not involve motor operation. When a technician remotely controls the user terminal 50, the technician is not on-site, making it difficult to check the surroundings of the robot arm mechanism 10. If the robot arm mechanism 10 is moved while workers or obstacles are present around it, the robot arm mechanism 10 may collide with the workers or obstacles. Therefore, having a control mode that does not involve motor operation prevents the motor from being driven by the technician at an unintended time, causing the robot arm mechanism 10 to move. This allows users to confidently utilize remote support services provided by technicians who are not on-site.
[0036] In the remote support system 1 according to this embodiment, the user terminal 50 was connected to a single control device 40. However, the user terminal 50 may be connected to multiple control devices 40. The remote support system 2 shown in Figure 8 has multiple robot systems 3 (3a, 3b, 3c). The user terminal 50 is connected to multiple control devices 40 (40a, 40b, 40c) via a relay 90. The user can access the specified control device by launching an access application on the user terminal 50 and specifying the control device to be controlled. This switches the control device connected to the user terminal 50 via the relay 90, allowing access to the specified control device. In this way, even if the number of control devices 40 is multiple, the remote support system achieves the same effect as a configuration with a single control device 40.
[0037] The remote support system 1 according to this embodiment has three control modes for the control device 40: "control (including motor operation)", "control (excluding motor operation)", and "monitor". The control range of the control device 40 by the user terminal 50 is limited according to the control mode selected by the user terminal 50. This effectively limits the control range of the control device 40 by the technician remotely operating the user terminal 50. However, the control modes are not limited to these, as long as the control range of the control device 40 by the user terminal 50 can be limited. There may be only one of these control modes, two, or four or more. In addition, although the control modes were predetermined in this embodiment, the user terminal 50 may be able to set the control mode. This reduces the risk that the technician remotely operating the user terminal may perform operations contrary to the user's intentions.
[0038] In the remote support system 1 according to this embodiment, two input devices, an operation pendant 30 and a user terminal 50, are connected to the control device 40. If input is received from both input devices, the work of correction and modification may become complicated. Also, if operation commands are received simultaneously, unexpected actions may occur. Therefore, it is desirable to configure the control device 40 to disable input from the other input device while input is being received from one input device, and to limit the input device that accepts correction and modification operations to one. For example, the control device 40 may deny access to the control device 40 by the user terminal 50 while the operation pendant 30 is accessing the control device 40.
[0039] The control mode of the control device 40 via the operation pendant 30 may be automatically set according to the control mode selected in the user terminal 50. For example, if a control mode including motor operation is selected in the user terminal 50, the operation pendant 30 will be automatically set to a control mode that does not include motor operation. This allows the operation of a potentially dangerous robot to be accepted from only one input device.
[0040] Furthermore, to avoid situations where the connection is interrupted during modification or modification, resulting in the data being partially reflected or becoming corrupted, it is desirable to reflect the modified or modified data once the modification or modification is complete. For this reason, the control device 40 is configured to accept the modification or modification on a copy of the original data when the modification or modification operation is initiated, and to overwrite the original data with the modified or modified data once the modification or modification is complete.
[0041] Figures 5 to 7 illustrate an example in which a control mode is selected that allows the user to operate the control device 40 from the user terminal 50. However, if the user wants a technician to observe the operation of the operation pendant 30, or wants to view the operation of the operation pendant 30 by a worker on site together with the technician, the user can select "Monitor" as the control mode. When "Monitor" is selected as the control mode and the technician terminal 60 is granted viewing or operation rights for the user terminal 50, the same screen as the display screen of the operation pendant 30 is displayed on the technician terminal 60. The worker on site can operate the operation pendant 30 while receiving instructions from the technician who is viewing the screen of the operation pendant 30 displayed on the technician terminal 60. In this embodiment, the operation pendant 30 was connected to the control device 40, but since the control device 40 can be controlled via the user terminal 50, the operation pendant 30 does not necessarily have to be connected to the control device 40. In order for a technician to resolve a system malfunction by remotely controlling the user terminal 50 using the technician terminal 60, the user terminal 50 is equipped with an imaging device 51, such as a camera (see Figure 1), so that the technician can visually confirm the situation on-site, such as under what circumstances the system has stopped and what kind of system error messages are being displayed. Images or videos captured by the imaging device 51 are transmitted to the technician terminal 60 by the remote support application on the user terminal 50. Of course, they may also be transmitted to the technician terminal 60 by other applications. The technician can request the user to visually check the areas they wish to confirm and can address the system malfunction while checking the images or videos captured by the imaging device 51 equipped on the user terminal 50. This improves the work efficiency of the technician's support work. Of course, the imaging device 51 may be configured separately from the user terminal 50, or it may be equipped on the operation pendant 30. Furthermore, the user terminal 50 may be equipped with recording means (not shown), such as a microphone, so that technicians can actually hear the sounds of industrial machinery such as the robot arm mechanism 10 while it is idle or in operation. The sound data recorded by the recording means is transmitted to the technician terminal 60 by the remote support application on the user terminal 50. Of course, it may also be transmitted to the technician terminal 60 by another application. Technicians can respond to system malfunctions while checking the sounds recorded by the recording means equipped on the user terminal 50. This improves the work efficiency of support work by technicians. Of course, the recording means may be configured separately from the user terminal 50, or it may be equipped on the operation pendant 30.
[0042] Assuming that multiple technicians will be involved in addressing a customer issue, there may be multiple technician terminals 60 connected to the user terminal 50. As shown in Figure 9, two technician terminals 60 (60a, 60b) are connected to the user terminal 50. To avoid cumbersome remote operation of the user terminal 50, it is desirable to configure the system so that only one of the two technician terminals 60a, 60b, can be granted control of the user terminal 50. For example, based on a user operation on the remote support screen displayed on the user terminal 50, where one of the technician terminals 60a is selected and the remote operation button is clicked, control can be granted to the technician terminal 60a. At this time, the other technician terminal 60b is automatically granted viewing rights. The other technician terminal 60b can then see how the user terminal 50 is being remotely operated by the technician terminal 60a. This allows multiple technicians to share information and respond efficiently to maintenance and malfunctions. Of course, the system may also be configured to grant viewing rights to the other technician terminal 60b based on the user's operation on the remote support screen displayed on the user terminal 50, after which the other technician terminal 60b is selected and the screen sharing button is clicked. Similarly, if three or more technician terminals 60 are connected to the user terminal 50, it is desirable to configure the system so that operation rights can only be granted to one of the three or more technician terminals 60.
[0043] Assuming there are multiple users working on-site, there may be multiple user terminals 50 connected to the control device 40. Furthermore, the user terminals 50 may be information processing terminals such as smartphones or tablets, rather than PCs. As shown in Figure 10, two user terminals 50 (50a, 50b) are directly connected to the control device 40 by cables or the like. Of course, the user terminals 50 may also be connected to the control device 40 wirelessly via an internal network including the control device 40. To avoid complicating the control operation of the control device 40, it is desirable to configure it so that only one of the two user terminals 50a, 50b, can control the control device 40. For example, while user terminal 50a is accessing the control page, user terminal 50b may not be able to access the control page, or even if it can access it, it may not be able to perform operations on the control page. Of course, if three or more user terminals 50 are connected to the control device 40, it is desirable to configure it so that only one of the user terminals 50 can control the control device 40. However, this does not preclude the simultaneous control of the control device 40 by multiple user terminals 50 when multiple user terminals 50 are connected to the control device 40.
[0044] In this embodiment, it is assumed that a user at the site connects a user terminal 50 to the control device 40 via a wired cable to receive remote support. However, there may be cases where the user themselves is in a remote location. To address such cases, as shown in Figure 11, the control device 40 may be configured to be connected wirelessly to a network device 104 such as a router via a wired or local area network, allowing the user terminal 50 to access the control device 40 via an external network 100 such as the Internet.
[0045] In this embodiment, the controlled objects were the robot arm mechanism 10 and the camera 20. However, the controlled objects can be industrial machines such as machine tools, injection molding machines, and other CNC (Computer Numerical Control) controlled machines. Here, machine tools include cutting machines, electrical discharge machines, laser processing machines, and ultra-precision machining machines. CNC controlled machines include forging machines, conveying devices, stockers, and fabric cutting machines. Of course, the controlled object may be one of these industrial machines or a system combining two or more of them.
[0046] As shown in Figure 12, in a machining system having a cutting machine 70 that processes a workpiece by cutting, and a robot arm mechanism 10 positioned close to the cutting machine 70, which supplies the workpiece to the cutting machine 70 before processing and removes the processed workpiece from the cutting machine 70, both the cutting machine 70 and the robot arm mechanism 10 are controlled. A user terminal 50a is connected to a control device 40 that controls the robot arm mechanism 10 by a wired cable, and a technician terminal 60a is connected to the user terminal 50a via an external network 100 for data communication. A user terminal 50b is connected to a cutting machine control device 80 that controls the cutting machine 70 by a wired cable, and a technician terminal 60b is connected to the user terminal 50b via an external network 100 for data communication.
[0047] The control mode of the control device 40 (robot arm mechanism 10) operated by user terminal 50a and the control mode of the cutting machine control device 80 (cutting machine 70) operated by user terminal 50b can be individually selected by operating user terminals 50a and 50b. The user can transfer the operation rights or viewing rights of user terminal 50a to the engineer terminal 60a by operating user terminal 50a, and can transfer the operation rights or viewing rights of user terminal 50b to the engineer terminal 60b by operating user terminal 50b.
[0048] For example, a user can select a control mode according to the conditions on site and the industrial machinery being controlled, such as selecting "Control (including motor operation)" as the control mode for the robot arm mechanism 10 using user terminal 50a, and "Control (excluding motor operation)" as the control mode for the cutting machine 70 using user terminal 50b. Furthermore, a user can operate user terminals 50a and 50b to grant the engineer terminal 60a the right to operate user terminal 50a, and grant the engineer terminal 60b the right to view user terminal 50b, thus selecting a support mode according to the industrial machinery being controlled and the skill level of the user operating user terminals 50a and 50b. This allows for a balance between on-site safety and the efficiency of remote modification and change of setting data. Engineers from robot manufacturers and maintenance companies can modify and change information related to the processing system by remotely operating user terminal 50. This information includes not only information about the robot arm mechanism 10 but also information about the cutting machine 70. Information regarding the cutting machine 70 includes the task program and configuration information for the cutting machine 70.
[0049] In Figure 12, two user terminals were connected to the two industrial machines being controlled. However, it is also possible to configure the system so that one user terminal controls both industrial machines. For example, the two industrial machines being controlled can be connected to each other so that they can communicate with one another, and a user terminal can be connected to one of the industrial machines to control the other. Of course, the two industrial machines being controlled can also be connected to a single user terminal so that they can communicate with each other, and each of the two industrial machines can be controlled by that single user terminal.
[0050] As shown in Figure 13, a robot control device 40 that controls the robot arm mechanism 10 and a cutting machine control device 80 that controls the cutting machine 70 are connected in a data communication manner, and a user terminal 50 is connected to the cutting machine control device 80 by a wired cable. A technician terminal 60 is connected to the user terminal 50 in a data communication manner via an external network 100 such as the Internet. The user terminal 50 may also be connected to the robot control device 40 by a wired cable.
[0051] The control mode of the robot control device 50 (robot arm mechanism 10) controlled by the user terminal 50 and the control mode of the cutting machine control device 80 (cutting machine 70) controlled by the user terminal 50b may be set individually by the user terminal 50, or they may be set together. Individual setting allows for both physical safety on site and data management safety. Setting together simplifies the selection of control modes, thereby improving the efficiency of data modification and change operations.
[0052] The remote support system 1 according to this embodiment comprises a control device 40 that controls the robot arm mechanism 10 and the camera 20, a user terminal 50 connected to the control device 40, and at least one technician terminal 60 that can remotely operate the user terminal 50. One feature is that the information held by the control device 40 can be modified or changed by remotely operating the user terminal 50 from the technician terminal 60. As a result, a technician in a remote location can respond to system malfunctions, including those of the robot arm mechanism 10 and the camera 20, without having to visit the site.
[0053] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]
[0054] 1...Remote support system, 10...Robot arm mechanism, 20...Camera, 30...Operation pendant, 40...Control device, 50...First information processing terminal (user terminal), 51...Imaging means, 60...Second information processing terminal (technician terminal), 100...Network.
Claims
1. Control devices for controlling industrial machinery, A first information processing terminal, which is an external device to the control device, is connected to the control device. The system comprises a second information processing terminal connected to the first information processing terminal in a data communication manner, The first information processing terminal has the authority to control the control device in accordance with user operations on the first information processing terminal, and has control rights with a defined control range. The second information processing terminal has the right to operate the first information processing terminal in accordance with user operations performed on the first information processing terminal, A remote support system in which the second information processing terminal remotely controls the first information processing terminal using the operating rights, thereby controlling the control device via the first information processing terminal within the control range of the control rights held by the first information processing terminal.
2. The remote support system according to claim 1, wherein the second information processing terminal has the right to view the display screen of the first information processing terminal in accordance with user operations on the first information processing terminal.
3. The remote support system according to claim 1, wherein the operating rights are granted to the second information processing terminal in accordance with user operations on the first information processing terminal after the control rights have been established for the first information processing terminal.
4. The aforementioned control right comprises a first control right and a second control right, each having a different control scope. The remote support system according to claim 1, wherein the first information processing terminal has the first control right or the second control right.
5. The first control right has a first control range that includes driving the power source of the industrial machine, The remote support system according to claim 4, wherein the second control right has a second control range that does not include driving the power source of the industrial machine.
6. The remote support system according to claim 1, wherein the control rights are the authority to acquire, verify, modify, and change multiple types of information relating to the industrial machine held in the control device.
7. The remote support system according to claim 6, wherein the multiple types of information relating to the industrial machine include at least one of alarm information generated in the industrial machine, setting information relating to the industrial machine, input / output information between the industrial machine and an external device, and information relating to the task program of the industrial machine.
8. Control devices for controlling industrial machinery, A first information processing terminal, which is an external device to the control device, is connected to the control device. The system comprises a second information processing terminal connected to the first information processing terminal in a data communication manner, The first information processing terminal has the authority to control the control device in accordance with user operations to the first information processing terminal, and has either a first control right that defines a first control range including driving by the power source of the industrial machine, or a second control right that defines a second control range that does not include driving by the power source. The second information processing terminal has the right to operate the first information processing terminal in accordance with user operations performed on the first information processing terminal, A remote support system in which the second information processing terminal remotely operates the first information processing terminal using the operating rights, thereby controlling the control device via the first information processing terminal within the first control range of the first control rights held by the first information processing terminal, or within the second control range of the second control rights held by the first information processing terminal.