Stopping device, stopping system, and sound detection device installation method

Abstract

The technology disclosed in the present specification relates to a technology for appropriately managing a stopping means of a drive device. The stopping device according to the technology disclosed in the present specification includes a sound determination unit for determining whether or not a sound detected by a sound detection device that detects surrounding sounds includes a predetermined vibration sound of a drive device body, and a control unit for stopping the drive device when the sound determination unit determines that the sound includes the predetermined vibration sound of the drive device body.

Description

[Technical field]

[0001] The technology disclosed in this specification relates to a technology for stopping a drive device. [Background technology]

[0002] As autonomous mobile robots become more common, there is a need for technology that allows robots to interact safely with humans.

[0003] The typical way for a human to stop a robot when it exhibits unsafe behavior is to press an emergency stop button that is attached to the robot, but the emergency stop button is installed in a specific location on the robot, and the location may not be immediately known.

[0004] Therefore, for example, Patent Document 1 discloses a technique for stopping a robot by detecting a predetermined motion other than pressing an emergency stop button.

[0005] Patent Document 1 discloses a sensor that detects load or pressure as a sensor for detecting a predetermined motion. The sensor has a problem that the detectable range is limited, and due to mechanical constraints, it can only be installed in specific locations. Therefore, if a predetermined motion is performed in a location where no sensor is installed, it may not be detected. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2004-258967 A Summary of the Invention [Problem to be solved by the invention]

[0007] As described above, for example, in the technique disclosed in Patent Document 1, there are cases where the means for stopping a driving device such as a robot other than pressing an emergency stop button does not function satisfactorily.

[0008] The technology disclosed in this specification has been made in consideration of the problems described above, and is a technology for making the stopping means of the drive device function appropriately. [Means for solving the problem]

[0009] The stopping device according to a first aspect of the technology disclosed in the present specification is a device for detecting surrounding sounds, the device being configured to detect the surrounding sounds by detecting the surrounding sounds from a driving device main body. for a sound determination unit for determining whether or not a predetermined vibration sound is included; for The control unit is configured to stop the drive device when it is determined that the predetermined vibration sound is included. Effect of the Invention

[0010] According to at least the first aspect of the technique disclosed in the present specification, it is possible to allow the stopping means of the drive device to function appropriately.

[0011] Furthermore, objects, features, aspects and advantages associated with the technology disclosed herein will become more apparent from the detailed description set forth below and the accompanying drawings. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a stop system according to an embodiment. [Diagram 2] 11 is a diagram showing an example of a sound detected by the sound detection device when the drive device is a robot and a person hits the drive device body repeatedly. FIG. [Diagram 3]FIG. 13 is a diagram showing an example of a time waveform in the case where the driving device is a robot and a person hits the driving device continuously, the sound detected by the sound detection device is band-limited by BPF processing. [Figure 4] FIG. 13 is a diagram showing an example of a time waveform in the case where the driving device is a robot and a person hits the driving device continuously, the sound detected by the sound detection device is band-limited by BPF processing. [Diagram 5] FIG. 13 is a diagram showing an example of a time waveform in the case where the driving device is a robot and a person hits the driving device continuously, the sound detected by the sound detection device is band-limited by BPF processing. [Figure 6] 4 is a flowchart showing an example of the operation of the stopping device according to the embodiment. [Figure 7] FIG. 1 is a diagram illustrating an example of a configuration of a stop system according to an embodiment. [Figure 8] FIG. 1 is a diagram illustrating an example of a configuration of a stop system according to an embodiment. [Figure 9] 9 is a diagram illustrating a schematic example of a hardware configuration when the stopping device shown in FIGS. 1, 7, and 8 is actually operated. FIG. [Figure 10] 9 is a diagram illustrating a schematic example of a hardware configuration when the stopping device shown in FIGS. 1, 7, and 8 is actually operated. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, the embodiments will be described with reference to the accompanying drawings. In the following embodiments, detailed features are shown for the purpose of explaining the technology, but they are merely examples and are not necessarily essential features for enabling the embodiments to be implemented.

[0014] The drawings are schematic, and for the sake of convenience, configurations may be omitted or simplified as appropriate. The size and positional relationship of the configurations shown in different drawings are not necessarily described accurately, and may be changed as appropriate. Hatching may be used in drawings such as plan views that are not cross-sectional views to facilitate understanding of the contents of the embodiments.

[0015] In the following description, the same components are denoted by the same reference numerals, and their names and functions are also the same. Therefore, detailed descriptions thereof may be omitted to avoid duplication.

[0016] Furthermore, in the description in this specification, when a certain component is described as "comprising," "including," or "having," unless otherwise specified, this is not an exclusive expression that excludes the presence of other components.

[0017] Furthermore, even if ordinal numbers such as "first" or "second" are used in the description of this specification, these terms are used for convenience to facilitate understanding of the contents of the embodiments, and the contents of the embodiments are not limited to the orders that may result from these ordinal numbers.

[0018] <First embodiment> The following describes a method for installing a stopping device, a stopping system, and a sound detection device according to this embodiment.

[0019] <About the configuration of the stop system> Fig. 1 is a diagram showing an example of the configuration of a stopping system according to the present embodiment. As shown in Fig. 1, the stopping system 1 includes a stopping device 10, a sound detection device 22, and a driving device 24. The stopping device 10 includes a sound determination unit 12 and a control unit 14.

[0020] The sound determination unit 12 determines whether or not sounds detected by a sound detection device 22 (such as a microphone) that detects surrounding sounds include a predetermined vibration sound of the main body of the driving device 24. Here, the driving device 24 is, for example, a robot (such as a transport robot or a security robot) or a machine tool.

[0021] When the sound detected by the sound detection device 22 is determined by the sound determination unit 12 to include a predetermined vibration sound of the main body of the drive device 24, the control unit 14 controls the drive device 24 to stop the drive device 24.

[0022] Consider a scene in which, when driving device 24 exhibits unsafe behavior (for example, the robot charging at a person), a person hits the body of driving device 24 to stop driving device 24.

[0023] The sound detection device 22 detects the sound of a person striking the main body of the drive device 24. The sound determination unit 12 acquires the detected sound as a time waveform. Then, based on the time waveform of the sound, the sound determination unit 12 generates a time waveform of a sound limited to a preset frequency band.

[0024] Furthermore, the sound determination unit 12 determines whether the time waveform of the sound limited in a specific frequency band (i.e., the volume of the sound limited in a specific frequency band) is equal to or greater than a preset threshold. Here, limiting the sound in a preset frequency band means performing band pass filter (BPF) processing on the sound detected by the sound detection device 22 in a certain frequency range. However, the processing for limiting the sound in a preset frequency band is not limited to BPF, and may be, for example, a low pass filter (LPF). In addition, since the frequencies of commercial power (50 Hz, 60 Hz) and fluorescent lights have high noise levels, notch filter processing may be performed to reduce the noise level at those frequencies. In addition, when it is expected that there is no sound (disturbance) other than the sound that is originally desired to be detected (in this case, the sound when a person hits the main body of the drive device 24) around the operating range of the drive device 24, no processing may be performed on the sound detected by the sound detection device 22.

[0025] In the BPF processing, it is desirable to set a frequency close to the natural vibration frequency band of the main body of the driving device 24 as the cutoff frequency in the BPF. This is because the natural vibration frequency band is the frequency band in which the sound generated when a person hits the main body of the driving device 24 is the loudest. As an example, when the driving device 24 is a robot, the material of the robot body is often resin, and the natural vibration frequency band is, for example, several tens of Hz to several hundreds of Hz depending on the shape.

[0026] In this case, it is assumed that a person hits the main body of the drive unit 24, but it may be that an object hits the drive unit 24, or the drive unit 24 itself collides with an obstacle. In either case, the drive unit 24 can be stopped by the sound generated when an impact is applied to the main body of the drive unit 24, and when an unexpected unsafe situation is about to occur, the unsafe situation can be intuitively avoided.

[0027] Fig. 2 is a diagram showing an example of a sound detected by sound detection device 22 when driving device 24 is a robot and a person hits the body of driving device 24 repeatedly. In the case shown in Fig. 2, the person hits the body of driving device 24 twice, at timing T1 and timing T2. In Fig. 2, the vertical axis indicates the loudness of the sound, and the horizontal axis indicates time.

[0028] 3, 4, and 5 are diagrams showing examples of time waveforms in the case where the sound detected by the sound detection device 22 when the driving device 24 is a robot and a person hits the driving device 24 continuously is band-limited by BPF processing. In Fig. 3, 4, and 5, the time waveform shown in Fig. 2 is band-limited by BPF processing.

[0029] Hereinafter, the operation of the sound determination unit 12 will be described with reference to FIGS.

[0030] In FIG. 3, the sound determination unit 12 determines whether the loudness of the sound limited by a preset frequency band is equal to or greater than a preset first threshold. In the case shown in FIG. 3, the loudness of the sound is equal to or greater than the first threshold at timing T3. Therefore, the sound determination unit 12 determines that the sound contains a predetermined vibration sound of the main body of the drive device 24 at timing T3. Then, the control unit 14 stops the drive device 24 at timing T1 in FIG. 2, which corresponds to timing T3 in FIG. 3. This has the effect of enabling an immediate stop determination when, for example, an unusually loud sound is detected. In this way, by focusing on a specific frequency band, a determination operation can be performed without requiring fast Fourier transform (FFT) analysis or the like.

[0031] 4, the sound determination unit 12 determines whether the time difference between a predetermined timing (start timing) after the volume of a sound limited in a predetermined frequency band becomes equal to or greater than a predetermined second threshold and a predetermined timing (end timing) after the peak value becomes less than a third threshold is equal to or less than a predetermined time width (attenuation threshold). Here, the second threshold is a value smaller than the first threshold, and the third threshold is a value smaller than the second threshold.

[0032] The predetermined timing after the sound volume becomes equal to or greater than the second threshold may be the timing when the sound volume becomes equal to or greater than the second threshold, or the timing when the sound volume reaches a maximum value after becoming equal to or greater than the second threshold. Also, the predetermined timing after the sound volume becomes less than the third threshold may be the timing when the sound volume becomes less than the third threshold.

[0033] 3, the comparison of the sound volume with the corresponding threshold value may result in unnecessarily stopping the drive device 24 due to a disturbance (i.e., a sound unrelated to the sound to be detected in order to stop the drive device 24). In addition, the drive device 24 may also be unnecessarily stopped due to a sound generated during normal operation of the drive device 24.

[0034] Therefore, we focused on the fact that, as shown in Figure 4, the sound attenuation rate is large when the resin used as the material for the robot's body is struck.

[0035] The specific determination method is as follows. Since the sound volume is equal to or greater than the second threshold at time T4 in Fig. 4, the sound determination unit 12 calculates a starting point timing after time T4 (for example, the timing at which the peak value becomes P1). Note that the sound determination unit 12 may determine that P1 is due to the influence of noise, assuming that the peak value P2 is greater than P1. In this case, the sound determination unit 12 can calculate the timing at which the peak value becomes P2 as the starting point timing after time T4.

[0036] Then, the sound determination unit 12 calculates the end point timing after the peak value becomes less than the third threshold value after the start point timing (for example, the timing at which the peak value becomes P3).

[0037] Then, the sound determination unit 12 determines whether or not the time difference between the two timings is equal to or smaller than the attenuation threshold value.

[0038] 4, the above determination result is YES (it is equal to or less than the attenuation threshold). In this case, the sound determination unit 12 determines that the above end point timing includes a predetermined vibration sound of the main body of the drive device 24. Then, the control unit 14 controls the drive device 24 to stop the drive device 24 at the above end point timing, for example, the timing when the peak value of the vibration sound becomes P3.

[0039] 4, it is easy to distinguish between the sound to be detected and the sound or disturbance generated during normal operation of the drive device 24. Therefore, it is possible to prevent the drive device 24 from being stopped unnecessarily.

[0040] In FIG. 5, the sound determination unit 12 determines whether the time difference between a predetermined timing (start timing) after the volume of a sound limited to a predetermined frequency band becomes equal to or greater than a predetermined fourth threshold value and a predetermined timing (end timing) after that timing after the volume of the sound becomes equal to or greater than the fourth threshold value is equal to or greater than a predetermined time width (interval threshold value).

[0041] In Fig. 5, it is assumed that a person hits the robot multiple times. For example, the opening and closing sound of a shutter (which opens and closes a storage space for storing items) occurs continuously in a short cycle. On the other hand, if the robot is hit multiple times, a continuous sound occurs in a longer cycle than the opening and closing sound of a shutter. Therefore, an interval threshold is used to exclude sounds (such as the opening and closing sound of a shutter) that are unrelated to the sound to be detected in order to stop the drive device 24.

[0042] The specific determination method is as follows: The sound determination unit 12 determines whether or not the time difference between timing T5, which is a start timing after the loudness of the sound becomes equal to or greater than the fourth threshold, and timing T6, which is an end timing after the loudness of the sound subsequently becomes equal to or greater than the fourth threshold, is equal to or greater than the interval threshold.

[0043] 5, it is assumed that the time difference between timing T5 and timing T6 is sufficiently small. In this case, the sound determination unit 12 determines that the time difference between timing T5 and timing T6 is not equal to or greater than the interval threshold value.

[0044] Next, the sound determination unit 12 determines whether the time difference between timing T6, which is the start timing after the sound volume becomes equal to or greater than the fourth threshold, and timing T7, which is the end timing after the sound volume subsequently becomes equal to or greater than the fourth threshold, is equal to or greater than the interval threshold.

[0045] As shown in the example of Fig. 5, the time difference between timing T6 and timing T7 is sufficiently large. In this case, the sound determination unit 12 determines that the time difference between timing T6 and timing T7 is equal to or greater than the interval threshold. In this case, the sound determination unit 12 determines that timing T7 includes a predetermined vibration sound of the main body of the drive device 24. Then, the control unit 14 controls the drive device 24 to stop the drive device 24 at timing T7.

[0046] The predetermined timing after the loudness of the sound becomes equal to or greater than the fourth threshold may be the timing when the loudness of the sound becomes equal to or greater than the fourth threshold, the timing when the loudness of the sound becomes maximum after becoming equal to or greater than the fourth threshold, or the timing when the loudness of the sound becomes less than the fourth threshold after becoming equal to or greater than the fourth threshold. In the above, after the start timing (timing T6) after the loudness of the sound becomes equal to or greater than the fourth threshold appears, the end timing (timing T7) after the loudness of the sound becomes equal to or greater than the fourth threshold may not appear. That is, the end timing does not appear even if the interval threshold has elapsed since the start timing appeared. In this case, the sound determination unit 12 may determine that the predetermined vibration sound of the main body of the drive device 24 is included at the timing when the interval threshold has elapsed since the start timing appeared.

[0047] Fig. 6 is a flow chart showing an example of the operation of the stopping device according to this embodiment. The operation shown in Fig. 6 is an operation of determining that a plurality of sounds that meet the threshold condition, the attenuation of which is equal to or less than the attenuation threshold, and the interval between the sounds that is equal to or more than the interval threshold, contain a predetermined vibration sound of the main body of the drive device 24, and stopping the drive device 24 based on the determination. That is, the vibration sound of the main body of the drive device 24 is determined by combining the processes shown in Figs. 3, 4, and 5.

[0048] First, in step ST1, the sound determination unit 12 acquires the sound detected by the sound detection device 22. Next, in step ST2, the acquired sound is subjected to BPF processing in a certain frequency domain. Here, assuming the frequency of the natural vibration of plastic, the sound is limited to a frequency band of 30 Hz or more and 120 Hz or less.

[0049] Next, in step ST3, the sound determination unit 12 determines whether the loudness of the sound matches a predetermined condition by comparing it with a preset threshold value (first threshold value, second threshold value, third threshold value, fourth threshold value). If the condition is met, the sound determination unit 12 acquires the loudness (sound pressure peak value) and the time of the sound. In the case of the process shown in FIG. 3, the drive unit 24 can be controlled to stop the drive unit 24 based on the loudness and time of the sound acquired as being equal to or greater than the first threshold value at this point. In the case of the process shown in FIG. 4, the loudness and time of the sound at the start point timing equal to or greater than the second threshold value and the sound at the end point timing less than the third threshold value are acquired. In the case of the process shown in FIG. 5, the loudness and time of the sound at the start point timing equal to or greater than the fourth threshold value and the sound at the end point timing thereafter equal to or greater than the fourth threshold value are acquired.

[0050] Next, in step ST4, the sound determination unit 12 determines whether the attenuation of the sound is equal to or less than the attenuation threshold. Specifically, in the case of the process shown in FIG. 4, it determines whether the timing difference between the sound of the start point timing, which is equal to or more than the second threshold, and the sound of the end point timing, which is less than the third threshold, is equal to or less than the attenuation threshold. If the timing difference is equal to or less than the attenuation threshold, that is, if it corresponds to "YES" branching from step ST4, an example of which is shown in FIG. 6, proceed to step ST5, an example of which is shown in FIG. 6. On the other hand, if the timing difference is not equal to or less than the attenuation threshold, that is, if it corresponds to "NO" branching from step ST4, an example of which is shown in FIG. 6, return to step ST1, an example of which is shown in FIG. 6.

[0051] Next, in step ST5, the sound determination unit 12 determines whether the time interval between the sounds is equal to or greater than the interval threshold. Specifically, in the case of the process shown in FIG. 5, it determines whether the timing difference between the sound of the start point timing, which is equal to or greater than the fourth threshold, and the sound of the end point timing, which is equal to or greater than the fourth threshold, after the start point timing, is equal to or greater than the interval threshold. If the timing difference is equal to or greater than the interval threshold, that is, if the result corresponds to "YES" branched from step ST5, an example of which is shown in FIG. 6, the process proceeds to step ST6, an example of which is shown in FIG. 6. On the other hand, if the timing difference is not equal to or greater than the interval threshold, that is, if the result corresponds to "NO" branched from step ST5, an example of which is shown in FIG. 6, the process returns to step ST1, an example of which is shown in FIG. 6.

[0052] Next, in step ST6, based on the above-mentioned determination result in the sound determination section 12, the control section 14 controls the driving device 24 so as to stop the driving device 24.

[0053] Instead of steps ST4 and ST5, the sound determination unit 12 may determine whether or not the predetermined vibration sound of the drive device 24 body is included by a physical model or a machine learning model. An example of using a physical model is to simulate and grasp the waveform of the sound when the robot is hit in advance using multimodal analysis, and to determine whether or not the input sound waveform includes the predetermined vibration sound of the drive device 24 body by using this as a predetermined condition. Also, an example of using machine learning is to perform learning by inputting waveform data (time waveform data as shown in FIG. 2) of a sound including the predetermined vibration sound of the drive device 24 body, and to output whether or not the predetermined vibration sound of the drive device 24 body is included as a logical value of True or False using a learned model obtained by the learning.

[0054] <Second embodiment> The following describes a method for installing a stopping device, a stopping system, and a sound detection device according to this embodiment. In the following description, components similar to those described in the above embodiment are illustrated with the same reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0055] <About the configuration of the stop system> Fig. 7 is a diagram showing an example of the configuration of a stopping system according to this embodiment. As shown in the example in Fig. 7, the stopping system 1A includes a stopping device 10, a sound detection device 22, and a driving device 24. In Fig. 7, the stopping device 10, the sound detection device 22, and the driving device 24 are connected via a network 100.

[0056] With this configuration, the stopping device 10 can easily control the stopping of the driving device 24 made by another company, whose control algorithm cannot be easily changed.

[0057] As an example, it can be assumed that the driving device 24 is a robot and the stopping device 10 and the sound detection device 22 are included in an in-building system.

[0058] <Third embodiment> The following describes a method for installing a stopping device, a stopping system, and a sound detection device according to this embodiment. In the following description, components similar to those described in the above embodiment are illustrated with the same reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0059] 1, before the sound determination unit 12 determines whether or not the sound detected by the sound detection device 22 is a target waveform for making a determination for stopping the drive device 24, the sound determination unit 12 further determines whether or not the sound includes a predetermined vibration sound of the drive device 24 body in order to stop the drive device 24. Then, the sound determination unit 12 determines whether or not the sound includes a predetermined vibration sound of the drive device 24 body only if the detected sound is a target waveform.

[0060] A physical model or machine learning may be used as a method for determining whether or not the sound detected by the sound detection device 22 is a target waveform. This makes it possible to exclude sounds other than the target sound for which stop determination is performed.

[0061] An example of the physical model is a model transfer function. Specifically, the physical model takes as input, for example, the waveform of a sound made when a person strikes the driving device 24, and outputs an ideal waveform when a transfer function calculated in advance is used. The sound determination unit 12 takes as input the waveform of a sound detected by the sound detection device 22, and calculates an output waveform using the transfer function. Then, it determines how close this output waveform is to the ideal output waveform, and if it is closer than a threshold value, it determines that the sound detected by the sound detection device 22 is the target waveform.

[0062] When the sound determination unit 12 determines that the sound detected by the sound detection device 22 is the target waveform, it further determines whether or not it includes a predetermined vibration sound of the main body of the drive device 24. On the other hand, when the sound determination unit 12 determines that the sound detected by the sound detection device 22 is not the target waveform, it does not determine whether or not it includes a predetermined vibration sound of the main body of the drive device 24. In this way, the sound determination unit 12 can determine whether or not it includes a predetermined vibration sound of the main body of the drive device 24 by narrowing it down to sounds, for example, when a person hits the drive device 24, and can improve the determination accuracy.

[0063] <Fourth embodiment> The following describes a method for installing a stopping device, a stopping system, and a sound detection device according to this embodiment. In the following description, components similar to those described in the above embodiment are illustrated with the same reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0064] In this embodiment, in the stopping device 10 shown in FIG. 1, the sound determination unit 12 determines whether or not the sound detected by the sound detection device 22 includes a predetermined vibration sound of the main body of the drive device 24, based on conditions different from those in the first embodiment.

[0065] Specifically, in addition to any of the conditions shown in the first embodiment, if the detected sound changes (to a certain threshold value or more), the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the drive unit 24 main body.

[0066] It is assumed that the driving device 24 always generates vibration sound during normal operation. In this case, when a person or an object touches the driving device 24, the driving device 24 changes the vibration sound. For example, the driving device 24 changes the volume or frequency of the vibration sound (to a certain threshold value or more).

[0067] In such a case, the sound determination unit 12 determines that the vibration sound emitted by the drive unit 24 has changed. Then, based on the determination result, the control unit 14 controls the drive unit 24 to stop the drive unit 24. This improves the determination accuracy, and the drive unit 24 can be stopped by a simpler action than hitting the drive unit 24 body.

[0068] <Fifth embodiment> The following describes a method for installing a stopping device, a stopping system, and a sound detection device according to this embodiment. In the following description, components similar to those described in the above embodiment are illustrated with the same reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0069] <About the configuration of the stop system> Fig. 8 is a diagram showing an example of the configuration of a stopping system according to this embodiment. As shown in the example in Fig. 8, the stopping system 1B includes a stopping device 10, a sound detection device 22, and a driving device 24. In Fig. 8, the sound detection device 22 is provided in the driving device 24.

[0070] If the sound detection device 22 is installed outside the drive device 24, there is a high possibility that unnecessary noise will be included in the sound detected by the sound detection device 22. In contrast, by installing the sound detection device 22 inside the drive device 24 as shown in this embodiment, it is possible to suppress the detection of unnecessary noise.

[0071] <Hardware configuration of the stop device> 9 and 10 are diagrams illustrating schematic examples of hardware configurations when the stopping devices shown in FIGS. 1, 7, and 8 are actually operated.

[0072] Note that the hardware configurations illustrated in Figures 9 and 10 may not match the numbers, etc., of the configurations illustrated in Figures 1, 7, and 8, but this is because the configurations illustrated in Figures 1, 7, and 8 represent conceptual units.

[0073] Therefore, at least the following cases can be envisaged: a configuration illustrated in Figures 1, 7, and 8 is composed of multiple hardware configurations illustrated in Figures 9 and 10; a configuration illustrated in Figures 1, 7, and 8 corresponds to a part of the hardware configuration illustrated in Figures 9 and 10; and further, multiple configurations illustrated in Figures 1, 7, and 8 are provided in a single hardware configuration illustrated in Figures 9 and 10.

[0074] In Fig. 9, a processing circuit 1102A that performs calculations and a storage device 1103 that can store information are shown as the hardware configuration for realizing the sound determination unit 12 and the control unit 14 in Fig. 1, Fig. 7, and Fig. 8. This configuration is the same in any of the above embodiments.

[0075] In Fig. 10, a processing circuit 1102B that performs calculations is shown as a hardware configuration for realizing the sound determination unit 12 and the control unit 14 in Fig. 1, Fig. 7, and Fig. 8. This configuration is similar in any of the above embodiments.

[0076] The storage device 1103 may be, for example, a memory (recording medium) including a hard disk drive (i.e., HDD), random access memory (i.e., RAM), read only memory (i.e., ROM), flash memory, volatile or non-volatile semiconductor memory such as erasable programmable read only memory (EPROM) and electrically erasable programmable read-only memory (EEPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD, or any recording medium to be used in the future.

[0077] The processing circuit 1102A may execute a program stored in the storage device 1103, an external CD-ROM, an external DVD-ROM, or an external flash memory, etc. That is, it may be, for example, a central processing unit (CPU), a microprocessor, a microcomputer, or a digital signal processor (DSP).

[0078] When the processing circuit 1102A executes a program stored in the storage device 1103, an external CD-ROM, an external DVD-ROM, an external flash memory, or the like, the sound determination unit 12 and the control unit 14 are realized by software, firmware, or a combination of software and firmware in which the program stored in the storage device 1103 is executed by the processing circuit 1102A. Note that the functions of the sound determination unit 12 and the control unit 14 may be realized, for example, by a plurality of processing circuits working together.

[0079] The software and firmware may be written as a program and stored in the storage device 1103. In this case, the processing circuit 1102A realizes the above-mentioned functions by reading and executing the program stored in the storage device 1103. In other words, the storage device 1103 may store a program that, when executed by the processing circuit 1102A, results in the above-mentioned functions being realized.

[0080] The processing circuitry 1102B may also be dedicated hardware, i.e., a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination thereof, for example.

[0081] When the processing circuit 1102B is a dedicated hardware, the sound determination unit 12 and the control unit 14 are realized by the operation of the processing circuit 1102B. Note that the functions of the sound determination unit 12 and the control unit 14 may be realized by separate circuits or may be realized by a single circuit.

[0082] In addition, the functions of the sound determination unit 12 and the control unit 14 may be partially realized in a processing circuit 1102A that executes a program stored in a memory device 1103, and partially realized in a processing circuit 1102B that is dedicated hardware.

[0083] <Effects of the above-described embodiments> Next, examples of effects produced by the above-described embodiments are shown. In the following description, the effects are described based on the specific configurations shown as examples in the above-described embodiments, but may be replaced with other specific configurations shown as examples in this specification as long as the same effects are produced. In other words, for convenience, only one of the corresponding specific configurations may be described as a representative below, but the representatively described specific configuration may be replaced with another corresponding specific configuration.

[0084] Furthermore, the replacement may be made across a number of embodiments, that is, configurations shown as examples in different embodiments may be combined to produce the same effect.

[0085] According to the embodiment described above, the stopping device includes a sound determination unit 12 and a control unit 14. The sound determination unit 12 determines whether or not a sound detected by a sound detection device 22 that detects surrounding sounds includes a predetermined vibration sound of the main body of the drive device 24. The control unit 14 stops the drive device 24 when the sound determination unit 12 determines that the sound includes the predetermined vibration sound of the main body of the drive device 24.

[0086] According to the embodiment described above, the halt device includes a processing circuit 1102A that executes a program, and a storage device 1103 that stores the program to be executed. The processing circuit 1102A executes the program to realize the following operations.

[0087] That is, when the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the main body of the drive device 24, the drive device 24 is stopped.

[0088] Furthermore, according to the embodiment described above, the stopping device includes the processing circuit 1102B, which is a dedicated hardware. The processing circuit 1102B, which is a dedicated hardware, performs the following operations.

[0089] That is, the processing circuit 1102B, which is a dedicated hardware, stops the drive device 24 when the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the drive device 24 body.

[0090] According to this configuration, when the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation. In other words, the stopping means of the drive device 24 can function appropriately.

[0091] Furthermore, the same effect can be achieved even if other configurations, examples of which are shown in this specification, are appropriately added to the above configuration, i.e., even if other configurations in this specification that were not mentioned as the above configuration are appropriately added.

[0092] Furthermore, according to the embodiment described above, when the loudness of the sound in a predetermined frequency band is equal to or greater than the first threshold, the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the main body of the drive device 24. With such a configuration, the drive device 24 can be stopped simply by determining the loudness of the sound with a focus on a limited frequency band, without the need for FFT analysis or the like.

[0093] Furthermore, according to the embodiment described above, the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the main body of the drive device 24 when the time difference between the first start point timing after the loudness of the sound in a predetermined frequency band becomes equal to or greater than the second threshold and the first end point timing after the first start point timing when the loudness of the sound becomes less than a third threshold smaller than the second threshold is equal to or less than a predetermined first time width (attenuation threshold). With such a configuration, it is easy to distinguish between the sound to be detected and the sound or disturbance generated during normal operation of the drive device 24. Therefore, it is possible to prevent the drive device 24 from being stopped unnecessarily.

[0094] Furthermore, according to the embodiment described above, the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the main body of the drive device 24 when the time difference between the second start point timing after the loudness of the sound in a predetermined frequency band becomes equal to or greater than the fourth threshold and the second end point timing after the second start point timing after the loudness of the sound becomes equal to or greater than the fourth threshold is equal to or greater than a predetermined second time width (interval threshold). With this configuration, it is easy to distinguish between the sound to be detected and the sound or disturbance generated during normal operation of the drive device 24. Therefore, it is possible to prevent the drive device 24 from being stopped unnecessarily.

[0095] Furthermore, according to the embodiment described above, the sound determination unit 12 determines whether or not a sound in the natural vibration frequency band of the main body of the drive device 24 includes a predetermined vibration sound of the main body of the drive device 24. According to such a configuration, when the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation.

[0096] Furthermore, according to the embodiment described above, the sound determination unit 12 determines whether or not the sound is a target waveform for making a determination to stop the drive device 24. If the sound is the target waveform, the sound determination unit 12 determines whether or not the sound includes a predetermined vibration sound of the main body of the drive device 24. On the other hand, if the sound is not the target waveform, the sound determination unit 12 does not determine whether or not the sound includes a predetermined vibration sound of the main body of the drive device 24. With this configuration, it is possible to effectively exclude waveforms other than the target waveform for which the stop determination is made.

[0097] Furthermore, according to the embodiment described above, the sound determination unit 12 determines, based on a physical model, whether or not a sound is a waveform that is a target for determination to stop the drive device 24. With such a configuration, it is possible to effectively exclude waveforms other than the target for which the stop determination is made.

[0098] Furthermore, according to the embodiment described above, the sound determination unit 12 determines, based on a machine learning model, whether or not a sound is a target waveform for which a determination is made to stop the drive device 24. With such a configuration, it is possible to effectively exclude waveforms other than those for which a stop determination is made.

[0099] Furthermore, according to the embodiment described above, the sound determination unit 12 determines, based on a physical model, whether or not the sound includes a predetermined vibration sound of the main body of the drive device 24. With this configuration, when the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation.

[0100] Furthermore, according to the embodiment described above, the sound determination unit 12 determines, based on a machine learning model, whether or not the sound includes a predetermined vibration sound of the main body of the drive device 24. With this configuration, when the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation.

[0101] Furthermore, according to the embodiment described above, when the sound changes, the sound determination unit 12 determines that the sound includes a predetermined vibration sound of the main body of the drive unit 24. With this configuration, by detecting a change in the vibration sound when a person or object touches the drive unit 24, it is possible to stop the drive unit 24 with high accuracy when the drive unit 24 exhibits unsafe behavior.

[0102] Further, according to the embodiment described above, the device includes the above-mentioned stopping device, a sound detection device 22 that detects surrounding sounds, and a driving device 24 that drives the stopping device.

[0103] According to this configuration, when the drive device 24 exhibits unsafe behavior, the user can stop the drive device 24 with a simple operation. In addition, when the stop device 10, the sound detection device 22, and the drive device 24 are connected via a network 100, the stop device 10 can easily control the drive device 24 to stop even if it is made by another company and the control algorithm cannot be easily changed.

[0104] According to the embodiment described above, the sound detection device 22 is installed inside the drive device 24 as a method for installing the sound detection device.

[0105] According to such a configuration, by installing the sound detection device 22 inside the driving device 24, it is possible to reduce unnecessary noise.

[0106] Unless otherwise specified, the order in which the processes are performed may be changed.

[0107] Furthermore, even if other configurations, examples of which are shown in this specification, are appropriately added to the above configuration, i.e., other configurations in this specification that were not mentioned as the above configuration are appropriately added, the same effect can be produced.

[0108] <Modifications of the above-described embodiments> In the embodiments described above, the dimensions, shapes, relative positional relationships, and implementation conditions of each component may be described, but these are merely examples in all aspects and are not limiting.

[0109] Therefore, countless modifications and equivalents not shown as examples are assumed within the scope of the technology disclosed in the present specification, including, for example, modifying, adding, or omitting at least one component, and further, extracting at least one component in at least one embodiment and combining it with a component in another embodiment.

[0110] Furthermore, unless a contradiction arises, when it is stated in the above-described embodiments that "one" component is provided, "one or more" of that component may be provided.

[0111] Furthermore, each component in the embodiments described above is a conceptual unit, and the scope of the technology disclosed in this specification includes cases where one component is made up of multiple structures, where one component corresponds to a part of a structure, and even where multiple components are provided in one structure.

[0112] Furthermore, each of the components in the embodiments described above includes structures having other structures or shapes as long as they perform the same function.

[0113] Furthermore, the descriptions in this specification are incorporated by reference for all purposes related to the present technology, and none of them are admitted to be prior art.

[0114] Furthermore, each of the components described in the above embodiments is envisioned as either software or firmware, or as corresponding hardware, and as software, is referred to as, for example, a "unit," and as hardware, is referred to as, for example, a "processing circuit" (circuitry). [Explanation of symbols]

[0115] 1 Stop system, 1A stop system, 1B stop system, 10 stop device, 12 sound determination unit, 14 control unit, 22 sound detection device, 24 drive device.

Claims

1. a sound determination unit for determining whether or not a sound detected by a sound detection device that detects surrounding sounds includes a predetermined vibration sound for a drive device main body; and a control unit for stopping the drive device when the sound determination unit determines that the sound includes a predetermined vibration sound for the drive device body. Stop device.

2. A stopping device as claimed in claim 1, The predetermined vibration sound for the drive device body is a sound generated when not in normal operation. Stop device.

3. A stopping device according to claim 1 or 2, when the loudness of the sound does not become equal to or greater than the fourth threshold value within a predetermined second time width from a second start time point after the loudness of the sound in a predetermined frequency band becomes equal to or greater than a fourth threshold value, the sound determination unit determines that the sound includes a predetermined vibration sound for the drive unit body at a timing when the second time width has elapsed from the second start time point. Stop device.

4. A stopping device according to claim 1 or 2, the sound determination unit determines that the sound includes a predetermined vibration sound for the drive device body when the magnitude of the sound in a predetermined frequency band is equal to or greater than a first threshold value; Stop device.

5. A stopping device according to claim 1 or 2, the sound determination unit determines that the sound includes a predetermined vibration sound for the drive unit body when a time difference between a first start point timing after the loudness of the sound in a predetermined frequency band becomes equal to or greater than a second threshold and a first end point timing after the first start point timing when the loudness of the sound becomes less than a third threshold smaller than the second threshold is equal to or less than a predetermined first time width; Stop device.

6. A stopping device according to claim 1 or 2, the sound determination unit determines that the sound includes a predetermined vibration sound for the drive unit body when a time difference between a second start point timing after the loudness of the sound in a predetermined frequency band becomes equal to or greater than a fourth threshold value and a second end point timing after the second start point timing, the second end point timing being equal to or greater than the fourth threshold value, is equal to or greater than a predetermined second time width; Stop device.

7. A stopping device according to claim 1 or 2, the sound determination unit determines whether or not the sound in the natural vibration frequency band of the drive device body includes a predetermined vibration sound for the drive device body; Stop device.

8. A stopping device according to claim 1 or 2, The sound determination unit determines whether or not the sound is a waveform that is a target for determining whether to stop the drive device, the sound determination unit determines whether or not the sound includes a predetermined vibration sound for a drive device body when the sound has the target waveform; When the sound does not have the target waveform, the sound determination unit does not determine whether or not the sound includes a predetermined vibration sound for a drive device body. Stop device.

9. A stopping device according to claim 8, The sound determination unit determines, based on a physical model, whether or not the sound is a waveform of the target for which a determination is to be made to stop the drive device. Stop device.

10. A stopping device according to claim 8, The sound determination unit determines, based on a machine learning model, whether or not the sound is a target waveform for determining whether to stop the drive device. Stop device.

11. A stopping device according to claim 1 or 2, the sound determination unit determines whether or not the sound includes a predetermined vibration sound for the drive device body based on a physical model; Stop device.

12. A stopping device according to claim 1 or 2, The sound determination unit determines whether or not the sound includes a predetermined vibration sound for the drive device body based on a machine learning model. Stop device.

13. A stopping device according to claim 1 or 2, The sound determination unit determines that the sound includes a predetermined vibration sound for the drive device body when the sound has changed. Stop device.

14. A stopping device according to claim 1 or 2; The sound detection device detects surrounding sounds; and a drive device for driving the Stop system.

15. A sound detection device that detects surrounding sounds; A drive unit that drives the a sound determination unit for determining whether the sound detected by the sound detection device includes a predetermined vibration sound for the drive device body; a control unit for stopping the drive device when the sound determination unit determines that the sound includes a predetermined vibration sound for the drive device body, The sound detection device is installed in the drive device. How to install sound detection devices.

16. A sound determination unit for determining whether or not a sound detected by a sound detection device that detects surrounding sounds includes a predetermined vibration sound of a drive unit body; a control unit for stopping the drive device when the sound determination unit determines that the sound includes a predetermined vibration sound of the drive device body, the sound determination unit determines that the sound includes a predetermined vibration sound of the drive unit body when a time difference between a first start point timing after the loudness of the sound in a predetermined frequency band becomes equal to or greater than a second threshold and a first end point timing after the first start point timing when the loudness of the sound becomes less than a third threshold smaller than the second threshold is equal to or less than a predetermined first time width; Stop device.

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