Control device, program, control system, and control method

Abstract

A control device according to an embodiment of the present invention comprises an acquisition unit, a determination unit, and a stop unit. The acquisition unit acquires location information of a person in a facility. The determination unit determines that the distance from the position indicated by the location information to a prohibition range set for each machine installed in the facility is equal to or less than a predetermined value. The stop unit stops the operation of the machine for which it is determined by the determination unit that the distance is equal to or less than the predetermined value.

Description

Control device, program, control system, and control method

[0001] The present invention relates to a control device, a program, a control system, and a control method.

[0002] Industrial machinery such as robots are surrounded by safety fences to prevent people from getting close.

[0003] JP 2011-73079 A

[0004] When fences or other structures are installed around industrial machinery, the freedom of layout is reduced. However, if fences or other structures are not installed without taking any other measures, there are safety issues. Safety issues can be solved by installing sensors that detect people around industrial machinery. However, this requires the installation of many sensors. Another issue is that the wiring required to input sensor output into industrial machinery becomes complicated.

[0005] The problem to be solved by the embodiments of the present invention is to provide a control device, a program, a control system, and a control method that do not require the installation of fences or the like around the machine and that can ensure the safety of people.

[0006] The control device of the embodiment includes an acquisition unit, a determination unit, and a stop unit. The acquisition unit acquires location information of people within a facility. The determination unit determines whether the distance from a location indicated by the location information to a no-entry zone set for each machine installed within the facility is equal to or less than a predetermined value. The stop unit stops operation of the machine for which the determination unit determines that the distance is equal to or less than the predetermined value.

[0007] The present invention eliminates the need to install fences or other structures around the machine, and also ensures the safety of people.

[0008] A block diagram showing an example of the configuration of a main part of a control system according to an embodiment and components included in the control system. A diagram showing an example of a facility. A flowchart showing an example of processing by a processor of a control device in Figure 1. A flowchart showing an example of processing by a processor of an entrance / exit device in Figure 1.

[0009] A control system according to an embodiment will be described below with reference to the drawings. The scales of the various components in the drawings used in the following description of the embodiments may be changed as appropriate. The configurations of the various drawings used in the following description of the embodiments may be omitted for ease of explanation. In the drawings and throughout this specification, the same reference numerals indicate similar elements. FIG. 1 is a block diagram illustrating an example of a control system 1 according to an embodiment and an example of the main configuration of the components included in the control system 1. The components of each device may be built-in or external. The control system 1 is a system that stops the industrial machine 200 when a person approaches the industrial machine 200. The control system 1 includes, as an example, a control device 100, an industrial machine 200, a positioning device 300, a communication device 400, and an entrance / exit device 500. The control system 1 may include only some of these devices. While FIG. 1 illustrates one of each device, the number of devices is not limited. The control system 1 typically includes multiple industrial machines 200 and multiple positioning devices 300.

[0010] The control device 100, the positioning device 300, the communication device 400, and the entrance / exit device 500 are connected to the network NW. The industrial machine 200 may also be connected to the network NW. The network NW is, for example, a communication network including a private network such as an intranet. The network NW is, for example, a communication network including a LAN (local area network). The network NW is, for example, a communication network including the Internet. The network NW may be a wired line, a wireless line, or a combination of wireless and wired lines. The network NW may also be a communication network including a dedicated line or a public mobile phone network.

[0011] The control device 100 is a device that controls the industrial machine 200. The control device 100 includes, for example, a processor 101, a read-only memory (ROM) 102, a random-access memory (RAM) 103, an auxiliary storage device 104, an input device 105, a communication interface 106, and a control interface 107. A bus 108 and the like connect these components together.

[0012] The processor 101 is the central part of a computer that performs various calculations and processes, such as calculations and controls, necessary for the operation of the control device 100. The processor 101 is, for example, a central processing unit (CPU), a microprocessing unit (MPU), a system on a chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field-programmable gate array (FPGA). Alternatively, the processor 101 may be a combination of these. The processor 101 may also be a combination of these with a hardware accelerator or the like. The processor 101 controls each component to realize various functions of the control device 100 based on programs such as firmware, system software, and application software stored in the ROM 102 or the auxiliary storage device 104. The processor 101 also executes the processes described below based on the programs. Note that some or all of the programs may be incorporated into the circuitry of the processor 101.

[0013] The ROM 102 and RAM 103 are main storage devices of the computer centered around the processor 101. The ROM 102 is a non-volatile memory used exclusively for reading data. The ROM 102 stores, for example, firmware among the above programs. The ROM 102 also stores data used by the processor 101 when performing various processes.

[0014] The RAM 103 is a memory used for reading and writing data. The RAM 103 is used as a work area for storing data that is temporarily used when the processor 101 performs various processes. The RAM 103 is typically a volatile memory.

[0015] The auxiliary storage device 104 is an auxiliary storage device of a computer centered around the processor 101. The auxiliary storage device 104 is, for example, an EEPROM (electric erasable programmable read-only memory), a HDD (hard disk drive), or a flash memory. The auxiliary storage device 104 stores, for example, system software and application software among the above programs. The auxiliary storage device 104 also stores data used by the processor 101 when performing various processes, data generated by the processes in the processor 101, various setting values, and the like.

[0016] The auxiliary storage device 104 stores a machine DB (database), a model DB, and a positioning DB. The machine DB is a database that stores and manages information about each industrial machine 200. The machine DB stores machine information for each industrial machine 200 in association with a machine ID (identifier). The machine ID is identification information that is uniquely assigned to each industrial machine 200. The machine information is information about the industrial machine 200. The machine information includes, for example, machine position information, prohibited range information, operation information, stop condition information, associated information, and model ID. The machine position information is information that indicates the installation location of the industrial machine 200. The prohibited range information is information that indicates a prohibited range. The prohibited range is an area where people are prohibited from entering while the industrial machine 200 is operating. The operation information indicates whether the industrial machine 200 is in an automatic operation state, a manual operation state, an emergency stop state, or a stopped state. The automatic operation state indicates that the industrial machine 200 is operating under the control of the control device 100. The manual operation state indicates that the industrial machinery 200 can be operated by manual operation by a person. The emergency stop state indicates that operation has been stopped due to a person entering a prohibited area. The stopped state indicates that operation has been stopped due to a lack of power supply to the industrial machinery 200, a serious alarm state, or manual setting. However, the stopped state does not include a temporary stop state during automatic operation or manual operation. The stop condition information is information indicating whether the industrial machinery 200 should be stopped when there is a positioning device 300 that failed to acquire position information. The value of the stop condition information is set in advance by, for example, an administrator of the control system 1. The accompanying information is information indicating the industrial machinery 200 that should be stopped when the industrial machinery 200 is stopped. The model ID included in the machine information indicates the model of the industrial machinery 200. The model ID is identification information uniquely assigned to each model. The model name, model number, etc. may also be used as the model ID.

[0017] The model DB is a database that stores and manages information for each model of industrial machinery 200. The model DB stores model information for each model, associating it with a model ID. The model information is information about the model. The model information includes, for example, model size information and model range information. The model size information includes, for example, information indicating the size and operating range of the machine. If the model is a manipulator or a robot arm, the operating range indicates, for example, the range that the manipulator can reach. The model range information is information indicating a prohibited range appropriate for the model.

[0018] The positioning DB is a database that stores and manages information about each positioning device 300. The positioning DB stores positioning device information associated with a positioning ID for each positioning device 300. The positioning ID is identification information that is uniquely assigned to each positioning device 300. The positioning ID can also be any of various existing IDs, such as the employee number of the person carrying the positioning device 300, or the individual identification number or MAC address of the positioning device 300. The positioning device information includes positioning position information, positioning range information, and entry / exit information. The positioning position information indicates the past and current positions of the positioning device 300. The positioning range information is information that indicates the error distance of the position of the positioning device 300. The error distance is a distance that indicates the positioning error. The error distance is the sum of the basic error and the additional error. The basic error indicates the positioning error under normal circumstances. The additional error indicates an error that has increased due to a positioning failure, etc. The basic error may be the positioning error plus a distance that assumes the size of a person's body. The basic error can also be set to 0. The normal positioning error can also be set to 0. The entry / exit information indicates whether the positioning device 300 is in an entry state or an exit state. The entry state indicates a state in which the person carrying the positioning device 300 is entering the facility in which the industrial machine 200 is installed, i.e., the positioning device 300 is inside the facility. The exit state indicates a state in which the person carrying the positioning device 300 is not in an entry state. The exit state includes a state in which the person carrying the positioning device 300 is outside the facility.

[0019] The input device 105 accepts operations by an operator of the control device 100. The input device 105 is, for example, a keyboard, a keypad, a touch panel, a touchpad, a mouse, a controller, etc. The input device 105 may also be a device for voice input.

[0020] The communication interface 106 is an interface for the control device 100 to communicate via a network NW or the like.

[0021] The control interface 107 is an interface through which the control device 100 communicates with the industrial machine 200. The control device 100 uses this communication to control the industrial machine 200. Note that the control device 100 may communicate with the industrial machine 200 via the communication interface 106 and the network NW.

[0022] The bus 108 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged among the various parts of the control device 100 .

[0023] The industrial machine 200 is, for example, a machine tool, a manipulator, a robot arm, or a robot. The industrial machine 200 is installed, for example, in a factory or other facility. A machine positioning device may be attached to the industrial machine 200. Alternatively, the industrial machine 200 may have a built-in machine positioning device. The hardware configuration of the machine positioning device is, for example, similar to that of the positioning device 300 described below. The machine positioning device is a device that measures the position of the industrial machine 200.

[0024] FIG. 2 is a diagram showing an example of a facility FA. The facility FA is an example of a facility in which industrial machines 200 are installed. FIG. 2 is a plan view of the facility FA as seen from above. However, for ease of understanding, the industrial machines 200 and the person P in FIG. 2 are shown as an illustration showing their appearance rather than as a view from above. Three industrial machines 200, industrial machines 200-1 to 200-3, are installed in the facility FA shown in FIG. 2. Area AR1 indicates a prohibited range. Areas AR1-1 to AR1-3 are area AR1. Area AR1-1 is a prohibited range for industrial machine 200-1. Area AR1-2 is a prohibited range for industrial machine 200-2. Area AR1-3 is a prohibited range for industrial machine 200-3.

[0025] In the state shown in FIG. 2, there are two persons P, person P-1 and person P-2, within facility FA. Person P is, for example, a worker at facility FA. Person P carries a positioning device 300. Positioning device 300-1 is the positioning device 300 carried by person P-1. Positioning device 300-2 is the positioning device 300 carried by person P-2. Details of positioning device 300 will be described later. Area AR2 is an area indicating the location of person P. Area AR2 is also an area indicating the location of positioning device 300. Person P is estimated to be somewhere within area AR2. Area AR2 is centered on the positioning position of positioning device 300 and has a radius that is the range of the error distance. Area AR2-1 is area AR2 indicating the location of person P-1. Area AR2-2 is area AR2 indicating the location of person P-2. 2 shows three types of areas AR2-2, ie, areas AR2-2a to AR2-2c, with the additional error being different for each of the three types of areas AR2-2.

[0026] The facility FA is also provided with an entrance / exit device 500. Details of the entrance / exit device 500 will be described later. The control device 100 and the communication device 400 are not shown in Fig. 2. The control device 100 and the communication device 400 may be located inside or outside the facility FA.

[0027] The positioning device 300 is a device carried by a person P entering the facility FA and a person P inside the facility FA. The positioning device 300 is used to determine its own location. The position of the positioning device 300 itself is also the location of the person P carrying the positioning device 300. The positioning device 300 may be, for example, a beacon, a smartphone, a smart watch, a smart tag, or an RF tag. The positioning device 300 may be attached to clothing worn by the person P. The clothing may include work clothes, shoes, a helmet, a mask, a harness, and other wearable items. The positioning device 300 includes, for example, a processor 301, a ROM 302, a RAM 303, an auxiliary storage device 304, a communication interface 305, a positioning unit 306, and an ID unit 307. A bus 308 and the like connect these units.

[0028] The processor 301 is the central part of the computer that performs various calculations and processes, such as calculations and controls, necessary for the operation of the positioning device 300. The processor 301 is, for example, a CPU, MPU, SoC, DSP, GPU, ASIC, PLD, or FPGA. Alternatively, the processor 301 may be a combination of several of these. The processor 301 may also be a combination of these with a hardware accelerator or the like. The processor 301 controls each component to realize various functions of the positioning device 300 based on programs such as firmware, system software, and application software stored in the ROM 302 or the auxiliary storage device 304. The processor 301 also executes the processes described below based on the programs. Note that some or all of the programs may be incorporated into the circuitry of the processor 301.

[0029] The ROM 302 and RAM 303 are main storage devices of the computer centered around the processor 301. The ROM 302 is a non-volatile memory used exclusively for reading data. The ROM 302 stores, for example, firmware among the above programs. The ROM 302 also stores data used by the processor 301 when performing various processes.

[0030] The RAM 303 is a memory used for reading and writing data. The RAM 303 is used as a work area for storing data that is temporarily used when the processor 301 performs various processes. The RAM 303 is typically a volatile memory.

[0031] The auxiliary storage device 304 is an auxiliary storage device of a computer centered around the processor 301. The auxiliary storage device 304 is, for example, an EEPROM, a HDD, or a flash memory. The auxiliary storage device 304 stores, for example, system software and application software among the above programs. The auxiliary storage device 304 also stores data used by the processor 301 when performing various processes, data generated by the processes in the processor 301, various setting values, and the like.

[0032] The communication interface 305 is an interface for the positioning device 300 to communicate via a network NW or the like.

[0033] The positioning unit 306 is a device such as an IC (integrated circuit) chip, module, or circuit used for positioning by the positioning device 300. The positioning unit 306 may include a calculation unit that performs calculations for positioning. The positioning unit 306 may output the positioning results. Note that the positioning device 300 may be configured such that the processor 301 performs calculations for positioning. Furthermore, the calculations for positioning may be performed by the control device 100 or the communication device 400.

[0034] The positioning unit 306 transmits electromagnetic waves at predetermined intervals, for example. Alternatively, the positioning unit 306 may transmit electromagnetic waves constantly or according to conditions. The positioning device 300 functions as a beacon when the positioning unit 306 transmits electromagnetic waves. Note that the electromagnetic waves transmitted by the positioning unit 306 are not limited to radio waves, and may be infrared rays or visible light. In this case, the positioning unit 306 includes an antenna for transmitting the electromagnetic waves.

[0035] The positioning unit 306 receives electromagnetic waves transmitted by, for example, the communication device 400 or a global navigation satellite system (GNSS) satellite. The positioning device 300 then uses the electromagnetic waves to determine the position of the positioning device 300. In this case, the positioning unit 306 includes an antenna for receiving the electromagnetic waves.

[0036] The positioning unit 306 is, for example, a sensor for autonomous navigation, and in this case, includes, for example, an acceleration sensor.

[0037] The positioning unit 306 may use a plurality of methods in combination to locate the position of the positioning device 300. The positioning unit 306 may also be common to the communication interface 305. The plurality of positioning devices 300 included in the control system 1 may include a mixture of devices using different positioning methods.

[0038] The ID unit 307 can make the positioning ID of the positioning device 300 that includes the ID unit 307 readable. The ID unit 307, for example, displays the positioning ID. Alternatively, the ID unit 307 is a device that can transmit the positioning ID. Furthermore, the ID unit 307 may be a device that stores the positioning ID in a readable state.

[0039] The ID section 307 that displays the positioning ID is, for example, a display such as a liquid crystal display or an organic electroluminescence (EL) display. Alternatively, the ID section 307 that displays the positioning ID may be one on which the positioning ID is printed. The ID section 307 may also display a barcode that stores the positioning ID.

[0040] The ID unit 307 that transmits the positioning ID transmits the positioning ID by, for example, short-range wireless communication or contact communication.

[0041] The bus 308 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged among the various parts of the positioning device 300 .

[0042] The communication device 400 transmits and / or receives electromagnetic waves to and from the positioning device 300. The communication device 400 may be a beacon. The communication device 400 may be a base station for wireless communication. The base station may be a base station for a public mobile phone network or an access point for a wireless LAN. The positioning device 300 may be connected to the network NW via the communication interface 305 and the communication device 400. The communication device 400 may locate the position of the positioning device 300 using electromagnetic waves received from the positioning unit 306. Furthermore, the communication device 400 may have antennas for transmitting and receiving electromagnetic waves arranged in a grid pattern within the facility FA. This is because a grid pattern arrangement makes it easier to locate the position of the positioning device 300.

[0043] The entrance / exit device 500 is a device that controls the entrance and exit of a person P into the facility FA. The entrance / exit device 500 includes, for example, a processor 501, a ROM 502, a RAM 503, an auxiliary storage device 504, a communication interface 505, a reading unit 506, and a gate unit 507. A bus 508 and the like connect these units together.

[0044] The processor 501 is the central part of the computer that performs calculations, control, and other processes necessary for the operation of the entrance / exit device 500, and performs various calculations and processes. The processor 501 is, for example, a CPU, MPU, SoC, DSP, GPU, ASIC, PLD, or FPGA. Alternatively, the processor 501 may be a combination of several of these. The processor 501 may also be a combination of these with a hardware accelerator or the like. The processor 501 controls each component to realize various functions of the entrance / exit device 500 based on programs such as firmware, system software, and application software stored in the ROM 502 or the auxiliary storage device 504. The processor 501 also executes the processes described below based on the programs. Note that part or all of the programs may be incorporated into the circuitry of the processor 501.

[0045] The ROM 502 and RAM 503 are main storage devices of the computer centered around the processor 501. The ROM 502 is a non-volatile memory used exclusively for reading data. The ROM 502 stores, for example, firmware among the above programs. The ROM 502 also stores data used by the processor 501 when performing various processes.

[0046] The RAM 503 is a memory used for reading and writing data. The RAM 503 is used as a work area for storing data that is temporarily used when the processor 501 performs various processes. The RAM 503 is typically a volatile memory.

[0047] The auxiliary storage device 504 is an auxiliary storage device of a computer centered around the processor 501. The auxiliary storage device 504 is, for example, an EEPROM, a HDD, or a flash memory. The auxiliary storage device 504 stores, for example, system software and application software among the above programs. The auxiliary storage device 504 also stores data used by the processor 501 when performing various processes, data generated by the processes in the processor 501, various setting values, and the like.

[0048] The communication interface 505 is an interface for the entrance / exit device 500 to communicate via a network NW or the like.

[0049] The reading unit 506 is a device that reads the positioning ID from the ID unit 307. The reading unit 506 reads the positioning ID displayed on the ID unit 307, for example, by optical means. The reading unit 506 reads the positioning ID from the ID unit 307, for example, by communicating with the ID unit 307. The communication may be wireless communication or contact-type communication. The reading unit 506 reads the positioning ID stored in the ID unit 307, for example. The entrance / exit device 500 is equipped with at least one of an entrance reading unit 506 and an exit reading unit 506. At least one entrance / exit device 500 is equipped with an entrance reading unit 506. At least one entrance / exit device 500 is equipped with an exit reading unit 506. When person P enters facility FA, ​​the entrance reading unit 506 is configured to read the positioning ID from the ID unit 307. When person P exits facility FA, ​​the exit reading unit 506 is made capable of reading the positioning ID from the ID unit 307. Making it possible for the entry reading unit 506 to read the positioning ID from the ID unit 307 means, for example, making the position and orientation of the ID unit 307 into a state where it can be read by the reading unit 506. One example of making the position and orientation of the ID unit 307 into a state where it can be read by the reading unit 506 is to bring the ID unit 307 closer to the reading unit 506.

[0050] The gate unit 507 controls the entry and exit of person P into facility FA. The gate unit 507 performs this control using, for example, a turnstile type, a retractable type, a flap door type, or other methods. The gate unit 507 can prevent a person from passing through an entrance and exit passage by closing the entrance and exit passage. The gate unit 507 can allow a person to pass through the entrance and exit passage by opening the entrance and exit passage. Note that the entrance and exit passage is a passage for at least one of entering and exiting facility FA.

[0051] The bus 508 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged between each part of the entrance / exit device 500 .

[0052] The operation of the control system 1 according to the embodiment will be described below with reference to Figures 3 and 4. Note that the content of the processing in the following operation description is an example, and various processing that can achieve similar results can be used as appropriate. Figure 3 is a flowchart showing an example of processing by the processor 101 of the control device 100. The processor 101 executes the processing of Figure 3 based on a program stored in, for example, the ROM 102 or the auxiliary storage device 104. Figure 4 is a flowchart showing an example of processing by the processor 501 of the entrance / exit device 500. The processor 501 executes the processing of Figure 4 based on a program stored in, for example, the ROM 502 or the auxiliary storage device 504.

[0053] In step ST11 of FIG. 3 , the processor 101 of the control device 100 determines whether to set a prohibited range. The processor 101 determines to set a prohibited range when, for example, an input instructing the setting of a prohibited range is received from another device via the communication interface 106. Alternatively, the processor 101 determines to set a prohibited range when an input instructing the setting of a prohibited range is received from the input device 105. Alternatively, the processor 101 may determine to set a prohibited range at predetermined time intervals. Alternatively, the processor 101 may determine to set a prohibited range when performing the process of step ST11 for the first time after starting the control device 100 or after starting the process shown in FIG. 3 . If the processor 101 determines to set a prohibited range, it determines Yes in step ST11 and proceeds to step ST12.

[0054] In step ST12, the processor 101 sets a prohibited range. The prohibited range is set for each industrial machine 200. An example of a method for setting a prohibited range is shown below. This example consists of steps (a) to (c). Note that the industrial machine 200 in the following steps (a) to (c) refers to the industrial machine 200 for which the prohibited range is to be set.

[0055] (a) The processor 101 acquires position information of the industrial machine 200. The processor 101 acquires the position information of the industrial machine 200, for example, from the machine positioning device or communication device 400. The processor 101 instructs the communication interface 106 to transmit information requesting the machine positioning device or communication device 400 to transmit the position information. In response to this transmission instruction, the communication interface 106 transmits the request to the machine positioning device or communication device 400. The machine positioning device or communication device 400 that has received the request transmits the position information of the industrial machine 200 in accordance with the request. The position information is received by the communication interface 106 of the control device 100.

[0056] Furthermore, the processor 101 may acquire information necessary for positioning the industrial machinery 200 instead of the position information of the industrial machinery 200. In this case, the processor 101 calculates the position of the industrial machinery 200 using the information, thereby acquiring the position information of the industrial machinery 200.

[0057] Alternatively, the manager of the control system 1 or the like may input the position information of the industrial machine 200 using the input device 105 or the like. The processor 101 acquires the position information thus input.

[0058] (b) The processor 101 refers to the machine DB to identify the model ID of the industrial machine 200. Furthermore, the processor 101 refers to the model DB to acquire model size information associated with the model ID. The processor 101 determines an appropriate prohibited range using the model information and the position information of the industrial machine 200. The appropriate prohibited range is, for example, the operating range of the industrial machine 200 plus a predetermined distance margin. The appropriate prohibited range is, for example, a range within a predetermined distance from the industrial machine 200.

[0059] The processor 101 may acquire model range information instead of the model size information. The processor 101 determines the prohibited range using the model range information and the position information of the industrial machine 200. The prohibited range is the prohibited range indicated by the model range information.

[0060] Alternatively, an administrator of the control system 1 or the like may input the prohibited range using the input device 105 or the like. The processor 101 determines the prohibited range thus input as the prohibited range for the industrial machine 200.

[0061] (c) The processor 101 updates the prohibited area information associated with the machine ID of the industrial machine 200 and stores the prohibited area determined in (b). The processor 101 stores the prohibited area so that the position of the prohibited area on the facility FA can be identified. The processor 101 stores the prohibited area using, for example, coordinates indicating the position on the facility FA.

[0062] As described above, the processor 101 functions as an example of a setting unit that sets a prohibited range using the machine's position information by performing the processing of step ST12 using the position information measured using the machine positioning device.

[0063] After processing step ST12, processor 101 proceeds to step ST13. If processor 101 does not determine that a prohibited range should be set, processor 101 makes a "No" determination in step ST11 and proceeds to step ST13.

[0064] 4, processor 501 of entrance / exit device 500 determines whether entrance reading unit 506 has read the positioning ID from ID unit 307. If entrance reading unit 506 has not read the positioning ID from ID unit 307, processor 501 determines No in step ST31 and proceeds to step ST32.

[0065] In step ST32, processor 501 determines whether or not exit reading unit 506 has read the positioning ID from ID unit 307. If exit reading unit 506 has not read the positioning ID from ID unit 307, processor 501 determines No in step ST32 and returns to step ST31. Thus, processor 501 enters a standby state in which steps ST31 and ST32 are repeated until entry or exit reading unit 506 reads the positioning ID from ID unit 307.

[0066] If the entry reading unit 506 reads the positioning ID from the ID unit 307 while in a standby state in which steps ST31 and ST32 are repeated, the processor 501 determines Yes in step ST31 and proceeds to step ST33.

[0067] In step ST33, the processor 501 instructs the communication interface 505 to transmit the entrance information to the control device 100. The entrance information includes the positioning ID read by the reading unit 506. The entrance information is information indicating that the person P carrying the positioning device 300 identified by the positioning ID is entering the facility FA. Upon receiving this transmission instruction, the communication interface 505 transmits the entrance information to the control device 100. The transmitted entrance information is received by the communication interface 106 of the control device 100.

[0068] In step ST34, processor 501 controls gate unit 307 corresponding to reader 506 that read the positioning ID to open the entrance / exit passage. Note that processor 501 may also control gate unit 307 to close the entrance / exit passage after person P has passed through the entrance / exit passage. After processing step ST34, processor 501 returns to step ST31.

[0069] If the exit reading unit 506 reads the positioning ID from the ID unit 307 while in a standby state in which steps ST31 and ST32 are repeated, the processor 501 judges "Yes" in step ST32 and proceeds to step ST35.

[0070] In step ST35, the processor 501 generates exit information. The exit information includes the positioning ID read by the reading unit 506. The exit information is information indicating that the person P carrying the positioning device 300 identified by the positioning ID is exiting from the facility FA. After generating the exit information, the processor 501 instructs the communication interface 505 to transmit the exit information to the control device 100. Upon receiving this transmission instruction, the communication interface 505 transmits the exit information to the control device 100. The transmitted exit information is received by the communication interface 106 of the control device 100.

[0071] In step ST36, processor 501 controls gate unit 307 corresponding to reader 506 that read the positioning ID to open the entrance / exit passage. Note that processor 501 may also control gate unit 307 to close the entrance / exit passage after person P has passed through the entrance / exit passage. After processing step ST36, processor 501 returns to step ST31.

[0072] If the ID read by the reader 506 is not an ID that is permitted to enter, the processor 501 may control the gate unit 307 to block the entrance / exit passage. The processor 101 of the control device 100 may determine whether or not to permit entry.

[0073] 3, the processor 101 of the control device 100 determines whether or not the entry information has been received by the communication interface 106. If the entry information has been received, the processor 101 determines Yes in step ST13 and proceeds to step ST14.

[0074] The processor 101 detects that a person is entering the facility in response to the reception of the entry information by the communication interface 106. As described above, the processor 101 functions as an example of a detection unit that detects that a person is entering the facility in response to the reception of the entry information by the communication interface 106.

[0075] In step ST14, the processor 101 sets the positioning device 300 identified by the positioning ID included in the entry information received in step ST13 to an entry state. That is, the processor 101 updates the positioning DB to set the value of the entry / exit information associated with the positioning ID to a value indicating the entry state.

[0076] After processing step ST14, processor 101 proceeds to step ST15. If no entry information is received, processor 101 determines No in step ST13 and proceeds to step ST15.

[0077] In step ST15, processor 101 determines whether or not entry information has been received by communication interface 106. If entry information has been received, processor 101 determines Yes in step ST15 and proceeds to step ST16.

[0078] In step ST16, the processor 101 sets the positioning device 300 identified by the positioning ID included in the entry information received in step ST13 to an exit state. That is, the processor 101 updates the positioning DB to set the value of the entry / exit information associated with the positioning ID to a value indicating the exit state.

[0079] After processing step ST16, processor 101 proceeds to step ST17. If the entry information is not received, processor 101 determines No in step ST15 and proceeds to step ST17.

[0080] In step ST17, the processor 101 acquires the position information of each positioning device 300 that is in the entered state. The processor 101 acquires the position information of the positioning device 300, for example, from the positioning device 300 or the communication device 400. The processor 101 instructs the communication interface 106 to transmit information requesting the positioning device 300 or the communication device 400 to transmit the position information. Upon receiving this transmission instruction, the communication interface 106 transmits the request to the positioning device 300 or the communication device 400. The positioning device 300 or the communication device 400 that has received the request transmits position information in accordance with the request. The position information is received by the communication interface 106 of the control device 100.

[0081] The positioning device 300 or the communication device 400 may periodically transmit the position information of the positioning device 300 to the control device. The position information is received by the communication interface 106 of the control device 100. The processor 101 acquires the periodically transmitted position information. In this case, the control device 100 does not need to transmit information requesting transmission of the position information.

[0082] The processor 101 may acquire information necessary for positioning the positioning device 300 instead of the position information of the positioning device 300. In this case, the processor 101 acquires the position information of the positioning device 300 by calculating the position of the positioning device 300 using the information.

[0083] It is possible that for some reason, the positioning device 300 in the entered state cannot acquire the position information. In this case, the processor 101 considers that the acquisition of the position information has failed. Examples of reasons for not being able to acquire the position information include radio interference, a malfunction of the positioning device 300 or the communication device 400, and a dead battery of the positioning device 300.

[0084] If the processor 101 determines that it has acquired the location information for each of all the positioning devices 300 that are in the entered state or has failed to acquire the location information, it ends the processing of step ST17 and proceeds to step ST18.

[0085] The position information of the positioning device 300 in the entered state is the position information of the person P within the facility FA. Therefore, the processor 101 functions as an example of an acquisition unit that acquires the position information of the person P within the facility by performing the processing of step ST17. Alternatively, the processor 101 functions as an example of an acquisition unit by performing the processing of step ST17 in cooperation with the communication interface 106.

[0086] In step ST18, the processor 101 stores the location information acquired in step ST17 in the positioning DB. That is, the processor 101 adds the location information acquired in step ST17 to the positioning location information together with the acquisition date and time of the location information. The location information is associated with the positioning ID of the positioning device 300 whose location the location information indicates. The acquisition date and time of the location information is, for example, the date and time at the time of processing step ST17 or step ST18.

[0087] If the acquisition of the location information fails, the processor 101 adds information indicating the failure to acquire the location information, together with the date and time of the failure to acquire the location information, to the positioning location information, instead of the location information itself. The date and time of the failure to acquire the location information is, for example, the date and time of the processing of step ST17 or step ST18.

[0088] In step ST19, the processor 101 determines whether or not there is a positioning device 300 for which the acquisition of position information has failed. If there is a positioning device 300 for which the acquisition of position information has failed, the processor 101 determines Yes in step ST19 and proceeds to step ST20.

[0089] In step ST20, the processor 101 stops the operation of the industrial machinery 200 that is predetermined to be stopped when there is a positioning device 300 that has failed to acquire position information. Note that the processor 101 checks whether or not to stop operation when there is a positioning device 300 that has failed to acquire position information for each industrial machinery 200, by referring to the stop condition information in the machine DB.

[0090] In step ST21, the processor 101 increases the position error distance of each positioning device 300 for which position information acquisition has failed. This increases the area AR2 corresponding to that positioning device 300. That is, the processor 101 sets the additional error indicated by the positioning range information associated with the positioning ID of the positioning device 300 for which position information acquisition has failed to a value corresponding to the period during which the position information acquisition failed (hereinafter referred to as the "failure period"). The failure period is, for example, the period from the date and time when the position information was last successfully acquired to the current date and time. The processor 101 acquires the date and time when the position information was last successfully acquired by referring to the positioning location information. The processor 101 determines the additional error by, for example, multiplying the failure period by a predetermined speed. Therefore, the additional error can be expressed by the following formula: Additional Error [meters] = Failure Period [seconds] × Predetermined Speed ​​[meters / second] (1). The predetermined speed is, for example, a margin based on a person's walking or running speed.

[0091] After processing step ST21, the processor 101 proceeds to step ST22. If there is no positioning device 300 that has failed to acquire the location information, the processor 101 determines No in step ST19 and proceeds to step ST22.

[0092] In step ST22, the processor 101 determines whether or not a person P is present within the prohibited area of ​​any of the industrial machines 200. The processor 101 determines whether or not the area AR1 of each of the industrial machines 200 overlaps with any of the areas AR2. When any of the areas AR2 overlap with the area AR1, the processor 101 determines that the person P is present within the area AR1. The person P within the area AR1 is the person P whose position is indicated by the area AR2 that overlaps with the area AR1. Note that the presence of the person P within the area AR1 indicates that the person P is within the prohibited area.

[0093] For the positioning device 300 that has successfully acquired the position information, the processor 101 calculates the range of the area AR2 by setting the additional error to 0. For the positioning device 300 that has failed to acquire the position information, the processor 101 calculates the range of the area AR2 by using the additional error calculated in step ST21.

[0094] Moreover, the region AR1 and the region AR2 overlap with each other means that at least a portion of the region AR1 overlaps with at least a portion of the region AR2.

[0095] The processor 101 does not need to determine whether or not the person P is in the prohibited area for the industrial machine 200 in a manual operation state or a stopped state. The processor 101 determines whether or not the industrial machine 200 is in a manual operation state or a stopped state by referring to the operation information in the machine DB.

[0096] 2, the area AR1-2 and the area AR2-1 overlap, so that the person P-1 is within the prohibited area of ​​the industrial machine 200-2.

[0097] As mentioned above, FIG. 2 shows three types of areas AR2-2 with different additional errors. Of these, area AR2-2a is the area AR2-2 when the additional error is 0, i.e., when acquisition of location information is successful. In contrast, areas AR2-2b and AR2-2c are the areas AR2-2 when the additional error is greater than 0, i.e., when acquisition of location information has failed. Area AR2-2b is the area AR2-2 when the failure period is, for example, 10 seconds. Area AR2-2c is the area AR2-2 when the failure period is, for example, 20 seconds. When acquisition of location information is successful, area AR2-2 does not overlap with any of the areas AR1. When the failure period is 10 seconds, area AR2-2 overlaps with area AR1-3. When the failure period is 20 seconds, area AR2-2 overlaps with areas AR1-3 and AR1-1.

[0098] The state in which areas AR1 and AR2 overlap can also be said to be a state in which the distance from the position of person P to area AR1 is equal to or less than distance d, where distance d is equal to the radius of area AR2. When person P is located within area AR1, the distance from the position of person P to area AR1 is 0 or a negative number.

[0099] If the processor 101 determines that a person P is present within the prohibited range of any of the industrial machines 200, the processor 101 determines Yes in step ST22 and proceeds to step ST23.

[0100] Distance d is an example of a predetermined distance. As described above, by performing the processing of step ST22, processor 101 functions as an example of a determination unit that determines whether the distance from the location indicated by the location information to the no-entry zone set for each machine installed in the facility is equal to or less than a predetermined value.

[0101] In step ST23, the processor 101 controls the industrial machine 200 in which the person P is present within the prohibited range to stop its operation. The processor 101 may stop the operation of the industrial machine 200 by controlling the power source supplying power to the industrial machine 200 and stopping the supply of power. The processor 101 may also stop other industrial machines 200 in association with the industrial machine 200 in which the person P is present within the prohibited range. The processor 101 identifies the industrial machines 200 to be stopped in association with the industrial machine 200 in which the person P is present within the prohibited range by referring to the associated information associated with the machine ID of the industrial machine 200 in which the person P is present within the prohibited range. The industrial machines 200 to be stopped in association with the industrial machine 200 in which the person P is present within the prohibited range are, for example, industrial machines 200 near the industrial machine 200 in which the person P is present within the prohibited range. The industrial machines 200 to be stopped in association with the industrial machine 200 in which the person P is present within the prohibited range are, for example, industrial machines 200 that operate in cooperation with the industrial machine 200 in which the person P is present within the prohibited range. All industrial machines 200 in the facility FA other than the industrial machines 200 within which the person P is present within the prohibited range may be industrial machines 200 that are to be stopped accordingly.

[0102] The processor 101 does not need to perform processing to stop the operation of industrial machinery 200 that has already stopped operation.

[0103] In addition, the processor 101 updates the machine DB to set the value of the operation information for the industrial machine 200 that has stopped operation due to the presence of a person P within the prohibited range to a value indicating an emergency stop state.

[0104] As described above, by performing the processing of step ST23, the processor 101 functions as an example of a stopping unit that stops the operation of a machine whose distance is determined by the determination unit to be less than or equal to a predetermined value.

[0105] After processing step ST23, the processor 101 proceeds to step ST24. If the processor 101 determines that the person P is not present within the prohibited range of any of the industrial machines 200, the processor 101 determines No in step ST22 and proceeds to step ST24.

[0106] In step ST24, the processor 101 refers to the operation information in the machine DB and determines whether or not there is any industrial machine 200 in an emergency stop state. If there is no industrial machine 200 in an emergency stop state, the processor 101 determines No in step ST24 and returns to step ST11. On the other hand, if there is an industrial machine 200 in an emergency stop state, the processor 101 determines Yes in step ST24 and proceeds to step ST25.

[0107] In step ST25, the processor 101 determines whether or not there is any industrial machine 200 in the emergency stop state that has no person P within its prohibited range. "No person P is present within the prohibited range" means that no area AR2 overlaps with the area AR1 that indicates the prohibited range. If there is no industrial machine 200 in the emergency stop state that has no person P within its prohibited range, the processor 101 determines "No" in step ST25 and returns to step ST11. On the other hand, if there is any industrial machine 200 in the emergency stop state that has no person P within its prohibited range, the processor 101 determines "Yes" in step ST25 and proceeds to step ST26.

[0108] In step ST26, the processor 101 resumes the operation of the industrial machines 200 that are in the emergency stop state and for which no person P is present within the prohibited range. Note that, for the industrial machines 200 whose operation is to be resumed, if there is any industrial machine 200 that was stopped concomitantly when the operation of the industrial machines 200 was stopped, the processor 101 also resumes the operation of those industrial machines 200.

[0109] Furthermore, the processor 101 updates the machine DB to set the value of the operation information for the industrial machine 200 that has resumed operation to a value indicating an automatic operation state. After processing step ST26, the processor 101 returns to step ST11.

[0110] As described above, the processor 101 repeats the processing of steps ST11 to ST26 to track the position of the person P who has entered the facility FA until he or she exits the facility FA. Then, when the processor 101 determines that the person P has entered the prohibited area set for the industrial machine 200, it stops the operation of the industrial machine 200.

[0111] According to the control system 1 of the embodiment, the control device 100 acquires position information of a person P within the facility FA. The control device 100 of the embodiment then determines that the distance from the position indicated by the position information to a prohibited range set for each industrial machine 200 within the facility FA is equal to or less than distance d. The control device 100 of the embodiment then stops operation of the industrial machine 200 for which it has determined that the distance from the position indicated by the position information to the prohibited range is equal to or less than distance d. This eliminates the need to install fences or other barriers to prevent people from entering the periphery of the industrial machine 200. Furthermore, the control device 100 of the embodiment can stop the industrial machine 200 when the person P approaches the industrial machine 200, thereby ensuring the safety of the person P. Furthermore, the control system 1 of the embodiment requires fewer sensors and simplifies wiring compared to installing sensors to detect people around the industrial machine 200.

[0112] Furthermore, according to the control system 1 of the embodiment, when the control device 100 is unable to acquire position information of a person P within the facility FA, ​​the control device 100 stops the industrial machine 200 that is predetermined to stop operating when the position information of the person P within the facility FA cannot be acquired. As a result, the control device 100 of the embodiment can ensure the safety of the person P even if the person P, whose position information cannot be acquired, approaches the industrial machine 200.

[0113] Furthermore, according to the control system 1 of the embodiment, when the control device 100 is unable to acquire the position information of the person P in the facility FA, ​​the control device 100 increases the distance d. As a result, the control device 100 of the embodiment can stop the industrial machinery 200 within a range that the person P, whose position information cannot be acquired, can reach. Therefore, the control device 100 of the embodiment can ensure the safety of the person P, even if the person P, whose position information cannot be acquired, approaches the industrial machinery 200.

[0114] Furthermore, according to the control system 1 of the embodiment, when the control device 100 is unable to acquire the position information of the person P in the facility FA and then succeeds in acquiring the position information of the person P, the control device 100 returns the distance d to its original value before it was increased. This allows the control device 100 of the embodiment to minimize the number of industrial machines 200 that are stopped.

[0115] Furthermore, according to the control system 1 of the embodiment, the control device 100 detects that a person P has entered the facility FA. Then, the control device 100 of the embodiment regards the person P detected as entering the facility FA as a person P within the facility FA. This allows the control device 100 of the embodiment to reliably grasp how many people P are within the facility FA.

[0116] Furthermore, according to the control system 1 of the embodiment, the control device 100 detects that a person P inside the facility FA is leaving the facility FA. Then, the control device 100 of the embodiment determines that the person P detected leaving the facility FA is not a person P inside the facility FA. This allows the control device 100 of the embodiment to prevent tracking of the position of a person P outside the facility FA, ​​whose position does not need to be tracked.

[0117] Furthermore, according to the control system 1 of the embodiment, the control device 100 acquires position information of the industrial machine 200. Then, the control device 100 of the embodiment sets a prohibited range using the position information, thereby reducing the effort required for an administrator of the control system 1 to set the prohibited range.

[0118] Furthermore, according to the control system 1 of the embodiment, the positioning device 300 is attached to clothing. This makes it possible for the control system 1 of the embodiment to prevent the person P from forgetting to carry the positioning device 300 with him / her.

[0119] The above embodiment can also be modified as follows. The control system 1 may use images to determine the position of the person P. In this case, the control system 1 is equipped with a camera capable of capturing images inside the facility FA. It is preferable to install multiple cameras so as to avoid blind spots. The processor 101 of the control device 100 identifies the position of the person P by performing image processing on the images captured by the cameras. Note that moving images are a type of image.

[0120] The control system 1 may determine the position of the industrial machine 200 using images. In this case, the control system 1 is equipped with a camera capable of capturing images inside the facility FA. It is preferable to install multiple cameras so as to avoid blind spots. The processor 101 of the control device 100 identifies the position of the industrial machine 200 by performing image processing on the images captured by the cameras.

[0121] The control system 1 may use images to detect when a person P enters or exits the facility FA. In this case, the control system 1 is equipped with a camera capable of photographing the entrance and exit of the facility FA. The processor 101 of the control device 100 detects entry and exit by performing image processing on the image photographed by the camera.

[0122] In the above embodiment, the basic error is a fixed value. However, the processor 101 of the control device 100 may increase the basic error in a situation where the positioning error becomes large, such as when positioning is not performed well. An example of a situation where positioning is not performed well is when the number of communication devices 400 that can be used for positioning is small due to poor communication conditions.

[0123] The control system 1 may include a machine other than the industrial machine 200 instead of the industrial machine 200 .

[0124] In the above embodiments, part of the processing performed by the control device 100 may be performed by the industrial machine 200, the positioning device 300, the communication device 400, or the entrance / exit device 500. In the above embodiments, part of the processing performed by the positioning device 300 may be performed by the control device 100, the communication device 400, or the entrance / exit device 500. In the above embodiments, part of the processing performed by the communication device 400 may be performed by the control device 100 or the positioning device 300. In the above embodiments, part of the processing performed by the entrance / exit device 500 may be performed by the control device 100.

[0125] Each device in the embodiment may be made up of multiple devices.

[0126] The processor 101, processor 301, and processor 501 of the control device 100 may implement part or all of the processing that is implemented by a program in the above embodiments by a hardware circuit configuration.

[0127] A program for implementing the processes of the embodiments may be transferred in a state in which it is stored in a non-transitory computer-readable storage medium within the device. However, the device may also be transferred without the program stored therein. The program may then be transferred separately and written to the device. In this case, the program may be transferred by, for example, recording it on a removable non-transitory computer-readable storage medium or by downloading it via a network such as the Internet or a LAN.

[0128] Although the embodiments of the present invention have been described above, they are merely examples and are not intended to limit the scope of the present invention. The embodiments of the present invention can be implemented in various forms without departing from the spirit of the present invention.

[0129] 1 Control system 100 Control device 101, 301, 501 Processor 102, 302, 502 ROM 103, 303, 503 RAM 104, 304, 504 Auxiliary storage device 105 Input device 106, 305, 505 Communication interface 107 Control interface 108, 308, 508 Bus 200 Industrial machine 300 Positioning device 306 Positioning unit 307 ID unit 400 Communication device 500 Entrance / exit device 506 Reading unit 507 Gate unit FA Facility

Claims

1. A control device comprising: an acquisition unit that acquires location information of people within a facility; a judgment unit that determines whether the distance from the location indicated by the location information to a no-entry zone set for each machine installed within the facility is less than a predetermined value; and a stop unit that stops operation of the machine when the judgment unit determines that the distance is less than the predetermined value.

2. The control device according to claim 1, wherein the stopping unit stops a predetermined one of the machines if the acquiring unit is unable to acquire the position information.

3. The control device according to claim 1, wherein, when the acquisition unit is unable to acquire the location information, the determination unit increases the predetermined value in accordance with the length of the period during which the location information has not been acquired.

4. The control device according to claim 3, wherein the determination unit resets the predetermined value to its original value when the acquisition unit has acquired the position information.

5. The control device as described in claim 1, further comprising a detection unit that detects the person entering the facility, wherein the determination unit determines that the distance from the position indicated by the position information of the person detected by the detection unit to enter the facility to the no-entry area is less than or equal to the predetermined value.

6. The control device described in claim 5, wherein the detection unit determines that the distance from a position indicated by the position information of a person who has been detected by the detection unit to enter the facility and has not subsequently been detected by the detection unit to leave the facility, to the no-entry area is less than or equal to the predetermined value.

7. The control device according to claim 1, further comprising: a setting unit that acquires position information of the machine; and sets the prohibited range using the position information of the machine.

8. A program that causes a processor provided in a control device to function as: an acquisition unit that acquires location information of people within a facility; a judgment unit that determines whether the distance from the location indicated by the location information to a no-entry zone set for each machine installed within the facility is less than a predetermined value; and a stop unit that stops the operation of the machine when the judgment unit determines that the distance is less than the predetermined value.

9. A control system including a beacon and a control device, the control device having: an acquisition unit that acquires position information of the beacon within a facility; a determination unit that determines whether the distance from the position indicated by the position information to a no-entry zone set for each machine installed within the facility is equal to or less than a predetermined value; and a stop unit that stops operation of the machine when the determination unit determines that the distance is equal to or less than the predetermined value.

10. The control system of claim 9, including clothing carrying said beacon.

11. A control method for stopping the operation of a machine when the distance from a position indicated by position information of a person within a facility to a no-entry range set for each machine installed within the facility is less than a predetermined value.

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