Control system, control device, program, and control method

Abstract

A control system according to an embodiment of the present invention includes a vehicle and a control device. The vehicle includes a detection unit for detecting that a person has left the vehicle. The control device includes a control unit that, when a person has left the vehicle in a facility, stops the operation of a machine in the facility different from the vehicle. In the facility, a plurality of regions may be set in advance. The control unit may stop the operation of the machine in the same region as the region where the person has left the vehicle. The detection unit may detect that a person is in the vehicle. The control device may further include an instruction unit. When the vehicle in which a person is riding is about to enter the facility, the instruction unit instructs a gate device to make a road entering the facility passable.

Description

Control system, control device, program, and control method

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

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

[0003] JP 2019-115749 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 system, a control device, a program, 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] According to an embodiment, the control system includes a vehicle and a control device. The vehicle includes a detection unit that detects whether a person has exited the vehicle. The control device includes a control unit that, when a person has exited the vehicle within a facility, stops operation of a machine within the facility that is different from the vehicle.

[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 the main parts of a control system according to an embodiment and components included in the control system. A diagram showing an example of a facility FA. 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 a vehicle 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 showing an example of a control system 1 according to an embodiment and the essential 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 an industrial machine 200 when a person gets off a vehicle 300. The control system 1 includes, as an example, a control device 100, an industrial machine 200, a vehicle 300, a communication device 400, and an entrance / exit device 500. The control system 1 may include only some of these. While FIG. 1 shows one of each device, the number of devices is not limited. The control system 1 typically includes multiple industrial machines 200 and multiple vehicles 300.

[0010] The control device 100, the vehicle 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 vehicle 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 machine position information indicates the installation location using, for example, coordinates that indicate the location on the facility where the industrial machine 200 is installed. Note that the facility where the industrial machine 200 is installed may be divided into multiple pre-set areas (hereinafter referred to as "stop areas"). In this case, the machine position information may indicate the installation location using the stop area where the industrial machine 200 is installed. The prohibited range information is information that indicates the prohibited range. The prohibited range is a range in which the vehicle 300 is prohibited from entering while the industrial machinery 200 is operating. The prohibited range is an example of a prohibited entry range for the vehicle 300. The operation information indicates whether the industrial machinery 200 is in an automatic operation state, a manual operation state, a dismounted stop state, a range stopped state, or a stopped state. The automatic operation state indicates that the industrial machinery 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 a human being manually operating it. The dismounted stop state indicates that operation has been stopped because a person riding in the vehicle 300 has dismounted from the vehicle. The range stopped state indicates that operation has been stopped because the vehicle 300 has entered a prohibited range. The stopped state indicates that operation has been stopped because power is not supplied to the industrial machinery 200, a serious alarm state, manual setting, or the like. However, the stopped state does not include the dismounted stop state and the range stopped state. The accompanying information is information indicating the industrial machine 200 that is stopped when the industrial machine 200 is stopped. The model ID included in the machine information indicates the model of the industrial machine 200. The model ID is identification information that is uniquely assigned to each model. The model name, model number, or the like can 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 vehicle DB is a database that stores and manages information about each vehicle 300. The vehicle DB stores vehicle information for each vehicle 300 in association with a vehicle ID. The vehicle ID is identification information that is uniquely assigned to each vehicle 300. The vehicle ID may be a vehicle registration number, a vehicle number, a wireless call number (WCN), an onboard unit control number, or an electronic toll collection (ETC) card number. The vehicle information includes vehicle position information, vehicle range information, entry / exit information, and boarding status information. The vehicle position information indicates the past and current positions of the vehicle 300. The vehicle range information is information that indicates the error distance of the position of the vehicle 300. The error distance is a distance that indicates the positioning error. Note that the error distance may be the positioning error plus a distance that assumes the size of the vehicle 300. The positioning error may be zero. The entry / exit information indicates whether the vehicle 300 is in an entry or exit state. The entry state indicates a state in which the vehicle 300 has entered the facility in which the industrial machine 200 is installed, i.e., the vehicle 300 is inside the facility. The exit state indicates a state in which the vehicle 300 is not in the entry state. The exit state includes a state in which the vehicle 300 is outside the facility. The boarding state information indicates whether the vehicle 300 is in the boarding state or the disembarking state. The boarding state indicates a state in which all occupants of the vehicle 300 remain on board. The disembarking state indicates a state in which one or more of the occupants have disembarked.

[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 machine positioning device is a device that measures the position of the industrial machine 200. The hardware configuration of the machine positioning device includes, for example, a processor 311, a ROM 312, a RAM 313, an auxiliary storage device 314, a communication interface 340, and a positioning unit 350, similar to the vehicle 300 described below.

[0024] Fig. 2 is a diagram illustrating an example of a facility FA. The facility FA is an example of a facility in which industrial machinery 200 is installed. Fig. 2 is a plan view of the facility FA as viewed from above. However, for ease of understanding, the industrial machinery 200, the vehicle 300, and the person P in Fig. 2 are shown as illustrations showing their external appearances rather than as views from above.

[0025] 2, six industrial machines 200, ie, industrial machine 200-1 to industrial machine 200-6, are installed. Area AR1 indicates a prohibited range. Areas AR1-1 to AR1-6 are the area AR1 for industrial machine 200-1 to industrial machine 200-6.

[0026] FIG. 2 shows five vehicles 300, vehicles 300-1 to 300-5. Vehicles 300-1 to 300-5 are all on road RD. Road RD is, for example, a road. Alternatively, road RD may be a railroad track with rails laid on it. Road RD passes both outside and inside facility FA. When entering facility FA from outside via road RD, it is necessary to pass through gate 507 of entrance / exit device 500. Vehicle 300-1 is traveling within facility FA after passing through entrance / exit device 500 and entering facility FA. Road RD is the road on which vehicles 300 travel.

[0027] 2 shows two persons P, person P-1 and person P-2. The persons P are, for example, workers at facility FA. Person P-1 is riding in vehicle 300-1. Person P-2 is about to board vehicle 300-2.

[0028] 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.

[0029] 2 is divided into three stopping areas AR2, namely, stopping areas AR2-1 to AR2-3. It is preferable that walls, fences, or barriers are installed at the boundaries of the stopping areas AR2 to prevent people P from moving into other stopping areas AR2.

[0030] The vehicle 300 is a vehicle that a person P rides in when entering the facility FA. The vehicle 300 may be capable of carrying multiple people P, or may be capable of carrying only one person P. The vehicle 300 is a vehicle for moving within the facility FA. The vehicle 300 may be capable of moving outside the facility FA. The vehicle 300 is, for example, an automobile or a railway vehicle. The vehicle 300 may be any other vehicle. The vehicle 300 is driven, for example, by the person P riding in the vehicle 300. Alternatively, the vehicle 300 may be remotely controlled. Alternatively, the vehicle 300 may be autonomous. The vehicle 300 includes, for example, a control unit 310, an ID unit 320, a sensor 330, a communication interface 340, and a positioning unit 350.

[0031] The control unit 310 is a computer that performs processes such as calculations and controls required for the operation of the vehicle 300. The control unit 310 is, for example, an ECU (electronic control unit). The control unit 310 may be an in-vehicle device. The control unit 310 may be a smartphone, a tablet terminal, or the like. The control unit 310 includes, for example, a processor 311, a ROM 312, a RAM 313, and an auxiliary storage device 314. A bus 315 and the like connect these units.

[0032] The processor 311 is the central part of the computer that performs various calculations and processes, such as calculations and controls, necessary for the operation of the vehicle 300. The processor 311 is, for example, a CPU, MPU, SoC, DSP, GPU, ASIC, PLD, or FPGA. Alternatively, the processor 311 may be a combination of several of these. The processor 311 may also be a combination of these with a hardware accelerator or the like. The processor 311 controls each component to realize various functions of the vehicle 300 based on programs such as firmware, system software, and application software stored in the ROM 312 or the auxiliary storage device 314. The processor 311 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 311.

[0033] The ROM 312 and RAM 313 are main storage devices of the computer centered around the processor 311. The ROM 312 is a non-volatile memory used exclusively for reading data. The ROM 312 stores, for example, firmware among the above programs. The ROM 312 also stores data used by the processor 311 when performing various processes.

[0034] The RAM 313 is a memory used for reading and writing data. The RAM 313 is used as a work area for storing data that is temporarily used when the processor 311 performs various processes. The RAM 313 is typically a volatile memory.

[0035] The auxiliary storage device 314 is an auxiliary storage device of a computer centered around the processor 311. The auxiliary storage device 314 is, for example, an EEPROM, a HDD, or a flash memory. The auxiliary storage device 314 stores, for example, system software and application software among the above programs. The auxiliary storage device 314 also stores data used by the processor 311 when performing various processes, data generated by the processes in the processor 311, various setting values, and the like.

[0036] The ROM 312 or the secondary storage device 314 stores the vehicle ID of the vehicle 300 that includes it.

[0037] The bus 315 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged among the various parts of the control unit 310 .

[0038] The ID unit 320 can make the vehicle ID of the vehicle 300 readable. The ID unit 320, for example, displays the vehicle ID. Alternatively, the ID unit 320 is a device that can transmit the vehicle ID. Furthermore, the ID unit 320 may be a device that stores the vehicle ID in a readable state.

[0039] The sensor 330 is, for example, a sensor capable of detecting the number of people P riding on the vehicle 300. The sensor 330 is, for example, a sensor capable of detecting that a person P has gotten off the vehicle 300. The sensor 330 may also be a sensor capable of detecting that a person P has boarded the vehicle 300. The sensor 330 may also be a sensor capable of detecting that a person P is riding on the vehicle 300. The sensor 330 is, for example, a camera, an optical sensor, a weight sensor, or an infrared sensor. The sensor 330 may also be a sensor that detects a person P by communicating with a device carried by the person P.

[0040] The communication interface 340 is an interface for the vehicle 300 to communicate via a network NW or the like.

[0041] The positioning unit 350 receives electromagnetic waves transmitted by, for example, the communication device 400 or a global navigation satellite system (GNSS) satellite. The vehicle 300 then uses the electromagnetic waves to determine the position of the vehicle 300. In this case, the positioning unit 350 includes an antenna for receiving the electromagnetic waves.

[0042] The positioning unit 350 is, for example, a sensor for autonomous navigation, and in this case, includes, for example, an acceleration sensor.

[0043] The positioning unit 350 may use a plurality of methods in combination to determine the position of the vehicle 300. The positioning unit 350 may also be common to the communication interface 340. The plurality of vehicles 300 included in the control system 1 may include a mixture of vehicles using different positioning methods.

[0044] The positioning unit 350 may be a beacon, a smartphone, a smart tag, an RF tag, or the like.

[0045] The communication device 400 transmits and / or receives electromagnetic waves to and from the vehicle 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 vehicle 300 may be connected to the network NW via the communication interface 340 and the communication device 400. The communication device 400 may locate the position of the vehicle 300 using electromagnetic waves received from the positioning unit 350. 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 vehicle 300.

[0046] The entrance / exit device 500 is a device that controls the entry and exit of the vehicle 300 into the facility FA. The entrance / exit device 500 includes, as an 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. The entrance / exit device 500 is an example of a gate device.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] The communication interface 505 is an interface for the entrance / exit device 500 to communicate via a network NW or the like.

[0052] The reading unit 506 is a device that reads the vehicle ID from the ID unit 320. The reading unit 506 reads the vehicle ID displayed in the ID unit 320, for example, by optical means. The reading unit 506 reads the vehicle ID from the ID unit 320, for example, by communicating with the ID unit 320. The reading unit 506 reads the vehicle ID stored in the ID unit 320, for example. The reading unit 506 also has a function of identifying, by using a sensor or the like, whether the vehicle 300 whose vehicle ID has been read is a vehicle 300 entering the facility FA or a vehicle 300 exiting the facility FA.

[0053] The gate unit 507 controls the entry and exit of the vehicle 300 into the facility FA. The gate unit 507 can, for example, close the gate to block the road RD, thereby preventing the vehicle 300 from passing through the road RD. The gate unit 507 can open the gate to open the road RD, thereby allowing the vehicle 300 to pass through the road RD. When the road RD is open, the width of the gate is preferably such that the vehicle 300 and the person P cannot pass side by side. This is to prevent the person P from passing through the gate unit 507 at the same time as the vehicle 300 passes through the gate unit 507. The width that prevents the vehicle 300 and the person P from passing side by side is, for example, a width that is equal to or less than the sum of the width of the vehicle 300 and the width of the person P. Alternatively, the width that prevents the vehicle 300 and the person P from passing side by side is a width that is equal to or less than the sum of the width of the vehicle 300 and the width of the person P plus a predetermined value. The predetermined value is a real number. The gate unit 507 may control entry and exit using traffic lights.

[0054] 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 .

[0055] The operation of the control system 1 according to the embodiment will be described below with reference to FIGS. 3 to 5. Note that the processing content in the following operation description is merely an example, and various processing that can achieve similar results can be used as appropriate. FIG. 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 FIG. 3 based on a program stored in, for example, the ROM 102 or the auxiliary storage device 104. FIG. 4 is a flowchart showing an example of processing by the processor 311 of the vehicle 300. The processor 311 executes the processing of FIG. 4 based on a program stored in, for example, the ROM 312 or the auxiliary storage device 314. FIG. 5 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 FIG. 5 based on a program stored in, for example, the ROM 502 or the auxiliary storage device 504.

[0056] 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.

[0057] 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.

[0058] (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.

[0059] 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.

[0060] 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.

[0061] (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.

[0062] 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.

[0063] 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.

[0064] (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.

[0065] 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.

[0066] 4, the processor 311 of the vehicle 300 uses the sensor 330 to determine whether or not a person P is aboard the vehicle 300. If the person P is not aboard the vehicle 300, the processor 311 determines "No" in step ST41 and repeats the processing of step ST41. On the other hand, if the person P is aboard the vehicle 300, the processor 311 determines "Yes" in step ST41 and proceeds to step ST42.

[0067] As described above, at least one of the processor 311 and the sensor 330 functions as an example of a detection unit that detects whether a person is riding in the vehicle.

[0068] In step ST42, processor 311 determines whether or not vehicle 300 is entering facility FA. This vehicle 300 is a vehicle 300 equipped with processor 311. Processor 311 determines that vehicle 300 is entering facility FA, ​​for example, when vehicle 300 approaches gate unit 507 from outside facility FA. If processor 311 does not determine that vehicle 300 is entering facility FA, ​​it determines No in step ST42 and returns to step ST41. On the other hand, if processor 311 determines that vehicle 300 is entering facility FA, ​​it determines Yes in step ST42 and proceeds to step ST43.

[0069] In step ST43, the processor 311 generates entry information. The entry information includes a vehicle ID. The entry information is information indicating that the vehicle 300 identified by the vehicle ID is entering the facility FA. The processor 311 acquires the vehicle ID from, for example, the ROM 312 or the auxiliary storage device 314. After generating the entry information, the processor 311 instructs the communication interface 340 to transmit the entry information to the control device 100. Upon receiving this transmission instruction, the communication interface 340 transmits the entry information to the control device 100. The transmitted entry information is received by the communication interface 106 of the control device 100.

[0070] In step ST44, the processor 311 uses the sensor 330 to determine whether one or more persons P who were riding in the vehicle 300 at the time of entry into the facility FA have dismounted from the vehicle 300. For example, when the sensor 330 detects that one or more persons P have dismounted from the vehicle 300, the processor 311 determines that one or more persons P who were riding in the vehicle 300 have dismounted from the vehicle 300. For example, when the number of people currently riding in the vehicle 300 is less than the number of people who were riding in the vehicle 300 at the time of entry into the facility FA, ​​the processor 311 determines that one or more persons P who were riding in the vehicle 300 have dismounted from the vehicle 300. If the processor 311 does not determine that one or more persons P who were riding in the vehicle 300 have dismounted from the vehicle 300, the processor 311 determines No in step ST44 and proceeds to step ST45.

[0071] As described above, at least one of the processor 311 and the sensor 330 functions as an example of a detection unit that detects that a person has gotten off a vehicle in the processing of step ST44. Furthermore, the processor 311, in cooperation with the sensor 330, performs the processing of step ST44 to detect the number of people on a vehicle and function as an example of a detection unit that detects that a person has gotten off a vehicle when the number of people currently on board is less than the number of people at the time of entry into the facility. Alternatively, the processor 311 performs the processing of step ST44 to detect the number of people on a vehicle and function as an example of a detection unit that detects that a person has gotten off a vehicle when the number of people currently on board is less than the number of people at the time of entry into the facility.

[0072] In step ST45, the processor 311 uses the sensor 330 to determine whether a state has changed from one in which one or more persons P who were riding on the vehicle 300 at the time of entry into the facility FA have dismounted the vehicle 300 to a state in which all of the persons P who were riding on the vehicle 300 at the time of entry into the facility FA are still riding on the vehicle 300. For example, if the number of people who were riding on the vehicle 300 at the time of entry into the facility FA is the same as the number of people currently riding on the vehicle 300, the processor 311 determines that all of the persons P who were riding on the vehicle 300 at the time of entry into the facility FA are still riding on the vehicle 300. For example, if the number of people who dismounted the vehicle 300 after entry into the facility FA is the same as the number of people who got on the vehicle 300 after entry into the facility FA, ​​the processor 311 determines that all of the persons P who were riding on the vehicle 300 at the time of entry into the facility FA are still riding on the vehicle 300. Processor 311 may use sensor 330 to determine whether the person who got off vehicle 300 and the person who subsequently got on vehicle 300 are the same person. In this case, processor 311 determines that all of the people P who were on vehicle 300 at the time of entry into facility FA are still on vehicle 300, for example, if the same people as those who got off vehicle 300 are still on vehicle 300. If processor 311 does not determine that a change has occurred from a state in which one or more people P who were on vehicle 300 at the time of entry into facility FA have gotten off vehicle 300 to a state in which all of the people P who were on vehicle 300 at the time of entry into facility FA are still on vehicle 300, processor 311 makes a No determination in step ST45 and proceeds to step ST46.

[0073] In step ST46, processor 311 determines whether or not vehicle 300 is exiting facility FA. This vehicle 300 is a vehicle 300 equipped with processor 311. Processor 311 determines that vehicle 300 is exiting facility FA when, for example, vehicle 300 approaches gate section 507 from inside facility FA. If processor 311 does not determine that vehicle 300 is exiting facility FA, ​​it makes a No determination in step ST46 and returns to step ST44. Thus, processor 311 enters a standby state in which it repeats the processing of steps ST44 to ST46 until it determines that one or more persons P who were riding on vehicle 300 have dismounted from vehicle 300, or that the state has changed from one or more persons P who were riding on vehicle 300 at the time of entry into facility FA having dismounted to a state in which all persons P who were riding on vehicle 300 at the time of entry into facility FA are still riding on vehicle 300, or it determines that vehicle 300 is entering facility FA.

[0074] If processor 311 determines that one or more persons P riding on vehicle 300 have disembarked from vehicle 300 while in a standby state in which steps ST44 to ST46 are repeated, it judges "Yes" in step ST44 and proceeds to step ST47.

[0075] In step ST47, the processor 311 generates dismounting information. The dismounting information includes a vehicle ID. The dismounting information is information notifying that a person P riding in a vehicle 300 identified by the vehicle ID has dismounted from the vehicle 300. The processor 311 acquires the vehicle ID, for example, from the ROM 312 or the auxiliary storage device 314. After generating the dismounting information, the processor 311 instructs the communication interface 340 to transmit the dismounting information to the control device 100. Upon receiving this transmission instruction, the communication interface 340 transmits the dismounting information to the control device 100. The transmitted dismounting information is received by the communication interface 106 of the control device 100. After processing step ST47, the processor 311 returns to step ST44.

[0076] When processor 311 is in a standby state in which steps ST44 to ST46 are repeated, if it determines that a state has changed from one in which one or more persons P who were on vehicle 300 at the time of entry into facility FA have dismounted from vehicle 300 to a state in which all persons P who were on vehicle 300 at the time of entry into facility FA are still on vehicle 300, it determines Yes in step ST46 and proceeds to step ST48.

[0077] In step ST48, the processor 311 generates boarding information. The boarding information includes a vehicle ID. The disembarking information is information notifying that a person P who was riding in a vehicle 300 identified by the vehicle ID has disembarked from the vehicle 300. The processor 311 acquires the vehicle ID, for example, from the ROM 312 or the auxiliary storage device 314. After generating the boarding information, the processor 311 instructs the communication interface 340 to transmit the boarding information to the control device 100. Upon receiving this transmission instruction, the communication interface 340 transmits the boarding information to the control device 100. The transmitted boarding information is received by the communication interface 106 of the control device 100. After processing step ST48, the processor 311 returns to step ST44.

[0078] When processor 311 is in a standby state in which steps ST44 to ST46 are repeated, if it determines that vehicle 300 will exit facility FA, ​​it determines Yes in step ST46 and proceeds to step ST49.

[0079] In step ST49, the processor 311 generates exit information. The exit information includes a vehicle ID. The exit information is information indicating that the vehicle 300 identified by the vehicle ID is exiting from facility FA. After generating the exit information, the processor 311 instructs the communication interface 340 to transmit the exit information to the control device 100. Upon receiving this transmission instruction, the communication interface 340 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.

[0080] 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.

[0081] In step ST14, processor 101 sets the vehicle 300 identified by the vehicle ID included in the entry information received in step ST13 to an entry state. That is, processor 101 updates the vehicle DB to set the value of the entry / exit information associated with the vehicle ID to a value indicating the entry state.

[0082] In step ST15, the processor 101 instructs the communication interface 106 to send an open request to the entrance / exit device 500. The open request is information instructing the entrance / exit device 500 to open the road RD. Upon receiving this instruction to send, the communication interface 106 sends the open request to the entrance / exit device 500. The sent open request is received by the communication interface 505 of the entrance / exit device 500.

[0083] If the ID included in the entry information is not an ID that is permitted to enter, the processor 501 may send a block request instead of an open request. The block request is information that instructs the road RD to be blocked.

[0084] The processor 501 works in cooperation with the communication interface 106 to send an opening request in the processing of step ST15, and thereby functions as an example of an instruction unit that instructs the gate device to make the road leading to the facility passable when a vehicle carrying people is attempting to enter the facility.

[0085] After processing step ST15, processor 101 proceeds to step ST16. If the entry information is not received, processor 101 determines No in step ST13 and proceeds to step ST16.

[0086] 5, the processor 501 of the entrance / exit device 500 determines whether or not an open request has been received by the communication interface 505. If an open request has not been received, the processor 501 determines No in step ST51 and proceeds to step ST52.

[0087] In step ST52, the processor 501 determines whether or not a blocking request has been received by the communication interface 505. If a blocking request has not been received, the processor 501 determines No in step ST52 and returns to step ST51. Thus, the processor 501 enters a standby state in which it repeats steps ST51 and ST52 until an opening request or a blocking request is received.

[0088] If a release request is received while the processor 501 is in a standby state where steps ST51 and ST52 are repeated, the processor 501 determines "Yes" in step ST51 and proceeds to step ST53.

[0089] In step ST53, the processor 501 controls the gate unit 307 to open the road RD.

[0090] The processor 501 functions as an example of a gate control unit that cooperates with the gate unit 307 to perform the processing of step ST53 and thereby makes the road passable in accordance with the instruction. Alternatively, the processor 501 functions as an example of a gate control unit by performing the processing of step ST53.

[0091] In step ST54, processor 501 waits for vehicle 300 to pass through gate unit 307. If vehicle 300 has passed through gate unit 307, processor 501 determines "Yes" in step ST54 and proceeds to step ST55.

[0092] In step ST55, the processor 501 controls the gate unit 307 to close the road RD. After processing in step ST55, the processor 501 returns to step ST51.

[0093] Furthermore, if a blocking request is received while the processor 501 is in a standby state where steps ST51 and ST52 are repeated, the processor 501 determines "Yes" in step ST52 and proceeds to step ST55.

[0094] 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 ST16 and proceeds to step ST17.

[0095] In step ST17, processor 101 sets vehicle 300 identified by the vehicle ID included in the entry information received in step ST13 to an exit state. That is, processor 101 updates the vehicle DB to set the value of the entry / exit information associated with the vehicle ID to a value indicating the exit state.

[0096] In step ST18, the processor 101 performs the same processing as in step ST15.

[0097] After processing step ST18, processor 101 proceeds to step ST19. If the entry information is not received, processor 101 determines No in step ST16 and proceeds to step ST19.

[0098] In step ST19, the processor 101 acquires the location information of each vehicle 300 that is in the entered state. The processor 101 acquires the location information of the vehicle 300, for example, from the vehicle 300 or the communication device 400. The processor 101 instructs the communication interface 106 to transmit information requesting the vehicle 300 or the communication device 400 to transmit the location information, for example. Upon receiving this transmission instruction, the communication interface 106 transmits the request to the vehicle 300 or the communication device 400. The vehicle 300 or the communication device 400 that receives the request transmits its location information in accordance with the request. The location information is received by the communication interface 106 of the control device 100.

[0099] The vehicle 300 or the communication device 400 may periodically transmit the position information of the vehicle 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.

[0100] The processor 101 may acquire information necessary for positioning the vehicle 300 instead of the position information of the vehicle 300. In this case, the processor 101 acquires the position information of the vehicle 300 by calculating the position of the vehicle 300 using the information.

[0101] As described above, by performing the processing of step ST19, the processor 101 functions as an example of an acquisition unit that acquires the location information of vehicles within the facility.

[0102] In step ST20, the processor 101 stores the location information acquired in step ST19 in the vehicle DB. That is, the processor 101 adds the location information acquired in step ST19 to the positioning location information together with the acquisition date and time of the location information. The positioning location information is associated with the vehicle ID of the vehicle 300 whose position 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 ST19 or step ST20.

[0103] 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 ST19 or step ST20.

[0104] In step ST21, the processor 101 determines whether or not the disembarking information has been received by the communication interface 106. If the disembarking information has been received, the processor 101 determines Yes in step ST21 and proceeds to step ST22.

[0105] In step ST22, the processor 101 stores in the vehicle DB that the vehicle 300 identified by the vehicle ID included in the disembarking information is in the disembarking state. That is, the processor 101 updates the vehicle DB to set the value of the riding state information associated with the vehicle ID to a value indicating the disembarking state.

[0106] In step ST23, the processor 101 stops the operation of the industrial machinery 200 that is in the same stop area AR2 as the vehicle 300 identified by the vehicle ID included in the disembarkation information. To this end, the processor 101 uses the position information of the vehicle 300 to identify which stop area AR2 the vehicle 300 is in. The processor 101 also refers to the machine position information in the machine DB to identify the industrial machinery 200 that is in the stop area AR2. The processor 101 then stops the operation of the identified industrial machinery 200. The processor 101 may stop the operation of the industrial machinery 200 by controlling the power source that supplies power to the industrial machinery 200 and stopping the power supply. The processor 101 may also stop other industrial machinery 200 in association with the identified industrial machinery 200. The processor 101 refers to associated information associated with the machine ID of the identified industrial machinery 200 to identify the industrial machinery 200 to be stopped in association with the identified industrial machinery 200. The industrial machine 200 to be stopped incidentally is, for example, an industrial machine 200 near the identified industrial machine 200. The industrial machine 200 to be stopped incidentally is, for example, an industrial machine 200 that operates in cooperation with the identified industrial machine 200.

[0107] The processor 101 does not need to perform processing to stop the operation of industrial machinery 200 that has already stopped operation.

[0108] 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 the vehicle 300 within the prohibited range to a value indicating a dismounted and stopped state.

[0109] As described above, by performing the processing of step ST23, processor 101 functions as an example of a control unit that stops the operation of machines in a facility other than the vehicle when a person gets off the vehicle in the facility.

[0110] After processing step ST23, processor 101 proceeds to step ST24. If disembarking information is not received, processor 101 determines No in step ST21 and proceeds to step ST24.

[0111] In step ST24, the processor 101 uses the position information of the vehicle 300 to determine whether or not the vehicle 300 is within the prohibited range of any of the industrial machines 200. For example, when the distance to the vehicle 300 in an area AR1 of the industrial machine 200 is equal to or less than a predetermined distance, the processor 101 determines that the vehicle 300 is within the prohibited range of the industrial machine 200. When the position of the vehicle 300 is within the area AR1, the distance from the position of the vehicle 300 to the area AR1 is 0 or a negative number.

[0112] The processor 101 does not need to determine whether or not the vehicle 300 is in the prohibited range 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.

[0113] If the processor 101 determines that the vehicle 300 is within the prohibited range of any of the industrial machines 200, it determines Yes in step ST24 and proceeds to step ST25.

[0114] In step ST25, the processor 101 controls the industrial machine 200 in which the vehicle 300 is within the prohibited range to stop the operation. The processor 101 may control the power source supplying power to the industrial machine 200 and stop the supply of power, thereby stopping the operation of the industrial machine 200. Furthermore, the processor 101 may also stop other industrial machines 200 associated with the industrial machine 200 in which the vehicle 300 is within the prohibited range, as in step ST23.

[0115] The processor 101 does not need to perform processing to stop the operation of industrial machinery 200 that has already stopped operation.

[0116] 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 the vehicle 300 within the prohibited range to a value indicating a range stop state.

[0117] After processing step ST25, the processor 101 proceeds to step ST26. If the processor 101 determines that the vehicle 300 is not within the prohibited range of any of the industrial machines 200, the processor 101 determines No in step ST24 and proceeds to step ST26.

[0118] In step ST26, the processor 101 refers to the operation information in the machine DB and determines whether or not there is any industrial machine 200 in a dismounting-stopped state or a range-stopped state. If there is no industrial machine 200 in a dismounting-stopped state or a range-stopped state, the processor 101 determines No in step ST26 and returns to step ST11. On the other hand, if there is an industrial machine 200 in a dismounting-stopped state or a range-stopped state, the processor 101 determines Yes in step ST26 and proceeds to step ST27.

[0119] In step ST27, the processor 101 determines whether to resume operation of one or more of the industrial machines 200 that are in the dismounting stop state or the range stop state. For example, when the industrial machine 200 that is in the dismounting stop state or the range stop state satisfies the following (A) and (B), the processor 101 determines to resume operation of the industrial machine 200.

[0120] (A) For all vehicles 300 that transmitted disembarking information within the same stopping range as the industrial machine 200, all of the people P who were riding in the vehicle 300 at the time of entry into the facility FA are now riding in the vehicle 300.

[0121] (B) There is no vehicle 300 within the prohibited area of ​​the industrial machine 200.

[0122] In addition, the processor 101 determines, for example, when boarding information is received from the vehicle 300, that all persons P who were on the vehicle 300 at the time of entry into the facility FA are now on the vehicle 300.

[0123] If the processor 101 determines that the operation of any of the industrial machines 200 in the dismounting stop state or the range stop state is to be resumed, the processor 101 determines No in step ST27 and returns to step ST11. On the other hand, if the processor 101 determines that the operation of at least one of the industrial machines 200 in the dismounting stop state or the range stop state is to be resumed, the processor 101 determines Yes in step ST27 and proceeds to step ST28.

[0124] In step ST28, the processor 101 resumes the operation of the industrial machines 200 determined to be resumed in step ST27. Note that, when the processor 101 stops the operation of the industrial machines 200 whose operation is to be resumed, if there is any other industrial machines 200 that were stopped in conjunction with the stopping of the operation of the industrial machines 200, the processor 101 also resumes the operation of those industrial machines 200.

[0125] 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 ST28, the processor 101 returns to step ST11.

[0126] As described above, the processor 101 repeats the processing of steps ST11 to ST28, thereby stopping the industrial machinery 200 when the person P gets off the vehicle 300 that has entered the facility FA. Furthermore, by repeating the processing of steps ST11 to ST28, the processor 101 tracks the position of the vehicle 300 that has entered the facility FA until it exits the facility FA. Then, when the processor 101 determines that the vehicle 300 has entered a prohibited area set for the industrial machinery 200, it stops the operation of the industrial machinery 200.

[0127] The control system 1 of the embodiment stops the operation of the industrial machine 200 in the facility FA when a person P gets off a vehicle 300 in the facility FA. This prevents danger even when the person P who has gotten off the vehicle 300 approaches the industrial machine 200 where no fence or the like is installed. In other words, the control system 1 of the embodiment does not require the installation of a fence or the like to prevent people from entering the periphery of the industrial machine 200. The control system 1 of the embodiment can also ensure the safety of the person P. Furthermore, the control system 1 of the embodiment requires fewer sensors and simplifies wiring compared to when sensors for detecting people are installed around the industrial machine 200.

[0128] Furthermore, the control system 1 of the embodiment stops the operation of the industrial machines 200 in the same stop area AR2 as the vehicle 300 from which the person P has disembarked. As a result, the control system 1 of the embodiment can reduce the number of industrial machines 200 to be stopped compared to the case where all of the industrial machines 200 in the facility FA are stopped. As a result, the operation of the facility can continue in stop areas AR2 different from the stop area AR2 in which the operation of the industrial machines 200 has been stopped.

[0129] Furthermore, the control system 1 of the embodiment opens the road RD when it detects that the vehicle 300 carrying the person P is entering the facility FA. This makes it easy for the control system 1 of the embodiment to determine which vehicle 300 is within the facility FA.

[0130] Furthermore, the control system 1 of the embodiment detects that the person P has dismounted from the vehicle 300 when the number of people currently riding on the vehicle 300 is less than the number of people riding on the vehicle 300 at the time of entry into the facility FA. This allows the control system 1 of the embodiment to detect with high accuracy that the person P has dismounted from the vehicle 300.

[0131] Furthermore, the control system 1 of the embodiment stops the operation of the industrial machine 200 when the vehicle 300 is within a prohibited range set for the industrial machine 200. In this way, the control system 1 of the embodiment prevents the moving parts of the industrial machine 200 from coming into contact with the vehicle 300.

[0132] Furthermore, the control system 1 of the embodiment controls the vehicle 300 so that it does not enter the prohibited range set for the industrial machine 200. In this way, the control system 1 of the embodiment prevents the vehicle 300 from coming into contact with the industrial machine 200.

[0133] The above embodiment can also be modified as follows. In step ST23 of FIG. 3 , the processor 101 may stop all industrial machines 200 in the facility FA. In this case, the processor 101 does not need to identify which stopping area AR2 the vehicle 300 is in. Furthermore, the processor 101 does not need to identify which stopping area AR2 each industrial machine 200 is in. Furthermore, the facility FA does not need to be divided into multiple stopping areas. Furthermore, the processor 101 uses the following condition (A2) instead of condition (A).

[0134] (A2) There is no vehicle 300 within facility FA in which one or more of the people P who were riding on the vehicle 300 at the time of entry into facility FA have disembarked. In other words, all of the people P who were riding on the vehicle 300 at the time of entry into facility FA are riding on all of the vehicles 300 within facility FA.

[0135] The control system 1 may determine the position of the vehicle 300 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 vehicle 300 using images captured by the cameras. Note that moving images are a type of image.

[0136] The control system 1 may determine the position of the industrial machine 200 using an image. In this case, the control system 1 is provided 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 using the image captured by the camera.

[0137] In the above embodiment, the stopping areas do not overlap with one another. However, there may be an overlapping portion between a plurality of stopping areas. In this case, the industrial machine 200 may be installed in the overlapping portion between a plurality of stopping areas. The industrial machine 200 installed in the overlapping portion between a plurality of stopping areas is stopped when a person gets off the vehicle 300 in any of the overlapping stopping areas.

[0138] The sensor 330 may be a sensor that detects the opening of the door of the vehicle 300. In this case, the processor 311 of the vehicle 300 may determine that, when the door of the vehicle 300 opens, one or more persons P who were riding in the vehicle 300 at the time of entry into the facility FA have disembarked from the vehicle 300.

[0139] The control system 1 may use an image to detect that a person P has gotten off the vehicle 300. 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 detects that a person P has gotten off the vehicle 300 by performing image processing on the image captured by the camera. The image processing is, for example, facial recognition. In this case, the processor 101 functions as an example of a detection unit. Alternatively, the processor 101 functions as an example of a detection unit in cooperation with the camera.

[0140] In the above embodiment, the processor 311 of the vehicle 300 detects that the person P has dismounted from the vehicle 300 when the number of people currently riding on the vehicle 300 is less than the number of people who were riding on the vehicle 300 at the time of entry into the facility FA. However, the processor 101 of the control device 100 may also detect that the person P has dismounted from the vehicle 300 when the number of people currently riding on the vehicle 300 is less than the number of people who were riding on the vehicle 300 at the time of entry into the facility FA. In this case, the processor 101 acquires from the vehicle 300 the number of people who were riding on the vehicle 300 at the time of entry into the facility FA and the number of people currently riding on the vehicle 300.

[0141] The processor 311 of the vehicle 300 may control the vehicle 300 so that it does not enter the prohibited area of ​​the industrial machine 200. To this end, the processor 311 acquires the position of the prohibited area by, for example, acquiring a machine DB from the control device 100. For example, when the vehicle 300 is about to enter the prohibited area of ​​the industrial machine 200, the processor 311 changes the direction of the vehicle 300 to prevent the vehicle 300 from entering the prohibited area of ​​the industrial machine 200. For example, when the vehicle 300 is about to enter the prohibited area of ​​the industrial machine 200, the processor 311 slows down or stops the vehicle 300 to prevent the vehicle 300 from entering the prohibited area of ​​the industrial machine 200. For example, the processor 311 automatically drives the vehicle 300 so that it does not enter the prohibited area of ​​the industrial machine 200. Furthermore, a prohibited area may be set in the control system 1 to prohibit the vehicle 300 from entering. The no-entry area may be based on the no-entry area of ​​the industrial machine 200, or may be set to avoid entry into other dangerous areas. The processor 311 may perform control using position information from the positioning unit 350, or may indicate the no-entry area in advance on the floor of the facility FA with a white line of a predetermined thickness or more, and may attach a camera to the vehicle 300 to recognize the white line and control the vehicle 300 not to enter the no-entry area.

[0142] The control system 1 may include a machine other than the industrial machine 200 instead of the industrial machine 200 .

[0143] In the above embodiments, part of the processing performed by the control device 100 may be performed by the industrial machine 200, the vehicle 300, the communication device 400, or the entrance / exit device 500. In the above embodiments, part of the processing performed by the vehicle 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 vehicle 300. In the above embodiments, part of the processing performed by the entrance / exit device 500 may be performed by the control device 100 or the vehicle 300.

[0144] The facility FA may have parts that do not belong to any stop area.

[0145] Each device in the embodiment may be made up of multiple devices.

[0146] The processor 101, the processor 311, and the processor 501 may implement part or all of the processing that is implemented by a program in the above embodiments by a hardware circuit configuration.

[0147] A program for implementing the processes of the embodiments may be transferred in a state where 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 local area network (LAN).

[0148] 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.

[0149] 1 Control system 100 Control device 101, 311, 501 Processor 102, 312, 502 ROM 103, 313, 503 RAM 104, 314, 504 Auxiliary storage device 105 Input device 106, 340, 505 Communication interface 107 Control interface 108, 315, 508 Bus 200 Industrial machine 300 Vehicle 310 Control unit 320 ID unit 330 Sensor 350 Positioning unit 400 Communication device 500 Entrance / exit device 506 Reading unit 507 Gate unit

Claims

1. A control system comprising a vehicle and a control device, the control device having a detection unit that detects when a person gets off the vehicle, the control device having a control unit that stops operation of a machine in the facility other than the vehicle when a person gets off the vehicle in the facility.

2. The control system of claim 1, wherein the facility has a plurality of areas set in advance, and the control unit stops operation of the machine in the same area as the area where a person has disembarked from the vehicle.

3. The control system of claim 1, further comprising a gate device, wherein the detection unit detects that a person is on board the vehicle, and the control unit further comprises an instruction unit that instructs the gate device to make a road leading to the facility passable when the vehicle with a person on board is attempting to enter the facility, and the gate device comprises a gate control unit that opens the gate in response to the instruction, thereby making the road passable.

4. The control system according to claim 3, wherein said gate device has a gate width that does not allow said vehicle and pedestrians to pass side by side.

5. A control system as described in claim 1, wherein the detection unit detects the number of people riding on the vehicle and detects that people have disembarked from the vehicle if the number of people currently riding is less than the number of people at the time of entry into the facility.

6. The control system of claim 1, wherein the control device further comprises an acquisition unit that acquires position information of the vehicle within the facility, and the control unit stops operation of the machine when the distance from the position indicated by the position information to a prohibited range set for each machine is less than a predetermined distance.

7. The control system according to claim 1, further comprising a vehicle control unit that controls the vehicle so as not to enter a set no-entry area.

8. A control device having a control unit that stops operation of a machine in a facility other than a vehicle when a person gets off the vehicle within the facility.

9. A program that causes a processor in a control device to function as a control unit that stops the operation of machines in a facility other than a vehicle when a person gets off the vehicle within the facility.

10. A control method for stopping operation of a machine in a facility other than a vehicle when a person gets off the vehicle in the facility.

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