Sensor setting device, sensor system, and robot system

Abstract

This sensor setting device is connected to a connection destination device and detects an object in a detection region around the connection destination device, the sensor setting device comprising: a reception unit that receives input of device-related information relating to the connection destination device, the device-related information including a maximum stop time required for the operating connection destination device to stop operating; a calculation unit that calculates a safe minimum distance of the connection destination device on the basis of the inputted maximum stop time and a predetermined approach speed of the object; and an output unit that outputs the calculated safe minimum distance.

Description

Sensor setting device, sensor system, and robot system

[0001] This specification discloses a sensor setting device, a sensor system, and a robot system.

[0002] Conventionally, as a sensor setting device of this type, there has been proposed one including a parameter holding unit realized by a ROM, and a protection area automatic setting unit that sets a protection area with a safety distance considered outside a dangerous area (see, for example, Patent Document 1). The protection area automatic setting unit reads out and uses the used robot information (information such as the operating speed and braking performance of the robot) in the parameter holding unit, reads out the safety standard information to be used, and calculates a safety distance based on these.

[0003] Japanese Patent Application Laid-Open No. 2020-139974

[0004] In the device described in Patent Document 1 mentioned above, when dealing with various destination devices with different specifications and types, it is necessary to pre-hold a large number of parameters for each destination device in the parameter holding unit (ROM), which is not realistic. On the other hand, if the user manually calculates the safety minimum distance according to the specifications of the destination device, it will be troublesome and increase the user's work burden.

[0005] The main object of the present disclosure is to calculate the safety minimum distance of the destination device with less effort from the user.

[0006] The present disclosure has taken the following means to achieve the above main object.

[0007] The sensor setting device of the present disclosure is a sensor setting device connected to a destination device and detecting an object in a detection area around the destination device, including a reception unit that receives an input of device-related information regarding the destination device including the maximum stop time required for the operating destination device to stop operating, a calculation unit that calculates the safety minimum distance of the destination device based on the input maximum stop time and a predetermined approach speed of the object, and an output unit that outputs the calculated safety minimum distance.

[0008] The sensor setting device described in this disclosure accepts device-related information about the connected device, including the maximum stop time of the connected device, calculates the minimum safe distance to the connected device based on the input maximum stop time and a predetermined approach speed of the object, and outputs the calculated minimum safe distance. As a result, the minimum safe distance can be automatically calculated simply by the user inputting device-related information, including the maximum stop time of the connected device. Consequently, the minimum safe distance to the connected device can be calculated with minimal effort on the user's part.

[0009] The sensor system of this disclosure comprises a sensor connected to a destination device that detects an object in a detection area around the destination device, and a setting device that receives input of the maximum stop time required for the operating destination device to stop operating, calculates the minimum safe distance of the destination device based on the input maximum stop time and a predetermined approach speed of the object, and outputs the calculated minimum safe distance.

[0010] The sensor system of this disclosure can achieve the same effects as the sensor setting device of this disclosure.

[0011] The gist of the robot system of this disclosure is that it comprises a robot, a sensor connected to the robot that detects an object in a detection area around the robot, and a setting device that receives input for the maximum stop time required for the operating robot to stop, calculates the minimum safe distance of the robot based on the input maximum stop time and a predetermined approach speed of the object, and outputs the calculated minimum safe distance.

[0012] The robot system of this disclosure can achieve the same effects as the sensor setting device of this disclosure. Furthermore, the robot system of this disclosure can ensure sufficient safety by controlling the robot according to the minimum safe distance calculated by the setting device.

[0013] This is a schematic diagram of the robot system of this embodiment. This is a schematic diagram of the sensor system of this embodiment. This is a block diagram showing the electrical connection relationship between the robot body, robot control device, sensor device, and setting device. This is an explanatory diagram showing the horizontal detection area of ​​the sensor device. This is an explanatory diagram showing the vertical detection area of ​​the sensor device. This is an explanatory diagram explaining the use of each LED 1 to LED 12 provided in the sensor device. This is a flowchart showing an example of object detection processing. This is an explanatory diagram showing the relationship between the detected distance and the OSSD output pattern in distance mode. This is an explanatory diagram showing the relationship between the detected distance and detected speed and the number of ON outputs of the OSSD output in distance-speed mode. This is an explanatory diagram showing the relationship between the number of ON outputs and the output pattern of the OSSD output in distance-speed mode. This is a flowchart showing an example of safety minimum distance calculation processing. This is an explanatory diagram explaining the maximum intrusion length B. This is an explanatory diagram explaining the movement speed C.

[0014] Next, the forms for implementing this disclosure will be described with reference to the drawings.

[0015] Figure 1 is a schematic diagram of the robot system 1 of this embodiment. Figure 2 is a schematic diagram of the sensor system 2 of this embodiment. Figure 3 is a block diagram showing the electrical connection relationships between the robot body 10, the robot control device 20, the sensor device 30, and the setting device 40. As shown in the figure, the robot system 1 of this embodiment comprises a robot body 10, a robot control device 20 that controls the robot body 10, a sensor device 30 connected to the robot control device 20 and capable of detecting interference objects around the robot body 10, and a setting device 40 for making various settings for the sensor device 30.

[0016] In this embodiment, the robot body 10 is configured as a stationary robot having a multi-joint arm 12. However, the robot body 10 is not limited to a stationary robot and may be configured as a mobile robot. The mobile robot may be a transport robot such as an automated guided vehicle, in addition to a robot equipped with a multi-joint arm.

[0017] As shown in Figure 1, the robot body 10 includes a base 11 and a multi-joint arm 12 mounted on the base 11. The multi-joint arm 12 has multiple arms connected in series to the base 11 via joint axes. Each joint axis is equipped with a servo motor 15 that drives the corresponding joint axis and an encoder 16 (rotary encoder) that detects the rotation angle of the corresponding servo motor 15. The robot body 10 also includes an amplifier unit 17 that applies a driving current to each servo motor 15.

[0018] As shown in Figure 2, the robot control device 20 includes a control unit 21 configured as a microprocessor including a CPU, ROM, and RAM, and an I / O port 22 for exchanging signals with the control unit 31 of the sensor device 30. The robot control device 20 also receives detection signals from the encoder 16 and outputs control signals to the amplifier unit 17.

[0019] The control unit 21 of the robot control device 20 controls the operation of the robot body 10 as follows. Specifically, the control unit 21 first sets the target angle of each joint axis of the articulated arm 12 so that the end effector moves to the target position and target posture. Next, the control unit 21 obtains the current angle of each joint axis from the corresponding encoder 16 and sets the speed command value of the joint axis for each joint axis by performing a feedback calculation (for example, proportional-integral calculation or proportional-integral-derivative calculation) based on the difference between the target angle and the current angle. Next, the control unit 21 sets a speed limit value corresponding to the output pattern (on / off pattern) of the OSSD output transmitted from the sensor device 30, and sets a target speed that limits the speed of the speed command value by multiplying the speed limit value by the speed command value. The speed limit value is set in the range of 0 (0%) or more and 1 (100%) or less. For example, if the speed limit value is 1 (100%), the target speed will be the same as the speed command value. In other words, the robot speed is not limited. Furthermore, if the speed limit is set to 0.5 (50%), the target speed will be half the speed command value. Moreover, if the speed limit is set to 0 (0%), the target speed will be 0 regardless of the speed command value. In other words, the robot body 10 will stop moving. Next, the control unit 21 calculates the current speed from the current angle of the joint axis obtained from the encoder 16, and sets the torque command value to be output from the servo motor 15 by performing a feedback calculation (for example, proportional-integral calculation or proportional-integral-derivative calculation) based on the difference between the calculated current speed and the target speed. Then, the control unit 21 outputs a control signal to the corresponding amplifier unit 17 so that the torque corresponding to the set torque command is output from the servo motor 15.

[0020] The sensor device 30 is a safety device and is installed (fixed) horizontally near the robot body 10 and electrically connected to the robot control device 20. The sensor device 30 may also be attached to the end-effector (tip) of the articulated arm 12. As shown in Figure 3, the sensor device 30 comprises a control unit 31 configured as a microprocessor including a CPU, ROM, and RAM, a sensor unit 32 for monitoring the surroundings, a display unit 33 (see Figure 2), and an I / O port 34 for exchanging signals with the control unit 21 of the robot control device 20. As shown in Figure 2, the display unit 33 has a plurality of LEDs 1 to 12 arranged in a line on the housing 30a of the sensor device 30. The signals exchanged between the control unit 31 of the sensor device 30 and the control unit 21 of the robot control device 20 may be duplicated.

[0021] In this embodiment, the sensor unit 32 is configured as an FMCW (Frequency Modulation Continuous Wave) radar sensor. As shown in Figures 4 and 5, the sensor unit 32 has detection areas in both the horizontal and vertical planes, enabling three-dimensional object detection. The sensor unit 32 includes a transmitting antenna that transmits a transmit chirp, a receiving antenna that receives reflected waves from an object as a receive chirp, a mixer that mixes the transmit chirp and the receive chirp to generate a beat signal (IF signal), and a processing unit that processes the beat signal to detect the distance L to the object and the relative velocity V with the object. The transmitting antenna is modulated so that its frequency changes over time, and transmits multiple transmit chirps spaced at regular intervals as one frame. The processing unit includes an A / D converter that performs A / D conversion on the beat signal generated by the mixer, and a DSP that performs Fourier transform (FFT) processing on the A / D converted beat signal. The DSP can measure the distance L to an object based on the peak frequency by performing an FFT (distance FFT) on the beat signal at the chirp level to obtain the frequency spectrum. Furthermore, the DSP can measure the relative velocity V with the object based on the peak angular frequency by performing an FFT (velocity FFT) on the data after the distance FFT at the frame level to obtain the angular frequency peak.

[0022] As shown in Figure 6, the display unit 33 includes four LEDs 1, 2, 3, and 4 for identification number notification, which light up in a pattern corresponding to the identification number of the sensor device 30; four LEDs 5, 6, 7, and 8 for OSSD signal output notification, which light up in a pattern corresponding to the on / off pattern of the OSSD signal group; and LEDs 9, 10, 11, and 12 for status notification, which light up in a pattern corresponding to the state (normal, abnormal) of the sensor device 30. Details of the lighting patterns of LEDs 5, 6, 7, and 8 for OSSD signal output notification will be described later.

[0023] The setting device 40 is not normally connected to the sensor device 30, but is connected via a cable when various settings are made to the sensor device 30. Here, the various settings for the sensor device 30 include setting thresholds for each object detection distance (including the minimum safe distance) and each object detection speed to stop the operation of the robot body 10 or limit the speed of the robot body 10 in stages, setting processing modes (distance mode to detect the distance L of an object, distance-velocity mode to detect the distance L of an object and the relative velocity V of an object), and blanking settings to limit the object detection area by the sensor unit 32. As shown in Figure 3, the setting device 40 is configured as a general-purpose computer equipped with a control unit 41 including a CPU, ROM, and RAM, a storage unit 42 such as an SSD or HDD, an input unit 43 such as a mouse or keyboard, a display unit 44 such as a liquid crystal display or organic EL display, and I / O ports 45 for exchanging signals with the control unit 31 of the sensor device 30. A dedicated application for making various settings is installed in the storage unit 42.

[0024] Next, the operation of the sensor device 30 in this embodiment will be described. Figure 7 is a flowchart showing an example of object detection processing performed by the control unit 31 (CPU) of the sensor device 30. In object detection processing, the control unit 31 first acquires the currently set processing mode (S100). In this embodiment, the processing mode includes a distance mode and a distance-velocity mode, as described above, and the mode is set in advance by the user using the setting device 40.

[0025] When the control unit 31 determines that the currently set processing mode is distance mode, it acquires the detection distance L of the object detected by the sensor unit 32 (S102). Subsequently, the control unit 31 sets the output pattern (on / off pattern) of the OSSD output based on the acquired detection distance L (S104). Here, the OSSD output represents multiple detection distances L1 to L5 (see Figures 4 and 5) ranging from short distance to long distance, depending on the number of signals that are turned on among the predetermined number of bits (for example, 4 bits) of signals OSSD1, OSSD2, OSSD3, and OSSD4. Figure 8 is an explanatory diagram showing the relationship between the detection distance L and the output pattern of the OSSD output in distance mode. As shown in Figure 8, the output patterns for the OSSD outputs (signals OSSD1, OSSD2, OSSD3, OSSD4) are set such that if the detection distance L is within the range of detection distance L1 (e.g., 400 mm or less), all of signals OSSD1, OSSD2, OSSD3, and OSSD4 are turned off. Furthermore, if the detection distance L is within the range of detection distance L2, which is longer than detection distance L1 (e.g., greater than 400 mm and 800 mm or less), a pattern is set in which signal OSSD1 is turned on and signals OSSD2, OSSD3, and OSSD4 are turned off. In addition, if the detection distance L is within the range of detection distance L3, which is longer than detection distance L2 (e.g., greater than 800 mm and 1200 mm or less), a pattern is set in which signals OSSD1 and OSSD2 are turned on and signals OSSD3 and OSSD4 are turned off. Furthermore, if the detection distance L is within the range of detection distance L4, which is longer than detection distance L3 (for example, more than 1200 mm and less than or equal to 1600 mm), a pattern is set in which signals OSSD1, OSSD2, and OSSD3 are turned on and signal OSSD4 is turned off. Also, if the detection distance L is within the range of detection distance L5, which is longer than detection distance L5 (for example, more than 1600 mm), a pattern is set in which signals OSSD1, OSSD2, OSSD3, and OSSD4 are all turned on. In this way, the OSSD output pattern is set so that the longer the detection distance L is (the farther the detected object is from the sensor device 30), the more signals among signals OSSD1, OSSD2, OSSD3, and OSSD4 are turned on.

[0026] Once the control unit 31 has set the OSSD output pattern, it transmits the OSSD output according to the set output pattern to the robot control device 20 (S106). Upon receiving the OSSD output, the robot control device 20 sets a speed limit value according to the OSSD output pattern as described above, and controls the robot body 10 (servo motor 15) at a target speed obtained by multiplying the speed limit value by the speed command value. For example, five types of speed limit values ​​are defined: 0, 0.25, 0.5, 0.75, and 1.0. A value of 0 is set for the OSSD output pattern corresponding to detection distance 1, a value of 0.25 is set for the OSSD output pattern corresponding to detection distance 2, a value of 0.5 is set for the OSSD output pattern corresponding to detection distance 3, a value of 0.75 is set for the OSSD output pattern corresponding to detection distance 4, and a value of 1.0 is set for the OSSD output pattern corresponding to detection distance 5. In this way, the robot control device 20 can receive the OSSD output from the sensor device 30 and limit the speed of the robot body 10 according to the detection distance L of the object. In particular, the detection distance 1 corresponds to the minimum safe distance of the robot body 10, and when an object is detected at the detection distance 1, the robot control device 20 can set the target speed to 0 and stop the operation of the robot body 10. This ensures the safety of workers performing tasks in the space where the robot system 1 is installed.

[0027] Then, the control unit 31 lights up LEDs 5, 6, 7, and 8 for OSSD signal output notification in a lighting pattern based on the set OSSD output pattern (S108), and terminates the object detection process. The lighting pattern of LEDs 5, 6, 7, and 8 for OSSD signal output notification is set so that the number of LEDs lit increases as the number of signals OSSD1, OSSD2, OSSD3, and OSSD4 that are turned on increases. In this embodiment, as shown in Figure 8, each of the LEDs 5, 6, 7, and 8 for OSSD signal output notification is associated one-to-one with each of the OSSD output signals OSSD1, OSSD2, OSSD3, and OSSD4, and is controlled to light up (turn on) when the corresponding OSSD signal is on and turn off when the corresponding OSSD signal is off. This allows the user to easily understand the status of object detection by the sensor device 30 by checking the illumination status of each LED 5, LED 6, LED 7, and LED 8 used for OSSD signal output notification.

[0028] In S100, if the control unit 31 determines that the currently set processing mode is distance-velocity mode, it acquires the detection distance L and detection velocity V (velocity in the direction approaching the sensor unit 32) of the object detected by the sensor unit 32 (S110). Subsequently, the control unit 31 sets the number of ON outputs of the OSSD output based on the acquired detection distance L and detection velocity V (S112), and sets the OSSD output pattern (on / off pattern) according to the number of ON outputs (S114). Figure 9 is an explanatory diagram showing the relationship between the detection distance and detection velocity and the number of ON outputs of the OSSD output in distance-velocity mode. Figure 10 is an explanatory diagram showing the relationship between the number of ON outputs of the OSSD output and the output pattern in distance-velocity mode. As shown in the figures, in distance-velocity mode, the number of ON outputs of the OSSD output is set to be higher as the detection distance L is longer and as the detection velocity V is lower, from a value of 0 to 4. Furthermore, the output patterns for the OSSD outputs (signals OSSD1, OSSD2, OSSD3, OSSD4) are set as follows: If the number of ON outputs is 0, a pattern is set in which all of signals OSSD1, OSSD2, OSSD3, and OSSD4 are turned off. If the number of ON outputs is 1, a pattern is set in which signal OSSD1 is turned on and signals OSSD2, OSSD3, and OSSD4 are turned off. Furthermore, if the number of ON outputs is 2, a pattern is set in which signals OSSD1 and OSSD2 are turned on and signals OSSD3 and OSSD4 are turned off. Furthermore, if the number of ON outputs is 3, a pattern is set in which signals OSSD1, OSSD2, and OSSD3 are turned on and signal OSSD4 is turned off. Furthermore, if there are four ON outputs, a pattern is set in which all of the signals OSSD1, OSSD2, OSSD3, and OSSD4 are ON. Once the control unit 31 has set the output pattern for the OSSD output in this way, it transmits the OSSD output according to the set output pattern to the robot control device 20 (S116), similar to S106, and lights up the LEDs 5, LED6, LED7, and LED8 for OSSD signal output notification according to the lighting pattern based on the set OSSD output pattern (S118), similar to S108, and ends the object detection process.

[0029] Next, we will explain the operation for calculating the minimum safe distance corresponding to the detection distance L1 described above. The minimum safe distance is set by connecting the setting device 40 to the sensor device 30 via a cable and starting the setting application, as shown in Figure 2. Figure 11 is a flowchart showing an example of the minimum safe distance calculation process performed by the control unit 41 of the setting device 40.

[0030] In the process of calculating the minimum safe distance, the control unit 41 first displays an input reception screen on the display unit 44 to receive input of device-related information (S200), and waits for the input to be completed (S202). Here, the device-related information is information necessary for calculating the minimum safe distance, and can be obtained, for example, from the specifications of the robot body 10. One example of device-related information is the maximum stop time A, which is the maximum amount of time required for the operating robot body 10 to completely stop. Another example of device-related information is, as shown in Figure 12, the maximum intrusion length B, if a part of the robot body 10 (for example, the articulated arm 12) operates in such a way that it extends beyond the sensor device 30 installed in front of the robot body 10 and enters the detection area of ​​the sensor device 30. Furthermore, as shown in Figure 13, if the robot body 10 is a mobile robot and the sensor device 30 is installed on the mobile robot, the movement speed C is also included in the device-related information. The input screen, although not shown in the diagram, displays input fields for maximum stop time A, maximum intrusion length B, and movement speed C. Input of device-related information is completed when the user operates the input unit 43 to enter numerical values ​​into each input field and then presses the OK button. Inputting the maximum stop time A is mandatory, while inputting the maximum intrusion length B and movement speed C is optional and can be done as needed.

[0031] When the control unit 41 determines that the input of device-related information is complete, it sets the numerical value entered in the maximum stop time input field (input value) to the maximum stop time A (S204). Next, the control unit 41 determines whether or not a numerical value has been entered in the intrusion length input field (S206). If it determines that a value has been entered, it sets the numerical value entered in the intrusion length input field (input value) to the maximum intrusion length B (S208). If it determines that no value has been entered, it sets the value to 0 to the maximum intrusion length B (S210).

[0032] Next, the control unit 41 determines whether a numerical value has been entered in the movement speed input field (S212). If it determines that a value has been entered, it sets the numerical value entered in the movement speed input field (input value) to the movement speed C (S214). If it determines that no value has been entered, it sets the value to 0 to the movement speed C (S216).

[0033] Once the control unit 41 has set the maximum stop time A, the maximum intrusion length B, and the movement speed C, it calculates the minimum safe distance X using the following equation (1) (S218) and displays the calculated minimum safe distance X on the display unit 44 (S220). Equation (1) is a formula for calculating the minimum safe distance X when the smallest detectable object exceeds 40 mm but is 70 mm or less and is installed orthogonally, based on ISO 13855 according to the ISO standard. In equation (1), "α" is the movement speed of a person, and in this embodiment, 2000 mm / s, which is the movement speed when a part of the body (legs or arms) is moving, is used. Also, "β" is the response time of the sensor device 30, for example, 0.158 s. Also, "γ" is the detection error of the sensor device 30, for example, 150 mm. Note that the formula for calculating the minimum safe distance X is not limited to equation (1), and may be predetermined according to the ISO standard or other standards (ANSI standard, etc.) depending on the installation position and detection capability of the sensor device 30.

[0034] X=(α+C)×(β+A)+B+γ…(1)

[0035] For example, if the user inputs "223 ms" as the maximum stopping time A, the minimum safe distance X calculated based on equation (1) will be 912 mm (= 2000 mm / s × (0.158 s + 0.223 s) + 150 mm). In addition, if the user inputs "100 mm" as the maximum intrusion length B, the minimum safe distance X calculated based on equation (1) will be 1012 mm (= 2000 mm / s × (0.158 s + 0.223 s) + 100 mm + 150 mm). Furthermore, if the user inputs "500 mm / s" as the movement speed C, the minimum safe distance X calculated based on equation (1) will be 1202.5 mm (= (2000 mm / s + 500 mm / s) × (0.158 s + 0.223 s) + 100 mm + 150 mm). In this way, users can obtain the automatically calculated minimum safety distance X simply by inputting device-related information. Therefore, users do not need to perform the cumbersome task of researching the calculation method (formula) for the minimum safety distance according to the installation location and detection capability of the sensor device 30, and manually calculating the minimum safety distance X by applying the necessary parameters to the formula, thereby further reducing the workload of the user.

[0036] The control unit 41 calculates and displays the minimum safe distance X, then determines whether the OK button has been pressed (S222). If it determines that the OK button has not been pressed, it returns to S200. If it determines that the OK button has been pressed, it outputs the calculated minimum safe distance X to the sensor device 30 (S224), and terminates the minimum safe distance calculation process. This allows the automatically calculated minimum safe distance X to be reflected in the detection distance L1 setting of the sensor device 30.

[0037] Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure as described in the claims will be explained. Specifically, the setting device 40 of this embodiment is an example of a setting device of the present disclosure, the sensor device 30 is an example of a sensor, the control unit 41 that executes S200 and S202 of the minimum safe distance calculation process is an example of a reception unit, the control unit 41 that executes S204 to S218 of the minimum safe distance calculation process is an example of a calculation unit, and the control unit 41 that executes S220 to S224 of the minimum safe distance calculation process is an example of an output unit. Furthermore, the robot body 10 and the robot control device 20 are examples of a robot.

[0038] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0039] For example, in the embodiment described above, the control unit 41 displays an input reception screen on the display unit 44 that includes a maximum stop time input field, a maximum penetration length input field, and a movement speed input field. However, the display of at least one of the maximum penetration length input field and the movement speed input field may be omitted.

[0040] As described above, the sensor setting device of this disclosure accepts device-related information about the connected device, including the maximum stop time of the connected device, calculates the minimum safe distance to the connected device based on the input maximum stop time and a predetermined approach speed of the object, and outputs the calculated minimum safe distance. As a result, the minimum safe distance can be automatically calculated simply by the user inputting device-related information, including the maximum stop time of the connected device. Consequently, the minimum safe distance to the connected device can be calculated with minimal effort on the user's part.

[0041] In such a setting device for the sensor of the present disclosure, the destination device can enter the detection area of the sensor beyond the connected sensor, and the reception unit receives, as the device-related information, an input of the maximum length by which the destination device can enter the detection area. The setting unit may calculate the safety minimum distance based on a value obtained by adding the input maximum length to the distance based on the maximum stop time and the approach speed. In this way, even when the destination device enters the detection area of the sensor beyond the sensor, the user can automatically calculate an appropriate safety minimum distance by inputting the maximum length of the intrusion in addition to the maximum stop time.

[0042] Further, in the setting device for the sensor of the present disclosure, the destination device is an automatically movable device, and the reception unit receives, as the device-related information, an input of the moving speed of the automatically movable device. The setting unit may calculate the safety minimum distance based on the maximum stop time and the speed obtained by adding the approach speed and the input moving speed. In this way, even when the destination device is an automatically movable device, the user can automatically calculate an appropriate safety minimum distance by inputting the moving speed in addition to the maximum stop time.

[0043] Further, the present disclosure is not limited to the form of the setting device for the sensor, and may be in the form of a sensor system including the sensor and the setting device, or in the form of a robot system including a robot body, a robot control device, a sensor, and a setting device.

[0044] The present disclosure can be used in the manufacturing industry of setting devices for sensors and sensor systems, etc.

[0045] 1 Robot system, 10 Robot body, 11 Base, 12 Articulated arm, 15 Servo motor, 16 Encoder, 17 Amp unit, 20 Robot control device, 21 Control unit, 22 I / O port, 30 Sensor, 31 Control unit, 32 Sensor unit, 33 Display unit, 34 I / O port, 40 Setting device, 41 Control unit, 42 Storage unit, 43 Input unit, 44 Display unit, 45 I / O port.

Claims

1. A sensor setting device for a sensor connected to a destination device and used to detect an object in a detection area around the destination device, comprising: a receiving unit that receives input of device-related information concerning the destination device, including the maximum stop time required for the operating destination device to stop operating; a calculation unit that calculates the minimum safe distance of the destination device based on the input maximum stop time and a predetermined approach speed of the object; and an output unit that outputs the calculated minimum safe distance.

2. A sensor setting device according to claim 1, wherein the connected device is capable of penetrating beyond the connected sensor into the detection area of ​​the sensor, the receiving unit receives input of the maximum length the connected device will penetrate into the detection area as device-related information, and the setting unit calculates the minimum safe distance based on a value obtained by adding the input maximum length to the distance based on the maximum stopping time and the approach speed.

3. A sensor setting device according to claim 1 or 2, wherein the connected device is an automatic moving device capable of automatic movement, the receiving unit receives input of the movement speed of the automatic moving device as device-related information, and the setting unit calculates the minimum safe distance based on the maximum stop time and the speed which is the sum of the approach speed and the input movement speed.

4. A sensor system comprising: a sensor connected to a destination device that detects an object in a detection area around the destination device; and a setting device that receives input for the maximum stop time required for the operating destination device to stop operating, calculates the minimum safe distance of the destination device based on the input maximum stop time and a predetermined approach speed of the object, and outputs the calculated minimum safe distance.

5. A robot system comprising: a robot; a sensor connected to the robot for detecting objects in a detection area around the robot; and a setting device that receives input for the maximum stop time required for the operating robot to stop, calculates the minimum safe distance of the robot based on the input maximum stop time and a predetermined approach speed of the object, and outputs the calculated minimum safe distance.

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