Monitoring system, monitoring device, and monitoring method

Patent metadata

Field	Value
Publication number	US-10379513-B2
Application number	US-201715705279-A
Country	US
Kind code	B2
Filing date	Sep 15, 2017
Priority date	Nov 1, 2016
Publication date	Aug 13, 2019
Grant date	Aug 13, 2019

Abstract

A monitoring system, a monitoring device, and a monitoring method that can facilitate designing of a working environment are provided. Positions of a worker and a robot in a three-dimensional space are specified, at least one protection area to secure safe work of the worker and the robot is set, whether at least one of the worker and the robot intrudes into the protection area is determined, the motion of the robot is limited when at least one of the worker and the robot intrudes into the protection area, a protection area for executing the determination is being switched from multiple set protection areas, and it is possible to set the protection area when the worker works in a common area in which a work area of the worker and a work area of the robot overlap and set the protection area when the robot works in the common area.

First claim

What is claimed is:

1. A monitoring system having a monitoring device that monitors motions of a worker and a robot so that work is performed safely, the monitoring system comprising:
at least one three-dimensional detection unit, configured to specify positions of the worker and the robot in a three-dimensional space;
an area setting unit, configured to set at least one protection area to secure safe work of the worker and the robot in spatial coordinates which are recognizable by the three-dimensional detection unit;
a determination unit, configured to determine whether at least one of the worker and the robot intrudes into the protection area on the basis of the positions of the worker and the robot specified by the three-dimensional detection unit;
a limiting unit, configured to limit the motion of the robot when the determination unit determines that at least one of the worker and the robot intrudes into the protection area; and
a switching unit, configured to switch the protection area for executing the determination from a plurality of protection areas when the area setting unit sets the plurality of protection areas,
wherein the area setting unit is configured to set the protection area when the worker works in a common area in which a work area of the worker and a work area of the robot overlap and set the protection area when the robot works in the common area.

2. The monitoring system according to claim 1 , further comprising:
a selection switch, configured to select the protection area for executing the determination among the plurality of set protection areas,
wherein the switching unit switches the protection area for executing the determination on the basis of the selection switch.

3. The monitoring system according to claim 1 , further comprising:
a detection area setting unit, configured to set a detection area for detecting the position of the robot in the spatial coordinates which are recognizable by the three-dimensional detection unit,
wherein the determination unit determines whether the robot is in the detection area on the basis of the position of the robot specified by the three-dimensional detection unit, and
the switching unit switches the protection area for executing the determination when the determination unit determines that the robot is located in the detection area.

4. The monitoring system according to claim 2 , further comprising:
a detection area setting unit, configured to set a detection area for detecting the position of the robot in the spatial coordinates which are recognizable by the three-dimensional detection unit,
wherein the determination unit determines whether the robot is in the detection area on the basis of the position of the robot specified by the three-dimensional detection unit, and
the switching unit stops switching of the protection area when the selection switch is operated but the determination unit determines that the robot is not located in the detection area.

5. The monitoring system according to claim 1 , wherein
the determination unit determines whether the worker is in the work area of the worker on the basis of the position of the worker specified by the three-dimensional detection unit, and
the switching unit switches the protection area for executing the determination when the determination unit determines that the worker is in the work area of the worker.

6. The monitoring system according to claim 5 , wherein the switching unit switches the protection area for executing the determination when the determination unit determines that the worker is not located in the work area of the worker.

7. The monitoring system according to claim 1 , further comprising:
a warning area setting unit, configured to set a warning area for giving a warning about intrusion of the worker into the protection area outside the protection area in the spatial coordinates which are recognizable by the three-dimensional detection unit.

8. The monitoring system according to claim 1 , further comprising:
a display unit, configured to visually display the protection area set by the area setting unit.

9. A monitoring device that monitors motions of a worker and a robot so that work is performed safely, the monitoring device comprising:
an area setting unit, configured to set at least one protection area to secure safe work of the worker and the robot in spatial coordinates which are recognizable by at least one three-dimensional detection unit configured to specify positions of the worker and the robot in a three-dimensional space;
a determination unit, configured to determine whether at least one of the worker and the robot intrudes into the protection area on the basis of the positions of the worker and the robot specified by the three-dimensional detection unit;
a limiting unit, configured to limit the motion of the robot when the determination unit determines that at least one of the worker and the robot intrudes into the protection area; and
a switching unit, configured to switch the protection area for executing the determination from a plurality of protection areas when the area setting unit sets the plurality of protection areas,
wherein the area setting unit is configured to set the protection area when the worker works in a common area in which a work area of the worker and a work area of the robot overlap and set the protection area when the robot works in the common area.

10. A monitoring method of monitoring motions of a worker and a robot so that work is performed safely, the monitoring method comprising:
setting at least one protection area to secure safe work of the worker and the robot in spatial coordinates which are recognizable by at least one three-dimensional detection unit configured to specify positions of the worker and the robot in a three-dimensional space;
determining whether at least one of the worker and the robot intrudes into the protection area on the basis of the positions of the worker and the robot specified by the three-dimensional detection unit;
limiting the motion of the robot when it is determined that at least one of the worker and the robot intrudes into the protection area; and
switching the protection area for executing the determination from a plurality of protection areas when the plurality of protection areas are set,
wherein the protection area for the worker is set when the worker works in a common area in which a work area of the worker and a work area of the robot overlap and the protection area for the robot is set when the robot works in the common area.

Assignees

• Omron Tateisi Electronics Co

Inventors

• Higuchi Toshiyuki
• Akagi Tetsuya
• Tani Yoshiharu
• Matsukawa Ikuo

Classifications

• F16P3/14

  the means being photocells or other devices sensitive without mechanical contact · CPC title

• G05B2219/24024

  Safety, surveillance · CPC title

• G05B19/0428 Primary

  Safety, monitoring (G05B19/0423 takes precedence) · CPC title

• G05B2219/49152

  Feedhold, stop motion if machine door is open, if operator in forbidden zone · CPC title

• G05B2219/40203

  Detect position of operator, create non material barrier to protect operator · CPC title