WO2019003340A1 - Système de détection de position - Google Patents

Système de détection de position Download PDF

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Publication number
WO2019003340A1
WO2019003340A1 PCT/JP2017/023738 JP2017023738W WO2019003340A1 WO 2019003340 A1 WO2019003340 A1 WO 2019003340A1 JP 2017023738 W JP2017023738 W JP 2017023738W WO 2019003340 A1 WO2019003340 A1 WO 2019003340A1
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WO
WIPO (PCT)
Prior art keywords
vibration
detection unit
work
signal
unit
Prior art date
Application number
PCT/JP2017/023738
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English (en)
Japanese (ja)
Inventor
高志 林田
美紀 西尾
浩延 松下
佑樹 福原
剛志 栂野
Original Assignee
三菱電機エンジニアリング株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 三菱電機エンジニアリング株式会社 filed Critical 三菱電機エンジニアリング株式会社
Priority to GB1918547.9A priority Critical patent/GB2578031A/en
Priority to PCT/JP2017/023738 priority patent/WO2019003340A1/fr
Priority to CN201780092565.9A priority patent/CN110832413A/zh
Priority to JP2019526030A priority patent/JPWO2019003340A1/ja
Publication of WO2019003340A1 publication Critical patent/WO2019003340A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06311—Scheduling, planning or task assignment for a person or group
    • G06Q10/063114—Status monitoring or status determination for a person or group
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services

Definitions

  • the present invention relates to a position detection system that detects the position of a movable body on which a work object is placed and the work state of the movable body or the work object placed on the movable body.
  • Patent Document 1 As a device for detecting the position of a worker, for example, a device disclosed in Patent Document 1 is known.
  • the position of the worker is detected using an ultrasonic transmitter mounted on a helmet of the worker and an ultrasonic receiver installed on an industrial vehicle.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a position detection system capable of detecting an operation state without putting a burden on the operator.
  • a position detection system is attached to a movable body on which a work object is placed, detects a vibration, and transmits a signal having vibration information indicating the detected vibration and identification information;
  • the transmitter of the signal is attached from a transmitter attached to the mobile body and periodically transmitting a signal having identification information, a plurality of receivers receiving the signal, and identification information of the signal received by the receiver.
  • a position detection unit that detects the position of a transmitter that is a transmission source of the signal from the identification unit that identifies, the reception strength of the signal received by the receiver, and the identification result by the identification unit, and the signal received by the receiver From the vibration information possessed by the identification unit, the identification result by the identification unit and the detection result by the position detection unit, the mobile unit attached with the vibration detection unit that is the transmission source of the signal or the work object mounted on the mobile unit Characterized in that a work state detection unit that detects a working state that.
  • the position detection system which concerns on Embodiment 1 of this invention WHEREIN It is a figure explaining the case where a working state is detected by a vibration pattern.
  • the position detection system which concerns on Embodiment 1 of this invention WHEREIN It is a figure explaining the case where a working state is detected by a vibration pattern, and is a figure which shows the case where a vibration pattern is registered for every process.
  • the position detection system which concerns on Embodiment 1 of this invention WHEREIN It is a figure explaining the case where a working state is detected by a vibration pattern, and is a figure which shows the case where the vibration pattern for every process is changed.
  • FIGS. 15A and 15B are diagrams showing an example of a hardware configuration of a control device according to Embodiment 1-4 of the present invention.
  • FIG. 1 is a view showing a configuration example of a position detection system according to Embodiment 1 of the present invention.
  • the position detection system detects the position of a carriage (mobile body) 12 on which a work object 11 (see FIG. 6 etc.) such as a product is placed at a production site, and places the carriage 12 or the carriage 12 on it. The work state of the worker with respect to the work object 11 thus detected is detected.
  • one or more carriages 12 are used at a production site.
  • the position detection system includes a vibration detection unit 1, a transmitter 2, a plurality of receivers 3, and a control device 4. In the example of FIG. 1, two receivers 3 are shown.
  • the vibration detection unit 1 is attached to the carriage 12 and detects vibration. Then, each time the vibration detection unit 1 detects a vibration, the vibration detection unit 1 transmits a signal including vibration information indicating the detected vibration and identification information for identifying itself (the vibration detection unit 1) to the outside.
  • the signal transmitted from the vibration detection unit 1 is set to have a high radio wave intensity so that the receiver 3 does not miss it.
  • a vibration sensor is mentioned, for example.
  • the transmitter 2 is attached to the carriage 12 and periodically (for example, every 0.5 seconds) transmits a signal having identification information for identifying itself (the transmitter 2) to the outside.
  • the receiver 3 receives a signal.
  • the receiver 3 is disposed, for example, for each process at a production site.
  • the control device 4 processes the reception result by the receiver 3.
  • the control device 4 includes a storage unit 401, an identification unit 402, a position detection unit 403, and a work state detection unit 404.
  • the storage unit 401 stores identification information of the vibration detection unit 1 and the transmitter 2.
  • the storage unit 401 also stores the correspondence between the vibration detection unit 1 and the transmitter 2.
  • the storage unit 401 is, for example, a nonvolatile or volatile semiconductor memory such as a random access memory (RAM), a read only memory (ROM), a flash memory, an EPROM (erasable programmable ROM), an EEPROM (electrically EPROM), or the like.
  • RAM random access memory
  • ROM read only memory
  • flash memory an EPROM (erasable programmable ROM), an EEPROM (electrically EPROM), or the like.
  • Magnetic disks flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Disc), etc.
  • the identification unit 402 identifies the transmission source of the signal from the identification information included in the signal received by the receiver 3. At this time, the identification unit 402 identifies the transmission source of the signal by collating the identification information of the signal received by the receiver 3 with the identification information stored in the storage unit 401.
  • the position detection unit 403 detects the position of the transmitter 2 that is the transmission source of the signal from the reception strength of the signal received by the receiver 3 and the identification result by the identification unit 402. At this time, the position detection unit 403 first specifies the receiver 3 with the highest reception strength of the signal from the transmitter 2 that is the detection target identified by the identification unit 402 among the plurality of receivers 3. Then, the position detection unit 403 detects an area (for example, a process) in which the specified receiver 3 is arranged as the position of the transmitter 2.
  • the work state detection unit 404 is attached with the vibration detection unit 1 that is a transmission source of the signal from the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403.
  • the working condition of the work vehicle 11 or the work object 11 placed on the work vehicle 12 is detected by the worker.
  • the work state detection unit 404 includes vibration information included in the signal from the vibration detection unit 1 as a detection target identified by the identification unit 402 and a transmitter attached to the same carriage 12 as the vibration detection unit 1.
  • the work state is detected from the position 2.
  • the production line method at the production site is the cell production method.
  • a plurality of processes are provided.
  • one or a plurality of workers are arranged for one or a plurality of processes, and the workers perform the work on the work object 11 placed on the carriage 12.
  • bogie 12 is decided for every process.
  • the dolly 12 may be moved to the next process by the worker who has performed the work in the previous process, or may be withdrawn from the previous process by the worker who performs the work in the next process.
  • the operator sets the parts if necessary to mount the parts, and then takes a tool to perform work. The worker may work without moving and may work while moving around the carriage 12.
  • the storage unit 401 stores in advance identification information of the vibration detection unit 1 and the transmitter 2 and the correspondence between the vibration detection unit 1 and the transmitter 2. Further, one set of the vibration detection unit 1 and the transmitter 2 are attached to the carriage 12. For example, two vibration sensors having the functions of vibration detection and position beacon can be used as one set of the vibration detection unit 1 and the transmitter 2. Then, the vibration detection unit 1 detects a vibration and transmits a signal including vibration information and identification information indicating the detected vibration to the outside. The transmitter 2 periodically transmits a signal having identification information to the outside. Also, a plurality of receivers 3 are arranged for each process and receive signals.
  • the identification unit 402 first identifies the transmission source of the signal from the identification information possessed by the signal received by the receiver 3 (step ST401). At this time, the identification unit 402 identifies the transmission source of the signal by collating the identification information of the signal received by the receiver 3 with the identification information stored in the storage unit 401.
  • the position detection unit 403 detects the position of the transmitter 2 that is the transmission source of the signal from the reception strength of the signal received by the receiver 3 and the identification result by the identification unit 402 (step ST402). At this time, the position detection unit 403 first specifies the receiver 3 with the highest reception strength of the signal from the transmitter 2 that is the detection target identified by the identification unit 402 among the plurality of receivers 3. Then, the position detection unit 403 detects, as the position of the transmitter 2, the process in which the specified receiver 3 is arranged. As described above, the transmitter 2 periodically transmitting a signal is attached to the carriage 12 and the plurality of receivers 3 are arranged at the production site, so that the control device 4 receives the signal of the signal received by the receiver 3.
  • the position of the transmitter 2 can be detected from the reception intensity. Therefore, the control device 4 can detect the position of the carriage 12 to which the transmitter 2 is attached. In addition, when the control device 4 determines that the bogie 12 has stopped at the stop position of the process, the control device 4 can instruct the operator to start the operation by displaying (screen display or light) or by voice.
  • the work state detection unit 404 also receives the vibration information of the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403, the vibration detection unit 1 that is the transmission source of the signal.
  • the work condition by the worker with respect to the mounted carriage 12 or the work object 11 placed on the carriage 12 is detected (step ST403).
  • the work state detection unit 404 includes vibration information included in the signal from the vibration detection unit 1 as a detection target identified by the identification unit 402 and a transmitter attached to the same carriage 12 as the vibration detection unit 1.
  • the work state is detected from the position 2.
  • the vibration detection unit 1 for detecting the vibration is attached to the carriage 12, so that the control device 4 detects the vibration detected by the vibration detection unit 1 and the detection result by the position detection unit 403.
  • the presence or absence of movement or the presence or absence of work on the work object 11 placed on the carriage 12 can be detected.
  • FIG. 5 shows the result of reception of signals by the receiver 3 arranged in a specific process.
  • the horizontal axis indicates time, and the vertical axis indicates reception intensity.
  • reference numeral 501 indicates a signal transmitted by the transmitter 2 attached to the specific carriage 12.
  • Reference numeral 502 denotes vibration (acceleration) in the x-axis direction detected by the vibration detection unit 1 attached to the specific carriage 12, and reference numeral 503 denotes vibration in the y-axis direction detected by the vibration detection unit 1.
  • the (acceleration) is shown, and reference numeral 504 indicates the vibration (acceleration) in the z-axis direction detected by the vibration detection unit 1.
  • the position detection unit 403 determines that the specific carriage 12 is not positioned in the specific process. In the time zone 505, the vibrations 502 to 504 are detected by the vibration detection unit 1. Therefore, the work state detection unit 404 determines that the cart 12 is moving from the detection result of the position detection unit 403 and the vibrations 502 to 504. On the other hand, in the time zone 506, since the reception intensity of the signal 501 by the receiver 3 is high, the position detection unit 403 determines that the specific truck 12 is located in the specific process. Further, in the time zone 506, the vibrations 502 to 504 are detected by the vibration detection unit 1. Therefore, the work state detection unit 404 determines from the detection result of the position detection unit 403 and the vibrations 502 to 504 that the work on the work object 11 placed on the carriage 12 is being performed.
  • the work state detection unit 404 may detect the work state in consideration of the displacement of the reception intensity of the signal 501.
  • the control device 4 manage progress at the production site.
  • the control device 4 uses three receivers 12-1 to 12-3 or corresponding carriers 12-1 using the receivers 3-1 to 3-4 respectively disposed in the first to fourth steps.
  • a case of detecting the work state of the work object 11 placed on the positions .about.12-3 is shown.
  • the upper part in FIG. 6 is mounted on the positional relationship between the receivers 3-1 to 3-4 and the carriages 12-1 to 12-3 and the carriages 12-1 to 12-3 or the carriages 12-1 to 12-3.
  • the work state for the work object 11 is shown.
  • the lower part in FIG. 6 shows the reception results of the signals by the receivers 3-1 to 3-4.
  • the receiver 3-1 disposed in the first step and the receiver 3-2 disposed in the second step indicate the vibrations detected by the vibration detection unit 1 attached to the carriage 12-1.
  • a signal including vibration information and a signal transmitted by the transmitter 2 are received.
  • the reception strength of the signal from the transmitter 2 gradually decreases, and in the receiver 3-2, the reception strength of the signal from the transmitter 2 gradually increases. That is, from the reception result by the receiver 3-1 and the receiver 3-2, vibration is detected by the vibration detection unit 1 attached to the carriage 12-1, and the carriage 12-1 is separated from the receiver 3-1. Also, it can be seen that the receiver 3-2 is approaching. Therefore, the control device 4 determines that the carriage 12-1 is moving from the first process side to the second process side.
  • the receiver 3-3 arranged in the third step and the receiver 3-4 arranged in the fourth step detect the vibration detected by the vibration detection unit 1 attached to the carriage 12-2.
  • a signal including vibration information shown and a signal transmitted by the transmitter 2 are received.
  • the reception strength of the signal in the receiver 3-3 is the same as that in the receiver 3-4.
  • High for received signal strength That is, from the reception result by the receiver 3-3 and the receiver 3-4, the vibration is detected by the vibration detection unit 1 attached to the truck 12-2, and the truck 12-2 is close to the receiver 3-3 And it can be seen that it is far from the receiver 3-4. Therefore, the control device 4 determines that work is being performed on the work object 11 placed on the carriage 12-2 in the third step.
  • the receiver 3-4 disposed in the fourth step receives a signal transmitted by the transmitter 2 attached to the carriage 12-3, and the reception intensity is high.
  • the receiver 3-4 does not receive the signal from the vibration detection unit 1 attached to the carriage 12-3. That is, from the reception result by the receiver 3-4, it is understood that the vibration is not detected by the vibration detection unit 1 attached to the carriage 12-3, and the carriage 12-3 is close to the receiver 3-4. Therefore, the control device 4 determines that the dolly 12-3 is stopped in the fourth step.
  • the vibration detection unit 1 is attached to the carriage 12 to detect vibration and transmits a signal having vibration information and identification information indicating the detected vibration, and the carriage 12 From the transmitter 2 for transmitting a signal having identification information periodically, the plurality of receivers 3 for receiving the signal, and the identification information of the signal received by the receiver 3, the transmission source of the signal And a position detection unit 403 for detecting the position of the transmitter 2 that is the transmission source of the signal from the reception strength of the signal received by the receiver 3 and the identification result by the identification unit 402; From the vibration information possessed by the signal received by the machine 3, the identification result by the identification unit 402 and the detection result by the position detection unit 403, the carriage 12 to which the vibration detection unit 1 as the transmission source of the signal is attached Since a work state detection unit 404 for detecting the working state for the work object 11 placed on ⁇ wheel 12, and can detect the work state. Further, since the vibration detection unit 1 and the transmitter 2 are attached to the carriage 12, the burden on the worker is reduced compared to the prior
  • the production line system in a production field is a cell production system, and the trolley
  • the present invention is not limited to this, as long as the mobile object is one on which the work object 11 is placed.
  • the production line system is the line production system and a belt conveyor is used as the movable body, the position detection system according to the first embodiment can be applied.
  • the position detection unit 403 identifies the receiver 3 having the highest reception strength of the signal from the transmitter 2 which is the detection target identified by the identification unit 402 among the plurality of receivers 3, and identifies the receiver 3 The case where the area where the receiver 3 is placed is detected as the position of the transmitter 2 is shown. However, not limited to this, the position detection unit 403 may detect the position of the transmitter 2 based on the difference in the reception intensity of the signal from the transmitter 2 in the plurality of receivers 3. As described above, position detection using the plurality of receivers 3 enables more detailed position detection in the area.
  • the work state detection unit 404 may detect the work state by machine learning using a vibration pattern indicated by vibration information included in the signal received by the receiver 3. In this case, the work state detection unit 404 machine-learns a vibration pattern from the vibration detected by the vibration detection unit 1 in advance when the corresponding work is performed by the manager (the length of the work place or the like). . As a result, the work state detection unit 404 can detect the contents of the work on the work object 11.
  • the work state detection unit 404 performs work state detection using a vast number of vibration patterns.
  • FIG. 7 shows a case where a plurality of steps (first to ninth) exist and 45 operations are performed in total, and the operation state detection unit 404 uses 45 vibration patterns in each step. It shows the case where the operation state detection is performed. In this case, the process in the work state detection unit 404 takes time.
  • the work content to be performed for each process and the corresponding vibration pattern are associated and registered.
  • the number of vibration patterns used in each process can be reduced, and the processing in the work state detection unit 404 can be shortened.
  • FIG. 8 shows the case where, in the work state detection unit 404, the three work contents performed in the first step and the corresponding vibration patterns are linked and registered.
  • the work content and vibration pattern for each process registered in the work state detection unit 404 may be changed. This makes it possible to change the work performed in a certain process to the work in another process according to the work load on the current day.
  • the example shown in FIG. 9 shows a case where the 45th operation (compressor screw tightening) performed in the first step is changed as performed in the second step.
  • FIG. 10 is a diagram showing an example of a configuration of the transmission side (functional units excluding the receiver 3 and the control device 4) in the position detection system according to Embodiment 2 of the present invention, and FIG. It is a figure which shows the structural example of the control apparatus 4 in.
  • a plurality of vibration detection units (second vibration detection units) 1b are provided to the position detection system according to the first embodiment shown in FIGS. , And a work position determination unit 405 is added.
  • the other configurations are the same, the same reference numerals are given, and only different portions will be described.
  • a plurality of vibration detection units 1b are attached to the work object 11, and detect vibrations. Then, each time the vibration detection unit 1 b detects a vibration, the vibration detection unit 1 b transmits a signal including vibration information indicating the detected vibration and identification information for identifying itself (the vibration detection unit 1 b) to the outside.
  • the signal transmitted by the vibration detection unit 1 b is set to have a high radio wave intensity so that the receiver 3 does not miss it.
  • a vibration sensor is mentioned, for example. In the example of FIG. 10, two vibration detection units 1b are shown.
  • the storage unit 401 stores the identification information of the vibration detection unit 1, the vibration detection unit 1b, and the transmitter 2, and the correspondence between the vibration detection unit 1, the vibration detection unit 1b, and the transmitter 2.
  • the work position determination unit 405 is attached with the vibration detection unit 1b that is a transmission source of the signal from the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403. It is determined whether the work position for the work target 11 is correct.
  • the work position determination unit 405 performs the above determination by machine learning.
  • the work position determination unit 405 includes vibration information included in the signal from the vibration detection unit 1b which is the determination target identified by the identification unit 402, and a transmitter attached to the same carriage 12 as the vibration detection unit 1b. From the position of 2, it is determined whether the work position for the work object 11 is correct.
  • the work position determination unit 405 detects the vibration detection unit 1b in advance when work is performed at a correct work position by a manager (the length of a production site, etc.) and when work is performed at a wrong work position. Machine learning the vibration pattern from the detected vibration.
  • control device 4 detects an operation on work object 11 based on the signal received by receiver 3 (step ST1201). ).
  • the process in step ST1201 is realized by the process shown in FIG.
  • the work position determination unit 405 transmits the vibration detection unit 1b that is the transmission source of the signal.
  • a work position for the attached work object 11 is specified (step ST1202).
  • step ST1203 determines whether the work position is correct (step ST1203).
  • step ST1203 when the work position determination unit 405 determines that the work position is correct, the sequence ends. Thereafter, the work position determination unit 405 shifts to work position determination for the next work.
  • the work position determination unit 405 determines that the work position is incorrect in step ST1203, the fact is notified to the outside by display or voice.
  • the plurality of vibration detection units 1b for detecting vibrations can determine whether the screw tightening position is correct or not based on the combination of the vibration patterns detected by the vibration detection unit 1 b.
  • the work is repeated a plurality of times in advance, and the work position determination unit 405 performs machine learning of the vibration pattern, so that the vibration pattern can be standardized.
  • the vibration detection unit 1b is attached to the work object 11, detects vibration, and transmits a signal having vibration information indicating the detected vibration and identification information; From the vibration information included in the signal received by the receiver 3, the identification result by the identification unit 402, and the detection result by the position detection unit 403, the operation for the work object 11 to which the vibration detection unit 1b as the transmission source of the signal is attached Since the work position determination unit 405 that determines whether the position is correct or not is provided, in addition to the effects of the first embodiment, it is possible to detect whether the worker is working at the correct work position.
  • the work position determination unit 405 shows the case of determining whether the work position is correct.
  • the present invention is not limited to this, and in addition to the above, the work position determination unit 405 may determine whether the number or order of work is correct.
  • the transmitter 2 is attached to the carriage 12, the plurality of receivers 3 are disposed at the production site, and the position detection unit 403 transmits the transmitter based on the reception intensity of the signals received by the plurality of receivers 3. The case of detecting the position of 2 was shown.
  • the sheet-like uneven portion 5 is provided on the ground on which the carriage 12 moves, and the position detection unit 403 b detects the vibration pattern generated when the carriage 12 moves over the uneven portion 5. A method of detecting the position of the carriage 12 will be described. FIG.
  • FIG. 13 is a diagram showing an example of a configuration of the transmitting side (functional units excluding the receiver 3 and the control device 4) in the position detection system according to Embodiment 3 of the present invention, and FIG. It is a figure which shows the structural example of the control apparatus 4 in.
  • the transmitter 2 is removed from the position detection system according to the first embodiment shown in FIGS.
  • the position detection unit 403 is changed to a position detection unit 403b.
  • a plurality of receivers 3 may be used as a single receiver 3.
  • the other configuration is the same, and the same reference numerals are given and the description thereof is omitted.
  • the uneven portion 5 is a sheet-like member having an uneven pattern and disposed on the ground on which the carriage 12 moves.
  • the uneven pattern is configured in a pattern that can identify the position of the carriage 12.
  • the position detection unit 403 b detects the position of the vibration detection unit 1 that is the transmission source of the signal from the vibration information included in the signal received by the receiver 3 and the identification result by the identification unit 402.
  • the position detection unit 403 b performs the above detection by machine learning.
  • the position detection unit 403 b detects the position of the vibration detection unit 1 from the vibration information included in the signal from the vibration detection unit 1 that is the detection target identified by the identification unit 402.
  • the position detection unit 403 b performs machine learning of the vibration pattern from the vibration detected by the vibration detection unit 1 in advance when the bogie 12 moves on the uneven portion 5 by the manager (the length of the production site or the like).
  • the uneven portion 5 is provided on the ground on which the carriage 12 moves, and the position detection unit 403 b uses the pattern of vibration detected by the vibration detection unit 1 when the carriage 12 moves on the uneven portion 5.
  • the present embodiment is configured to detect the position of 12, the position of the carriage 12 and the working condition of the carriage 12 or the work object 11 with the single vibration detection unit 1 with respect to the first embodiment without using the transmitter 2 And can be detected. This also improves the maintainability of the position detection system. That is, in the sensors such as the vibration detection unit 1 and the transmitter 2, a button battery may be used. In this case, battery replacement is required. In particular, the transmitter 2 used as a position beacon tends to be depleted in battery.
  • parameter setting for functioning as vibration detection or a position beacon is required, respectively. Therefore, by using only the single vibration detection unit 1 without using the transmitter 2, the frequency of battery replacement and the number of setting parameters can be suppressed, and the maintainability is improved.
  • the vibration detection unit 1 is attached to the carriage 12, and in the second embodiment, the vibration detection unit 1 b is attached to the work object 11.
  • a vibration detection unit similar to the vibration detection units 1 and 1b may be attached to a worker or a tool to perform progress management at a production site.
  • the vibration detection unit when the vibration detection unit is attached to the arm of the worker and parts are insufficient in the assembly process, the vibration detection unit detects the vibration by causing the worker to perform a predetermined operation (such as shaking) of the arm. Then, the control device 4 recognizes the shortage of parts from the pattern of the vibration and notifies the outside by display or voice. Further, for example, the vibration detection unit is attached to the driver, and the vibration detection unit detects the vibration of screw tightening by the driver.
  • a predetermined operation such as shaking
  • control device 4 calculates the screw tightening time and the number of rotations by the driver from the pattern of vibration (amplitude, period, etc.), and when the screw tightening is completed within a predetermined time or less or less than the predetermined rotation number It is determined that the information is displayed or notified to the outside by voice or the like.
  • FIG. 15A a hardware configuration example of the control device 4 in the embodiment 1-4
  • FIG. 15B a hardware configuration example of the control device 4 in the first embodiment
  • a CPU Central Processing Unit, central processing unit, processing device
  • a microprocessor a microcomputer, a processor, or a DSP (Digital Signal Processor) 52.
  • DSP Digital Signal Processor
  • the processing circuit 51 may be, for example, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), an FPGA (field programmable gate) Array) or a combination thereof.
  • ASIC application specific integrated circuit
  • FPGA field programmable gate
  • the processing circuit 51 When the processing circuit 51 is the CPU 52, the functions of the identification unit 402, the position detection unit 403, and the work state detection unit 404 are realized by software, firmware, or a combination of software and firmware.
  • Software and firmware are described as a program and stored in the memory 53.
  • the processing circuit 51 reads out and executes the program stored in the memory 53 to realize the function of each part.
  • these programs cause a computer to execute the procedures and methods of the identification unit 402, the position detection unit 403, and the work state detection unit 404.
  • the memory 53 is, for example, nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, etc., magnetic disk, flexible disk, optical disk, optical disk, compact disk, mini disk, DVD, etc. Applicable
  • the functions of the identification unit 402, the position detection unit 403, and the work state detection unit 404 may be partially realized by dedicated hardware and partially realized by software or firmware.
  • the function of the identification unit 402 is realized by the processing circuit 51 as dedicated hardware, and for the position detection unit 403 and the work state detection unit 404, the processing circuit 51 reads and executes the program stored in the memory 53. It is possible to realize the function by doing.
  • the processing circuit 51 can implement the above-described functions by hardware, software, firmware, or a combination thereof.
  • the present invention allows free combination of each embodiment, or modification of any component of each embodiment, or omission of any component in each embodiment. .
  • the position detection system can detect the work state, and detects the position of the movable body on which the work object is placed and the work state on the movable body or the work object placed on the movable body It is suitable for use in position detection systems and the like.

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Abstract

La présente invention comprend : une unité (1) de détection de vibrations qui est fixée à un corps mobile (12), l'unité (1) de détection de vibrations détectant des vibrations et transmettant un signal qui comprend des informations de vibration et des informations d'identification indiquant les vibrations détectées ; un émetteur (2) qui est fixé au corps mobile (12), l'émetteur (2) transmettant périodiquement un signal qui comprend des informations d'identification ; une pluralité de récepteurs (3) qui reçoivent les signaux ; une unité d'identification (402) qui identifie, à partir des informations d'identification comprises dans les signaux reçus par le récepteur (3), la source à partir de laquelle les signaux ont été transmis ; une unité (403) de détection de position qui détecte, à partir de l'intensité de réception des signaux reçus par le récepteur (3) et des résultats d'identification obtenus à partir de l'unité d'identification (402), la position de l'émetteur (2) qui est la source à partir de laquelle les signaux ont été transmis ; et une unité (404) de détection d'état de fonctionnement qui détecte, à partir des informations de vibration comprises dans les signaux reçus par le récepteur (3), des résultats d'identification obtenus à partir de l'unité d'identification (402), et des résultats de détection obtenus à partir de l'unité (403) de détection de position, l'état de fonctionnement par rapport au corps mobile (12) auquel est fixée l'unité (1) de détection de vibrations à savoir la source à partir de laquelle les signaux ont été transmis, ou un objet de fonctionnement (11) disposé sur le corps mobile (12).
PCT/JP2017/023738 2017-06-28 2017-06-28 Système de détection de position WO2019003340A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
GB1918547.9A GB2578031A (en) 2017-06-28 2017-06-28 Position detection system
PCT/JP2017/023738 WO2019003340A1 (fr) 2017-06-28 2017-06-28 Système de détection de position
CN201780092565.9A CN110832413A (zh) 2017-06-28 2017-06-28 位置检测系统
JP2019526030A JPWO2019003340A1 (ja) 2017-06-28 2017-06-28 位置検知システム

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PCT/JP2017/023738 WO2019003340A1 (fr) 2017-06-28 2017-06-28 Système de détection de position

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CN112675449A (zh) * 2019-10-17 2021-04-20 黄炜皓 安全钩环及坠落防护系统
CN113874798A (zh) * 2019-05-23 2021-12-31 三菱电机株式会社 数控装置

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WO2020222342A1 (fr) * 2019-05-02 2020-11-05 엘지전자 주식회사 Procédé, module d'apprentissage et robot de chariot permettant d'identifier un espace de conduite par utilisation d'une intelligence artificielle
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CN113874798B (zh) * 2019-05-23 2023-12-05 三菱电机株式会社 数控装置
WO2021002511A1 (fr) * 2019-07-03 2021-01-07 엘지전자 주식회사 Balise, procédé de déplacement en mode suivi de balise, et robot-chariot mettant en œuvre un tel procédé
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GB201918547D0 (en) 2020-01-29

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