JP7137609B2 - Illuminated display device - Google Patents

Description

The present invention relates to an illuminated display device for improving productivity and safety in a human-machine collaborative environment.

Japanese Patent Application Laid-Open No. 2016-105049 describes an area monitoring sensor as a safety device that detects an intruder that has entered a monitoring area and generates a stop signal to stop the operation of external equipment such as machine tools and robots. (see paragraphs [0001] to [0002] and [0004] of the publication). The area monitoring sensor detects an intruder by receiving and processing the reflected light reflected by the object while scanning the detection light in the circumferential direction toward the outside (paragraph [0002 of the publication] ]reference).

However, in the area monitoring sensor shown in the above publication, it is stated that a laser beam with a wavelength in the infrared region is used as the detection light (see paragraph [0031] of the same publication). invisible to Therefore, especially in a work environment where humans and machines work together, the area monitoring sensor detects a person when a person approaches the machine, causing the machine to stop frequently (so-called "short stoppages"). occurs) can occur. Productivity (production efficiency/work efficiency) declines due to such careless momentary stoppages by workers. On the other hand, there is a desire to maintain the safety of the working area.

The present invention has been made in view of such conventional circumstances, and the problem to be solved by the present invention is to provide an illumination display device capable of improving productivity and safety in a work environment where humans and machines cooperate. is to provide

An illumination display device according to the present invention has an LED light source that emits visible light and an optical element that converges the emitted light from the LED light source to form an image, and adjusts the irradiation angle of the emitted light. A lighting display unit that illuminates and displays the outer edge of the working area of the machine on the floor surface with the emitted light, and a laser scanner that performs laser scanning with the outer edge of the detection area aligned with the outer edge of the working area. It has The machine is an automatic guided vehicle, the illumination display unit and the laser scanner are provided on the automatic guided vehicle, and the work area is set in the front, rear, left, and right directions of the automatic guided vehicle. The illumination display by the line on the floor surface by the visible light from the display unit is kept in conformity with the outer edge of the detection area by the laser scanning of the laser scanner.

In the present invention, the work areas set in the front, rear, left, and right directions of the automatic guided vehicle are each composed of a protection area, which is a dangerous area, and a warning area set outside the protection area, and the illumination display unit is configured to provide the protection area and the warning area. Each outer edge of the area is illuminated with a line, and the outer edge of the detection area by laser scanning of the laser scanner coincides with each outer edge of the protection area and the warning area.

As described above, according to the illumination display device of the present invention, the irradiation area of the light emitted from the visible light source is set according to the working area of the machine . It can be visualized and displayed by incident light, which can improve productivity and safety in a work environment where humans and machines cooperate.

1 is an overall perspective view showing an example of illumination display when a device is a robot in the illumination display device according to the present invention; FIG. FIG. 10 is an overall perspective view showing another example of illumination display in the illumination display device according to the present invention when the device is a robot; FIG. 11 is an overall perspective view showing still another example of illumination display in the illumination display device according to the present invention when the device is a robot; FIG. 11 is an overall perspective view showing another example of illumination display in the illumination display device according to the present invention when the device is a robot; FIG. 10 is a schematic plan view showing still another example of illumination display in the illumination display device according to the present invention when the device is a robot; 1 is an overall perspective view showing an example of illumination display in a case where a laser scanner is used as a device in the illumination display device according to the present invention; FIG. 1 is an overall perspective view of an automatic guided vehicle employing an illumination display device according to the present invention; FIG. FIG. 8 is a schematic plan view showing an example of illumination display by the automatic guided vehicle (FIG. 7); 1 is an overall perspective view showing an example of illumination display in a case where a device is a light curtain in the illumination display device according to the present invention; FIG. 1 is an overall perspective view of a lighting display device according to a first embodiment of the present invention; FIG. 11 is a cross-sectional view taken along line XI-XI of FIG. 10; FIG. 11. It is the XII arrow directional view of FIG. 11. It is a XIII arrow directional view of FIG. FIG. 10 is an overall perspective view of a lighting display device according to a second embodiment of the present invention, viewed obliquely from below; It is a bottom view of the said illumination display apparatus (FIG. 14). FIG. 15 is a side view of the illumination display device (FIG. 14); FIG. 11 is an overall perspective view of a lighting display device according to a third embodiment of the present invention, viewed obliquely from above; FIG. 18 is a bottom view of the illumination display device (FIG. 17); FIG. 18 is a side view of the illumination display device (FIG. 17); FIG. 15 is an overall perspective view showing an example of illumination display of the illumination display device ( FIG. 14 ); 18 is an overall perspective view showing an example of illumination display of the illumination display device (FIG. 17); FIG. 3 is a schematic block diagram of a control system for the illumination display device; FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
1 to 22 are diagrams for explaining a lighting display device according to the present invention.

First, a specific example of illumination display of the illumination display device according to the present invention will be described with reference to FIGS. 1 to 9. FIG.
Figures 1-5 show examples of illuminated displays when the device is a machine (a robot in this example), and Figures 6-9 when the device is a sensor (a laser scanner or light curtain in this example). shows an example of illumination display.

<Illumination display example 1>
As shown in FIG. 1, the robot R includes a plurality of robot arms Ra having end effectors E at their tips. Here, as the robot R, a vertically articulated robot is taken as an example. Above the robot R, an illumination display device (graphical lighting unit) 1 is provided. The illuminating display device 1 is for illuminating and displaying the turning range of the robot arm Ra (that is, the working area of the robot R) with visible light. Here, an example is shown in which the turning range of the robot arm Ra is illuminated and displayed on the floor surface by a thin annular line (including a circular, elliptical, oval, etc. in plan view) line. In FIG. 1, two annular lines Lh ₁ and Lh ₂ are displayed concentrically on the floor surface, but in this example, the illumination display device 1 displays both of these two lines Lh ₁ and Lh ₂ . is configured as The illumination display device 1 may be composed of a single unit or may be composed of a plurality of units. A detailed structure of the illumination display device 1 will be described later.

The turning range of the robot arm Ra is obtained by, for example, horizontally projecting the locus of movement of the robot arm Ra during operation onto the floor surface. For example, the outer edge of the dangerous area (protection area) where the robot arm Ra moves frequently is indicated by the smaller diameter annular line _Lh1 of the _two annular lines _Lh1 and Lh2. It is drawn with the emitted light L ₁ from the display device 1 . Further, for example, the outer edge of the area (warning area) in which the robot arm Ra moves at low or medium frequency is indicated by the large-diameter annular line _{Lh2 of the two annular} lines _Lh1 and Lh2. , which is depicted by the emitted light L ₂ from the illumination display device 1 . Note that the lines _Lh1 and _Lh2 may be arranged at positions slightly outside (or inside) the outer edge of the horizontal projection area of the turning range of the robot arm Ra (another illumination display example to be described later). 2 and 3). Further, when setting the positions of the lines _Lh1 and _Lh2 , the operator P's skill level, safety qualification information, etc. may be taken into consideration. For example, if the worker P is less skilled or has a low-to-medium level safety qualification, the diameter of each line Lh ₁ and Lh ₂ may be increased to make it larger, while the worker If the skill of P is high or if the operator P has a high level of safety qualification, the diameter of _each line _Lh1 and Lh2 is reduced to make it smaller, and so on.

In this way, the illumination areas of the emitted lights L1 _and L2 from the illumination display device ₁ are determined according to the work area of the robot R (and, if necessary, taking into consideration the skill level and safety qualification information of the worker P). Since the positions of the lines Lh ₁ and Lh ₂ are set, the work area of the robot R can be visualized and displayed with visible light by the illumination display device 1, thereby allowing the worker P and the robot R to cooperate. It is possible to prevent the worker P from inadvertently approaching the robot R in a working environment, and as a result, it is possible to prevent momentary stoppages of the robot R, thereby improving productivity and improving the safety of the working environment. .

In this example, a pair of laser scanners LS are arranged at intervals of 180 degrees around the base of the robot R (only one is shown in FIG. 1). _The positions of the annular lines _Lh1 and Lh2 by the illumination display device 1 are the sensing area (detection area) of each laser scanner LS, that is, the protection area (the area judged to be dangerous when the worker P approaches) and the warning area. (the area formed outside the protection area) or its neighboring position. Therefore, in this example, the outer edges of the protection area and the warning area of each laser scanner LS also match the outer edges of the protection area and the warning area of the robot arm Ra, respectively.

In the control of the robot R, when the worker P crosses the line _Lh2 , the detection signal of the laser scanner LS is received, for example, the moving speed of the robot arm Ra is decelerated, and a warning sound or warning light is emitted. is turned on to call attention of the worker P, and when the worker P crosses the line _Lh1 , the detection signal of the laser scanner LS is received, for example, the robot arm Ra is urgently stopped. It is preferable to ensure the safety of the operator P by Therefore, as the operation mode of the robot R, when the worker P is outside the line _Lh2 , the robot R performs steady operation, and when a part of the body of the worker P crosses the line _Lh2 or When the worker P is in the annular area surrounded by the lines _Lh2 and _Lh1 , the robot R performs deceleration operation (for example, low speed operation), and a part of the worker P's body moves along the line _Lh1 . If it exceeds or if the worker P is inside the line _Lh1 , the robot R stops.

In this way, using a human body detection sensor such as a laser scanner LS, the line Lh, which is the irradiation area of the emitted lights L1 _and L2 from the illumination display device ₁ , according to the sensing area (protection area and warning area). Since the positions of ₁ and Lh ₂ are set, the sensing area of the sensor (generally invisible to the human eye because an infrared laser is used) can be visualized and displayed with visible light by the illumination display device 1, As a result, it is possible to prevent the worker P from approaching the robot R carelessly in a work environment in which the worker P and the robot R cooperate with each other. In addition, the safety of the working environment can be improved.

<Illumination display example 2>
In FIG. 2, the same reference numerals as in FIG. 1 indicate the same or corresponding parts. In the example of FIG. ₁ , the illumination display device ₁ displays the _two annular lines _Lh1 and Lh2 as concentric circles, but in the example shown in FIG. _In addition, an annular line _Lh2 is displayed by the illumination display device _1-2 which is spaced on the side of the illumination display device 1-1. In this case, the two annular lines Lh ₁ and Lh ₂ are not concentric, but their centers are shifted.

In this case, by using the two illumination display devices 1 ₁ and 1 ₂ spaced apart, the annular lines Lh ₁ and Lh ₂ can be easily displaced. It should be noted that such setting of each line Lh ₁ and Lh ₂ is appropriately performed according to the arrangement of the robot R within the protection fence, the standing position of the worker P, and the like.

In this example as well, the positions of lines Lh ₁ and Lh ₂ , which are the irradiation regions of the emitted lights L _{1 and} L ₂ of the illumination display devices 1 ₁ and 1 ₂ , correspond to the working region of the robot R/the sensing region of the laser scanner LS. is set, the working area of the robot R/the sensing area of the laser scanner LS can be visualized and displayed with visible light by the illumination display device 1, thereby creating a working environment in which the worker P and the robot R cooperate. 3, it is possible to prevent the worker P from approaching the robot R carelessly, and as a result, it is possible to prevent short stoppages of the robot R to improve productivity and to improve the safety of the working environment.

<Illumination display example 3>
In FIG. 3, the same reference numerals as in FIGS. 1 and 2 indicate the same or corresponding parts. 1 and 2 show an example in which the lines illuminated and displayed by the illumination display devices 1, 1 ₁ and 1 ₂ are all annular, but in the example of FIG. Both devices 1 ₁ and 1 ₂ illuminate and display semi-annular lines, and the respective semi-annular lines are connected to form an annular line as a whole.

In this case, since the illumination display devices 1 ₁ and 1 ₂ can be arranged on the side of the robot R rather than above it, the robot R can be illuminated by the emitted lights L _{1 and} L ₂ from the illumination display devices 1 ₁ and 1 ₂ . Shadows are less likely to appear on the floor surface, and the lighting display devices ₁₁ and ₁₂ can be installed at low positions, so they can be easily installed using protective fences and poles. On the other hand, in the examples of FIGS. 1 and 2, since the illumination display devices 1, 1 ₁ , 1 ₂ are installed above the robot R, the light emitted from the illumination display devices 1, 1 ₁ , 1 ₂ is The shadow of the robot R tends to be generated on the floor surface due to the irradiation, and the robot is installed at a high position such as the ceiling, so installation is not easy.

Also in this example, the position of the line _Lh , which is the irradiation area of the emitted lights L1 _and L2 of the illumination display devices ₁₁ and ₁₂ , is set according to the working area of the robot R/the sensing area of the laser scanner LS. Therefore, the working area of the robot R/the sensing area of the laser scanner LS can be visualized and displayed with visible light by the illumination display device 1, thereby enabling the worker P and the robot R to work together in a working environment. It is possible to prevent P from approaching the robot R carelessly, and as a result, it is possible to prevent momentary stoppages of the robot R, thereby improving productivity and improving the safety of the working environment.

<Illumination display example 4>
In FIG. 4, the same reference numerals as in FIGS. 1 to 3 denote the same or corresponding parts. 1 to 3 show examples in which the lines illuminated by the illumination display devices 1, 1 ₁ , and 1 ₂ are all formed on the floor surface, but in the example of FIG. A line Lh formed by the emitted light L is illuminated and displayed on the conveying surface BCa of the belt conveyor BC. Also, the line Lh is formed linearly along the conveying direction (the arrow direction in the figure) of the belt conveyor BC.

In this case, the robot R is arranged on one side of the belt conveyor BC, and the workers are positioned on the other side to perform cooperative work. A line Lh represents the boundary line between the work area of the robot R and the work area of the worker. Although not shown, a human body detection sensor such as a laser scanner LS may be provided, and the outer edge of the sensing area (or the linear sensing area in plan view, such as a light curtain) may be aligned with the line Lh. In this case, when a part of the worker's body crosses the line Lh, the robot R can be shifted to deceleration operation or stopped. Note that the line Lh may be arranged at a position slightly outside (or inside) the outer edge of the sensing area of the human body detection sensor such as the laser scanner LS (other illumination display examples 6 to 7 described later). The same is true for ).

In this example as well, the position of the line Lh, which is the irradiation area of the emitted light L of the illumination display device 1, is set according to the working area of the robot R/the sensing area of the sensor. The illumination display device 1 can visualize and display the area with visible light, thereby preventing the worker from inadvertently approaching the robot R in a working environment where the worker and the robot R cooperate, As a result, it is possible to prevent short stoppages of the robot R, improve productivity, and improve the safety of the working environment.

<Illumination display example 5>
In FIGS. 1 to 3, lines Lh ₁ , Lh ₂ , and Lh illuminated by the illumination display device 1 indicate the turning range of the robot arm Ra (that is, the work area of the robot R). A line Lh illuminated and displayed by the display device 1 indicates a boundary line between the work area of the robot R and the work area of the worker (therefore, the work area of the robot R), but the application of the present invention is limited to this. not.

FIG. 5 is a layout diagram showing an example of a kitchen of a restaurant, in which the same reference numerals as those in FIGS. 1 to 4 indicate the same or corresponding parts. As shown in FIG. 5, a worker (cooking assistant) P is positioned on the side of the robot R, and the robot R and the worker P cooperate to perform the cooking work. The robot R picks up the necessary ingredients from the tray t conveyed by the conveyor C with the hand at the tip of the robot arm Ra, and successively places them in the container B placed on the work table T. I'm going to put it in. On the other hand, the worker P picks up the container B filled with the desired ingredients from the work table T and places an empty container B on the work table T. As shown in FIG.

An illuminating display device (not shown) is provided on the ceiling of the kitchen, and light emitted from the illuminating display device is irradiated onto the work table T and illuminated by an annular line Lh. A line Lh corresponds to the position of the container B and indicates the position reached when the robot arm Ra moves to the table T next time. Before the robot arm Ra moves toward the table T, the illumination display device illuminates the line Lh, so that the worker P can know in advance the next arrival position and movement direction of the robot arm Ra. become. As a result, it is possible to prevent the worker P from approaching the robot R carelessly in a work environment in which the worker P and the robot R cooperate with each other. In addition, the safety of the working environment can be improved.

Since the next position to be reached by the robot arm Ra is the position to which the robot R during work moves, the next position to be reached by the robot arm Ra is also included in the work area of the robot R in this specification. .

<Illumination display example 6>
In FIG. 6, the same reference numerals as in FIGS. 1 to 5 indicate the same or corresponding parts. 1 to 5 show examples in which the lines illuminated and displayed by the illumination display devices 1, 1 ₁ , 1 ₂ are mainly set according to the work area of the robot R, but in the example of FIG. The linear lines Lh ₁ and Lh ₂ illuminated and displayed by the display devices 1 ₁ and 1 ₂ match the outer edge of the sensing area (gray area in the figure) of the laser scanner LS, and are set according to the sensing area. It is

In FIG. 6, the robot R picks up a work W and places it on the conveyor C. In FIG. When a worker enters the sensing area (gray area) of the laser scanner LS, the laser scanner LS detects the worker, and safety control is performed such that the robot R shifts to deceleration operation or stops.

Also in this example, the positions of the lines _Lh1 and _Lh2 by the emitted lights L1 _and L2 from the illumination display devices ₁₁ and _{12 are} set according to the sensing area of the laser scanner LS. The sensing area of the laser scanner LS, which is invisible, can be visualized and displayed by the illumination display device 1 with visible light. As a result, it is possible to prevent momentary stoppages of the robot R, thereby improving productivity and improving the safety of the working environment.

In the example shown in FIG. 6, of the outer edges of the sensing area (gray area) of the laser scanner LS, the left and right outer edges are illuminated with lines Lh ₁ and Lh ₂ by the illumination display devices 1 ₁ and 1 ₂ , Although the outer edge on the front side is not illuminated, the outer edge on the front side may also be illuminated by using another illumination display device. As a result, it is possible to more reliably prevent the robot R from accidentally stopping momentarily by the operator, and to further improve productivity and safety.

<Illumination display example 7>
FIGS. 7 and 8 show laser scanners LS ₁ , LS ₂ , LS ₃ , and LS ₄ (only part of FIG. 7) on the front, rear, left, and right sides of an automatic guided vehicle (AGV) that runs unmanned on the floor. ) and illumination display devices 1 ₁ , 1 ₂ , 1 ₃ , 1 ₄ (only part of which is shown in FIG. 7) are provided. Each illumination display device 1 ₁ , 1 ₂ , 1 ₃ , 1 ₄ is arranged above each corresponding laser scanner LS ₁ , LS ₂ , LS ₃ , LS ₄ and each laser scanner LS ₁ , LS ₂ , LS ₃ , and LS ₄ along the outer edge of the rectangular sensing regions, linear lines Lh ₁ , Lh ₂ , Lh ₃ , and Lh ₄ are used to display rectangular illumination. The sensing area of each laser scanner LS ₁ , LS ₂ , LS ₃ , LS ₄ is composed of a light gray sensing area (first warning area) 10 located on the outermost side and a dark gray sensing area located on the innermost side. (protection area) 11 and a gray sensing area (second warning area) 12 which is located between them and has an intermediate density between the sensing areas 10 and 11 .

7 and 8, the automatic guided vehicle AGV includes sensing areas 10, 11 and 12 by the laser scanners LS ₁ , LS ₂ , LS ₃ and LS ₄ described above and illumination display devices 1 ₁ and 1 ₂ . , 1 ₃ and 1 ₄ forming lines Lh ₁ , Lh ₂ , Lh ₃ and Lh ₄ while running on the floor surface. The automatic guided vehicle AGV in motion is controlled to decelerate when a worker enters the first warning area 10, further decelerate when the worker enters the second warning area 12, and stop when the worker enters the protection area 11. there is

Also in this example, each emitted light from the illumination display devices 1 ₁ , 1 ₂ , 1 ₃ , 1 ₄ according to each sensing area 10, 11, 12 of the laser scanners LS ₁ , LS ₂ , LS ₃ , LS ₄ Since the positions of the lines Lh ₁ , _{Lh 2 ,} Lh ₃ and _{Lh 4 are} set by 12 can be visualized and displayed with visible light by the illumination display devices 1 ₁ , 1 ₂ , 1 ₃ , 1 ₄ , so that in a work environment where the worker and the automatic guided vehicle AGV cooperate, the worker can Inadvertent approach to the guided vehicle AGV can be prevented, and as a result, the unmanned guided vehicle AGV can be prevented from stopping unintentionally by the operator, thereby improving productivity and improving the safety of the working environment.

<Illumination display example 8>
FIG. 9 shows the light curtain LC. The light curtain LC is composed of a light projecting unit LC- ₁ that emits infrared light Lc and a light receiving unit LC- ₂ that receives the infrared light Lc emitted from the light projecting unit LC- ₁ . An illumination display device 1 is provided above the light curtain LC, and the irradiation position of the emitted light L from the illumination display device 1 on the floor is within the same vertical plane as the infrared rays Lc from the light projecting unit LC ₁ . located in That is, the outer edge of the sensing area of the light curtain LC matches the line Lh illuminated by the emitted light L of the illumination display device 1 .

As a result, the sensing region of the light curtain LC, which is invisible to the human eye, can be visualized and displayed with visible light by the illumination display device 1, thereby preventing the operator from carelessly sensing the sensing region of the light curtain LC. It is possible to prevent short stops of the machine due to intrusion into the As a result, in a work environment where workers and machines cooperate, productivity can be improved, and the safety of the work environment can be improved.

<Illumination display device>
Next, the lighting display device 1 will be described with reference to FIGS. 10 to 21. FIG.
Since the illumination display devices 1 ₁ , 1 ₂ , 1 ₃ and 1 ₄ also have the same configuration, only the illumination display device 1 will be described here.

10 to 13 show a single illumination display unit 10 that constitutes the illumination display device 1. FIG. As shown in these figures, the illumination display unit 10 includes a housing 10A, a pair of shafts 11 extending from the left and right end surfaces thereof, an LED 12 provided inside the housing 10A for emitting visible light, and and an optical element 13 that converges the emitted light and irradiates the floor surface to form an image. The LED 12 and the optical element 13 are provided in a cylindrical internal space 10a that is formed inside the housing 10A and opens to the front surface thereof. are placed.

The LED 12 may be composed of a single LED element or may be composed of a plurality of LED elements. The optical element 13 is composed of a single lens or a plurality of lenses, and is configured to converge the light emitted from the LED 12 on the floor surface as an annular, semi-annular, or straight line. A slit/variable slit may be arranged in front/rear of the optical element 13, or a plurality of LED elements constituting the LED 12 may be arranged in an annular shape, a semi-annular shape, or in a straight line. good. Radiation fins 10c are provided on the rear surface of the housing 10A.

14 to 19 show examples in which the illumination display device 1 is composed of a plurality of illumination display units. In these figures, FIGS. 14 to 16 show examples in which the lighting display units are arranged on a circle at regular intervals, and FIGS. 17 to 19 show examples in which the lighting display units are arranged in line. are shown respectively. 10 to 13 designate the same or corresponding parts.

As shown in FIGS. 14 to 16, the illumination display device 1 has a hemispherical main body portion 1A, and the main body portion 1A has four concave portions 1A ₁ , 1A ₂ , 1A ₃ , and 1A ₄ which are circular. They are provided at equal intervals on the circumference. Illumination display units _{10 1} , _{10 2} , _{10 3} , 10 ₄ are housed in the recesses 1A ₁ , 1A ₂ , 1A ₃ , 1A ₄ , respectively. 10 ₄ are arranged at equal intervals on the circumference. The structure of each lighting display unit 10 ₁ , 10 ₂ , 10 ₃ , 10 ₄ is similar to the structure of the lighting display unit 10 described above, and each has an LED and an optical element inside. Each shaft portion 11 ₁ , 11 ₂ , 11 ₃ , 11 ₄ of the illuminated display unit 10 ₁ , 10 ₂ , 10 ₃ , 10 ₄ defines each corresponding recess 1A ₁ , 1A ₂ , 1A ₃ , 1A ₄ It is rotatably supported in a hole (not shown) formed in the wall surface. Thereby, the illumination angle of each illumination display unit 10 ₁ , 10 ₂ , 10 ₃ , 10 ₄ can be manually adjusted. In addition, by adopting a rotation drive mechanism consisting of a small motor, gears, etc., and independently driving each of the lighting display units 10 ₁ , 10 ₂ , 10 ₃ , 10 ₄ , each of the lighting display units 10 ₁ , 10 1 , 10 4 , 10 4 The irradiation angles of 10 ₂ , 10 ₃ and 10 ₄ may be electrically adjustable. Further, the rear surface 1Ab of the main body 1A serves as a mounting surface to a ceiling surface or the like.

As shown in FIGS. 17 to 19, the illumination display device 1 has a flat base 1B, and illumination display units 10 ₁ , 10 ₂ and 10 ₃ are linearly arranged on the base 1B. ing. In this example, adjacent shaft portions 11 ₁ , 11 ₂ , 11 ₃ of the illumination display units 10 ₁ , 10 ₂ , 10 ₃ are connected on the base 1B. Support portions _{1B 1} and _{1B 2 are} provided at the ends in the longitudinal direction of the base _1B , respectively. ₃ , the shaft portions 11 to ₃ are respectively supported.

A gear mechanism and a motor (not shown) drivingly connected thereto are provided inside the support portion 1B1, and _a cable ₁₅ is connected to the support portion 1B1. _The gear mechanism is connected to the shaft portion 11-1 of the illumination display unit _10-1 . With this configuration, when the motor is driven, the illumination display units 10 ₁ , 10 ₂ , 10 ₃ are integrated around the central axes of the corresponding shafts 11 ₁ , 11 ₂ , 11 ₃ via the gear mechanism. It is designed to rotate. 17 to 19 show the illumination display units 10 ₁ , 10 ₂ , and 10 ₃ with different circumferential orientations, but the illumination display units adjacent to each other on the base 1B do Illumination display units 10 ₁ , 10 can be rotated in only one direction in the circumferential direction by connecting shafts 11 ₁ , 11 ₂ , 11 ₃ of 10 ₁ , 10 ₂ , 10 ₃ via, for example, a ratchet mechanism or the like. ₂ and 10 ₃ can be independently adjusted in the circumferential direction. Further, the lower surface 1Bb of the base 1B is a mounting surface to a wall surface or the like.

20 and 21 show examples of specific illumination display in the illumination display device 1 of FIGS. 14 to 19. FIG. 20 shows a lighting display example of the lighting display device 1 shown in FIGS. 14 to 16, and FIG. 21 shows a lighting display example of the lighting display device 1 shown in FIGS. 17 to 19, respectively.

As shown in FIG. 20, the lights L ₁ , L ₂ , L ₃ , and L ₄ emitted from the lighting display units 10 ₁ , 10 ₂ , 10 ₃ , and 10 ₄ of the lighting display device 1 are linearly projected on the floor surface. Lines Lh ₁ , Lh ₂ , Lh ₃ , and Lh ₄ are illuminated, and the lines Lh ₁ , Lh ₂ , Lh ₃ , and Lh ₄ form a rectangle or a rectangular figure on the floor surface. By matching each line Lh ₁ , Lh ₂ , Lh ₃ , Lh ₄ with the working area of the robot/sensing area of the sensor, the working area of the robot/sensing area of the sensor is visualized with visible light by the illumination display device 1. As a result, in a work environment where workers and robots cooperate, it is possible to prevent accidental stoppages of robots by workers, and as a result, it is possible to improve productivity and improve the safety of the work environment. can be improved.

As shown in FIG. 21, the lights L ₁ , L ₂ , and L ₃ emitted from the lighting display units 10 ₁ , 10 ₂ , and 10 ₃ of the lighting display device 1 are linear lines Lh ₁ and Lh 1 on the floor, respectively. Lh ₂ and Lh ₃ are illuminated. By matching each line Lh ₁ , Lh ₂ , Lh ₃ with the working area of the robot/sensing area of the sensor, the working area of the robot/sensing area of the sensor can be visualized and displayed with visible light. In the work environment where the worker and the robot cooperate, it is possible to prevent the worker from inadvertently stopping the robot for a short period of time. As a result, the productivity can be improved and the safety of the work environment can be improved.

<Control system>
Next, FIG. 22 shows a schematic block configuration of a control system for automatically adjusting the illumination angle of the illumination display device.
As shown in the figure, the control system 100 includes a personal computer (PC) 101 for performing various programming, data input, output display, etc., a programmable controller (PLC) 102 connected thereto, and a robot control unit connected to the PLC 102. 103. A laser scanner (LS) 104 , a monitor camera 105 , an emergency stop switch 106 , a robot drive section 107 and an illumination display unit drive section 108 are connected to the PLC 102 and the robot control section 103 . The PC 101/PLC 102 of the control system 100 stores an illumination display control program for driving and controlling the illumination display unit driving section 108, and the PLC 102/robot control section 103 stores a robot control program. In addition, the single or multiple lighting display units that constitute the lighting display device are configured so that the irradiation angle can be electrically adjusted.

When the lighting display control program stored in the PC 101/PLC 102 automatically adjusts the illumination angle of the lighting display device according to the work area of the robot, first, the robot control program stored in the PLC 102/robot control unit 103 is executed. It is analyzed to determine the outer edge of the working area of the robot arm. Next, the illumination angle of the illuminated display unit is determined so that the line illuminated and displayed by the light emitted from the illuminated display device coincides with this outer edge (or is positioned slightly inside/outside the outer edge), A difference from the current irradiation angle is calculated. Then, the illumination display unit is driven by the illumination display unit driving section according to the difference, so that the illumination angle of the illumination display device is automatically adjusted.

Similarly, when the illumination display control program stored in the PC 101/PLC 102 is used to automatically adjust the illumination angle of the illumination display device according to the sensing area of the laser scanner 104, first, the operator controls the laser scanner 104 using the PC 101. Set the sensing area of Next, the illumination angle of the illumination display unit for making the line illuminated by the light emitted from the illumination display device 1 coincide with the outer edge of the sensing area (or arranged slightly inside/outside the outer edge). is obtained, and the difference from the current irradiation angle is calculated. Then, the illumination display unit is driven by the illumination display unit driving section according to the difference, so that the illumination angle of the illumination display device is automatically adjusted.

In this way, the emitted light of the visible light source is controlled so that the irradiation area of the emitted light from the visible light source is set according to the operating range of the device (that is, the working area of the robot/the sensing area of the sensor).

[First Modification]
In the above-described embodiment, as a figure illuminated and displayed by the illumination display device, an annular ring, a semi-annular ring, or a linear continuous line was described as an example, but the application of the present invention is not limited to this. A similar figure may be drawn by arranging dotted lines, dots, etc. along the circumference or straight lines. Also, any figure other than lines and points may be used, and characters may also be used. Furthermore, the illumination display may be not only lighting display by lighting the light source, but also blinking display (flicker display) by blinking the light source.

[Second modification]
In FIGS. 1 and 2 of the above embodiment, the illumination display device illuminates _both the annular lines _Lh1 and Lh2, that is, the illumination display area by the illumination display device is composed of two areas. However, the application of the present invention is not limited to this. The illumination display area of the illumination display device may be composed of three or more areas.

Further, when the robot R does not need to be decelerated, the illumination display by the line _Lh2 is eliminated and the illumination display by the line Lh1 _only is performed. may be configured. In this case, as the operation mode of the robot R, when the worker P is outside the line _Lh1 , the robot R performs steady operation, and when a part of the body of the worker P crosses the line _Lh1 Alternatively, when the worker P is inside the line _Lh1 , the robot R comes to a stop.

[Third Modification]
1 to 3 of the above embodiment show an example in which two laser scanners LS are arranged around the base of the robot R at intervals of 180 degrees. If the laser scanner LS does not need to cover the entire circumference of the robot R, one of the laser scanners LS may be omitted.

[Fourth Modification]
14 to 21 of the above embodiment show examples in which the lighting display units constituting the lighting display device 1 are arranged on a circle or on a straight line, but the application of the present invention is not limited to this. Any other arrangement may be adopted. In addition, as an illumination display unit, by appropriately combining a type that illuminates an annular line and a type that illuminates a straight line, the operating range of the device (that is, the operating area of the robot/the sensing area of the sensor) ) has a complicated shape.

[Fifth Modification]
FIG. 22 of the above embodiment shows an example in which the PC 101, PLC 102 and robot control unit 103 are used to configure the core of the control system according to the present invention, but the configuration of the control system according to the present invention is not limited to this. . The robot control unit 103 may be omitted by providing the PLC 102 with a robot control function.

[Sixth Modification]
In the above embodiment, an example using an LED as a visible light source was shown, but the visible light source of the illumination display device according to the present invention is not limited to the LED, and may be a laser or other light source. Further, the illumination display device according to the present invention may be a display device such as a projector that projects and displays an enlarged image.

[Seventh Modification]
In the above embodiments, a vertical articulated robot has been described as an example of a robot, but the present invention may be applied to other robots such as SCARA robots and parallel link robots.

[Eighth modification]
Machines to which the present invention is applied may be other than robots, and may be applied to vehicles such as automobiles, special vehicles such as power shovels, and the like. The sensor to which the present invention is applied is not limited to a laser scanner, but may be a sensor such as a photoelectric sensor or an ultrasonic sensor, in addition to the light curtain described above. It may be a system that detects an intruder or a suspicious person in the monitored area.

In the case of sensors such as light curtains, photoelectric sensors, and ultrasonic sensors, unlike laser scanners, the sensors themselves do not grasp the outer edge of the sensing area. When automatically adjusting the illumination display position of the emitted light, it is preferable to photograph the installation position of the sensor with an image sensor such as a vision camera. The image sensor processes the image captured by the camera and calculates the feature values such as the position and length of the target object. It is possible.

In this case, if the sensor is of a type that has a light emitting part/transmitting part and a light receiving part/receiving part, the installation position of the light emitting part/transmitting part and the light receiving part/receiving part is photographed by the image sensor, and the image The sensing area of the sensor is identified by processing the data. In addition, if the sensor has only a light projecting unit/transmitting unit, the image data obtained by photographing the installation position and orientation of the light projecting unit/transmitter with the image sensor, and the detection distance and beam of the sensor The sensing area of the sensor is specified by processing data such as the spread angle of the sensor.

[Ninth Modification]
In the above-described embodiment and each modified example, examples were shown in which the illumination display device was provided separately from the machine and the sensor, but the application of the present invention is not limited to this. The illuminated display device may be integrated with the machine and/or the sensor.

[Other Modifications]
The above-described embodiments and modifications are to be considered in all respects only as illustrations of the present invention and are not limiting. One of ordinary skill in the art to which the present invention pertains will be able to implement the present invention without departing from its spirit or essential characteristics when considering the above teachings, even though not expressly described herein. Various modifications and other embodiments may be constructed that employ the principles of.

[Other application examples]
In the above-described embodiment and each of the modified examples, FA (factory automation) has been described as an example of the field to which the present invention is applied, but the application of the present invention is not limited to this. The present invention can be similarly applied to fields other than the manufacturing industry, such as the restaurant industry, the food industry, the construction industry, the civil engineering industry, the transportation industry, the transportation industry, the medical industry, and the distribution industry.

INDUSTRIAL APPLICABILITY The present invention is useful for illumination display devices for improving productivity and safety in environments where humans and machines cooperate.

1, 1 ₁ , 1 ₂ , 1 ₃ , 1 ₄ : illumination display device (graphical lighting unit)
10, 10 ₁ , 10 ₂ , 10 ₃ , 10 ₄ : illumination display unit

12: LED (visible light source)

100: Control system (control means)

L, L ₁ , L ₂ , L ₃ , L ₄ : Emitted light Lh, Lh ₁ , Lh ₂ , Lh ₃ , Lh ₄ : (Illumination display) line R: Robot (machine, equipment)
LS, LS ₁ , LS ₂ , LS ₃ , LS ₄ : laser scanner (sensor, device)
LC: Light curtain (sensor, device)
P: Worker (person)

JP-A-2016-105049 (see paragraphs [0001], [0002], [0004], [0031])

Claims (2)

An illumination display device,
It has an LED light source that emits visible light and an optical element that converges the light emitted from the LED light source to form an image . a plurality of illumination display units that illuminate and display each line on the floor surface by the emitted light;
A laser scanner that performs laser scanning with the outer edge of the detection area aligned with the outer edge of the working area;
The machine is an automatic guided vehicle, the lighting display unit and the laser scanner are provided on the automatic guided vehicle, and the work area is set in the front, rear, left, and right directions of the automatic guided vehicle, and During running, the illumination display by lines on the floor surface by visible light from the illumination display unit is maintained in accordance with the outer edge of the detection area by the laser scanning of the laser scanner.
An illumination display device characterized by: In claim 1,
Each of the work areas set in the front, rear, left, and right directions of the automatic guided vehicle is composed of a protection area, which is a dangerous area, and a warning area set outside the protection area. Each outer edge of the warning area is illuminated and displayed with a line, and the outer edge of the detection area by the laser scanning of the laser scanner corresponds to each outer edge of the protection area and the warning area.
An illumination display device characterized by:

Images