JP5492438B2

JP5492438B2 - Movable machine system, movable machine control system, and determination device

Info

Publication number: JP5492438B2
Application number: JP2009080230A
Authority: JP
Inventors: 信博谷
Original assignee: Nachi Fujikoshi Corp; Daihen Corp
Current assignee: Nachi Fujikoshi Corp; Daihen Corp
Priority date: 2009-03-27
Filing date: 2009-03-27
Publication date: 2014-05-14
Anticipated expiration: 2029-03-27
Also published as: JP2010228065A

Description

本発明は、可搬式教示操作装置と可動機械制御装置を無線で接続する可動機械システム、可動機械制御システム及び判定装置に関する。 The present invention relates to a movable machine system, a movable machine control system, and a determination device that wirelessly connect a portable teaching operation device and a movable machine control device.

従来、可動機械制御装置と可搬式教示操作装置（以下、単に教示操作装置という）との間で、無線通信を行いながら運用する可動機械制御システムが提案されている（特許文献１〜３参照）。これらの装置では、一般的に作業者は、可動機械制御装置にケーブルでつながる機械的に動作する可動機械を前に教示操作装置を使って動作教示を行う。 2. Description of the Related Art Conventionally, there has been proposed a movable machine control system that operates while performing wireless communication between a movable machine control device and a portable teaching operation device (hereinafter simply referred to as a teaching operation device) (see Patent Documents 1 to 3). . In these apparatuses, generally, an operator teaches operation using a teaching operation device before a mechanically operated movable machine connected to the movable machine control device by a cable.

この場合、図１３に示すように、安全柵５３０外に配置され、可動機械（例えば、ロボット）５４０は安全柵５３０内に配置される。特に、特許文献２，３では、図１３に示すように、可動機械制御装置５００は、安全柵５３０外に配置され、可動機械（例えば、ロボット）５４０は安全柵５３０内に配置される。特に、特許文献２，３，４では、図１３に示すように、教示操作装置５１０との間で無線通信を行うための送受信機器５２０は、これまで可動機械制御装置５００の中か、その近傍に配置されている。 In this case, as shown in FIG. 13, the movable machine (for example, robot) 540 is disposed outside the safety fence 530 and the movable machine (for example, robot) 540 is disposed inside the safety fence 530. In particular, in Patent Documents 2 and 3, as shown in FIG. 13, the movable machine control device 500 is arranged outside the safety fence 530, and the movable machine (for example, robot) 540 is arranged inside the safety fence 530. In particular, in Patent Documents 2, 3, and 4, as shown in FIG. 13, the transmitting / receiving device 520 for performing wireless communication with the teaching operation device 510 is in the movable machine control device 500 or in the vicinity thereof. Is arranged.

ところで、特許文献２〜４に示される従来の方法では以下の問題を解決できていない。
すなわち、可動機械制御装置５００との間で安全通信を確立している教示操作装置５１０が安全柵５３０内にある可動機械５４０の付近なのかどうかを判別できないため、安全柵５３０外から安全通信を確立している教示操作装置５１０から可動機械５４０を動かすことを禁止できない。すなわち、図１４に示すように安全柵５３０(安全防護空間)内に別の作業者Ｍがいる場合には、危険な状態にさらされる。なお、安全通信とは、教示操作装置５１０と可動機械５４０との間で行われる非常停止機能のための通信である。教示操作装置５１０の図示しない非常停止スイッチが操作された場合に可動機械５４０を停止させるか、又は、安全通信における通信エラーや通信機の故障により、安全入力を正しく伝達できないような安全通信エラー状態が発生した場合、教示操作装置５１０及び可動機械制御装置５００の安全通信エラー検出機能が作動して、可動機械制御装置５００が可動機械５４０に非常停止を指示するようにされている。 By the way, the conventional methods disclosed in Patent Documents 2 to 4 cannot solve the following problems.
That is, since it is not possible to determine whether or not the teaching operation device 510 that has established safety communication with the movable machine control device 500 is near the movable machine 540 in the safety fence 530, safety communication is performed from outside the safety fence 530. It cannot be prohibited to move the movable machine 540 from the established teaching operation device 510. That is, as shown in FIG. 14, when another worker M exists in the safety fence 530 (safety protection space), it is exposed to a dangerous state. Note that the safety communication is communication for the emergency stop function performed between the teaching operation device 510 and the movable machine 540. A safety communication error state in which the movable machine 540 is stopped when an emergency stop switch (not shown) of the teaching operation device 510 is operated, or a safety input cannot be correctly transmitted due to a communication error in safety communication or a failure of the communication device. When this occurs, the safety communication error detection function of the teaching operation device 510 and the movable machine control device 500 is activated, and the movable machine control device 500 instructs the movable machine 540 to perform an emergency stop.

特許文献５では、指向性アンテナと無指向性アンテナの複数のアンテナの検知領域を重ねることによって限定した領域に教示操作装置を持った作業者がいるかどうかが分かる技術が提案されている（図１５参照）。 Patent Document 5 proposes a technique for determining whether or not there is an operator having a teaching operation device in a limited area by overlapping detection areas of a plurality of antennas of a directional antenna and an omnidirectional antenna (FIG. 15). reference).

特開２００８−９８７２号公報JP 2008-9872 A 特開２００７−４２０６１号公報JP 2007-42061 A 特開２００６−３４１３５６号公報JP 2006-341356 A 特表２００６−１０３８３８号公報JP 2006-103838 A 特開２００８−５９０８７号公報JP 2008-59087 A

このため、前記特許文献２，３，４での問題は、特許文献５の技術を応用して、複数のアンテナの検知領域を重ねることによって限定した検知領域に、教示操作装置を持った操作者（送信元）がいるかどうかが分かる。 For this reason, the problem in Patent Documents 2, 3, and 4 is that an operator having a teaching operation device in a detection area limited by overlapping the detection areas of a plurality of antennas by applying the technique of Patent Document 5. You can see if there is a (sender).

しかし、特許文献５の技術では、下記の問題を解決できない。
すなわち、特許文献５では、図１５に示すように、指向性アンテナの検知領域６００と無指向性アンテナの検知領域６１０により、設定できる検知領域（多重検知領域）６２０は、その形を扇型の形状とすることができる。しかし、特許文献５では、受信電波強度の測定値に応じて、送信元までの距離を特定しているため、マルチパスに限らず、外乱により電波強度が変動すると、検知領域６１０（多重検知領域）の大きさが変化するので、安定した大きさの検知領域を設定することが難しい。 However, the technique of Patent Document 5 cannot solve the following problem.
That is, in Patent Document 5, as shown in FIG. 15, a detection area (multiple detection area) 620 that can be set by a detection area 600 for a directional antenna and a detection area 610 for an omnidirectional antenna is shaped like a fan. It can be a shape. However, in Patent Document 5, since the distance to the transmission source is specified according to the measured value of the received radio wave intensity, the detection area 610 (multiple detection area) is detected when the radio wave intensity fluctuates due to disturbance, not limited to multipath. ) Changes, it is difficult to set a stable detection area.

又、特許文献５では、送信する側の電波強度が異なる複数の送信元が存在すると、受信する無指向性アンテナの中心から各送信元がそれぞれどれだけ離れているのかを特定することが難しく、所定の大きさの検知領域６１０（多重検知領域）にすべてが存在しているかどうかを判定できない。 In Patent Document 5, if there are a plurality of transmission sources having different radio field intensities on the transmitting side, it is difficult to specify how far each transmission source is from the center of the omnidirectional antenna to be received. It cannot be determined whether or not all the detection areas 610 (multiple detection areas) having a predetermined size exist.

本発明の目的は、安定した大きさのアンテナの受信範囲（検知領域）を設定することができ、複数の送信元が存在しても、前記安定した大きさの受信範囲（検知領域）に、いずれの送信元が存在しているか否かの判定することができる可動機械システム、可動機械制御システム及び判定装置を提供することにある。 An object of the present invention is to set a reception range (detection region) of an antenna having a stable size, and even if there are a plurality of transmission sources, the reception range (detection region) of a stable size It is an object of the present invention to provide a movable machine system, a movable machine control system, and a determination device that can determine which transmission source is present.

上記問題点を解決するために、請求項１に記載の発明は、固有ＩＤ及び教示情報を含む信号を無線送信する可搬式教示操作装置と、受信範囲の一部が互いに重なり合った重複領域を有するように異なる位置に設けられた少なくとも２個以上の指向性アンテナと、各前記指向性アンテナが前記可搬式教示操作装置からの固有ＩＤ及び教示情報を含む信号（以下、固有ＩＤ受信信号という）を受信できた際に、各固有ＩＤ受信信号の受信信号強度を検出する検出手段と、各前記固有ＩＤ受信信号の受信信号強度のうち、同じ固有ＩＤを有する少なくとも２つの固有ＩＤ受信信号の受信信号強度がそれぞれ前記重複領域において送信元である前記可搬式教示操作装置が位置したか否かを判定するための判定閾値以上か否かを判定する判定手段と、前記判定手段が、同じ固有ＩＤを有する少なくとも２つの固有ＩＤ受信信号の受信信号強度がそれぞれ判定閾値以上と判定した場合、前記同じ固有ＩＤを有する固有ＩＤ受信信号に含まれる教示情報に基づいて人の出入りを制限する防護柵内に配置された可動機械を制御する可動機械制御装置を含み、前記少なくとも２個以上の指向性アンテナの受信範囲であって、前記判定閾値以上の受信信号強度の重複領域は、前記防護柵内における前記可動機械の動作領域外に配置されていることを特徴とする可動機械システムを要旨とするものである。 In order to solve the above problems, the invention described in claim 1 includes a portable teaching operation device that wirelessly transmits a signal including a unique ID and teaching information, and an overlapping region in which a part of the receiving range overlaps each other. And at least two or more directional antennas provided at different positions, and each directional antenna includes a signal including a unique ID and teaching information from the portable teaching operation device (hereinafter referred to as a unique ID reception signal). Detection means for detecting the received signal strength of each unique ID received signal when received, and received signals of at least two unique ID received signals having the same unique ID among the received signal strengths of each unique ID received signal determining means for determining whether the determination threshold than for strength the friendly transportable teaching operation apparatus are each sender in the overlap region to determine whether the position, before Determination means, at least two have the same unique ID unique ID if the received signal strength of the received signal is determined to more thereof determination threshold, the person on the basis of the instruction information contained in the unique ID received signal having the same unique ID A movable machine control device for controlling a movable machine arranged in a guard fence for restricting access , wherein the at least two or more directional antennas have a reception range that is equal to or greater than the determination threshold. Is a movable machine system characterized in that the movable machine system is disposed outside the operating area of the movable machine in the protective fence .

請求項２の発明は、可搬式教示操作装置と無線通信する可動機械制御システムにおいて、受信範囲の一部が互いに重なり合った重複領域を有するように異なる位置に設けられた少なくとも２個以上の指向性アンテナと、各前記指向性アンテナが、前記可搬式教示操作装置からの固有ＩＤ及び教示情報を含む信号（以下、固有ＩＤ受信信号という）を受信できた際に、各固有ＩＤ受信信号の受信信号強度を検出する検出手段と、各前記固有ＩＤ受信信号の受信信号強度のうち、同じ固有ＩＤを有する少なくとも２つの固有ＩＤ受信信号の受信信号強度がそれぞれ前記重複領域において送信元である前記可搬式教示操作装置が位置したか否かを判定するための判定閾値以上か否かを判定する判定手段と、前記判定手段が、同じ固有ＩＤを有する少なくとも２つの固有ＩＤ受信信号の受信信号強度がそれぞれ判定閾値以上と判定した場合、前記同じ固有ＩＤを有する固有ＩＤ受信信号に含まれる教示情報に基づいて人の出入りを制限する防護柵内に配置された可動機械を制御する可動機械制御装置を含み、前記少なくとも２個以上の指向性アンテナの受信範囲であって、前記判定閾値以上の受信信号強度の重複領域は、前記防護柵内における前記可動機械の動作領域外に配置されていることを特徴とする可動機械制御システムを要旨とするものである。 A second aspect of the present invention, the movable machine control system that communicates the portable teaching operation apparatus and the wireless, two or more even without least provided at different positions as to partially have overlapping regions overlap each other in the reception range When the directional antenna and each of the directional antennas can receive a signal including a unique ID and teaching information (hereinafter referred to as a unique ID reception signal) from the portable teaching operation device , The detection means for detecting the received signal strength and the received signal strengths of at least two unique ID received signals having the same unique ID among the received signal strengths of the respective unique ID received signals are the transmission sources in the overlap region, respectively. determining means for determining whether the determination threshold than for the portable teaching operation apparatus to determine whether the position, the determination means, less it has the same unique ID If the received signal strength of Kutomo two unique ID received signal is determined to more thereof determination threshold, in a safety barrier for limiting the entry and exit of people on the basis of the instruction information contained in the unique ID received signal having the same unique ID A movable machine control device for controlling a movable machine arranged , wherein the at least two or more directional antenna reception ranges, wherein an overlapping region of received signal strengths equal to or higher than the determination threshold is the inside of the protective fence A gist of a movable machine control system, characterized in that the movable machine control system is arranged outside the operating area of the movable machine.

請求項３の発明は、可搬式教示操作装置から固有ＩＤと教示情報を含む信号を無線で受信するとともに前記教示情報に基づいて人の出入りを制限する防護柵内に配置された可動機械を制御する可動機械制御システムに設けられた判定装置において、異なる位置に設けられた少なくとも２個以上の複数の指向性アンテナを介して前記可搬式教示操作装置の固有ＩＤを含む信号を前記可搬式教示操作装置から受信できた際に、各固有ＩＤを含む信号の受信信号強度を検出する検出手段と、各前記固有ＩＤを含む信号の受信信号強度のうち、同じ固有ＩＤを有する少なくとも２つの固有ＩＤを含む信号の受信信号強度がそれぞれ前記指向性アンテナの受信範囲の重複領域に送信元である前記可搬式教示操作装置が位置したか否かを判定するための判定閾値以上か否かを判定し、同じ固有ＩＤを有する少なくとも２つの固有ＩＤを含む信号の受信信号強度が判定閾値以上の場合は、前記固有ＩＤを含む信号を送信した送信元が、前記複数の指向性アンテナの受信範囲のうち一部が互いに重なり合った重複領域に位置すると判定し、その判定結果を出力する判定手段を有し、
前記少なくとも２個以上の指向性アンテナの受信範囲であって、前記判定閾値以上の受信信号強度の重複領域が、前記防護柵内における前記可動機械の動作領域外に配置されていること特徴とする判定装置を要旨とするものである。 The invention of claim 3 wirelessly receives a signal including a unique ID and teaching information from a portable teaching operation device, and controls a movable machine disposed in a protective fence that restricts the entry and exit of a person based on the teaching information. in determining device provided on the movable machine control system, the adjustable-transportable teaching operation signals including a unique ID of the accepted transportable teaching operation apparatus via at least two or more of the plurality of directional antennas provided in different positions Detecting means for detecting the received signal strength of the signal including each unique ID when received from the device, and at least two unique IDs having the same unique ID among the received signal strengths of the signals including each unique ID; determine for the received signal strength of the signal included in a respective source to the overlapping area of coverage of the directional antenna the acceptable-transportable teaching operation apparatus to determine whether the position It is determined whether or not the received signal strength of a signal including at least two unique IDs having the same unique ID is equal to or greater than a determination threshold, and the transmission source that has transmitted the signal including the unique ID It is determined that a part of the reception range of the directional antenna is located in an overlapping region where they overlap each other, and has a determination unit that outputs the determination result,
The overlapping range of the received signal strength that is the reception range of the at least two directional antennas and is equal to or greater than the determination threshold is disposed outside the operation region of the movable machine in the protective fence. The gist of the determination device is as follows.

以上詳述したように、請求項１及び請求項２の発明によれば、アンテナの受信範囲（検知領域）を設定することができ、複数の送信元が存在しても、前記安定した大きさの受信範囲（検知領域）にいずれの送信元が存在しているか否かの判定をすることができる。 As described above in detail, according to the first and second aspects of the invention, the antenna reception range (detection region) can be set, and the stable size can be obtained even when there are a plurality of transmission sources. It is possible to determine which transmission source is present in the reception range (detection region).

また、請求項１及び請求項２の発明によれば、少なくとも２個以上の指向性アンテナの受信範囲における前記判定閾値以上の受信信号強度の重複領域が、前記可動機械の動作領域外に配置されていることにより、可動機械の動作領域外に、可搬式教示操作装置を位置させた場合に、上記効果を実現でき、可搬式操作装置を持つ作業者の安全を図ることができる。 According to the first and second aspects of the present invention, the overlapping area of the received signal strength equal to or higher than the determination threshold in the receiving range of at least two directional antennas is disposed outside the operating area of the movable machine. Therefore, when the portable teaching operation device is positioned outside the operation area of the movable machine, the above-described effects can be realized, and the safety of the worker having the portable operation device can be ensured.

また、防護柵内に前記重複領域があるため、防護柵内においてのみ作業者が教示することで、教示する作業者の安全を確保することができる。
さらに、判定閾値以上の受信信号強度の場合に限って、その受信信号に含まれる教示情報に基づいて、防護柵内に配置された可動機械を制御できるため、重複領域において、さらに限定された領域でのみ稼働機械を制御することができる利点がある。
請求項３の発明によれば、請求項１の可動機械システム、及び請求項２の可動機械制御システムを実現可能な判定装置として提供できる。 In addition, since the overlapping area is present in the protective fence, the operator can be secured only by teaching in the protective fence.
Furthermore, only when the received signal strength is equal to or higher than the determination threshold, the movable machine arranged in the protective fence can be controlled based on the teaching information included in the received signal. There is an advantage that the operating machine can be controlled only by.
According to the invention of claim 3 , the movable machine system of claim 1 and the movable machine control system of claim 2 can be provided as a determination device capable of being realized.

本発明を具体化した一実施形態のロボットシステムの配置関係を示す概略図。Schematic which shows the arrangement | positioning relationship of the robot system of one Embodiment which actualized this invention. （ａ）はロボットシステムのブロック図、（ｂ）は、教示操作装置のブロック図。(A) is a block diagram of a robot system, (b) is a block diagram of a teaching operation device. データパケットの説明図。Explanatory drawing of a data packet. 判定部２２が実行する領域検知判定のフローチャート。The flowchart of the area | region detection determination which the determination part 22 performs. アンテナ、安全柵、教示操作装置（局）の配置関係を示す説明図。Explanatory drawing which shows the arrangement | positioning relationship of an antenna, a safety fence, and a teaching operation apparatus (station | game). アンテナ、安全柵、教示操作装置（局）の配置関係を示す説明図。Explanatory drawing which shows the arrangement | positioning relationship of an antenna, a safety fence, and a teaching operation apparatus (station | game). アンテナ、安全柵、教示操作装置（局）の配置関係を示す説明図。Explanatory drawing which shows the arrangement | positioning relationship of an antenna, a safety fence, and a teaching operation apparatus (station | game). 一実施形態の作用の説明図。Explanatory drawing of the effect | action of one Embodiment. 一実施形態の作用の説明図。Explanatory drawing of the effect | action of one Embodiment. 一実施形態の作用の説明図。Explanatory drawing of the effect | action of one Embodiment. 一実施形態の作用の説明図。Explanatory drawing of the effect | action of one Embodiment. 他の実施形態のアンテナの配置の説明図。Explanatory drawing of arrangement | positioning of the antenna of other embodiment. 従来のシステムの配置を示す概略図。Schematic which shows arrangement | positioning of the conventional system. 従来のシステムの使用状況を示す概略図。Schematic which shows the use condition of the conventional system. 従来の検知領域の説明図。Explanatory drawing of the conventional detection area | region.

以下、本発明の可動機械システムをロボットシステムに具体化した一実施形態を図１〜図１１を参照して説明する。
図１に示すように、ロボットシステムは、可搬式教示操作装置（以下、教示操作装置１０という）と、可動機械制御装置としてのロボット制御装置２０とがネットワーク手段としての無線ＬＡＮ（ローカルエリアネットワーク）を行うことができる送受信装置４０Ａ，４０Ｂを介して接続されることにより構成されている。又、可動機械制御装置としてのロボット制御装置２０と、ネットワーク手段としての無線ＬＡＮ（ローカルエリアネットワーク）を行うことができる送受信装置４０Ａ，４０Ｂとにより、可動機械制御システムとしてのロボット制御システムが構成されている。なお、図１では、ロボット制御装置２０に対して、複数の教示操作装置１０が無線通信可能であるが、説明の便宜上、図１では、１つの教示操作装置１０のみを図示している。 Hereinafter, an embodiment in which the movable machine system of the present invention is embodied in a robot system will be described with reference to FIGS.
As shown in FIG. 1, a robot system includes a portable teaching operation device (hereinafter referred to as a teaching operation device 10) and a robot control device 20 as a movable machine control device as a wireless LAN (local area network) as network means. It is comprised by connecting via the transmitter / receiver 40A, 40B which can perform. A robot control system as a movable machine control system is configured by the robot control device 20 as a movable machine control device and the transmission / reception devices 40A and 40B capable of performing a wireless LAN (local area network) as a network means. ing. In FIG. 1, a plurality of teaching operation devices 10 can wirelessly communicate with the robot control device 20. However, for convenience of explanation, only one teaching operation device 10 is illustrated in FIG. 1.

このロボットシステムのロボット制御装置２０が制御するロボットＲは、例えば溶接ロボットである。なお、可動機械としては、溶接ロボットに限定されるものではなく、例えば搬送ロボット等の他のロボット等の可動する装置であってもよい。 The robot R controlled by the robot controller 20 of this robot system is, for example, a welding robot. The movable machine is not limited to a welding robot, and may be a movable device such as another robot such as a transfer robot.

ロボットＲは、防護柵としての安全柵５０に囲まれている。本実施形態では、安全柵５０は、平面視で四角枠状に形成され、ロボットＲの高さよりも高い高さを有する。なお、安全柵５０の高さは、限定されるものではなく、作業者Ｍが容易に入れない高さであればよい。又、安全柵５０の平面視の形状は四角枠に限定されるものではなく、円形状、楕円状等の他の形状であってもよい。安全柵５０で囲まれた空間のうち、ロボットのアームの作動が許容される空間は、動作領域Ｄである。又、動作領域Ｄ外の安全柵５０内の空間領域が作業者が入る許容空間である。安全柵５０には、出入口扉９２が設けられており、出入口扉９２を開放することにより、安全柵５０内に設けられた出入口を介して作業者Ｍは入ることが可能となっている。出入口扉９２は、前記出入口を閉鎖する位置に位置した際にドアロックされることが可能である。 The robot R is surrounded by a safety fence 50 as a protective fence. In the present embodiment, the safety fence 50 is formed in a square frame shape in a plan view and has a height higher than the height of the robot R. In addition, the height of the safety fence 50 is not limited and may be a height that the worker M cannot easily enter. Further, the shape of the safety fence 50 in a plan view is not limited to a square frame, and may be other shapes such as a circular shape and an elliptical shape. Of the space surrounded by the safety fence 50, the space where the operation of the robot arm is allowed is the operation region D. Further, the space area inside the safety fence 50 outside the operation area D is an allowable space for the operator to enter. The safety fence 50 is provided with an entrance door 92. By opening the entrance door 92, the worker M can enter through the entrance provided in the safety fence 50. The door 92 can be locked when the door 92 is positioned to close the door.

教示操作装置１０は、ＣＰＵ（中央処理装置）１１、ＲＯＭ１２、ＲＡＭ１３、ハードディスク１４、無線ＬＡＮＩ／Ｆ（インターフェイス）１５、キーボード１６、表示装置１７の各部を備えているとともに各部はバス１９を介して接続されている。 The teaching operation device 10 includes a CPU (central processing unit) 11, a ROM 12, a RAM 13, a hard disk 14, a wireless LAN I / F (interface) 15, a keyboard 16, and a display device 17. It is connected.

ＲＯＭ１２には、教示操作装置１０からのロボットＲの操作や通信を実行するためのプログラムが格納されている。さらに、ＲＯＭ１２が格納するプログラムには、例えば、表示装置１７を表示制御するためのＧＵＩ表示処理プログラム、ＣＰＵ１１をパソコンとして機能させるための各種プログラムが格納されている。ＲＡＭ１３は、ＣＰＵ１１のワーキングエリアとして用いられ、計算途中のデータが一時的に格納されている。ハードディスク１４には、制御プログラムの実行変数が格納されている。 The ROM 12 stores a program for executing operation and communication of the robot R from the teaching operation device 10. Furthermore, the program stored in the ROM 12 stores, for example, a GUI display processing program for controlling the display of the display device 17 and various programs for causing the CPU 11 to function as a personal computer. The RAM 13 is used as a working area for the CPU 11 and temporarily stores data being calculated. The hard disk 14 stores execution variables of the control program.

無線ＬＡＮＩ／Ｆ１５はロボット制御装置２０との無線接続に使用される通信機であって、送受信部１５ａを備えており、該送受信部１５ａにより、ロボット制御装置２０の送受信装置４０Ａ，４０Ｂと無線通信が可能である。 The wireless LAN I / F 15 is a communication device used for wireless connection with the robot control device 20, and includes a transmission / reception unit 15a. The transmission / reception unit 15a performs wireless communication with the transmission / reception devices 40A and 40B of the robot control device 20. Is possible.

送受信装置４０Ａ，４０Ｂのアンテナ６１，６２は、指向性アンテナからなり、図２に示すように安全柵５０の対角線上の対向するコーナにそれぞれ設けられている。前記指向性アンテナは、例えば、八木宇田アンテナでもよく、或いはパラボラアンテナでもよい。本実施形態では、アンテナ６１，６２により、ダイバーシティアンテナが構成されている。 The antennas 61 and 62 of the transmission / reception devices 40A and 40B are directional antennas, and are provided at opposite corners on the diagonal of the safety fence 50 as shown in FIG. The directional antenna may be, for example, a Yagi-Uda antenna or a parabolic antenna. In this embodiment, the antennas 61 and 62 constitute a diversity antenna.

送受信装置４０Ａ及び送受信装置４０Ｂは同一構成のため、以下の説明では、送受信装置４０Ａが備える各部の機能について説明するが、送受信装置４０Ｂの機能についても、送受信装置４０Ａが備える各部と同一の構成は同様の機能を備えるものと理解されたい。又、以下では、送受信装置４０Ｂの各部において、送受信装置４０Ａと同一構成については、説明の便宜上、同一符号を付した構成で説明することがある。 Since the transmission / reception device 40A and the transmission / reception device 40B have the same configuration, in the following description, the function of each unit included in the transmission / reception device 40A will be described, but the configuration of the transmission / reception device 40B is the same as that of each unit included in the transmission / reception device 40A. It should be understood as having similar functions. In the following, in each part of the transmission / reception device 40B, the same configuration as the transmission / reception device 40A may be described with the same reference numeral for the sake of convenience.

送受信装置４０Ａは、送信機４１、受信機４２、信号強度測定部４３（ＲＳＳＩ：Received Signal Strength Indicator）、送信元ＩＤ確認部４４、及びデータ処理部４５を備えている。 The transmission / reception device 40A includes a transmitter 41, a receiver 42, a signal strength measurement unit 43 (RSSI: Received Signal Strength Indicator), a transmission source ID confirmation unit 44, and a data processing unit 45.

送信機４１及び受信機４２は、教示操作装置１０をはじめとする複数の教示操作装置の無線ＬＡＮＩ／Ｆ１５と無線通信が可能である。受信機４２と無線ＬＡＮＩ／Ｆ１５間のパケット通信において、教示操作装置１０から送信されるデータパケットは、教示操作装置１０のＣＰＵ１１により予め定められた通信プロトコルによってパケットの形式で生成される。データパケットは、固有ＩＤ受信信号に相当する。 The transmitter 41 and the receiver 42 can wirelessly communicate with the wireless LAN I / F 15 of a plurality of teaching operation devices including the teaching operation device 10. In packet communication between the receiver 42 and the wireless LAN I / F 15, a data packet transmitted from the teaching operation device 10 is generated in the form of a packet by a communication protocol predetermined by the CPU 11 of the teaching operation device 10. The data packet corresponds to a unique ID reception signal.

ここで、受信機４２が受信するデータパケットについて説明する。
図３は、教示操作装置１０から無線通信で送信されるデータパケットの一例を示している。同図に示すように、データパケットには、教示操作装置１０から、送信したいロボット制御装置２０を特定する宛先データ７０、送信元を特定する送信元データ８０、教示データ或いは非教示データ等を含むＴＰ（ティーチペンダント）データ９０、誤り検出データ１００等が含まれる。ＴＰデータ９０には、ロボットの動作を行わせるための各種動作指令、或いは、ロボット制御装置２０の動作外処理部２６でロボットの動作以外の処理を行わせるためのデータが含まれる。ＴＰデータ９０は、教示情報に相当する。 Here, the data packet received by the receiver 42 will be described.
FIG. 3 shows an example of a data packet transmitted from the teaching operation device 10 by wireless communication. As shown in the figure, the data packet includes destination data 70 for specifying the robot control device 20 to be transmitted from the teaching operation device 10, transmission source data 80 for specifying the transmission source, teaching data or non-teaching data, and the like. TP (teach pendant) data 90, error detection data 100, and the like are included. The TP data 90 includes various operation commands for causing the robot to operate, or data for causing the non-operation processing unit 26 of the robot control device 20 to perform processes other than the robot operation. The TP data 90 corresponds to teaching information.

前記送信元データ８０は、ＩＤ情報８２と経由地情報８４とからなる。前記ＩＤ情報８２は、送信元、すなわち、教示操作装置１０を特定するための情報であり、固有ＩＤに相当する。 The transmission source data 80 includes ID information 82 and waypoint information 84. The ID information 82 is information for specifying the transmission source, that is, the teaching operation device 10, and corresponds to a unique ID.

経由地情報８４は、このデータパケットがどこを経由したかを示す受信アンテナの番号情報８６及び受信信号強度８８とを含む。教示操作装置１０から送信する際には、教示操作装置１０のＣＰＵ１１により、受信アンテナの番号情報８６としてどこも経由していないことを示す初期値、及び、受信信号強度８８の初期値がセットされる。 The waypoint information 84 includes receiving antenna number information 86 and received signal strength 88 indicating where the data packet has passed. When transmitting from the teaching operation device 10, the CPU 11 of the teaching operation device 10 sets an initial value indicating that nowhere is passed as the receiving antenna number information 86 and an initial value of the received signal strength 88. .

そして、受信機４２においては、受信したデータパケットに対し、番号情報８６として、当該データパケットを受信したアンテナ６１の固有情報である受信アンテナの番号情報８６が格納される。すなわち、送受信装置４０Ａでは、受信機４２により、受信したデータパケットには、番号情報８６により送受信装置４０Ａのアンテナ６１を経由して受信されたことが示される。又、受信機４２では、誤り検出データ１００により、データ化けの通信エラーがないか否かを確認する。 Then, the receiver 42 stores, as the number information 86 for the received data packet, the reception antenna number information 86 that is unique information of the antenna 61 that has received the data packet. That is, in the transmission / reception device 40A, the receiver 42 indicates that the received data packet is received by the number information 86 via the antenna 61 of the transmission / reception device 40A. Further, the receiver 42 confirms whether or not there is a garbled communication error based on the error detection data 100.

受信機４２において、誤り検出データ１００に基づいて通信エラーがない場合、前記信号強度測定部４３は、前記データパケットに係る受信信号（無線信号）の受信レベル、すなわち、受信信号強度が検出可能である。信号強度測定部４３は、検出手段に相当する。又、前記通信エラーがない場合、信号強度測定部４３は、前記検出した当該データパケットの受信レベル（受信信号強度）を、受信したデータパケットの受信信号強度８８として格納する。 In the receiver 42, when there is no communication error based on the error detection data 100, the signal strength measuring unit 43 can detect the reception level of the received signal (radio signal) related to the data packet, that is, the received signal strength. is there. The signal intensity measurement unit 43 corresponds to a detection unit. If there is no communication error, the signal strength measuring unit 43 stores the detected reception level (reception signal strength) of the data packet as the reception signal strength 88 of the received data packet.

送信元ＩＤ確認部４４では、受信機４２で受信したデータパケットの送信元データ８０のＩＤ情報８２を確認し、図示しない記憶部に、無線通信を要求している教示操作装置１０のＩＤ情報を格納する。 The transmission source ID confirmation unit 44 confirms the ID information 82 of the transmission source data 80 of the data packet received by the receiver 42, and stores the ID information of the teaching operation device 10 requesting wireless communication in a storage unit (not shown). Store.

このようにして、受信機４２で受信されたデータパケットは、信号強度測定部４３で、経由地情報８４（番号情報８６及び受信信号強度８８）が格納され、かつ、送信元ＩＤ確認部４４で確認された場合、データ処理部４５を介して、ネットワークＮＬ１を介してロボット制御装置２０に送られる。 In this way, the data packet received by the receiver 42 is stored in the signal strength measuring unit 43 in the transit point information 84 (number information 86 and received signal strength 88), and in the transmission source ID confirmation unit 44. If confirmed, the data is sent to the robot controller 20 via the data processing unit 45 and the network NL1.

なお、送受信装置４０Ｂでは、教示操作装置１０から送信されてアンテナ６２を介して受信したデータパケットは、送受信装置４０Ａと同様に処理されて、データ処理部４５を介して、ネットワークＮＬ２を介してロボット制御装置２０に送られる。 In the transmission / reception device 40B, the data packet transmitted from the teaching operation device 10 and received via the antenna 62 is processed in the same manner as the transmission / reception device 40A, and the robot is transmitted via the data processing unit 45 and the network NL2. It is sent to the control device 20.

ロボット制御装置２０は、判定手段としての判定部２２と、ロボット制御部２４及び動作外処理部２６とを備えている。本実施形態では、判定部２２と、送受信装置４０Ａ，４０Ｂの信号強度測定部４３とにより、判定装置が構成されている。 The robot control apparatus 20 includes a determination unit 22 as a determination unit, a robot control unit 24, and an out-of-motion processing unit 26. In the present embodiment, the determination unit 22 and the signal intensity measurement unit 43 of the transmission / reception devices 40A and 40B constitute a determination device.

判定部２２は、送受信装置４０Ａ，４０Ｂのデータ処理部４５にネットワークＮＬ１，ＮＬ２を介してそれぞれ接続されている。判定部２２は、ＣＰＵ、ＲＯＭ、ＲＡＭを備えており、該ＲＯＭに格納された領域検知判定プログラムに従い送受信装置４０Ａ，４０Ｂのデータ処理部４５から送られてきたデータパケットに関して、後述する領域検知判定を行う。 The determination unit 22 is connected to the data processing unit 45 of the transmission / reception devices 40A and 40B via the networks NL1 and NL2, respectively. The determination unit 22 includes a CPU, a ROM, and a RAM. Regarding the data packet sent from the data processing unit 45 of the transmission / reception devices 40A and 40B according to the region detection determination program stored in the ROM, the region detection determination described later is performed. I do.

ロボット制御部２４は、図示はしないがＣＰＵ、ＲＯＭ、ＲＡＭ、ロボットＲを駆動するためのサーボドライバ、及びビデオＲＡＭ等の各部を備えているとともに各部はバス（図示しない）を介して接続されている。前記ＲＯＭには、ロボット制御装置２０が制御対象とするロボットＲの動作制御を実行するための制御プログラムとその制御定数等が格納されている。前記サーボドライバは、ロボットＲの各関節を駆動する図示しないモータに接続され、該モータに通電させる電流を制御する。そして、前記ＣＰＵは、教示データに基づいて、前記サーボドライバを介してロボットＲを制御する。前記ビデオＲＡＭは、教示操作装置１０の表示装置１７に表示するＧＵＩ画面のデータを教示操作装置１０へ送出する前に一時保存するために使用される。 Although not shown, the robot controller 24 includes a CPU, a ROM, a RAM, a servo driver for driving the robot R, a video RAM, and the like, and each part is connected via a bus (not shown). Yes. The ROM stores a control program for controlling the operation of the robot R to be controlled by the robot control device 20, control constants, and the like. The servo driver is connected to a motor (not shown) that drives each joint of the robot R and controls a current to be supplied to the motor. Then, the CPU controls the robot R via the servo driver based on the teaching data. The video RAM is used to temporarily store the GUI screen data to be displayed on the display device 17 of the teaching operation device 10 before sending it to the teaching operation device 10.

ロボット制御部２４のＣＰＵは、前記判定部２２の判定結果により、データパケットのＴＰデータが送られてきた場合に、ＴＰデータ９０（動作指令）に基づいてロボットＲの動作を行わせる。 The CPU of the robot control unit 24 causes the robot R to operate based on the TP data 90 (operation command) when the TP data of the data packet is sent according to the determination result of the determination unit 22.

動作外処理部２６は図示はしないがＣＰＵ、ＲＯＭ、ＲＡＭを備えており、前記判定部２２の判定結果により、データパケットの動作指令以外のＴＰデータが送られてきた場合に、該ＴＰデータ９０に基づいて、ロボット制御とは無関係のロボット動作外処理を行う。このロボット動作外処理とは、例えば、ロボットＲを管理するためのデータ作成、メンテナンス情報等の集計、報告等の処理があるが、これらの処理に限定されるものではない。 The non-operation processing unit 26 includes a CPU, a ROM, and a RAM (not shown). When TP data other than the data packet operation command is sent according to the determination result of the determination unit 22, the TP data 90 is displayed. Based on the above, processing outside the robot operation unrelated to the robot control is performed. Examples of the robot out-of-motion processing include processing such as data creation for managing the robot R, totalization of maintenance information, and reporting, but are not limited to these processing.

又、安全柵５０には、出入口扉９２がドアロックがされている否かを検出するドアロック確認器９４と接続されている。ドアロック確認器９４は、出入口扉９２が閉じられているときに、図示しない接点がオン（閉）となり、判定部２２にオン信号を入力するようになっている。すなわち、出入口扉９２が閉じられているときは、安全柵５０内でロボットＲの自動運転が行われる（作業者Ｍによる教示操作は行われない）ものとみなして判定部２２にオン信号を入力し、出入口扉９２が開いているときは、安全柵５０内に作業者Ｍが侵入して教示操作を行うものとみなして判定部２２にオン信号を入力しない。 Further, the safety fence 50 is connected to a door lock confirming device 94 that detects whether the doorway door 92 is locked. The door lock checker 94 is configured to turn on (close) a contact (not shown) when the entrance door 92 is closed, and to input an ON signal to the determination unit 22. That is, when the door 92 is closed, it is assumed that the robot R is automatically operated within the safety fence 50 (the teaching operation by the worker M is not performed), and an ON signal is input to the determination unit 22. When the entrance door 92 is open, it is considered that the worker M enters the safety fence 50 and performs the teaching operation, and the ON signal is not input to the determination unit 22.

（実施形態の作用）
さて、上記のように構成されたロボットシステムの作用を図４〜１１を参照して説明する。 (Operation of the embodiment)
Now, the operation of the robot system configured as described above will be described with reference to FIGS.

図４は、領域検知判定プログラムに従い判定部２２が実行する領域検知判定のフローチャートである。判定部２２は、ドアロック確認器９４からオン信号が入力されていない際に、Ｓ１０において、送受信装置４０Ａ，４０Ｂから送られてきたデータパケット（受信信号）の有無の確認を行う。すなわち、出入口扉９２のドアロックがされている場合には、作動しないようになっている。 FIG. 4 is a flowchart of region detection determination executed by the determination unit 22 in accordance with the region detection determination program. Determining unit 22, when the ON signal from the door lock validator 94 is not input, performs at S 10, transceiver 40A, the confirmation of the presence or absence of data packets sent from 40B (reception signal). That is, the door does not operate when the door 92 is locked.

Ｓ１０において、データパケット（受信信号）がない場合は、Ｓ１１０に移行する。Ｓ１１０では、タイマがタイムアップするまで、待つ。このタイマは、所定時間カウントする毎にタイムアップしてリセットされ、再度タイマ動作する。本実施形態では、数ｍｓｅｃ毎にタイムアップするが、このタイマ動作の時間は限定されるものではない。なお、このタイマ動作の周期は、教示操作装置１０が続けてデータパケットを送信する周期と同程度が好ましい。 In S10, when there is no data packet (received signal), the process proceeds to S110. In S110, the process waits until the timer expires. This timer is timed up and reset every time a predetermined time is counted, and the timer operates again. In this embodiment, the time is increased every several milliseconds, but the time for this timer operation is not limited. Note that the period of the timer operation is preferably about the same as the period in which the teaching operation device 10 continuously transmits data packets.

Ｓ１０において、データパケット（受信信号）がある場合は、Ｓ２０において、判定部２２は、経由地情報８４に基づいてアンテナ６１のデータパケット（受信信号）の送信元データ８０のＩＤ情報８２を解読する。又、次のＳ３０において、判定部２２は、経由地情報８４に基づいてアンテナ６２のデータパケット（受信信号）の送信元データ８０のＩＤ情報８２を解読する。 In S10, when there is a data packet (received signal), in S20, the determination unit 22 decodes the ID information 82 of the transmission source data 80 of the data packet (received signal) of the antenna 61 based on the waypoint information 84. . In the next S 30, the determination unit 22 decodes the ID information 82 of the transmission source data 80 of the data packet (received signal) of the antenna 62 based on the waypoint information 84.

Ｓ４０では、判定部２２は、アンテナ６１，アンテナ６２が受信した信号（受信信号）の受信信号強度を、それぞれのアンテナが受信したデータパケットの受信信号強度８８から読出し、それぞれのデータパケットから固有ＩＤであるＩＤ情報８２毎に、並べる。 In S40, the determination unit 22 reads the received signal strengths of the signals (received signals) received by the antennas 61 and 62 from the received signal strengths 88 of the data packets received by the respective antennas, and identifies the unique ID from each data packet. Are arranged for each ID information 82.

すなわち、この場合は、データパケットを送信した教示操作装置１０は１つ以上ある場合があり、各教示操作装置１０の固有ＩＤであるＩＤ情報８２毎にそれぞれのアンテナが受信したデータパケットの受信信号強度を並べるのである。 That is, in this case, there may be one or more teaching operation devices 10 that have transmitted data packets, and reception signals of data packets received by the respective antennas for each ID information 82 that is a unique ID of each teaching operation device 10. It arranges the strength.

次に、Ｓ５０では、判定部２２は、固有ＩＤであるＩＤ情報８２が同じもの（データパケット）同士で受信信号強度を確認する。
そして、Ｓ５０において、判定部２２は、固有ＩＤであるＩＤ情報８２が同じデータパケット（受信信号）が、共に判定閾値以上であれば、Ｓ７０に移行し、判定閾値未満であれぱ、Ｓ１００で、受信信号を破棄し、Ｓ１１０に移行する。なお、本実施形態では、判定閾値は受信信号強度で６０％以上としているがこの数値に限定されるものではない。 Next, in S <b> 50, the determination unit 22 confirms the received signal strength between the same ID data 82 (data packets) that are unique IDs.
In S50, the determination unit 22 proceeds to S70 if both data packets (reception signals) having the same ID information 82 as the unique ID are equal to or greater than the determination threshold value. The received signal is discarded and the process proceeds to S110. In the present embodiment, the determination threshold is 60% or more in received signal strength, but is not limited to this value.

Ｓ７０では、判定部２２は、Ｓ６０で判定した各データパケットのＴＰデータ９０を比較する。そして、Ｓ８０において、判定部２２は、Ｓ７０で比較した結果、ＴＰデータが同じであり、相違しないと判定した場合はＳ９０に移行し、ＴＰデータが相違する場合は、Ｓ１００で比較した各データパケットを破棄する。 In S70, the determination unit 22 compares the TP data 90 of each data packet determined in S60. In S80, if the determination unit 22 determines that the TP data are the same and are not different as a result of the comparison in S70, the process proceeds to S90, and if the TP data is different, the data packets compared in S100. Is discarded.

Ｓ９０では、判定部２２は、データパケットのＴＰデータが一致しているため、このＴＰデータが、ロボット動作に関する動作指令である場合は、ロボット制御部２４に該データを送る。又、このＴＰデータが、動作指令でない場合は、動作外処理部２６に該データを送る。この後、判定部２２は、Ｓ１０に戻る。 In S90, since the TP data of the data packet matches, the determination unit 22 sends the data to the robot control unit 24 when the TP data is an operation command related to the robot operation. If the TP data is not an operation command, the data is sent to the non-operation processing unit 26. Thereafter, the determination unit 22 returns to S10.

従って、Ｓ８０において、相違ないと判定されているため、ロボット制御部２４又は動作外処理部２６では、送られてきたデータパケットに基づいて必要な処理を行う。例えば、教示情報としてのＴＰデータがロボット制御部２４に送られてきたときには、そのＴＰデータに基づいてロボットＲを動作制御する。 Therefore, since it is determined in S80 that there is no difference, the robot control unit 24 or the non-operation processing unit 26 performs necessary processing based on the sent data packet. For example, when TP data as teaching information is sent to the robot controller 24, the robot R is controlled based on the TP data.

（受信信号強度について）
ここで、本実施形態の受信信号強度についての考え方について説明する。なお、下記説明の便宜上、図５、図６を参照して、アンテナの受信信号の強度の呼び方を定義する。 (Received signal strength)
Here, the concept of the received signal strength of this embodiment will be described. For convenience of the following description, a method of calling the strength of the received signal of the antenna is defined with reference to FIGS.

図５においては、互いに離間して配置された一対の防護柵Ａ，Ｂ（安全柵）が設けられているものとし、平面視で四角枠をなす各防護柵Ａ，Ｂのそれぞれ１つのコーナに、水滴形の領域の受信範囲を有する指向性アンテナＡ１，Ｂ１が設けられているものとする。なお、この場合、使用する指向性アンテナＡ１，Ｂ１は、指向方向とは反対側である後方から届く信号については受信しないものを選択するものとする。 In FIG. 5, it is assumed that a pair of guard fences A and B (safety fences) arranged apart from each other are provided, and each corner of each guard fence A and B forming a square frame in plan view is provided. It is assumed that directional antennas A1 and B1 having a water drop shaped reception range are provided. In this case, the directional antennas A1 and B1 to be used are selected so as not to receive signals arriving from the rear side opposite to the directional direction.

又、図６に示すように、アンテナＢ１が、防護柵Ｂ内に位置するＢ局から受信する信号の強度（受信信号強度）をＰｏｗｅｒ（Ｂ→Ｂ１）とし、隣の防護柵Ａ内にあるアンテナＡ１が前記Ｂ局から受信する信号の強度（受信信号強度）をＰｏｗｅｒ（Ｂ→Ａ１）と表記する。なお、Ａ局、Ｂ局は、前記実施形態の教示操作装置１０に相当するものである。 Further, as shown in FIG. 6, the antenna B1 is in the adjacent guard fence A with the strength of the signal received from the station B located in the guard fence B (received signal strength) being Power (B → B1). The intensity of the signal received by the antenna A1 from the station B (reception signal intensity) is denoted as Power (B → A1). Station A and station B correspond to the teaching operation device 10 of the embodiment.

上記のようにして、受信信号強度の表示を定義した上で、図７に示す事例を考える。図７は、防護柵Ａの各コーナに指向性アンテナＡ１〜Ａ４を設けた場合の説明図である。ここでは、防護柵Ａの各コーナに指向性アンテナＡ１〜Ａ４が配置されているものとし、それぞれの指向性アンテナの指向方向が、防護柵Ａの各コーナの対角線上における内方に向かっているものとする。又、指向性アンテナＡ２、Ａ４は、防護作Ａが囲む範囲であって、その受信範囲の一部が図７に示すように重複領域を有するように設定されているものとする。 Consider the case shown in FIG. 7 after defining the display of received signal strength as described above. FIG. 7 is an explanatory diagram when the directional antennas A1 to A4 are provided at each corner of the protective fence A. FIG. Here, it is assumed that the directional antennas A1 to A4 are arranged at the corners of the protective fence A, and the directivity directions of the directional antennas are directed inward on the diagonal lines of the corners of the protective fence A. Shall. Further, the directional antennas A2 and A4 are assumed to be set in such a range that the protective operation A surrounds and a part of the reception range has an overlapping area as shown in FIG.

図７では、指向性アンテナＡ２，Ａ４の受信信号強度が９８％以上の範囲については、水滴形のラインで囲んでおり、同図に示すように、９８％以上の受信信号強度の範囲の一部を、重複領域としている。なお、信号を送信する教示操作装置であるＡ局、Ａ’局、Ｂ局の信号出力を同じとし、その位置をさまざまに変えて、それぞれのアンテナＡ１〜Ａ４が受信できた最大の信号の強度を１００％とする。 In FIG. 7, the range in which the received signal strength of the directional antennas A2 and A4 is 98% or more is surrounded by a waterdrop-shaped line, and as shown in FIG. The part is an overlapping area. Note that the signal output of the teaching operation devices A, A ′, and B, which transmit signals, is the same, and the positions of the signals are changed in various ways, so that the maximum signal intensity received by each of the antennas A1 to A4. Is 100%.

図７に示すように、Ａ局は、指向性アンテナＡ２，Ａ４の受信信号強度が９８％以上となる受信範囲の重複領域に位置する。
又、Ａ’局は、指向性アンテナＡ２の受信信号強度が９８％以上の受信範囲から外れた、７９％の受信信号強度となる位置であって、指向性アンテナＡ４の受信信号強度が９８％以上となる受信範囲に位置するものとする。 As shown in FIG. 7, station A is located in the overlapping area of the reception range where the received signal strength of the directional antennas A2 and A4 is 98% or more.
Further, the station A ′ is a position where the received signal strength of the directional antenna A2 is out of the reception range of 98% or more and the received signal strength of the directional antenna A4 is 98%. It is assumed that it is located in the above reception range.

又、Ｂ局は、防護柵Ａから外れた位置であり、指向性アンテナＡ２の受信信号強度が７５％の受信範囲であって、指向性アンテナＡ４の受信信号強度が２％の受信範囲（すなわち、指向性アンテナＡ４の後方）に位置する。 In addition, the B station is located away from the protective fence A, the reception signal strength of the directional antenna A2 is a reception range of 75%, and the reception signal strength of the directional antenna A4 is 2% (that is, a reception range). , Located behind the directional antenna A4).

この場合、各教示操作装置（Ａ局、Ａ’局、Ｂ局）から送信される信号を、指向性アンテナＡ２，Ａ４で構成されるダイバーシティーアンテナが受信するとき、およそ図７に示すような受信信号強度となる。 In this case, when the diversity antenna composed of the directional antennas A2 and A4 receives the signals transmitted from the teaching operation devices (A station, A 'station, B station), as shown in FIG. Received signal strength.

指向性アンテナＡ２の各局の受信信号強度
Ｐｏｗｅｒ（Ａ→Ａ２）＝９８％
Ｐｏｗｅｒ（Ａ’→Ａ２）＝７９％
Ｐｏｗｅｒ（Ｂ→Ａ２）＝７５％
指向性アンテナＡ４の各局の受信信号強度
Ｐｏｗｅｒ（Ａ’→Ａ４）＝９８％
Ｐｏｗｅｒ（Ａ→Ａ４）＝９８％
Ｐｏｗｅｒ（Ｂ→Ａ４）＝２％
さて、図８は、図７の事例にさらに、Ａ”局を追加した事例であり、前記フローチャートのＳ６０の判定と関連して説明する。 Received signal strength of each station of directional antenna A2 Power (A → A2) = 98%
Power (A '→ A2) = 79%
Power (B → A2) = 75%
Received signal strength of each station of directional antenna A4 Power (A ′ → A4) = 98%
Power (A → A4) = 98%
Power (B → A4) = 2%
FIG. 8 shows an example in which the station A ″ is further added to the case of FIG. 7 and will be described in connection with the determination in S60 of the flowchart.

なお、信号を送信する教示操作装置であるＡ局、Ａ’局、Ａ”局、Ｂ局の信号出力を同じとし、その位置をさまざまに変えて、それぞれのアンテナＡ１〜Ａ４が受信できた最大の信号の強度を１００％とする。 It is to be noted that the maximum signal that each antenna A1 to A4 could receive by changing the position of the signal output of the A, A ′, A ″, and B stations, which are teaching operation devices that transmit signals, is the same. The signal intensity is 100%.

そして、Ａ”局は、防護柵Ａ内であって、指向性アンテナＡ２，Ａ４の受信強度が３０％の受信範囲に位置するものとする。
この場合、Ａ”局から送信される信号を、アンテナＡ２，Ａ４で構成されるダイバーシティーアンテナが受信するとき、図８に示すような強度となる。 The station A ″ is located in the protection fence A, and is located in the reception range where the reception intensity of the directional antennas A2 and A4 is 30%.
In this case, when a diversity antenna composed of the antennas A2 and A4 receives a signal transmitted from the station A ″, the intensity is as shown in FIG.

指向性アンテナＡ２のＡ”局の受信信号強度
Ｐｏｗｅｒ（Ａ”→Ａ２）＝３０％
指向性アンテナＡ４のＡ”局の受信信号強度
Ｐｏｗｅｒ（Ａ”→Ａ４）＝３０％
図８の例において、例えば、前記実施形態のＳ６０の判定閾値を６０％以上の受信信号強度とした場合、指向性アンテナＡ２，Ａ４の受信範囲が所定閾値（判定閾値）以上の受信信号強度の位置、すなわち、重複領域に、Ａ局及びＡ’局が位置することが判定できる。Ａ局に関しては、受信信号強度が指向性アンテナＡ２，Ａ４の９８％以上となる重複領域に位置したことが判定されたことになる。又、Ａ’局に関しては、指向性アンテナＡ２の受信信号強度が７９％の受信範囲と、指向性アンテナＡ４の受信信号強度が９８％以上となる受信範囲の重複領域に位置することが判定できたことになる。 Received signal strength of A ″ station of directional antenna A2 Power (A ″ → A2) = 30%
Received signal strength of A ″ station of directional antenna A4 Power (A ″ → A4) = 30%
In the example of FIG. 8, for example, when the determination threshold value of S60 in the above embodiment is a received signal strength of 60% or more, the reception range of the directional antennas A2 and A4 is a reception signal strength of a predetermined threshold value (determination threshold value) or more. It can be determined that the station A and the station A ′ are located in the position, that is, in the overlapping region. For station A, it is determined that the received signal strength is located in an overlapping region where the received signal strength is 98% or more of directional antennas A2 and A4. Further, it is possible to determine that the station A ′ is located in an overlapping area between the reception range in which the reception signal strength of the directional antenna A2 is 79% and the reception range in which the reception signal strength of the directional antenna A4 is 98% or more. That's right.

図９は、図８の事例と異なり、指向性アンテナＡ２，Ａ４の９８％以上の受信信号強度の範囲が、防護柵Ａで囲む領域を越えており、かつ、防護柵Ａ内に重複領域が存在する場合であり、各教示操作装置（Ａ局、Ａ’局、Ａ”局、Ｂ局）の位置は、図７の例と同じ位置であるとする。 9 differs from the example of FIG. 8 in that the range of the received signal strength of 98% or more of the directional antennas A2 and A4 exceeds the area surrounded by the protective fence A, and there is an overlapping area in the protective fence A. It is assumed that the positions of the teaching operation devices (A station, A ′ station, A ″ station, B station) are the same positions as in the example of FIG.

この場合、
指向性アンテナＡ２のＡ’局の受信信号強度
Ｐｏｗｅｒ（Ａ’→Ａ２）＝９９％
指向性アンテナＡ４のＡ’局の受信信号強度
Ｐｏｗｅｒ（Ａ’→Ａ４）＝９９％になったとする。 in this case,
Received signal strength at station A ′ of directional antenna A2 Power ( A ′ → A2) = 99%
Assume that the received signal strength of the directional antenna A4 at the station A ′ Power ( A ′ → A4) = 99%.

この図９の例においても、前記実施形態のＳ６０の判定閾値を６０％以上の受信信号強度とした場合、指向性アンテナＡ２，Ａ４の受信範囲が所定閾値（判定閾値）以上の受信信号強度の位置、すなわち、重複領域に、Ａ局及びＡ’局が位置することが判定できる。Ａ局に関しては、受信信号強度が指向性アンテナＡ２，Ａ４の９８％以上となる重複領域にＡ局が位置したことが判定されたことになる。又、Ａ’局に関しては、指向性アンテナＡ２の受信信号強度が９９％の受信範囲と、指向性アンテナＡ４の受信信号強度が９９％以上となる受信範囲の重複領域にＡ’局が位置することが判定できたことになる。 In the example of FIG. 9 as well, when the determination threshold value of S60 in the above embodiment is a received signal strength of 60% or more, the reception range of the directional antennas A2 and A4 is a received signal strength of a predetermined threshold value (determination threshold value) or more. It can be determined that the station A and the station A ′ are located in the position, that is, in the overlapping region. With respect to the A station, it is determined that the A station is located in an overlapping region where the received signal strength is 98% or more of the directional antennas A2 and A4. As for the station A ′, the station A ′ is located in the overlapping area of the reception range where the received signal strength of the directional antenna A2 is 99% and the reception range where the received signal strength of the directional antenna A4 is 99% or more. It was possible to judge.

図１０の例では、指向性アンテナＡ２，Ａ４の受信信号強度が９８％以上の範囲については、水滴形のラインで囲んでおり、同図に示すように、９８％以上の受信信号強度の範囲に、重複領域がない場合の事例である。 In the example of FIG. 10, the range where the received signal strength of the directional antennas A2 and A4 is 98% or more is surrounded by a waterdrop-shaped line, and as shown in FIG. 10, the range of the received signal strength of 98% or more. This is an example when there is no overlapping area.

この場合、図１０に示すように、Ａ局は、指向性アンテナＡ２，Ａ４の受信信号強度が３０％となる受信範囲の重複領域に位置する。
又、Ａ’局は、指向性アンテナＡ２の受信信号強度が２０％受信信号強度となる位置であって、指向性アンテナＡ４の受信信号強度が９９％となる受信範囲に位置するものとする。又、Ａ”局は、指向性アンテナＡ２の受信信号強度が１０％受信信号強度となる位置であって、指向性アンテナＡ４の受信信号強度が１０％となる受信範囲に位置するものとする。又、Ｂ局は、防護柵Ａから外れた位置であり、指向性アンテナＡ２の受信信号強度が３％の受信範囲であって、指向性アンテナＡ４の受信信号強度が２％の受信範囲（すなわち、指向性アンテナＡ４の後方）に位置する。 In this case, as shown in FIG. 10, the station A is located in an overlapping region of the reception range where the reception signal strength of the directional antennas A2 and A4 is 30%.
Further, it is assumed that the station A ′ is located in a reception range where the received signal strength of the directional antenna A2 is 20% and the received signal strength of the directional antenna A4 is 99%. Further, the station A ″ is located at a position where the received signal strength of the directional antenna A2 becomes 10% received signal strength and in a receiving range where the received signal strength of the directional antenna A4 becomes 10%. In addition, the station B is located away from the protective fence A, the reception signal strength of the directional antenna A2 is 3%, and the reception signal strength of the directional antenna A4 is 2% (that is, the reception range) , Located behind the directional antenna A4).

図１０の例において、例えば、前記実施形態のＳ６０の判定閾値を６０％以上の受信信号強度とした場合、指向性アンテナＡ２，Ａ４の受信範囲が所定閾値（判定閾値）以上の受信信号強度の位置、すなわち、重複領域に、Ａ局，Ａ’局，Ａ”局、Ｂ局が位置していないことが判定できる。 In the example of FIG. 10, for example, when the determination threshold value of S60 of the above embodiment is a received signal strength of 60% or more, the reception range of the directional antennas A2 and A4 is a reception signal strength of a predetermined threshold value (determination threshold value) or more. It can be determined that station A, station A ′, station A ″ and station B are not located in the position, that is, in the overlapping region.

さて、本実施形態によれば、以下のような特徴がある。
（１）本実施形態のロボットシステムでは、ＩＤ情報（固有ＩＤ）及びＴＰデータ（教示情報）を含む信号を無線送信する教示操作装置１０（可搬式教示操作装置）を備える。又、ロボットシステムは、受信範囲の一部が互いに重なり合った重複領域を有するように配置された２個のアンテナ６１，６２（指向性アンテナ）と、各アンテナ６１，６２が、ＩＤ情報及びＴＰデータを含むデータパケット（固有ＩＤ受信信号）を受信した際に、この受信信号の受信信号強度を検出する信号強度測定部４３（検出手段）を備える。又、ロボットシステムは、前記データパケット（固有ＩＤ受信信号）の受信信号強度のうち、同じ固有ＩＤを有する２つのデータパケット（固有ＩＤ受信信号）の受信信号強度がそれぞれ重複領域において送信元が位置したか否かを判定するための判定閾値以上か否かを判定する判定部２２（判定手段）を備える。 Now, according to this embodiment, there are the following features.
(1) The robot system of this embodiment includes a teaching operation device 10 (portable teaching operation device) that wirelessly transmits a signal including ID information (unique ID) and TP data (teaching information). In addition, the robot system includes two antennas 61 and 62 (directional antennas) arranged so that a part of the reception range overlaps each other, and each antenna 61 and 62 includes ID information and TP data. When receiving a data packet (unique ID reception signal) including the signal strength, a signal strength measurement unit 43 (detection means) that detects the reception signal strength of the reception signal is provided. Also, the robot system has the received signal strengths of two data packets (unique ID received signals) having the same unique ID out of the received signal strengths of the data packets (unique ID received signals). The determination part 22 (determination means) which determines whether it is more than the determination threshold value for determining whether it was performed is provided.

そして、ロボットシステムは、判定部２２が、同じＩＤ情報を有する２つのデータパケット（固有ＩＤ受信信号）の受信信号強度がそれぞれ判定閾値以上と判定した場合、同じＩＤ情報を有するデータパケット（固有ＩＤ受信信号）に含まれるＴＰデータ（教示情報）に基づいてロボットＲ（可動機械）を制御するロボット制御装置２０（可動機械制御装置）を備えている。 When the determination unit 22 determines that the received signal strengths of two data packets (unique ID reception signals) having the same ID information are each equal to or greater than the determination threshold, the robot system uses the data packets (unique IDs) having the same ID information. A robot controller 20 (movable machine controller) that controls the robot R (movable machine) based on TP data (teaching information) included in the received signal) is provided.

この結果、本実施形態のロボットシステムによれば、アンテナ６１，６２の受信範囲（検知領域）を設定することができ、複数の送信元としての教示操作装置１０が存在しても、判定閾値以上の安定した大きさの受信範囲（検知領域）にいずれの教示操作装置１０（送信元）が存在しているか否かの判定をすることができる。 As a result, according to the robot system of the present embodiment, the reception ranges (detection areas) of the antennas 61 and 62 can be set, and even if there are a plurality of teaching operation devices 10 as transmission sources, the determination threshold value or more is reached. It is possible to determine which teaching operation device 10 (transmission source) is present in the stable reception range (detection region).

（２）本実施形態のロボットシステムでは、２個のアンテナ６１，６２の受信範囲であって、前記判定閾値以上の受信信号強度の重複領域が、ロボットＲ（可動機械）の動作領域Ｄ外に配置されている。 (2) In the robot system according to the present embodiment, the overlapping range of the received signal intensity that is the reception range of the two antennas 61 and 62 is equal to or greater than the determination threshold is outside the operation region D of the robot R (movable machine). Has been placed.

この結果、本実施形態のロボットシステムによれば、ロボットＲの動作領域Ｄ外に、教示操作装置１０を位置させた場合に、上記（１）の作用効果を実現でき、教示操作装置１０を持つ作業者Ｍの安全を図ることができる。 As a result, according to the robot system of the present embodiment, when the teaching operation device 10 is positioned outside the operation region D of the robot R, the effect (1) can be realized, and the teaching operation device 10 is provided. The safety of the worker M can be achieved.

（３）本実施形態のロボットシステムによれば、ロボットＲ（可動機械）が人の出入りを制限する安全柵５０（防護柵）内に位置するように配置され、２個のアンテナ６１，６２の受信範囲における判定閾値以上の受信信号強度の重複領域が、安全柵５０（防護柵）内に位置している。この結果、安全柵５０（防護柵）内に前記重複領域があるため、安全柵５０（防護柵）内においてのみ作業者Ｍが教示することで、教示する作業者の安全を確保することができる。 (3) According to the robot system of this embodiment, the robot R (movable machine) is disposed so as to be positioned in the safety fence 50 (protective fence) that restricts the entry and exit of people, and the two antennas 61 and 62 are arranged. The overlapping area of the received signal strength equal to or higher than the determination threshold in the reception range is located in the safety fence 50 (protective fence). As a result, since the overlap area exists in the safety fence 50 (protective fence), the worker M teaches only in the safety fence 50 (protective fence), thereby ensuring the safety of the worker who teaches. .

（４）本実施形態のロボット制御システムでは、（１）で説明した２個のアンテナ６１，６２（指向性アンテナ）と、信号強度測定部４３（検出手段）と、判定部２２（判定手段）と、ロボット制御装置２０（可動機械制御装置）を備えている。 (4) In the robot control system of the present embodiment, the two antennas 61 and 62 (directional antennas) described in (1), the signal strength measuring unit 43 (detecting unit), and the determining unit 22 (determining unit). And a robot controller 20 (movable machine controller).

この結果、このロボット制御システムを使用することにより前記ロボットシステムにおいて、上記（１）の作用効果を容易に実現することができる。
（５）、本実施形態のロボット制御システムでは、２個のアンテナ６１，６２の受信範囲であって、前記判定閾値以上の受信信号強度の重複領域が、ロボットＲ（可動機械）の動作領域Ｄ外に配置されている。この結果、上記（２）と同様の効果を奏する。 As a result, by using this robot control system, the effect (1) can be easily realized in the robot system.
(5) In the robot control system of the present embodiment, the overlapping range of the received signal intensity that is the reception range of the two antennas 61 and 62 and is equal to or higher than the determination threshold is the operation region D of the robot R (movable machine). Arranged outside. As a result, the same effect as the above (2) is obtained.

（６）本実施形態のロボット制御システムでは、ロボットＲ（可動機械）が人の出入りを制限する安全柵５０（防護柵）内に位置するように配置され、２個のアンテナ６１，６２の受信範囲における判定閾値以上の受信信号強度の重複領域が、安全柵５０（防護柵）内に位置している。この結果、上記（３）の作用効果を容易に実現することができる。 (6) In the robot control system of the present embodiment, the robot R (movable machine) is disposed so as to be positioned in the safety fence 50 (protective fence) that restricts the entry and exit of people, and is received by the two antennas 61 and 62. An overlapping region of received signal strengths that are equal to or higher than the determination threshold in the range is located in the safety fence 50 (protective fence). As a result, the effect (3) can be easily realized.

なお、本発明の実施形態は以下のように変更してもよい。
○ 前記実施形態では、検出手段としての信号強度測定部４３が送受信装置４０Ａ，４０Ｂにそれぞれ設けられ、判定手段としての判定部２２がロボット制御装置２０に設けられていた。この実施形態の構成に代えて、アンテナ６１，６２の受信信号の受信信号強度をそれぞれ検出する検出手段としての信号強度測定部４３を送受信装置４０Ａ，４０Ｂから分離するとともに、判定手段としての判定部２２をロボット制御装置２０から分離して、各指向性アンテナの受信信号の受信信号強度を検出する信号強度測定部４３と判定部２２とを備える判定装置として構成してもよい。 In addition, you may change embodiment of this invention as follows.
In the above-described embodiment, the signal intensity measuring unit 43 as the detection unit is provided in each of the transmission / reception devices 40A and 40B, and the determination unit 22 as the determination unit is provided in the robot control device 20. In place of the configuration of this embodiment, the signal strength measuring unit 43 serving as a detecting unit that detects the received signal strengths of the received signals of the antennas 61 and 62 is separated from the transmission / reception devices 40A and 40B, and the determining unit serving as the determining unit 22 may be separated from the robot control device 20 and configured as a determination device including a signal strength measurement unit 43 and a determination unit 22 that detect the reception signal strength of the reception signal of each directional antenna.

この場合、この判定装置では判定結果として、前記実施形態と同様に固有ＩＤとともに受信したＴＰデータ（教示情報）を出力するようにする。このＴＰデータの出力により、ロボット制御装置では、このＴＰデータに基づいて、ロボットを動作制御することが可能となる。 In this case, this determination apparatus outputs the TP data (teaching information) received together with the unique ID as the determination result, as in the above embodiment. By outputting the TP data, the robot control apparatus can control the operation of the robot based on the TP data.

○ 前記実施形態では、判定閾値を６０％以上としたが、判定閾値を変更してもよい。例えば、図１１の例では、判定閾値を９０％以上とした場合である。この場合は、Ａ局のみが指向性アンテナＡ２，Ａ４の受信信号強度が９８％となるため、Ａ局のみが判定閾値以上の重複領域に存在することが判定できることになる。 In the embodiment, the determination threshold is 60% or more, but the determination threshold may be changed. For example, in the example of FIG. 11, the determination threshold is 90% or more. In this case, since only the A station has the received signal strength of the directional antennas A2 and A4 of 98%, it can be determined that only the A station exists in the overlapping area equal to or greater than the determination threshold.

○ 安全柵の平面視形状が円形の場合には、安全柵において、等角度間隔、或いは、不等角度間隔に複数のアンテナを配置してダイバーシティアンテナとしてもよい。
○ 前記実施形態では、アンテナ６１，６２（ダイバーシティアンテナ）で構成したが、ダイバーシティアンテナの構成は、指向性アンテナが２本に限定されるものではなく、３本以上であってもよい。受信範囲を重ねるために３本や４本であってもよい。この場合、少なくとも一対のアンテナ６１の受信範囲の重複領域が判定閾値以上の受信信号強度を持つようにすればよい。 ○ When the planar shape of the safety fence is circular, a plurality of antennas may be arranged at equal angular intervals or unequal angular intervals on the safety fence to form a diversity antenna.
In the above embodiment, the antennas 61 and 62 (diversity antenna) are used. However, the configuration of the diversity antenna is not limited to two directional antennas, and may be three or more. Three or four may be used to overlap the reception range. In this case, at least the overlapping area of the reception ranges of the pair of antennas 61 may have a received signal strength equal to or higher than the determination threshold.

例えば、前記実施形態において、安全柵５０の平面視で四角の形状のうち、３つのコーナに指向性アンテナを配置して、安全柵５０内において、ロボットＲの動作領域Ｄ外の空間領域に受信範囲を重複させてもよい。又、図１２に示すように、安全柵５０の４つのコーナに指向性アンテナをそれぞれ設けて、安全柵５０内において、ロボットＲの動作領域Ｄ外の空間領域に受信範囲を重複させてもよい。 For example, in the above-described embodiment, directional antennas are arranged at three corners of a square shape in a plan view of the safety fence 50 and received in a space area outside the operation area D of the robot R in the safety fence 50. The ranges may be overlapped. In addition, as shown in FIG. 12, directional antennas may be provided at the four corners of the safety fence 50, and the reception ranges may overlap in the space area outside the operation area D of the robot R in the safety fence 50. .

１０…教示操作装置（可搬式教示操作装置）、
２０…ロボット制御装置、２２…判定部（判定手段）、
２４…ロボット制御部、４０Ａ，４０Ｂ…送受信装置、
５０…安全柵（防護柵）、６１，６２…アンテナ（指向性アンテナ）、
８２…ＩＤ情報（固有ＩＤ）、９０…ＴＰデータ（教示情報）、
Ｄ…動作領域、Ｒ…ロボット（可動機械）。 10 ... Teaching operation device (portable teaching operation device),
20 ... Robot control device, 22 ... Determination part (determination means),
24 ... Robot controller, 40A, 40B ... Transceiver,
50 ... Safety fence (protective fence), 61, 62 ... Antenna (directional antenna),
82 ... ID information (unique ID), 90 ... TP data (teaching information),
D: Operation area, R: Robot (movable machine).

Claims

A portable teaching operation device that wirelessly transmits a signal including a unique ID and teaching information;
At least two directional antennas provided at different positions so that a part of the reception range has an overlapping region overlapping each other;
When each of the directional antennas can receive a signal including a unique ID and teaching information (hereinafter referred to as a unique ID reception signal) from the portable teaching operation device , the received signal strength of each unique ID reception signal is detected. Detection means;
Whether or not the portable teaching operation device , in which the received signal strengths of at least two unique ID received signals having the same unique ID among the received signal strengths of the unique ID received signals are the transmission sources in the overlapping region, is located Determination means for determining whether or not a determination threshold value for determining whether or not,
People said determination means, based on at least when the received signal strength of the two unique ID received signal is determined to more thereof determination threshold, teaching information contained in the unique ID received signal having the same unique ID with the same unique ID Including a movable machine control device for controlling a movable machine arranged in a protective fence that restricts the entry and exit of
A reception range of said at least two directional antennas, overlapping regions of the received signal strength above the decision threshold value, and characterized in that it is arranged in the operating region outside of the movable machine within the safety barrier Mobile machine system to do.

In a movable machine control system wirelessly communicating with a portable teaching operation device,
Even without least a portion of the coverage are provided in different positions to have overlapping regions overlap each other and at least two directional antennas,
When each of the directional antennas can receive a signal including a unique ID and teaching information (hereinafter referred to as a unique ID reception signal) from the portable teaching operation device , the received signal strength of each unique ID reception signal is detected. Detecting means for
Whether or not the portable teaching operation device , in which the received signal strengths of at least two unique ID received signals having the same unique ID among the received signal strengths of the unique ID received signals are the transmission sources in the overlapping region, is located Determination means for determining whether or not a determination threshold value for determining whether or not,
People said determination means, based on at least when the received signal strength of the two unique ID received signal is determined to more thereof determination threshold, teaching information contained in the unique ID received signal having the same unique ID with the same unique ID Including a movable machine control device for controlling a movable machine arranged in a protective fence that restricts the entry and exit of
A reception range of said at least two directional antennas, overlapping regions of the received signal strength above the decision threshold value, and characterized in that it is arranged in the operating region outside of the movable machine within the safety barrier Movable machine control system.

Provided in a movable machine control system that receives a signal including a unique ID and teaching information wirelessly from a portable teaching operation device and controls a movable machine disposed in a protective fence that restricts the entry and exit of people based on the teaching information. In the given determination device,
Each unique ID is included when a signal including the unique ID of the portable teaching operation device can be received from the portable teaching operation device via at least two or more directional antennas provided at different positions. Detecting means for detecting the received signal strength of the signal;
Among the received signal strengths of the signals including the unique IDs, the received signal strengths of the signals including at least two unique IDs having the same unique ID are the transmission sources in the overlapping areas of the reception ranges of the directional antennas, respectively. It is determined whether or not the determination threshold for determining whether or not the portable teaching operation device is located, and if the received signal strength of the signal including at least two unique IDs having the same unique ID is equal to or greater than the determination threshold, It is determined that a transmission source that has transmitted a signal including the unique ID is located in an overlapping region where a part of the reception ranges of the plurality of directional antennas overlap each other, and has a determination unit that outputs the determination result,
The overlapping range of the received signal strength that is the reception range of the at least two directional antennas and is equal to or greater than the determination threshold is disposed outside the operation region of the movable machine in the protective fence. Judgment device.