WO2024080130A1 - Automatic operation restart system, terminal device thereof, and machine tool - Google Patents

Automatic operation restart system, terminal device thereof, and machine tool Download PDF

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Publication number
WO2024080130A1
WO2024080130A1 PCT/JP2023/034839 JP2023034839W WO2024080130A1 WO 2024080130 A1 WO2024080130 A1 WO 2024080130A1 JP 2023034839 W JP2023034839 W JP 2023034839W WO 2024080130 A1 WO2024080130 A1 WO 2024080130A1
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Prior art keywords
automatic operation
machine tool
terminal device
restart
alarm
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PCT/JP2023/034839
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French (fr)
Japanese (ja)
Inventor
和正 荒
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株式会社アマダ
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Publication of WO2024080130A1 publication Critical patent/WO2024080130A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4067—Restoring data or position after power failure or other interruption

Definitions

  • This disclosure relates to an automatic operation restart system, its terminal device, and a machine tool.
  • Patent Document 1 a machine tool operation function control device that switches the main power supply on and off is disclosed in Patent Document 1.
  • the operation function control device disclosed in Patent Document 1 it was possible to start the next program of the machine tool wirelessly only if it was certain that sufficient workpieces and tools in an operable state were available.
  • An automatic operation restart system is an automatic operation restart system in which an operator remotely restarts the automatic operation of a machine tool that has been stopped due to the occurrence of an alarm using a terminal device, the machine tool having an imaging unit that images the machining area of the machine tool and a memory unit that stores restartability information that records for each alarm whether the automatic operation of the machine tool can be restarted remotely, when the automatic operation stops, an alarm message indicating the reason for the stop of the automatic operation is output, the terminal device displays the alarm message and the image captured by the imaging unit on a display screen of the terminal device, and when the automatic operation of the machine tool can be restarted remotely based on the restartability information, when the operator performs an operation to restart the automatic operation of the machine tool, an operation restart command that commands the restart of the automatic operation of the machine tool is transmitted, and the machine tool restarts the automatic operation of the machine tool when it receives the operation restart command.
  • a terminal device of an automatic operation restart system is a terminal device of an automatic operation restart system in which an operator remotely restarts the automatic operation of a machine tool that has been stopped due to the occurrence of an alarm using the terminal device, and upon receiving from the machine tool an alarm message indicating the reason why the automatic operation of the machine tool has been stopped and restartability information that records for each alarm whether the automatic operation of the machine tool can be restarted remotely, the terminal device acquires an image of the machining area of the machine tool from an imaging unit of the machine tool, displays the alarm message and the captured image on a display screen of the terminal device, and, if the automatic operation of the machine tool can be restarted remotely based on the restartability information, when the operator performs an operation to restart the automatic operation of the machine tool, transmits an operation restart command to the machine tool to command the restart of the automatic operation of the machine tool.
  • a machine tool of an automatic operation restart system is a machine tool of an automatic operation restart system in which an operator remotely restarts the automatic operation of the machine tool that has been stopped due to the occurrence of an alarm using a terminal device, and the machine tool is equipped with an imaging unit that images the machining area of the machine tool, and a memory unit that stores restartability information that records for each alarm whether the automatic operation of the machine tool can be remotely restarted, and when the automatic operation stops, the machine tool outputs an alarm message indicating the reason why the automatic operation stopped, transmits the alarm message and the restartability information to the terminal device, transmits an image of the machining area of the machine tool to the terminal device that has received the alarm message and the restartability information, and resumes the automatic operation of the machine tool when it receives an operation restart command from the terminal device instructing the restart of the automatic operation of the machine tool.
  • the image of the machining area of the machine tool and the reason why automatic operation was stopped can be confirmed on the terminal device, so the operator does not need to directly check the status of the machine tool visually and can restart the automatic operation of the machine tool remotely.
  • the automatic operation restart system of the present disclosure even if the automatic operation of the machine tool is stopped due to the occurrence of an alarm, the automatic operation of the machine tool can be restarted remotely.
  • FIG. 1 is a diagram illustrating a configuration of an automatic driving resumption system according to one embodiment.
  • FIG. 2 is a flowchart showing a processing procedure of the automatic driving resumption processing by the automatic driving resumption system according to one embodiment.
  • FIG. 3 is a diagram showing an example of a display screen of a mobile device in the automatic driving resumption system according to one embodiment.
  • FIG. 4 is a diagram showing an example of a display screen of a mobile device in the automatic driving resumption system according to one embodiment.
  • FIG. 1 is a diagram showing the configuration of an automatic operation resumption system according to this embodiment.
  • the automatic operation resumption system 1 is composed of a machine tool 3, a portable terminal 5, and a communication device 7.
  • the automatic operation resumption system 1 is a system in which an operator remotely resumes automatic operation of the machine tool 3 that has been stopped due to the occurrence of an alarm, using the portable terminal 5.
  • the machine tool 3 is a device that processes materials using tools, such as a laser processing machine or a punching machine.
  • the machine tool 3 is also a device that can process materials by automatic operation, and work is performed without an operator during normal operation.
  • the machine tool 3 stops automatic operation, outputs an alarm message indicating the reason for the stop of automatic operation, and resumes automatic operation according to instructions from the operator.
  • FIG. 1 illustrates an example in which there is one machine tool 3, there may be multiple machine tools 3. In this case, multiple machine tools 3 can be controlled by one mobile terminal 5.
  • the machine tool 3 includes a camera 11, a memory unit 13, and a controller 15.
  • the camera 11 is an imaging unit that images the machining area 17 of the machine tool 3, and can image the entire operating range in which the tools operate.
  • the camera 11 stores the captured images for a certain period of time, and is connected to the mobile terminal 5 via the communication device 7, so that the captured images are transmitted to the mobile terminal 5.
  • the camera 11 also acquires the time of occurrence of an alarm stored in the memory unit 13, and transmits an image of the same time to the mobile terminal 5, so that the image of the time of occurrence of the alarm can be displayed on the mobile terminal 5. Note that the number of cameras 11 does not need to be one, and multiple cameras may be installed.
  • the camera 11 may not only image the machining area 17, but may also image the operation panel screen and material loading/unloading section of the machine tool 3, so that the camera 11 can capture an image of a place where information necessary for resuming automatic operation can be acquired.
  • the storage unit 13 is a memory or database for storing information required for processing to resume automatic operation of the machine tool 3.
  • the storage unit 13 stores, for example, connection information, matching information, and identification information of the machine tool 3.
  • the connection information is an IP address and port number for connecting the camera 11 and controller 15 to a network.
  • the matching information is a machine name or serial number that the mobile terminal 5 uses to identify the machine tool 3, and for example, "MAC3015AJ" is used.
  • the identification information is an arbitrary image or name that the operator uses to identify the machine tool 3, and for example, "MACHINE#1" is used.
  • the storage unit 13 also stores connection information, matching information, and identification information of the mobile terminal 5.
  • the memory unit 13 also stores restartability information.
  • the restartability information is information that records for each alarm whether or not automatic operation can be resumed remotely.
  • Alarms that occur on the machine tool 3 include alarms for which the operator can resume automatic operation remotely and alarms for which restartability is not possible. Therefore, the multiple alarms that occur on the machine tool 3 are pre-classified into alarms that can be resumed remotely and alarms that cannot be resumed, and restartability information is created by recording for each alarm whether or not restartability can be remotely performed, and is stored in the memory unit 13.
  • the memory unit 13 may store images captured by the camera 11.
  • the mobile terminal 5 displays images captured by the camera 11 in real time, but can also display images before and after an alarm occurs.
  • the memory unit 13 constantly records images within a specified period from the present time, and when an alarm occurs, stores the alarm and the time the alarm occurred, making it possible to display images before and after the alarm on the mobile terminal 5.
  • the memory unit 13 also stores a method for resolving each alarm, and for alarms for which autonomous driving cannot be resumed remotely, stores the reason.
  • the controller 15 is connected to the mobile terminal 5 via the communication device 7, and executes control to resume automatic operation of the machine tool 3. Specifically, when the automatic operation of the machine tool 3 stops, the controller 15 transmits an alarm message and restart possibility information to the mobile terminal 5, and when it receives an operation restart command from the mobile terminal 5 to command the restart of automatic operation, it resumes the automatic operation of the machine tool 3. In addition, when the controller 15 receives an operation stop command from the mobile terminal 5 to command the stop of automatic operation, it stops the automatic operation of the machine tool 3.
  • the controller 15 is a general-purpose microcomputer equipped with a CPU (central processing unit) and memory.
  • a computer program required for executing the processing of the automatic operation resumption system 1 is installed in the controller 15. By executing this computer program, the controller 15 executes control to resume the automatic operation of the machine tool 3.
  • the mobile terminal 5 is a terminal device equipped with a communication unit that can access the communication device 7 via a network, and is, for example, a smartphone or tablet terminal operated by an operator.
  • the mobile terminal 5 has installed therein the applications necessary to execute the processing of the automatic driving resumption system 1. Therefore, the mobile terminal 5 can transmit necessary information to the camera 11 and the controller 15, and can receive and display information transmitted from the camera 11 and the controller 15.
  • the mobile terminal 5 executes a process to resume the automatic operation of the machine tool 3, and upon receiving an alarm message and restartability information from the controller 15, acquires an image captured by the camera 11 and displays the alarm message and the captured image on the display screen. Then, if the automatic operation can be resumed remotely based on the restartability information, the mobile terminal 5 transmits an operation resume command to the controller 15 to command the restart of automatic operation when the operator performs an operation to resume automatic operation.
  • FIG. 1 illustrates an example in which there is one machine tool 3, the mobile terminal 5 is capable of connecting to multiple machine tools 3 and is capable of resuming the automatic operation of multiple machine tools 3.
  • the mobile terminal 5 is equipped with a controller consisting of general-purpose electronic circuits including a microcomputer, a microprocessor, and a CPU, and peripheral devices such as a memory, and has a function of restarting automatic operation of the machine tool 3.
  • a controller consisting of general-purpose electronic circuits including a microcomputer, a microprocessor, and a CPU, and peripheral devices such as a memory, and has a function of restarting automatic operation of the machine tool 3.
  • Each function of the controller can be implemented by one or more processing circuits.
  • the processing circuits include programmed processing devices, such as processing devices including electrical circuits, and also include devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.
  • ASICs application specific integrated circuits
  • the communication device 7 has a function of transmitting and receiving information to and from the mobile terminal 5 via a network, and is connected to the camera 11 and the controller 15 by wire or wirelessly. Therefore, the communication device 7 can transmit and receive information between the mobile terminal 5 and the camera 11 and the controller 15.
  • the communication device 7 may be a device such as a router equipped with a mobile communication function such as 4G/5G that can connect to the Internet, or an access point that can directly communicate wirelessly with the mobile terminal 5.
  • FIG. 2 is a flowchart showing the processing procedure of the autonomous driving restart processing by the autonomous driving restart system 1 according to this embodiment.
  • step S101 when an alarm occurs in step S101 indicating that automatic operation needs to be stopped in the machine tool 3, the machine tool 3 stops automatic operation in step S103. At this time, the machine tool 3 outputs an alarm message to inform the operator that automatic operation has stopped, and displays it on the operation panel screen, etc.
  • step S105 the controller 15 acquires the alarm message output by the machine tool 3 and transmits it to the mobile terminal 5 together with information on whether restart is possible.
  • Examples of alarm messages output by the machine tool 3 include “assist gas pressure drop,” “air pressure drop (stop),” “tracing displacement abnormality (+),” and “no material at pierce position.”
  • Other alarm messages include “protection device activated,” “side door open,” “workpiece misalignment,” “workpiece warpage,” and “OT before axis movement (+).”
  • the controller 15 may transmit connection information, matching information, and identification information for the camera 11 and the controller 15 to the mobile terminal 5.
  • the "Assist gas pressure drop” and “Air pressure drop (stop)” alarm messages are displayed when automatic operation stops due to a shortage of gas or air. If gas or air is being supplied from the generator, it will be automatically refilled, so automatic operation can be resumed remotely once refilling is complete. However, the operator must decide from the mobile terminal 5 whether or not to resume operation.
  • the "Tracking Displacement Abnormal (+)" alarm message is displayed when automatic operation stops due to a false detection by the sensor that keeps the distance between the material and the laser head constant. For example, this can occur when the stop threshold is temporarily exceeded due to plasma generation at the processing point. Since the sensor has made a false detection, if the operator can confirm from the image on camera 11 that there is no problem, automatic operation can be resumed remotely.
  • the "No material at pierce position" alarm message is displayed if automatic operation stops due to a false positive when detecting the presence of material. For example, it may happen that an attempt is made to cut the same location twice, and the cutting groove is judged to have no material. In this case, too, it is a false positive by the sensor, so if the operator can confirm from the image from camera 11 that there are no problems, automatic operation can be resumed remotely.
  • the "Protection device activated" and “Side door open” alarm messages are displayed when automatic operation stops due to the detection of the activation or blocking of a protection device. In this case, the operator must check safety in front of the machine tool 3, so automatic operation cannot be resumed remotely.
  • the "Work misalignment” and “Work warpage” alarm messages are displayed when automatic operation stops due to a failure to grip the workpiece or an abnormality in the device's operation. In this case, manual recovery is required, and automatic operation cannot be resumed remotely.
  • the "OT (+) before axis movement" alarm message is displayed when automatic operation stops due to the need to correct the program due to overtravel (program commands going beyond the machining range), etc. Since the program needs to be corrected, automatic operation cannot be resumed remotely, but it may be possible to make it possible to correct the program from the mobile terminal 5.
  • the above alarm messages are pre-classified according to whether or not the operator can remotely resume automatic operation.
  • the alarm messages “Assist gas pressure drop,” “Air pressure drop (stop),” “Tracking displacement abnormality (+),” and “No material at pierce position” are alarm messages for which the operator can remotely resume automatic operation.
  • the alarm messages “Protection device activated,” “Side door open,” “Workpiece misalignment,” “Workpiece warpage,” and “OT before axis movement (+)” are alarm messages for which the operator cannot remotely resume automatic operation.
  • the resumability information records whether or not automatic operation can be resumed remotely for each of these alarms.
  • step S107 the controller 15 waits in a standby state to receive a restart operation command sent from the mobile terminal 5.
  • step S109 when the mobile terminal 5 receives the alarm message and the restart possibility information, it displays a stop notification on the display screen as shown in FIG. 3.
  • the display screen displays "MACHINE#1", which is the identification information by which the operator identifies the machine tool 3, "Stopped”, which indicates the operating status, and the alarm message "Assist gas pressure drop”, which indicates the reason for the stop.
  • the mobile terminal 5 displays a notification when the machine tool 3 requires work from the operator.
  • the notifications are displayed when the operation ends, when the remaining operation time falls below a set time, when operation is stopped, when operation is restarted, etc. In addition to “stopped,” the operation status can be “operating,” “standby,” etc. Such notifications are displayed even when the screen of the mobile terminal 5 is turned off.
  • step S111 the mobile terminal 5 acquires real-time video captured by the camera 11 via the communication device 7.
  • the mobile terminal 5 also acquires video from the camera 11 stored in the memory unit 13, including video before and after an alarm was generated.
  • the mobile terminal 5 may immediately display the acquired real-time video on the display screen, or may display it together with a start button, etc., in step S115, which will be described later.
  • step S113 the portable terminal 5 determines whether or not automatic operation of the machine tool 3 can be resumed remotely based on the resumption feasibility information. For example, as shown in FIG. 3, when the alarm message is "assist gas pressure drop," the resumption feasibility information records that this is an alarm message for an alarm that allows automatic operation to be resumed remotely. Therefore, the portable terminal 5 determines that automatic operation can be resumed remotely, and proceeds to step S115.
  • the mobile terminal 5 determines that automatic operation cannot be resumed remotely, and terminates the automatic operation resumption process according to this embodiment.
  • the reason why automatic operation cannot be resumed remotely may be displayed on the display screen of the mobile terminal 5.
  • step S115 the mobile terminal 5 displays the camera image 41 captured by the camera 11, a start button 43, and a stop button 45 on the display screen, as shown in FIG. 4.
  • the camera image 41 is a real-time image captured by the camera 11, but the operator can also operate the camera to display images before and after an alarm occurs.
  • the start button 43 is a button that is pressed when restarting automatic operation of the machine tool 3, and when the operator taps the start button 43, an operation restart command is sent to command the restart of automatic operation of the machine tool 3.
  • the start button 43 is displayed only when it is determined in step S113 that automatic operation can be restarted remotely, and is not displayed when automatic operation cannot be restarted remotely.
  • the stop button 45 is a button that is pressed to stop the automatic operation of the machine tool 3. When the operator taps the stop button 45, an operation stop command is sent to stop the automatic operation of the machine tool 3.
  • the mobile terminal 5 may also display a solution to the alarm on the display screen based on the alarm message. For example, if the alarm message is "Air pressure drop (stop)", the following solution is displayed. “Check the air pressure source (residual pressure release valve), check the pressure meter (within the green mark), and check the operation of the pressure switch, then press the start button. The alarm will be reset.”
  • the mobile terminal 5 obtains the solution from the memory unit 13 and displays it.
  • step S117 the mobile terminal 5 determines whether the start button 43 has been pressed, and if the start button 43 has been pressed, the process proceeds to step S119. On the other hand, if the start button 43 has not been pressed and automatic operation has been resumed by pressing the start button provided on the machine tool 3, or if automatic operation has been ended by pressing the reset button, the automatic operation resumption process according to this embodiment is terminated.
  • step S119 the controller 15 determines whether or not an operation restart command has been received from the mobile terminal 5, and if not, continues to determine whether or not an operation restart command has been received. Then, when an operation restart command is received, the controller 15 proceeds to step S121, restarts automatic operation of the machine tool 3, and ends the automatic operation restart process according to this embodiment.
  • the mobile terminal 5 displays an alarm message indicating the reason for the stop of the automatic operation and an image captured by the camera 11 on the display screen of the mobile terminal 5. Then, based on the resumption possibility information that records whether the automatic operation can be remotely resumed for each alarm, if the automatic operation can be remotely resumed, the operator performs an operation to resume the automatic operation of the machine tool 3.
  • the mobile terminal 5 transmits an operation resumption command to command the resumption of the automatic operation, and when the machine tool 3 receives the operation resumption command, it resumes the automatic operation.
  • a start button 43 for resuming automatic operation is displayed on the display screen of the mobile terminal 5. Then, when the operator presses the start button 43, an operation resume command is sent to the controller 15. This allows the operator to easily resume automatic operation of the machine tool 3 simply by tapping the start button 43. Furthermore, because the start button 43 is displayed only when automatic operation can be resumed remotely, it is possible to prevent automatic operation of the machine tool 3 from being erroneously resumed.
  • a stop button 45 for stopping automatic operation is displayed on the display screen of the mobile terminal 5. This allows the operator to easily stop automatic operation of the machine tool 3 by simply tapping the stop button 45.
  • images captured by the camera 11 before and after an alarm occurs are displayed on the display screen of the mobile terminal 5. This allows the operator to check the state of the processing area before and after the alarm occurs, allowing the operator to more reliably understand the reason why the alarm occurred.
  • a method for resolving the alarm is displayed on the display screen of the mobile terminal 5 based on the alarm message. This allows the operator to quickly resolve the alarm using the displayed solution.

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Abstract

An automatic operation restart system (1) is a system for restarting the automatic operation of a machine tool (3) by means of a portable terminal (5). The machine tool (3) is provided with a camera (11) that captures an image of a processing region of the machine tool and a storage unit (13) that stores restart possibility information in which whether or not automatic operation can be restarted remotely is recorded for each alarm, and when the automatic operation stops, the machine tool (3) outputs an alarm message indicating the reason why the automatic operation has stopped. The portable terminal (5) displays the alarm message and the image captured by the camera (11) on a display screen, and in cases in which the automatic operation can be restarted remotely on the basis of the restart possibility information, the portable terminal (5) transmits an operation restart command for instructing restarting of the automatic operation after an operator performs an action to restart the automatic operation. The machine tool (3) restarts the automatic operation upon receiving the operation restart command.

Description

自動運転再開システム及びその端末装置と工作機械Automatic operation restart system, its terminal device and machine tool
　本開示は、自動運転再開システム及びその端末装置と工作機械に関する。 This disclosure relates to an automatic operation restart system, its terminal device, and a machine tool.
　従来では、主電源をスイッチオンまたはスイッチオフする工作機械の運転機能制御装置が、特許文献１に開示されている。特許文献１に開示された運転機能制御装置では、操作可能な状態の十分なワークピース及び工具を使用できることが確かである場合のみ、工作機械の次に来るプログラムを、無線を介して開始することが可能であった。 　Conventionally, a machine tool operation function control device that switches the main power supply on and off is disclosed in Patent Document 1. In the operation function control device disclosed in Patent Document 1, it was possible to start the next program of the machine tool wirelessly only if it was certain that sufficient workpieces and tools in an operable state were available.
特許第５７７５３１６号Patent No. 5775316
　しかしながら、上述した従来の運転機能制御装置では、工作機械でアラームが発生して自動運転が停止した場合には、操作可能な状態の十分なワークピース及び工具を使用できることが確かではないので、遠隔から自動運転を再開することはできなかった。また、遠隔から自動運転を再開するためには、自動運転が停止した理由を把握する必要があるので、オペレータは、目視で直接工作機械の状況を確認しなければならなかった。そのため、従来では、アラームの発生によって工作機械の自動運転が停止した場合には、遠隔から工作機械の自動運転を再開することができないという問題点があった。 However, with the conventional operation function control device described above, when an alarm occurs on a machine tool and automatic operation stops, it is not possible to remotely resume automatic operation because it is not certain that sufficient workpieces and tools in an operable state are available. Furthermore, in order to remotely resume automatic operation, it is necessary to understand the reason why automatic operation has stopped, so the operator must directly visually check the status of the machine tool. Therefore, conventionally, there was a problem in that when automatic operation of a machine tool stops due to the occurrence of an alarm, it is not possible to remotely resume automatic operation of the machine tool.
　本開示の一態様に係る自動運転再開システムは、アラームの発生によって停止した工作機械の自動運転を、オペレータが遠隔から端末装置で再開させる自動運転再開システムであって、前記工作機械は、前記工作機械の加工領域を撮像する撮像部と、前記工作機械の自動運転を遠隔から再開できるか否かを前記アラーム毎に記録した再開可否情報を記憶する記憶部とを備え、前記自動運転が停止すると、前記自動運転が停止した理由を示したアラームメッセージを出力し、前記端末装置は、前記アラームメッセージと前記撮像部で撮像された画像を前記端末装置の表示画面に表示し、前記再開可否情報に基づいて前記工作機械の自動運転を遠隔から再開できる場合には、前記オペレータが前記工作機械の自動運転を再開させる操作を行うと、前記工作機械の自動運転の再開を指令する運転再開指令を送信し、前記工作機械は、前記運転再開指令を受信すると、前記工作機械の自動運転を再開する。 　An automatic operation restart system according to one aspect of the present disclosure is an automatic operation restart system in which an operator remotely restarts the automatic operation of a machine tool that has been stopped due to the occurrence of an alarm using a terminal device, the machine tool having an imaging unit that images the machining area of the machine tool and a memory unit that stores restartability information that records for each alarm whether the automatic operation of the machine tool can be restarted remotely, when the automatic operation stops, an alarm message indicating the reason for the stop of the automatic operation is output, the terminal device displays the alarm message and the image captured by the imaging unit on a display screen of the terminal device, and when the automatic operation of the machine tool can be restarted remotely based on the restartability information, when the operator performs an operation to restart the automatic operation of the machine tool, an operation restart command that commands the restart of the automatic operation of the machine tool is transmitted, and the machine tool restarts the automatic operation of the machine tool when it receives the operation restart command.
　本開示の一態様に係る自動運転再開システムの端末装置は、アラームの発生によって停止した工作機械の自動運転を、オペレータが遠隔から端末装置で再開させる自動運転再開システムの端末装置であって、前記工作機械の自動運転が停止した理由を示したアラームメッセージと、前記工作機械の自動運転を遠隔から再開できるか否かを前記アラーム毎に記録した再開可否情報とを前記工作機械から受信すると、前記工作機械の加工領域を撮像した画像を前記工作機械の撮像部から取得し、前記アラームメッセージと前記撮像された画像を前記端末装置の表示画面に表示し、前記再開可否情報に基づいて前記工作機械の自動運転を遠隔から再開できる場合には、前記オペレータが前記工作機械の自動運転を再開させる操作を行うと、前記工作機械の自動運転の再開を指令する運転再開指令を前記工作機械へ送信する。 　A terminal device of an automatic operation restart system according to one aspect of the present disclosure is a terminal device of an automatic operation restart system in which an operator remotely restarts the automatic operation of a machine tool that has been stopped due to the occurrence of an alarm using the terminal device, and upon receiving from the machine tool an alarm message indicating the reason why the automatic operation of the machine tool has been stopped and restartability information that records for each alarm whether the automatic operation of the machine tool can be restarted remotely, the terminal device acquires an image of the machining area of the machine tool from an imaging unit of the machine tool, displays the alarm message and the captured image on a display screen of the terminal device, and, if the automatic operation of the machine tool can be restarted remotely based on the restartability information, when the operator performs an operation to restart the automatic operation of the machine tool, transmits an operation restart command to the machine tool to command the restart of the automatic operation of the machine tool.
　本開示の一態様に係る自動運転再開システムの工作機械は、アラームの発生によって停止した工作機械の自動運転を、オペレータが遠隔から端末装置で再開させる自動運転再開システムの工作機械であって、前記工作機械の加工領域を撮像する撮像部と、前記工作機械の自動運転を遠隔から再開できるか否かを前記アラーム毎に記録した再開可否情報を記憶する記憶部とを備え、前記自動運転が停止すると、前記自動運転が停止した理由を示したアラームメッセージを出力し、前記アラームメッセージと前記再開可否情報を前記端末装置に送信し、前記アラームメッセージと前記再開可否情報を受信した前記端末装置に、前記工作機械の加工領域を撮像した画像を送信し、前記工作機械の自動運転の再開を指令する運転再開指令を前記端末装置から受信すると、前記工作機械の自動運転を再開する。 　A machine tool of an automatic operation restart system according to one aspect of the present disclosure is a machine tool of an automatic operation restart system in which an operator remotely restarts the automatic operation of the machine tool that has been stopped due to the occurrence of an alarm using a terminal device, and the machine tool is equipped with an imaging unit that images the machining area of the machine tool, and a memory unit that stores restartability information that records for each alarm whether the automatic operation of the machine tool can be remotely restarted, and when the automatic operation stops, the machine tool outputs an alarm message indicating the reason why the automatic operation stopped, transmits the alarm message and the restartability information to the terminal device, transmits an image of the machining area of the machine tool to the terminal device that has received the alarm message and the restartability information, and resumes the automatic operation of the machine tool when it receives an operation restart command from the terminal device instructing the restart of the automatic operation of the machine tool.
　上述した構成の自動運転再開システムでは、工作機械の加工領域を撮像した画像と、自動運転が停止した理由を端末装置で確認できるので、オペレータは目視で工作機械の状況を直接確認する必要がなくなり、遠隔から工作機械の自動運転を再開することができる。 In the automatic operation restart system configured as described above, the image of the machining area of the machine tool and the reason why automatic operation was stopped can be confirmed on the terminal device, so the operator does not need to directly check the status of the machine tool visually and can restart the automatic operation of the machine tool remotely.
　本開示の一態様に係る自動運転再開システムによれば、アラームの発生によって工作機械の自動運転が停止した場合であっても、遠隔から工作機械の自動運転を再開することができる。 According to an embodiment of the automatic operation restart system of the present disclosure, even if the automatic operation of the machine tool is stopped due to the occurrence of an alarm, the automatic operation of the machine tool can be restarted remotely.
図１は、一実施形態に係る自動運転再開システムの構成を示す図である。FIG. 1 is a diagram illustrating a configuration of an automatic driving resumption system according to one embodiment. 図２は、一実施形態に係る自動運転再開システムによる自動運転再開処理の処理手順を示すフローチャートである。FIG. 2 is a flowchart showing a processing procedure of the automatic driving resumption processing by the automatic driving resumption system according to one embodiment. 図３は、一実施形態に係る自動運転再開システムにおける携帯端末の表示画面の一例を示す図である。FIG. 3 is a diagram showing an example of a display screen of a mobile device in the automatic driving resumption system according to one embodiment. 図４は、一実施形態に係る自動運転再開システムにおける携帯端末の表示画面の一例を示す図である。FIG. 4 is a diagram showing an example of a display screen of a mobile device in the automatic driving resumption system according to one embodiment.
　以下、本開示を適用した一実施形態について図面を参照して説明する。図面の記載において同一部分には同一符号を付して詳細な説明は省略する。 Below, an embodiment to which the present disclosure is applied will be described with reference to the drawings. In the description of the drawings, the same parts are given the same reference numerals and detailed descriptions will be omitted.
　［自動運転再開システムの構成］
　図１は、本実施形態に係る自動運転再開システムの構成を示す図である。図１に示すように、自動運転再開システム１は、工作機械３と、携帯端末５と、通信装置７から構成されている。自動運転再開システム１は、アラームの発生によって停止した工作機械３の自動運転を、オペレータが遠隔から携帯端末５で再開させるシステムである。 [Configuration of the automatic driving restart system]
Fig. 1 is a diagram showing the configuration of an automatic operation resumption system according to this embodiment. As shown in Fig. 1, the automatic operation resumption system 1 is composed of a machine tool 3, a portable terminal 5, and a communication device 7. The automatic operation resumption system 1 is a system in which an operator remotely resumes automatic operation of the machine tool 3 that has been stopped due to the occurrence of an alarm, using the portable terminal 5.
　工作機械３は、工具を使って材料を加工する装置であり、例えばレーザ加工機やパンチング機である。また、工作機械３は、自動運転で材料を加工できる装置であり、通常運転時にはオペレータなしで作業が行われている。工作機械３でアラームが発生すると、工作機械３は自動運転を停止して、自動運転が停止した理由を示したアラームメッセージを出力し、オペレータからの指示にしたがって自動運転を再開する。尚、図１では、工作機械３が１台の場合を例示しているが、工作機械３が複数であってもよい。この場合には、複数の工作機械３を１台の携帯端末５で制御することができる。 The machine tool 3 is a device that processes materials using tools, such as a laser processing machine or a punching machine. The machine tool 3 is also a device that can process materials by automatic operation, and work is performed without an operator during normal operation. When an alarm occurs in the machine tool 3, the machine tool 3 stops automatic operation, outputs an alarm message indicating the reason for the stop of automatic operation, and resumes automatic operation according to instructions from the operator. Note that while FIG. 1 illustrates an example in which there is one machine tool 3, there may be multiple machine tools 3. In this case, multiple machine tools 3 can be controlled by one mobile terminal 5.
　工作機械３は、カメラ１１と、記憶部１３と、コントローラ１５を備えている。カメラ１１は、工作機械３の加工領域１７を撮像する撮像部であり、工具が稼働する稼働範囲の全体を撮像することができる。カメラ１１は、撮像された画像を一定期間記憶しており、通信装置７を介して携帯端末５に接続されているので、撮像した画像を携帯端末５に送信する。また、カメラ１１は、記憶部１３に記憶されているアラームの発生時刻を取得し、同時刻の画像を携帯端末５に送信することで、アラームの発生時刻の画像を携帯端末５に表示することができる。尚、カメラ１１は１台である必要はなく、複数台設置されていてもよい。この場合、カメラ１１は、加工領域１７を撮像するだけではなく、工作機械３の操作盤画面や材料搬入出部などを撮像してもよく、自動運転の再開に必要な情報を取得できる場所を撮像できるようにする。 The machine tool 3 includes a camera 11, a memory unit 13, and a controller 15. The camera 11 is an imaging unit that images the machining area 17 of the machine tool 3, and can image the entire operating range in which the tools operate. The camera 11 stores the captured images for a certain period of time, and is connected to the mobile terminal 5 via the communication device 7, so that the captured images are transmitted to the mobile terminal 5. The camera 11 also acquires the time of occurrence of an alarm stored in the memory unit 13, and transmits an image of the same time to the mobile terminal 5, so that the image of the time of occurrence of the alarm can be displayed on the mobile terminal 5. Note that the number of cameras 11 does not need to be one, and multiple cameras may be installed. In this case, the camera 11 may not only image the machining area 17, but may also image the operation panel screen and material loading/unloading section of the machine tool 3, so that the camera 11 can capture an image of a place where information necessary for resuming automatic operation can be acquired.
　記憶部１３は、工作機械３の自動運転を再開するための処理に必要な情報を記憶するためのメモリやデータベースである。記憶部１３は、例えば、工作機械３の接続情報、照合情報、識別情報を記憶している。接続情報は、カメラ１１とコントローラ１５をネットワークに接続するためのＩＰアドレスやポート番号である。照合情報は、携帯端末５が工作機械３を特定するための機械名称やシリアル番号であり、例えば「ＭＡＣ３０１５ＡＪ」などが使用される。識別情報は、オペレータが工作機械３を識別するための任意の画像や名称であり、例えば「ＭＡＣＨＩＮＥ＃１」などが使用される。同様に、記憶部１３は、携帯端末５の接続情報、照合情報、識別情報も記憶している。 The storage unit 13 is a memory or database for storing information required for processing to resume automatic operation of the machine tool 3. The storage unit 13 stores, for example, connection information, matching information, and identification information of the machine tool 3. The connection information is an IP address and port number for connecting the camera 11 and controller 15 to a network. The matching information is a machine name or serial number that the mobile terminal 5 uses to identify the machine tool 3, and for example, "MAC3015AJ" is used. The identification information is an arbitrary image or name that the operator uses to identify the machine tool 3, and for example, "MACHINE#1" is used. Similarly, the storage unit 13 also stores connection information, matching information, and identification information of the mobile terminal 5.
　また、記憶部１３は、再開可否情報を記憶している。再開可否情報は、自動運転を遠隔から再開できるか否かをアラーム毎に記録した情報である。工作機械３で発生するアラームには、オペレータが遠隔から自動運転を再開できるアラームと、再開できないアラームがある。そこで、工作機械３で発生する複数のアラームを遠隔から再開できるアラームと再開できないアラームに予め分類し、アラーム毎に遠隔で再開できるか否かを記録して再開可否情報を作成し、記憶部１３に記憶している。 The memory unit 13 also stores restartability information. The restartability information is information that records for each alarm whether or not automatic operation can be resumed remotely. Alarms that occur on the machine tool 3 include alarms for which the operator can resume automatic operation remotely and alarms for which restartability is not possible. Therefore, the multiple alarms that occur on the machine tool 3 are pre-classified into alarms that can be resumed remotely and alarms that cannot be resumed, and restartability information is created by recording for each alarm whether or not restartability can be remotely performed, and is stored in the memory unit 13.
　さらに、記憶部１３は、カメラ１１で撮像された画像を記憶してもよい。携帯端末５では、カメラ１１で撮像された画像をリアルタイムで表示しているが、アラームが発生した前後の画像を表示することもできる。そこで、記憶部１３は、現時点から所定期間内の画像を常に記録しておき、アラームが発生した場合には、発生したアラームとアラームの発生時刻を記憶しておくことによって、その前後の画像を携帯端末５に表示できるようにしている。また、記憶部１３は、各アラームについてそれぞれアラームの解決方法を記憶し、自動運転を遠隔から再開できないアラームについてはその理由を記憶している。 Furthermore, the memory unit 13 may store images captured by the camera 11. The mobile terminal 5 displays images captured by the camera 11 in real time, but can also display images before and after an alarm occurs. Thus, the memory unit 13 constantly records images within a specified period from the present time, and when an alarm occurs, stores the alarm and the time the alarm occurred, making it possible to display images before and after the alarm on the mobile terminal 5. The memory unit 13 also stores a method for resolving each alarm, and for alarms for which autonomous driving cannot be resumed remotely, stores the reason.
　コントローラ１５は、通信装置７を介して携帯端末５に接続されており、工作機械３の自動運転を再開させる制御を実行する。具体的に、コントローラ１５は、工作機械３の自動運転が停止すると、アラームメッセージと再開可否情報を携帯端末５に送信し、携帯端末５から自動運転の再開を指令する運転再開指令を受信すると、工作機械３の自動運転を再開させる。また、コントローラ１５は、携帯端末５から自動運転の停止を指令する運転停止指令を受信すると、工作機械３の自動運転を停止させる。 The controller 15 is connected to the mobile terminal 5 via the communication device 7, and executes control to resume automatic operation of the machine tool 3. Specifically, when the automatic operation of the machine tool 3 stops, the controller 15 transmits an alarm message and restart possibility information to the mobile terminal 5, and when it receives an operation restart command from the mobile terminal 5 to command the restart of automatic operation, it resumes the automatic operation of the machine tool 3. In addition, when the controller 15 receives an operation stop command from the mobile terminal 5 to command the stop of automatic operation, it stops the automatic operation of the machine tool 3.
　なお、コントローラ１５は、ＣＰＵ（中央処理装置）、及びメモリを備える汎用のマイクロコンピュータである。コントローラ１５には、自動運転再開システム１の処理を実行するめに必要なコンピュータプログラムがインストールされている。このコンピュータプログラムを実行することにより、コントローラ１５は、工作機械３の自動運転を再開させる制御を実行する。 The controller 15 is a general-purpose microcomputer equipped with a CPU (central processing unit) and memory. A computer program required for executing the processing of the automatic operation resumption system 1 is installed in the controller 15. By executing this computer program, the controller 15 executes control to resume the automatic operation of the machine tool 3.
　携帯端末５は、ネットワークを介して通信装置７にアクセスすることができる通信部を備えた端末装置であり、例えば、オペレータが操作するスマートフォンやタブレット端末等である。携帯端末５には、自動運転再開システム１の処理を実行するめに必要なアプリケーションがインストールされている。したがって、携帯端末５は、カメラ１１及びコントローラ１５に対して必要な情報を送信することができ、カメラ１１及びコントローラ１５から送信された情報を受信して表示することができる。 The mobile terminal 5 is a terminal device equipped with a communication unit that can access the communication device 7 via a network, and is, for example, a smartphone or tablet terminal operated by an operator. The mobile terminal 5 has installed therein the applications necessary to execute the processing of the automatic driving resumption system 1. Therefore, the mobile terminal 5 can transmit necessary information to the camera 11 and the controller 15, and can receive and display information transmitted from the camera 11 and the controller 15.
　具体的に、携帯端末５は、工作機械３の自動運転を再開させる処理を実行し、コントローラ１５からアラームメッセージと再開可否情報を受信すると、カメラ１１で撮像された画像を取得して、表示画面上にアラームメッセージと撮像された画像を表示する。そして、携帯端末５は、再開可否情報に基づいて自動運転を遠隔から再開できる場合には、オペレータが自動運転を再開させる操作を行うと、自動運転の再開を指令する運転再開指令をコントローラ１５へ送信する。図１では、工作機械３が１台の場合を例示しているが、携帯端末５は、複数の工作機械３と接続することが可能であり、複数の工作機械３の自動運転を再開させることができる。 Specifically, the mobile terminal 5 executes a process to resume the automatic operation of the machine tool 3, and upon receiving an alarm message and restartability information from the controller 15, acquires an image captured by the camera 11 and displays the alarm message and the captured image on the display screen. Then, if the automatic operation can be resumed remotely based on the restartability information, the mobile terminal 5 transmits an operation resume command to the controller 15 to command the restart of automatic operation when the operator performs an operation to resume automatic operation. Although FIG. 1 illustrates an example in which there is one machine tool 3, the mobile terminal 5 is capable of connecting to multiple machine tools 3 and is capable of resuming the automatic operation of multiple machine tools 3.
　尚、携帯端末５は、マイクロコンピュータ、マイクロプロセッサ、ＣＰＵを含む汎用の電子回路とメモリ等の周辺機器から構成されたコントローラを備えており、工作機械３の自動運転を再開させる機能を有する。コントローラの各機能は、１または複数の処理回路によって実装することができる。処理回路は、例えば電気回路を含む処理装置等のプログラムされた処理装置を含み、また実施形態に記載された機能を実行するようにアレンジされた特定用途向け集積回路（ＡＳＩＣ）や従来型の回路部品のような装置も含んでいる。 The mobile terminal 5 is equipped with a controller consisting of general-purpose electronic circuits including a microcomputer, a microprocessor, and a CPU, and peripheral devices such as a memory, and has a function of restarting automatic operation of the machine tool 3. Each function of the controller can be implemented by one or more processing circuits. The processing circuits include programmed processing devices, such as processing devices including electrical circuits, and also include devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.
　通信装置７は、ネットワークを介して携帯端末５と情報を送受信する機能を備えており、カメラ１１とコントローラ１５に有線または無線で接続されている。そのため、通信装置７は、携帯端末５と、カメラ１１及びコントローラ１５との間で情報を送受信することができる。例えば、通信装置７は、インターネットと接続できる４Ｇ／５Ｇなどのモバイル通信機能を備えたルータや、携帯端末５と直接無線通信できるアクセスポイントなどのデバイスであればよい。 The communication device 7 has a function of transmitting and receiving information to and from the mobile terminal 5 via a network, and is connected to the camera 11 and the controller 15 by wire or wirelessly. Therefore, the communication device 7 can transmit and receive information between the mobile terminal 5 and the camera 11 and the controller 15. For example, the communication device 7 may be a device such as a router equipped with a mobile communication function such as 4G/5G that can connect to the Internet, or an access point that can directly communicate wirelessly with the mobile terminal 5.
　［自動運転再開処理］
　次に、本実施形態に係る自動運転再開システム１によって実行される自動運転再開処理を説明する。図２は、本実施形態に係る自動運転再開システム１による自動運転再開処理の処理手順を示すフローチャートである。 [Automatic operation restart process]
Next, a description will be given of the autonomous driving restart processing executed by the autonomous driving restart system 1 according to this embodiment. Fig. 2 is a flowchart showing the processing procedure of the autonomous driving restart processing by the autonomous driving restart system 1 according to this embodiment.
　図２に示すように、ステップＳ１０１において、工作機械３で自動運転を停止する必要があるアラームが発生すると、ステップＳ１０３において、工作機械３は自動運転を停止する。このとき、工作機械３は、オペレータに自動運転が停止したことを知らせるためにアラームメッセージを出力して操作盤画面などに表示する。 As shown in FIG. 2, when an alarm occurs in step S101 indicating that automatic operation needs to be stopped in the machine tool 3, the machine tool 3 stops automatic operation in step S103. At this time, the machine tool 3 outputs an alarm message to inform the operator that automatic operation has stopped, and displays it on the operation panel screen, etc.
　ステップＳ１０５において、コントローラ１５は、工作機械３で出力されたアラームメッセージを取得し、再開可否情報とともに携帯端末５に送信する。工作機械３から出力されるアラームメッセージとしては、例えば、「アシストガス圧低下」、「空圧低下（ストップ）」、「ならい変位異常（＋）」、「ピアス位置材料なし」等がある。この他にも「防護装置作動」、「サイドドア開」、「ワークズレ」、「ワーク反り」、「軸移動前ＯＴ（＋）」等のアラームメッセージもある。このとき、コントローラ１５は、カメラ１１及びコントローラ１５の接続情報や照合情報、識別情報を携帯端末５に送信してもよい。 In step S105, the controller 15 acquires the alarm message output by the machine tool 3 and transmits it to the mobile terminal 5 together with information on whether restart is possible. Examples of alarm messages output by the machine tool 3 include "assist gas pressure drop," "air pressure drop (stop)," "tracing displacement abnormality (+)," and "no material at pierce position." Other alarm messages include "protection device activated," "side door open," "workpiece misalignment," "workpiece warpage," and "OT before axis movement (+)." At this time, the controller 15 may transmit connection information, matching information, and identification information for the camera 11 and the controller 15 to the mobile terminal 5.
　上記のようなアラームメッセージのうち、「アシストガス圧低下」、「空圧低下（ストップ）」のアラームメッセージは、ガスまたはエアーが不足して自動運転が停止した場合に表示される。ガスまたはエアーが発生装置から供給されている場合には、自動で再充填されるので、充填が完了すれば遠隔から自動運転を再開することができる。ただし、オペレータが携帯端末５から運転を再開するか否かを判断する必要がある。 Among the above alarm messages, the "Assist gas pressure drop" and "Air pressure drop (stop)" alarm messages are displayed when automatic operation stops due to a shortage of gas or air. If gas or air is being supplied from the generator, it will be automatically refilled, so automatic operation can be resumed remotely once refilling is complete. However, the operator must decide from the mobile terminal 5 whether or not to resume operation.
　「ならい変位異常（＋）」のアラームメッセージは、材料とレーザヘッドの距離を一定に保つセンサが誤検知して自動運転が停止した場合に表示される。例えば、加工点でプラズマの発生などによって一時的に停止閾値を超えた場合が考えられる。センサが誤検知しているので、オペレータがカメラ１１の映像で問題がないことを確認できれば、遠隔から自動運転を再開することができる。 The "Tracking Displacement Abnormal (+)" alarm message is displayed when automatic operation stops due to a false detection by the sensor that keeps the distance between the material and the laser head constant. For example, this can occur when the stop threshold is temporarily exceeded due to plasma generation at the processing point. Since the sensor has made a false detection, if the operator can confirm from the image on camera 11 that there is no problem, automatic operation can be resumed remotely.
　「ピアス位置材料なし」のアラームメッセージは、材料の存在を検出するときの誤検知で自動運転が停止した場合に表示される。例えば、同一の場所を２回切断しようとして、切断溝を材料なしと判断した場合が考えられる。この場合もセンサの誤検知なので、オペレータがカメラ１１の映像で問題がないことを確認できれば、遠隔から自動運転を再開することができる。 The "No material at pierce position" alarm message is displayed if automatic operation stops due to a false positive when detecting the presence of material. For example, it may happen that an attempt is made to cut the same location twice, and the cutting groove is judged to have no material. In this case, too, it is a false positive by the sensor, so if the operator can confirm from the image from camera 11 that there are no problems, automatic operation can be resumed remotely.
　「防護装置作動」、「サイドドア開」のアラームメッセージは、防護装置の作動または遮断を検知して自動運転が停止した場合に表示される。この場合には、オペレータが工作機械３の前で安全確認を行う必要があるので、遠隔から自動運転を再開することはできない。 The "Protection device activated" and "Side door open" alarm messages are displayed when automatic operation stops due to the detection of the activation or blocking of a protection device. In this case, the operator must check safety in front of the machine tool 3, so automatic operation cannot be resumed remotely.
　「ワークズレ」、「ワーク反り」のアラームメッセージは、ワークの把持失敗を検知した場合や装置動作の異常を検知して自動運転が停止した場合に表示される。この場合には人手による復旧を行う必要があるので、遠隔から自動運転を再開することはできない。 The "Work misalignment" and "Work warpage" alarm messages are displayed when automatic operation stops due to a failure to grip the workpiece or an abnormality in the device's operation. In this case, manual recovery is required, and automatic operation cannot be resumed remotely.
　「軸移動前ＯＴ（＋）」のアラームメッセージは、オーバートラベル（プログラム指令が加工範囲をはみ出す）などのプログラム修正が必要になって自動運転が停止した場合に表示される。プログラムの修正が必要なので、遠隔から自動運転を再開することはできないが、携帯端末５からプログラムを修正できるようにしてもよい。 The "OT (+) before axis movement" alarm message is displayed when automatic operation stops due to the need to correct the program due to overtravel (program commands going beyond the machining range), etc. Since the program needs to be corrected, automatic operation cannot be resumed remotely, but it may be possible to make it possible to correct the program from the mobile terminal 5.
　このように、上記のアラームメッセージは、それぞれオペレータが遠隔から自動運転を再開できるか否かによって予め分類されている。例えば、「アシストガス圧低下」、「空圧低下（ストップ）」、「ならい変位異常（＋）」、「ピアス位置材料なし」の各アラームメッセージは、オペレータが遠隔から自動運転を再開できるアラームのアラームメッセージである。一方、「防護装置作動」、「サイドドア開」、「ワークズレ」、「ワーク反り」、「軸移動前ＯＴ（＋）」の各アラームメッセージは、オペレータが遠隔から自動運転を再開できないアラームのアラームメッセージである。再開可否情報には、これらのアラーム毎に、遠隔から自動運転を再開できるか否かが記録されている。 In this way, the above alarm messages are pre-classified according to whether or not the operator can remotely resume automatic operation. For example, the alarm messages "Assist gas pressure drop," "Air pressure drop (stop)," "Tracking displacement abnormality (+)," and "No material at pierce position" are alarm messages for which the operator can remotely resume automatic operation. On the other hand, the alarm messages "Protection device activated," "Side door open," "Workpiece misalignment," "Workpiece warpage," and "OT before axis movement (+)" are alarm messages for which the operator cannot remotely resume automatic operation. The resumability information records whether or not automatic operation can be resumed remotely for each of these alarms.
　ステップＳ１０７において、コントローラ１５は、携帯端末５から送信されてくる運転再開指令を受信できるように待ち状態で待機する。 In step S107, the controller 15 waits in a standby state to receive a restart operation command sent from the mobile terminal 5.
　ステップＳ１０９において、携帯端末５は、アラームメッセージと再開可否情報を受信すると、図３に示すように停止通知を表示画面に表示する。表示画面には、オペレータが工作機械３を識別するための識別情報である「MACHINE#1」と、運転状態を示す「停止中」と、停止理由を示すアラームメッセージの「アシストガス圧低下」が表示される。 In step S109, when the mobile terminal 5 receives the alarm message and the restart possibility information, it displays a stop notification on the display screen as shown in FIG. 3. The display screen displays "MACHINE#1", which is the identification information by which the operator identifies the machine tool 3, "Stopped", which indicates the operating status, and the alarm message "Assist gas pressure drop", which indicates the reason for the stop.
　停止通知の他にも、携帯端末５は、工作機械３がオペレータの作業を必要とするときに通知を表示する。通知を表示するタイミングは、運転終了時、運転の残り時間が設定時間以下になった時、運転停止時、運転再開時などである。また、運転状態としては、「停止中」の他に「運転中」、「待機中」などがある。このような通知は、携帯端末５が画面オフの状態であっても表示される。 In addition to the stop notification, the mobile terminal 5 displays a notification when the machine tool 3 requires work from the operator. The notifications are displayed when the operation ends, when the remaining operation time falls below a set time, when operation is stopped, when operation is restarted, etc. In addition to "stopped," the operation status can be "operating," "standby," etc. Such notifications are displayed even when the screen of the mobile terminal 5 is turned off.
　ステップＳ１１１において、携帯端末５は、カメラ１１で撮像されているリアルタイムの映像を、通信装置７を介して取得する。また、携帯端末５は、記憶部１３に記憶されているカメラ１１の映像のうち、アラームが発生した前後の映像も取得する。携帯端末５は、取得したリアルタイムの映像を直ちに表示画面に表示してもよいし、後述するステップＳ１１５でスタートボタン等とともに表示するようにしてもよい。 In step S111, the mobile terminal 5 acquires real-time video captured by the camera 11 via the communication device 7. The mobile terminal 5 also acquires video from the camera 11 stored in the memory unit 13, including video before and after an alarm was generated. The mobile terminal 5 may immediately display the acquired real-time video on the display screen, or may display it together with a start button, etc., in step S115, which will be described later.
　ステップＳ１１３において、携帯端末５は、再開可否情報に基づいて、工作機械３の自動運転を遠隔から再開できるか否かを判断する。例えば、図３に示すように、アラームメッセージが「アシストガス圧低下」の場合には、遠隔から自動運転を再開できるアラームのアラームメッセージであることが再開可否情報に記録されている。そこで、携帯端末５は、遠隔から自動運転を再開できると判断して、ステップＳ１１５に進む。 In step S113, the portable terminal 5 determines whether or not automatic operation of the machine tool 3 can be resumed remotely based on the resumption feasibility information. For example, as shown in FIG. 3, when the alarm message is "assist gas pressure drop," the resumption feasibility information records that this is an alarm message for an alarm that allows automatic operation to be resumed remotely. Therefore, the portable terminal 5 determines that automatic operation can be resumed remotely, and proceeds to step S115.
　一方、アラームメッセージが遠隔から自動運転を再開できないアラームのアラームメッセージである場合には、携帯端末５は、遠隔から自動運転を再開できないと判断して、本実施形態に係る自動運転再開処理を終了する。このとき、自動運転を遠隔から再開できない理由を携帯端末５の表示画面に表示してもよい。このように自動運転再開処理を終了した場合には、オペレータが工作機械３の設置場所へ行ってアラームを解消するための復旧作業を行った上で、工作機械３に設けられたスタートボタンを押すことで自動運転を再開することができる。 On the other hand, if the alarm message is an alarm message indicating that automatic operation cannot be resumed remotely, the mobile terminal 5 determines that automatic operation cannot be resumed remotely, and terminates the automatic operation resumption process according to this embodiment. At this time, the reason why automatic operation cannot be resumed remotely may be displayed on the display screen of the mobile terminal 5. When the automatic operation resumption process is terminated in this manner, the operator can go to the installation location of the machine tool 3, perform recovery work to resolve the alarm, and then resume automatic operation by pressing the start button provided on the machine tool 3.
　ステップＳ１１５において、携帯端末５は、図４に示すように、カメラ１１で撮像されたカメラ画像４１と、スタートボタン４３と、ストップボタン４５を表示画面上に表示する。カメラ画像４１は、カメラ１１で撮像されているリアルタイムの映像であるが、オペレータが操作することによって、アラームが発生した前後の映像を表示することもできる。 In step S115, the mobile terminal 5 displays the camera image 41 captured by the camera 11, a start button 43, and a stop button 45 on the display screen, as shown in FIG. 4. The camera image 41 is a real-time image captured by the camera 11, but the operator can also operate the camera to display images before and after an alarm occurs.
　スタートボタン４３は、工作機械３の自動運転を再開させる場合に押下されるボタンであり、オペレータがスタートボタン４３をタップすると、工作機械３の自動運転の再開を指令する運転再開指令が送信される。スタートボタン４３は、ステップＳ１１３で自動運転を遠隔から再開できると判断された場合のみ表示されるので、遠隔から自動運転を再開できない場合には表示されない。 The start button 43 is a button that is pressed when restarting automatic operation of the machine tool 3, and when the operator taps the start button 43, an operation restart command is sent to command the restart of automatic operation of the machine tool 3. The start button 43 is displayed only when it is determined in step S113 that automatic operation can be restarted remotely, and is not displayed when automatic operation cannot be restarted remotely.
　ストップボタン４５は、工作機械３の自動運転を停止させる場合に押下されるボタンであり、オペレータがストップボタン４５をタップすると、工作機械３の自動運転の停止を指令する運転停止指令が送信される。 The stop button 45 is a button that is pressed to stop the automatic operation of the machine tool 3. When the operator taps the stop button 45, an operation stop command is sent to stop the automatic operation of the machine tool 3.
　また、携帯端末５は、アラームメッセージに基づいて、アラームの解決方法を表示画面に表示してもよい。例えば、アラームメッセージが「空圧低下（ストップ）」の場合には、以下のような解決方法を表示する。
「エアー元の圧力確認（残圧排出弁）、圧力メータの確認（緑のマーク内）、圧力スイッチの動作確認後、スタートボタンを押して下さい。アラームが解除されます」 The mobile terminal 5 may also display a solution to the alarm on the display screen based on the alarm message. For example, if the alarm message is "Air pressure drop (stop)", the following solution is displayed.
"Check the air pressure source (residual pressure release valve), check the pressure meter (within the green mark), and check the operation of the pressure switch, then press the start button. The alarm will be reset."
　また、アラームメッセージが「ならい変位異常（＋）」の場合には、以下のような解決方法を表示する。
「加工開始後、加工ヘッドが材料に乗り上げて＋方向に上がりました。原因を取り除き、ＮＣリセットボタンかスタートボタンを押すとアラームは解除されます」
　このようなアラームの解決方法は記憶部１３に記憶されているので、携帯端末５は、記憶部１３から解決方法を取得して表示する。 Also, if the alarm message is "Trailing displacement abnormality (+)", the following solutions are displayed.
"After starting machining, the machining head ran over the material and rose in the + direction. The alarm will be cleared if you remove the cause and press the NC reset button or start button."
Since the solution to such an alarm is stored in the memory unit 13, the mobile terminal 5 obtains the solution from the memory unit 13 and displays it.
　ステップＳ１１７において、携帯端末５は、スタートボタン４３が押下されたか否かを判定し、スタートボタン４３が押下された場合にはステップＳ１１９へ進む。一方、スタートボタン４３が押下されず、工作機械３に設けられたスタートボタンを押すことで自動運転を再開した場合やリセットボタンで自動運転を終了した場合には、本実施形態に係る自動運転再開処理を終了する。 In step S117, the mobile terminal 5 determines whether the start button 43 has been pressed, and if the start button 43 has been pressed, the process proceeds to step S119. On the other hand, if the start button 43 has not been pressed and automatic operation has been resumed by pressing the start button provided on the machine tool 3, or if automatic operation has been ended by pressing the reset button, the automatic operation resumption process according to this embodiment is terminated.
　ステップＳ１１９において、コントローラ１５は、携帯端末５から運転再開指令を受信したか否かを判断し、受信していない場合には継続して運転再開指令を受信したか否かを判断する。そして、運転再開指令を受信すると、コントローラ１５はステップＳ１２１へ進み、工作機械３の自動運転を再開して本実施形態に係る自動運転再開処理を終了する。 In step S119, the controller 15 determines whether or not an operation restart command has been received from the mobile terminal 5, and if not, continues to determine whether or not an operation restart command has been received. Then, when an operation restart command is received, the controller 15 proceeds to step S121, restarts automatic operation of the machine tool 3, and ends the automatic operation restart process according to this embodiment.
　［実施形態の効果］
　以上、詳細に説明したように、本実施形態に係る自動運転再開システム１では、携帯端末５が、自動運転の停止理由を示したアラームメッセージと、カメラ１１で撮像された画像を携帯端末５の表示画面に表示する。そして、自動運転を遠隔から再開できるか否かをアラーム毎に記録した再開可否情報に基づいて、自動運転を遠隔から再開できる場合には、オペレータが工作機械３の自動運転を再開させる操作を行う。この操作が行われると、携帯端末５は、自動運転の再開を指令する運転再開指令を送信し、工作機械３は運転再開指令を受信すると、自動運転を再開する。これにより、工作機械３の加工領域を撮像した画像と自動運転が停止した理由を携帯端末５で確認できるので、オペレータは目視で工作機械３の状況を直接確認する必要がなくなり、遠隔から工作機械３の自動運転を再開することができる。したがって、アラームの発生によって工作機械３の自動運転が停止した場合であっても、遠隔から自動運転を再開することができる。また、製品を破損する恐れがあるような自動運転を遠隔から再開することが好ましくないアラームの場合には、再開可否情報を参照することによって、遠隔から自動運転を再開することが防止されるので、製品の破損を未然に防止することがきる。 [Effects of the embodiment]
As described above in detail, in the automatic operation resumption system 1 according to the present embodiment, the mobile terminal 5 displays an alarm message indicating the reason for the stop of the automatic operation and an image captured by the camera 11 on the display screen of the mobile terminal 5. Then, based on the resumption possibility information that records whether the automatic operation can be remotely resumed for each alarm, if the automatic operation can be remotely resumed, the operator performs an operation to resume the automatic operation of the machine tool 3. When this operation is performed, the mobile terminal 5 transmits an operation resumption command to command the resumption of the automatic operation, and when the machine tool 3 receives the operation resumption command, it resumes the automatic operation. As a result, since the image of the machining area of the machine tool 3 and the reason why the automatic operation was stopped can be confirmed on the mobile terminal 5, the operator does not need to directly check the status of the machine tool 3 visually, and can resume the automatic operation of the machine tool 3 remotely. Therefore, even if the automatic operation of the machine tool 3 is stopped due to the occurrence of an alarm, the automatic operation can be resumed remotely. In addition, in the case of an alarm for which it is not desirable to remotely resume automatic operation because there is a risk of damaging the product, by referring to the resumption feasibility information, remote resumption of automatic operation is prevented, thereby preventing damage to the product.
　また、本実施形態に係る自動運転再開システム１では、再開可否情報に基づいて工作機械３の自動運転を遠隔から再開できる場合には、自動運転を再開させるためのスタートボタン４３を携帯端末５の表示画面に表示する。そして、オペレータがスタートボタン４３を押下すると、運転再開指令をコントローラ１５へ送信する。これにより、オペレータがスタートボタン４３をタップするだけで、容易に工作機械３の自動運転を再開させることができる。また、自動運転を遠隔から再開できる場合のみ、スタートボタン４３が表示されるので、工作機械３の自動運転が誤って再開することを防止できる。 Furthermore, in the automatic operation resumption system 1 according to this embodiment, when automatic operation of the machine tool 3 can be resumed remotely based on the resumption feasibility information, a start button 43 for resuming automatic operation is displayed on the display screen of the mobile terminal 5. Then, when the operator presses the start button 43, an operation resume command is sent to the controller 15. This allows the operator to easily resume automatic operation of the machine tool 3 simply by tapping the start button 43. Furthermore, because the start button 43 is displayed only when automatic operation can be resumed remotely, it is possible to prevent automatic operation of the machine tool 3 from being erroneously resumed.
　さらに、本実施形態に係る自動運転再開システム１では、自動運転を停止させるためのストップボタン４５を携帯端末５の表示画面に表示する。これにより、オペレータがストップボタン４５をタップするだけで、容易に工作機械３の自動運転を停止させることができる。 Furthermore, in the automatic operation resumption system 1 according to this embodiment, a stop button 45 for stopping automatic operation is displayed on the display screen of the mobile terminal 5. This allows the operator to easily stop automatic operation of the machine tool 3 by simply tapping the stop button 45.
　また、本実施形態に係る自動運転再開システム１では、アラームが発生した前後にカメラ１１で撮像された画像を携帯端末５の表示画面に表示する。これにより、オペレータは、アラームが発生した前後の加工領域の状態を確認することができるので、アラームが発生した理由をより確実に把握することができる。 In addition, in the automatic operation resumption system 1 according to this embodiment, images captured by the camera 11 before and after an alarm occurs are displayed on the display screen of the mobile terminal 5. This allows the operator to check the state of the processing area before and after the alarm occurs, allowing the operator to more reliably understand the reason why the alarm occurred.
　さらに、本実施形態に係る自動運転再開システム１では、アラームメッセージに基づいて、アラームの解決方法を携帯端末５の表示画面に表示する。これにより、オペレータは表示された解決方法を利用して迅速にアラームを解決することができる。 Furthermore, in the automatic driving restart system 1 according to this embodiment, a method for resolving the alarm is displayed on the display screen of the mobile terminal 5 based on the alarm message. This allows the operator to quickly resolve the alarm using the displayed solution.
　なお、上述の実施形態は本開示の一例である。このため、本開示は、上述の実施形態に限定されることはなく、この実施形態以外の形態であっても、本開示に係る技術的思想を逸脱しない範囲であれば、設計などに応じて種々の変更が可能であることは勿論である。 The above-described embodiment is an example of the present disclosure. Therefore, the present disclosure is not limited to the above-described embodiment, and various modifications can be made to the design, etc., even if the embodiment is different from the above-described embodiment, as long as the modifications do not deviate from the technical concept of the present disclosure.
　本願の開示は、２０２２年１０月１２日に出願された特願２０２２－１６４２１５号に記載の主題と関連しており、その全ての開示内容は引用によりここに援用される。 The disclosure of this application is related to the subject matter described in Patent Application No. 2022-164215, filed on October 12, 2022, the entire disclosure of which is incorporated herein by reference.

Claims (7)

  1. 　アラームの発生によって停止した工作機械の自動運転を、オペレータが遠隔から端末装置で再開させる自動運転再開システムであって、
    　前記工作機械は、
    　前記工作機械の加工領域を撮像する撮像部と、
    　前記工作機械の自動運転を遠隔から再開できるか否かを前記アラーム毎に記録した再開可否情報を記憶する記憶部とを備え、
    　前記自動運転が停止すると、前記自動運転が停止した理由を示したアラームメッセージを出力し、
    　前記端末装置は、
    　前記アラームメッセージと前記撮像部で撮像された画像を前記端末装置の表示画面に表示し、
    　前記再開可否情報に基づいて前記工作機械の自動運転を遠隔から再開できる場合には、前記オペレータが前記工作機械の自動運転を再開させる操作を行うと、前記工作機械の自動運転の再開を指令する運転再開指令を送信し、
    　前記工作機械は、前記運転再開指令を受信すると、前記工作機械の自動運転を再開する自動運転再開システム。     An automatic operation restart system in which an operator remotely restarts automatic operation of a machine tool that has been stopped due to the occurrence of an alarm using a terminal device,
    The machine tool comprises:
    An imaging unit that images a machining area of the machine tool;
    a storage unit that stores restartability information that records whether or not the automatic operation of the machine tool can be remotely restarted for each of the alarms,
    When the automatic operation is stopped, an alarm message indicating the reason why the automatic operation is stopped is output;
    The terminal device
    displaying the alarm message and the image captured by the imaging unit on a display screen of the terminal device;
    When the automatic operation of the machine tool can be remotely resumed based on the resume possibility information, when the operator performs an operation to resume the automatic operation of the machine tool, an operation resume command is transmitted to command the restart of the automatic operation of the machine tool,
    The automatic operation resumption system causes the machine tool to resume automatic operation when it receives the operation resumption command.
  2. 　前記端末装置は、
    　前記再開可否情報に基づいて前記工作機械の自動運転を遠隔から再開できる場合には、前記工作機械の自動運転を再開させるためのスタートボタンを前記表示画面に表示し、
    　前記オペレータが前記スタートボタンを押下すると、前記運転再開指令を送信する請求項１に記載の自動運転再開システム。     The terminal device
    When the automatic operation of the machine tool can be remotely resumed based on the resumption possibility information, a start button for resuming the automatic operation of the machine tool is displayed on the display screen;
    The automatic driving restart system according to claim 1 , wherein the driving restart command is transmitted when the operator presses the start button.
  3. 　前記端末装置は、前記工作機械の自動運転を停止させるためのストップボタンを前記表示画面に表示する請求項１または２に記載の自動運転再開システム。 The automatic operation restart system according to claim 1 or 2, wherein the terminal device displays a stop button on the display screen for stopping the automatic operation of the machine tool.
  4. 　前記端末装置は、前記アラームが発生した前後に前記撮像部で撮像された画像を前記表示画面に表示する請求項１または２に記載の自動運転再開システム。 The automatic driving restart system according to claim 1 or 2, wherein the terminal device displays on the display screen images captured by the imaging unit before and after the alarm is generated.
  5. 　前記端末装置は、前記アラームメッセージに基づいて、前記アラームの解決方法を前記表示画面に表示する請求項１または２に記載の自動運転再開システム。 The automatic driving restart system according to claim 1 or 2, wherein the terminal device displays a method for resolving the alarm on the display screen based on the alarm message.
  6. 　アラームの発生によって停止した工作機械の自動運転を、オペレータが遠隔から端末装置で再開させる自動運転再開システムの端末装置であって、
    　前記工作機械の自動運転が停止した理由を示したアラームメッセージと、前記工作機械の自動運転を遠隔から再開できるか否かを前記アラーム毎に記録した再開可否情報とを前記工作機械から受信すると、前記工作機械の加工領域を撮像した画像を前記工作機械の撮像部から取得し、
    　前記アラームメッセージと前記撮像された画像を前記端末装置の表示画面に表示し、
    　前記再開可否情報に基づいて前記工作機械の自動運転を遠隔から再開できる場合には、前記オペレータが前記工作機械の自動運転を再開させる操作を行うと、前記工作機械の自動運転の再開を指令する運転再開指令を前記工作機械へ送信する自動運転再開システムの端末装置。     A terminal device of an automatic operation restart system in which an operator remotely restarts automatic operation of a machine tool that has been stopped due to the occurrence of an alarm using the terminal device,
    when receiving from the machine tool an alarm message indicating the reason why the automatic operation of the machine tool has stopped and restartability information recording for each alarm whether the automatic operation of the machine tool can be restarted remotely, acquiring an image of a machining area of the machine tool from an imaging unit of the machine tool;
    displaying the alarm message and the captured image on a display screen of the terminal device;
    When automatic operation of the machine tool can be remotely resumed based on the resume feasibility information, when the operator performs an operation to resume the automatic operation of the machine tool, a terminal device of the automatic operation restart system transmits an operation restart command to the machine tool to instruct the machine tool to resume automatic operation of the machine tool.
  7. 　アラームの発生によって停止した工作機械の自動運転を、オペレータが遠隔から端末装置で再開させる自動運転再開システムの工作機械であって、
    　前記工作機械の加工領域を撮像する撮像部と、
    　前記工作機械の自動運転を遠隔から再開できるか否かを前記アラーム毎に記録した再開可否情報を記憶する記憶部とを備え、
    　前記自動運転が停止すると、前記自動運転が停止した理由を示したアラームメッセージを出力し、
    　前記アラームメッセージと前記再開可否情報を前記端末装置に送信し、
    　前記アラームメッセージと前記再開可否情報を受信した前記端末装置に、前記工作機械の加工領域を撮像した画像を送信し、
    　前記工作機械の自動運転の再開を指令する運転再開指令を前記端末装置から受信すると、前記工作機械の自動運転を再開する自動運転再開システムの工作機械。     A machine tool of an automatic operation restart system in which an operator remotely restarts automatic operation of a machine tool that has been stopped due to the occurrence of an alarm using a terminal device,
    An imaging unit that images a machining area of the machine tool;
    a storage unit that stores restartability information that records whether or not the automatic operation of the machine tool can be remotely restarted for each of the alarms,
    When the automatic operation is stopped, an alarm message indicating the reason why the automatic operation is stopped is output;
    Transmitting the alarm message and the restart possibility information to the terminal device;
    transmitting an image of a machining area of the machine tool to the terminal device that has received the alarm message and the restart possibility information;
    A machine tool of an automatic operation resumption system that resumes automatic operation of the machine tool when an operation restart command instructing the machine tool to resume automatic operation is received from the terminal device.
PCT/JP2023/034839 2022-10-12 2023-09-26 Automatic operation restart system, terminal device thereof, and machine tool WO2024080130A1 (en)

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Citations (5)

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JPH05182093A (en) * 1991-10-09 1993-07-23 Meteoola Syst Kk Security system for machine working
JP2001236115A (en) * 2000-02-24 2001-08-31 Fanuc Ltd Remote diagnostic system and method
JP2002312011A (en) * 2001-04-10 2002-10-25 Enshu Ltd Information communication system for machine tool
JP2008217608A (en) * 2007-03-06 2008-09-18 Farukomu:Kk Remote monitoring system and method of industrial machine
JP2018200654A (en) * 2017-05-30 2018-12-20 パナソニックＩｐマネジメント株式会社 Manufacturing apparatus monitoring system and manufacturing apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05182093A (en) * 1991-10-09 1993-07-23 Meteoola Syst Kk Security system for machine working
JP2001236115A (en) * 2000-02-24 2001-08-31 Fanuc Ltd Remote diagnostic system and method
JP2002312011A (en) * 2001-04-10 2002-10-25 Enshu Ltd Information communication system for machine tool
JP2008217608A (en) * 2007-03-06 2008-09-18 Farukomu:Kk Remote monitoring system and method of industrial machine
JP2018200654A (en) * 2017-05-30 2018-12-20 パナソニックＩｐマネジメント株式会社 Manufacturing apparatus monitoring system and manufacturing apparatus

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