US 12,317,769 B2
Industrial machinery system, industrial machine, control apparatus, control method for industrial machinery system, and control program for industrial machinery system
Chihiro Wake, Tokyo (JP); Hiroshi Yanagishita, Tokyo (JP); and Yutaka Murakumo, Tokyo (JP)
Assigned to NILEWORKS INC., Tokyo (JP)
Appl. No. 17/603,974
Filed by NILEWORKS INC., Tokyo (JP)
PCT Filed May 20, 2020, PCT No. PCT/JP2020/019925
§ 371(c)(1), (2) Date Oct. 15, 2021,
PCT Pub. No. WO2020/241411, PCT Pub. Date Dec. 3, 2020.
Claims priority of application No. 2019-097459 (JP), filed on May 24, 2019.
Prior Publication US 2022/0201922 A1, Jun. 30, 2022
Int. Cl. A01B 69/04 (2006.01); A01C 21/00 (2006.01); A01M 7/00 (2006.01); A01M 9/00 (2006.01); B64D 1/18 (2006.01); B64U 10/13 (2023.01); B64U 30/26 (2023.01); B64U 101/30 (2023.01); B64U 101/40 (2023.01); B64U 101/45 (2023.01); G05D 1/00 (2024.01)
CPC A01B 69/008 (2013.01) [B64U 10/13 (2023.01); B64U 30/26 (2023.01); G05D 1/101 (2013.01); A01C 21/007 (2013.01); A01M 7/0089 (2013.01); A01M 9/0092 (2013.01); B64D 1/18 (2013.01); B64U 2101/30 (2023.01); B64U 2101/40 (2023.01); B64U 2101/45 (2023.01)] 22 Claims
OG exemplary drawing
 
1. An industrial machinery system comprising:
an industrial machine;
an area information acquiring device that acquires information on an operation area where the industrial machine is to be caused to perform a predetermined operation; and
a control apparatus that determines whether to permit the industrial machine to perform the predetermined operation in the operation area, wherein
the control apparatus includes:
a storage section that stores information on a registered area; and
a determining section that determines whether to permit the industrial machine to perform the predetermined operation in the operation area in accordance with whether an area corresponding to the operation area is identifiable from the registered area stored in the storage section,
wherein the area information acquiring device acquires, as the information on the operation area, the position coordinates of the operation area and position coordinates of a vicinity of the operation area,
wherein information on the registered area stored in the storage section includes position coordinates of the registered area,
wherein the determining section compares the position coordinates of the operation area with the position coordinates of the registered area to identify an area corresponding to the operation area from the registered area, when determining that there is an area corresponding to the operation area in the registered area, the determining section permits the industrial machine to perform the predetermined operation, and when determining that there is no area corresponding to the operation area in the registered area, the determining section inhibits the industrial machine from performing the predetermined operation,
wherein the storage section stores identification information on the registered area and a representative point that represents the registered area in association with each other,
wherein the determining section specifies one predetermined point that is determined based on the information on the operation area and selects a registered area that minimizes a distance between the predetermined point and the representative point as the area corresponding to the operation area,
wherein the predetermined point is a center of a polygon that is defined by connecting vertices of the operation area, and
wherein a boundary of the operation area is determined by causing the industrial machine or another industrial machine to perform a preliminary movement along the boundary of the operation area to determine whether to permit the industrial machine to perform the predetermined operation in the operation area.