JP2009282641A - Monitoring area setting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitoring area setting device capable of improving operability at the setting of a monitoring area according to the arrangement state of peripheral facilities. <P>SOLUTION: The monitoring area setting device includes: an arrangement plan storage unit 32 for maintaining an arrangement plan of the peripheral facilities; a scale information acquiring unit 33 for acquiring scale information indicating correspondence between a size on the arrangement plan and an actual size; an arrangement plan display unit 34 for adjusting the size of the arrangement plan based on the scale information and displaying the size-adjusted arrangement plan as a background image of the monitoring area; a sensor location display unit 38 for displaying a symbol B1 indicating a safety sensor 1 on a background image; an area setting information generating unit 41 for determining a monitoring area based on an input signal from an operating unit 24 and generating area setting information; and an area setting transfer unit 43 for transferring the area setting information to the safety sensor 1. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a monitoring area setting device, and more specifically, to an area monitoring sensor that emits detection light with different emission directions and detects an intruder in a monitoring area designated in advance based on the reflected light. On the other hand, the present invention relates to an improvement of a monitoring area setting device that generates area setting information for designating the monitoring area.

  An area monitoring sensor is known as a sensor that detects an intruder such as a person who has entered an intrusion prohibited area and outputs a detection signal. The area monitoring sensor includes, for example, a light projecting unit that projects detection light, a scanning unit that scans the detection light, and a light receiving unit that receives the detection light reflected by the intruding object, and is based on the output of the light receiving unit. The distance to the intruder and the orientation of the intruder are detected. Then, based on these detection results, it is determined whether or not an intruder is present in a predetermined area, and a detection signal is output based on the determination result. This detection signal is used, for example, as a control signal for stopping a machine tool operating in the vicinity of the monitoring area.

  Normally, an area setting tool is used to instruct such an area monitoring sensor as a detection area, or to edit an already set monitoring area. This area setting tool is an application program that runs on an information processing terminal such as a personal computer, and can set a monitoring area in accordance with the arrangement status of equipment in a factory such as a machine tool.

  However, with the conventional area setting tool, when setting the monitoring area according to the arrangement status of production equipment in the factory, the distance and direction from the sensor to the peripheral equipment are measured, and the detected value is used as a guide. There is a problem that the operability is not good because the target area must be specified.

  Further, in the area monitoring sensor as described above, an area positioned in front of the detection target area cannot be set as a non-detection area when viewed from the sensor, or is positioned behind the non-detection area. The region to be detected cannot be detected. For this reason, in the conventional area setting tool, there is a problem that when an attempt is made to set a monitoring area, an area must be specified in consideration of the characteristics of such an area monitoring sensor.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a monitoring area setting device with improved operability when setting a monitoring area composed of an area to be detected as an intruder. . In particular, an object of the present invention is to provide a monitoring area setting device capable of improving the operability when setting a monitoring area according to the arrangement state of peripheral equipment. Another object of the present invention is to provide a monitoring area setting device that can appropriately set a monitoring area even if the characteristics of the area monitoring sensor are not well known.

  A monitoring area setting device according to a first aspect of the present invention is directed to an area monitoring sensor that emits detection light with different emission directions and detects an intruder in a monitoring area designated in advance based on the reflected light. A monitoring area setting device for generating area setting information for designating a monitoring area, a layout diagram storing means for holding a layout diagram of peripheral equipment, and a scale indicating a correspondence relationship between dimensions on the layout diagram and actual dimensions Scale information acquisition means for acquiring information, layout map display means for adjusting the size of the layout map based on the scale information, and displaying the layout map after the size adjustment as a background image of the monitoring area, and the area monitoring Sensor position display means for displaying a symbol indicating a sensor on the background image, and an area for determining the monitoring area based on an operation input and generating the area setting information. Constructed and an A setting information generating means.

  In this monitoring area setting device, the size of the layout map held by the layout map storage means is adjusted based on the scale information, and the layout map after the size adjustment is displayed as a background image of the monitoring area. According to such a configuration, the monitoring area can be set by specifying the detection target area while looking at the size-adjusted layout, so when setting the monitoring area according to the arrangement status of the peripheral equipment The operability can be improved.

  A monitoring area setting device according to a second aspect of the present invention includes, in addition to the above configuration, sensor position specifying means for specifying the position of the area monitoring sensor on the layout drawing based on an operation input, and the sensor position display means The symbol is displayed at a position specified by the sensor position specifying means. According to such a configuration, the symbol indicating the area monitoring sensor can be displayed at the position designated by the user and the layout diagram can be displayed. Therefore, the convenience in setting the monitoring area can be improved.

  In the monitoring area setting apparatus according to the third aspect of the present invention, in addition to the above configuration, the scale information acquisition unit extracts dimension information as the scale information from the image information held as the layout map by the layout map storage unit. It is comprised so that it may have a dimension information extraction means.

  In addition to the above configuration, the monitoring area setting device according to a fourth aspect of the present invention includes a distance designating unit in which the scale information obtaining unit designates a distance between two points on the layout diagram as the scale information based on an operation input. Configured to have.

  A monitoring area setting device according to a fifth aspect of the present invention includes an image scale adjustment unit that adjusts the scale of the background image based on an operation input in addition to the above-described configuration.

  A monitoring area setting device according to a sixth aspect of the present invention is configured to include a layout angle adjusting means for rotating the background image around the symbol based on an operation input in addition to the above configuration.

  A monitoring area setting device according to a seventh aspect of the present invention includes, in addition to the above configuration, detection target area specifying means for specifying a detection target area based on an operation input, and the area setting information generating means includes the area monitoring sensor When the detection target area designated by the detection target area designating unit is separated from the area monitoring sensor, the non-matching area extraction unit extracts a region between the detection target areas as a mismatched area. The monitoring area is determined as an area including a matching area and the detection target area. According to such a configuration, when the detection target area designated by the operation input is away from the area monitoring sensor, the area between the sensor and the detection target area is automatically extracted as a mismatch area. Since the monitoring area is determined, the monitoring area can be appropriately set even if the characteristics of the area monitoring sensor are not well known.

  According to the monitoring area setting device according to the present invention, the monitoring area can be set by designating the area to be detected while looking at the size-adjusted layout map. The operability at the time of setting can be improved. Further, since the symbol indicating the area monitoring sensor can be displayed at the position designated by the user and the layout diagram can be displayed, the convenience in setting the monitoring area can be improved. Therefore, it is possible to improve the operability when setting a monitoring area composed of an area to be detected as an intruder. In addition, when the detection target area specified by the operation input is away from the area monitoring sensor, the monitoring area is determined by automatically extracting the area between the sensor and the detection target area as a mismatch area. Therefore, the monitoring area can be set appropriately even if the characteristics of the area monitoring sensor are not well known.

Embodiment 1 FIG.
First, a detection system assumed by the monitoring area setting device according to the first embodiment of the present invention will be described below with reference to FIG. The monitoring area setting device according to the present embodiment is used to instruct an area monitoring sensor in this detection system as an area to be detected as a monitoring area or to edit an already set monitoring area.

<Detection system>
FIG. 1 is a perspective view showing a configuration example of a detection system including an area monitoring sensor. An optical scanning safety sensor 1 is shown as an example of the area monitoring sensor. In this detection system, a transfer device and a processing robot A1 are arranged in an area partitioned by a protective fence A2, and an area around the mechanical equipment such as a robot work area is defined as a safety area 2, and an intruder in the safety area 2 is used. Is detected by the safety sensor 1. That is, the safety area 2 is a monitoring area monitored by the safety sensor 1.

  The safety sensor 1 monitors the safety area 2 having a complicated shape by scanning the detection light, detects the presence of an intruder such as the operator A3 who operates the control panel of the machine facility, and outputs a detection signal. It is carried out. The detection of the intruder is performed based on the detection light reflected by the intruder by emitting the detection light with different emission directions.

  This detection signal is used, for example, as a control signal for stopping the processing robot A1 operating in the vicinity of the safety area 2. That is, the safety sensor 1 has an OSSD (Output Signal Switching Device) output, and outputs an operation permission signal when there is no intruder in the safety area 2 (OSSD on state). In a state where an intruder is present (OSSD off state), an operation of outputting an operation non-permission signal is performed.

<Area setting system>
FIG. 2 is a diagram showing a configuration example of an area setting system including a monitoring area setting device according to Embodiment 1 of the present invention, and an application program for setting a safety area is installed as an example of the monitoring area setting device. PC 22 is shown. The PC (personal computer) 22 is an information processing terminal having a display 23 and an operation unit 24. The PC (personal computer) 22 instructs the safety sensor 1 as an area to be detected as a safety area, or a safety that has already been set. An operation to edit the area is performed. The safety sensor 1 and the PC 22 are connected to each other via a communication cable 21.

  The safety sensor 1 is an optical scanning safety sensor that detects an intruder in the safety area 2 by scanning detection light along a horizontal scanning plane. The safety sensor 1 includes, for example, a light projecting unit that projects detection light, a scanning unit that repeatedly scans the detection light in the horizontal direction at a constant cycle, a light receiving unit that receives the detection light reflected by the intruding object, and a detection It is comprised by the detection part which outputs a detection signal based on the light reception result.

  For example, laser light having a wavelength in the infrared region is used as the detection light. By scanning the detection light in the horizontal direction, the safety area 2 composed of a horizontal plane is monitored, and the intruder in the safety area 2 is detected by receiving the reflected light from the intruder.

  Specifically, the distance from the safety sensor 1 to the intruder is calculated based on the detection light projection timing and the detection timing of the detection light reflected by the intruder. Further, the direction of the intruding object is calculated by determining the emission direction of the detection light based on the control signal of the scanning unit. Then, based on the calculated distance and direction, it is determined whether or not an intruder exists in the safety area 2, and a detection signal is output based on the determination result.

  The safety sensor 1 is provided with a cover 11 and an operation panel 12 for covering a light projecting unit, a scanning unit, a light receiving unit, and the like. On the operation panel 12, operation keys for directly specifying the safety area and a display unit 13 for displaying the setting contents are arranged.

  In the PC 22, an operation for instructing such a safety sensor 1 to a safety area or editing an already set safety area is performed.

<Monitoring area setting device>
FIG. 3 is a block diagram showing a configuration example of the PC 22 in the area setting system of FIG. 2, and shows an example of a functional configuration as a monitoring area setting device. In addition to the display 23 and the operation unit 24, the PC 22 includes a layout drawing acquisition unit 31, a layout drawing storage unit 32, a scale information acquisition unit 33, a layout drawing display unit 34, an image scale adjustment unit 35, and a layout drawing angle adjustment unit 36. , A sensor position designation unit 37, a sensor position display unit 38, a detection target area designation unit 39, an area display unit 40, an area setting information generation unit 41, an area setting storage unit 42, and an area setting transfer unit 43.

  The layout drawing acquisition unit 31 performs an operation of acquiring a layout drawing of peripheral equipment from an external device. The layout diagram of the peripheral equipment is, for example, a sketch of the peripheral equipment at a point where the safety sensor 1 is to be placed in a building such as a factory. In the layout drawing acquisition unit 31, image information indicating the arrangement status of such peripheral facilities is acquired as a layout drawing. The layout diagram is acquired from, for example, another terminal device connected via a communication cable.

  The layout map storage unit 32 is a memory that holds the layout map acquired by the layout map acquisition unit 31. The layout map held by the layout map storage unit 32 includes image information created as a layout map by another application program operating on the PC 22.

  The scale information acquisition unit 33 includes a dimension information extraction unit 33a and a distance designation unit 33b, and performs an operation of acquiring scale information indicating a correspondence relationship between the dimension on the layout drawing and the actual dimension.

  The dimension information extraction unit 33a performs an operation of extracting dimension information as the scale information from the image information held as the layout map by the layout map storage unit 32.

  The distance designation unit 33b performs an operation of designating a distance between two points on the layout diagram as the scale information based on an input signal from the operation unit 24. That is, when the distance between two points on the layout drawing is designated based on an operation input by the user, an operation of outputting the distance as scale information is performed. The two points designated on the layout map when the scale information is acquired are designated by default, or arbitrary points designated by the user are used. Such a distance between two points is determined from an input value by the user, and is output as scale information.

  That is, in the scale information acquisition unit 33, if the scale information is included in the image information held as the layout map by the layout map storage unit 32, the dimension information extraction unit 33a extracts the dimension information as scale information from the image information. Information is output to the layout map display unit 34. For example, when the layout diagram is composed of image data in a file format based on vector graphics such as DXF (Data eXchange Format), dimension information is extracted from the image data.

  On the other hand, when the image information held as the layout map by the layout map storage unit 32 does not include scale information and is composed of raster image data based on bitmap graphics such as BMP or JPEG, the scale information is displayed by the distance specifying unit 33b. The distance designated as is output to the layout drawing display unit 34.

  The layout map display unit 34 controls the display 23 and performs an operation of displaying the layout map held by the layout map storage unit 32 as a background image of the safety area. Specifically, an operation of adjusting the size of the layout map based on the scale information acquired by the scale information acquisition unit 33 and displaying the layout map after the size adjustment on the display 23 as a background image of the safety area is performed. .

  The size adjustment of the layout map is performed in order to make the scale of the area coincide with the scale of the layout map when the area to be detected by the intruder is displayed on the display 23. For example, the size adjustment is performed by enlarging the image by increasing the number of pixels by interpolation processing or by reducing the image by decreasing the number of pixels by thinning processing. Here, it is assumed that a function for adjusting the density of the background image when the layout diagram is displayed as the sensor background is provided.

  The sensor position designating unit 37 performs an operation of designating the position of the safety sensor 1 on the layout diagram based on the input signal from the operation unit 24. Thereby, the relative positional relationship of the peripheral equipment with respect to the sensor when displaying the safety sensor 1 on the layout can be arbitrarily changed.

  The sensor position display unit 38 controls the display 24 and performs an operation of displaying a symbol indicating the safety sensor 1 on the background image. In the sensor position display unit 38, an operation for displaying the symbol at the position designated by the sensor position designation unit 37 is performed. However, when the position information of the safety sensor 1 is included in the image information held as the layout map by the layout map storage unit 32, the position information is extracted from the image information and a symbol is displayed.

  The image scale adjustment unit 35 performs an operation of adjusting the scale of the background image based on the input signal from the operation unit 24. For example, a scale when a part of the layout drawing is cut out and displayed as a background image on the display 23 is adjusted.

  The layout drawing angle adjusting unit 36 rotates the background image around the symbol indicating the safety sensor 1 based on the input signal from the operation unit 24 and relatively adjusts the angle of the layout drawing with respect to the safety sensor 1. Is going. Further, based on an input signal from the operation unit 24, an operation is performed in which the background image is flipped horizontally or vertically with respect to the symbol indicating the safety sensor 1.

  The detection target area designating unit 39 performs an operation of designating a detection target area as a detection target area based on an input signal from the operation unit 24. The area display unit 40 controls the display 23 to perform an operation for displaying on the display 23 an area designated as a detection target area by the user. The detection target area is displayed on a layout diagram in which symbols indicating the safety sensor 1 are arranged.

  The area setting information generation unit 41 includes an inconsistent area extraction unit 41a and a monitoring area determination unit 41b, determines a safety area based on an input signal from the operation unit 24, and instructs the safety sensor 1 to specify the safety area. An operation for generating area setting information is performed.

  This area setting information is generated based on the detection target area specified by the detection target area specifying unit 39. The inconsistent area extraction unit 41a performs an operation of extracting a region between the safety sensor 1 and the detection target area as an inconsistent area. That is, when the detection target area designated by the detection target area designating unit 39 is away from the safety sensor 1, the area between the safety sensor 1 and the detection target area is automatically extracted as a mismatch area.

  In the monitoring area determination unit 41b, an operation of determining a safety area as an area composed of an inconsistent area and a detection target area and generating area setting information is performed. That is, when there is a region that is not designated as a detection target between the safety sensor 1 and the region that is designated as the detection target area when viewed from the safety sensor 1, the region is extracted as a mismatch area, and the detection target The operation for generating the area setting information is performed so that the area where the inconsistent area is added to the area becomes the safety area.

  On the other hand, when the detection target area specified by the detection target area specifying unit 39 is adjacent to the safety sensor 1, the detection target area is determined as it is as a safety area. The area setting information generated by the area setting information generation unit 41 is held in the area setting storage unit 42.

  The area setting transfer unit 43 performs an operation of transferring the area setting information in the area setting storage unit 42 to the safety sensor 1.

<Area setting screen>
FIG. 4 is a diagram showing an example of the operation in the PC 22 of FIG. 3, and shows an area setting screen 23 a displayed on the display 23. The area setting screen 23a is an input screen used when a safety area is newly specified or a safety area that has already been set is edited.

  In this example, the maximum detection area B2 is displayed with respect to the orthogonal coordinates centered on the symbol B1 indicating the safety sensor 1. Further, grid lines B3 parallel to the horizontal axis are arranged at intervals of 500 mm, and grid lines B4 parallel to the vertical axis are arranged at intervals of 500 mm.

  The maximum detection area B2 is a region having the upper limit of the distance that can be detected by the safety sensor 1 as a boundary. The maximum detection area B2 has a semicircular shape centered on B1 in front of the symbol B1.

  On the other hand, behind the symbol B1, the upper limit of the detectable distance varies depending on the emission angle of the detection light, and becomes narrower as the emission angle with respect to the horizontal axis increases. Here, the detectable angle range B5 is approximately −45 degrees or more and 225 degrees or less. Such an area outside the maximum detection area B2 is a dead area of the safety sensor 1, and cannot be designated as a detection target.

  In general, in a safety sensor that detects the intruder by receiving the reflected light from the intruder when the detection light is projected, the area ahead of the area to be detected as the non-detection area is viewed from the sensor. I can't. That is, when viewed from the sensor, a discontinuous region or a region away from the sensor cannot be designated as a safety area.

  This is due to the fact that there is only one threshold value for determining whether or not an intruder exists within the region to be detected on an optical axis when scanning the detection light. That is, in the safety sensor 1, when the threshold value is Amm, if the distance from the sensor to the intruder is Amm or less, it is determined that an intruder exists in the detection area. This is due to the characteristics of the sensor that can only be set to determine that no intruder exists.

  It is not easy to set a region having a complicated shape as a safety area in consideration of the characteristics of such a safety sensor. However, in the monitoring area setting device according to the present embodiment, when the user arbitrarily designates the detection target area as the detection target area, the area between the safety sensor 1 and the detection target area is also extracted as the detection target. Thus, since the safety area is determined, an area having a complicated shape can be easily set as the safety area without knowing the characteristics of the safety sensor.

  In addition, since the layout diagram of the peripheral equipment is displayed as the background image of the safety area, the operability when setting the safety area according to the layout status of the production equipment can be improved.

<Background layout display>
FIG. 5 is a diagram showing an example of the operation in the PC 22 of FIG. 3, and shows a case where a layout diagram of peripheral facilities is displayed on the area setting screen 23a. In this example, a part of the layout diagram is displayed as a background image of orthogonal coordinates for area setting, and the layout of peripheral equipment in the vicinity of the safety sensor 1 can be identified. The symbol B1 indicating the safety sensor 1 is arranged at the center of the orthogonal coordinates.

  Specifically, orthogonal coordinates with the front direction of the safety sensor 1 as the Y-axis direction and the left-right direction as the X-axis direction are displayed centering on the symbol B1, and the layout diagram is displayed in association with these coordinate axes. Yes. For example, a guard fence A2 parallel to the X axis is disposed behind and in front of the safety sensor 1, and a guard fence A2 parallel to the Y axis is disposed on the left side of the safety sensor 1.

  A processing robot A1 is disposed between the protective fence A2 parallel to the Y axis and the safety sensor 1.

  Since the layout diagram is displayed in association with the coordinate axis and the symbol B1 for setting the safety area C in this way, it is possible to set the safety area by designating the region to be detected while looking at the layout diagram. In addition, by displaying the safety area that has already been set on the layout, it is easy to determine whether the safety area has been set appropriately, so it is convenient to edit the safety area. Can be improved.

<Area setting>
FIG. 6 is a diagram showing an example of the operation in the PC 22 of FIG. 3, and shows a case where a rectangular region 51 existing at a position away from the sensor is designated as a detection target area. The region to be detected can be arbitrarily designated regardless of the sensor characteristics. Accordingly, even the region 51 existing at a position away from the sensor can be designated as a detection target. In (a) of the figure, an area 51 designated as a detection target area by the user is shown.

  In addition to the rectangular shape, a polygon, a circle centered on the sensor, or a sector shape can be designated as the detection target area. It is also possible to specify a closed region with a drawn curve as a boundary while moving the mouse pointer on the screen. However, an area having a discontinuous portion as viewed from the sensor cannot be designated as a detection target area.

  In the PC 22, the area 51 is designated on the area setting screen 23a. For example, when the determination key is operated by the user, the area 51 is determined as an area to be detected, and the detection target area is determined.

  At this time, a region that must be added at a minimum to make the region 51 a detection target is automatically extracted as the inconsistent area 52. That is, as viewed from the safety sensor 1, a region not designated as a detection target between the safety sensor 1 and a region 51 designated as a detection target area by the user is automatically extracted as the mismatch area 52.

  The inconsistent area 52 is displayed so as to be identifiable with respect to the detection target area designated by the user. For example, the inconsistent area 52 is displayed with a color different from that of the detection target area. Alternatively, the inconsistent area 52 is displayed by shading different from the detection target area.

  When the inconsistent area 52 is automatically extracted, a confirmation dialog 53 for inquiring whether the inconsistent area 52 may be added to the safety area is displayed. In (b) in the figure, an automatically extracted inconsistency area 52 and confirmation dialog 53 are displayed.

  When the change of the safety area is permitted by the user after the confirmation dialog 53 is displayed, area setting information is generated with the area including the detection target area and the inconsistent area 52 as the safety area 54. (C) in the figure shows a safety area 54 to which an inconsistent area 52 is added.

  If the change of the safety area is not permitted, the mode returns to the detection target area input mode.

  According to the present embodiment, it is possible to set a safety area by specifying an area to be detected while looking at a size-adjusted layout map, so when setting a safety area according to the arrangement status of peripheral equipment The operability can be improved. Moreover, since the symbol B1 indicating the safety sensor can be displayed at the position designated by the user and the layout can be displayed, the convenience in setting the safety area can be improved.

  Furthermore, when the detection target area designated as the detection target is away from the safety sensor, the safety area is determined by automatically extracting the area between the sensor and the detection target area as a mismatch area. Even if you are not familiar with the characteristics of the safety sensor, you can set the safety area appropriately.

Embodiment 2. FIG.
In the first embodiment, the example in which the size of the layout drawing acquired from the external device is adjusted based on the scale information and the layout drawing after the size adjustment is displayed as the background image of the safety area has been described. On the other hand, in the present embodiment, a case will be described in which a measurement error zone is displayed when a detection area is monitored and a safety area is set.

<Measurement error>
FIGS. 7A and 7B are diagrams showing an example of the operation in the monitoring area setting device according to the second embodiment of the present invention. The detection data D2 and D3 acquired from the safety sensor 1, the safety area D1 and It is shown. The safety sensor 1 has a function of outputting the detected distance and direction to the intruder as detection data D2 each time the detection light is scanned. In the PC 22, the detection data D <b> 2 is acquired from the safety sensor 1 and displayed on the coordinates for setting the safety area, thereby allowing the user to identify the distance and direction to an obstacle such as a wall or a guard fence. .

  FIG. 7A shows a safety area D1 defined based on the detection data D2 obtained at a certain time. When the safety sensor 1 is placed in an area surrounded by a wall or a protective fence, the area to be detected is obstructed based on the detection data D2 detected as the distance and direction to the obstacle such as the wall or the protective fence. It is conceivable to set up a safety area that extends very close to objects.

  However, the distance and direction to the intruder detected by the safety sensor 1 include a measurement error. For this reason, even if the safety area D1 is set based on the detection data D2 obtained at a certain time so that an obstacle such as a wall or a guard fence is not detected as an intruder, the obstacle is caused by the measurement error. It will be detected as an intruder inside.

  FIG. 7B shows a state in which a part E of the detection data D3 is in the safety area D1. If an obstacle is detected as an intruder in the safety area D1 due to a measurement error, the OSSD output is erroneously turned off and the production line is stopped.

<Display of measurement error zone>
Therefore, in the present embodiment, when setting the safety area, the detection data acquired from the safety sensor 1 takes into account the measurement error of the distance to the intruder and the measurement error of the detection direction due to the shake of the optical axis. Then, an operation for displaying a region where an error is expected as a measurement error zone is performed.

  Specifically, (1) First, detection data is acquired from the safety sensor 1. (2) Next, the average distance is calculated by averaging the detected value of the distance for each detection direction over time for a plurality of scans. For example, the detection data is averaged for a time of about 500 ms to 1 s.

  (3) Next, for each detected orientation, an upper limit distance is obtained by adding a constant value to the average distance. Also, a lower limit distance is obtained by subtracting a certain value from the average distance. As the fixed value, for example, a maximum value (specifically, about 100 mm) assumed as a distance measurement error is used.

  (4) Next, before and after the attention direction, for example, within a range of −1.5 degrees or more and (+1.5) degrees or less, the maximum value of the upper limit distance is extracted to calculate the outer distance of the attention direction. To do. Further, by extracting the minimum value of the lower limit distance, the inner distance of the attention direction is calculated.

  (5) Then, a boundary line formed by connecting points at an external distance from the safety sensor 1 is defined as an outline, and a boundary line formed by connecting points at an internal distance is defined as an internal outline. The area sandwiched between is displayed as a measurement error zone.

  FIG. 8 is a diagram showing an example of the operation in the monitoring area setting device according to the second embodiment of the present invention, and shows measurement error zones displayed on the coordinates when setting the safety area. The outline D11 is a boundary line formed by connecting points at an outline distance from the safety sensor 1. On the other hand, the inner outline D12 is a boundary line formed by connecting points at an inner outline distance from the safety sensor 1.

  The measurement error zone is a region where an error is expected when considering a measurement error of a distance and a measurement error of a detection direction due to a shake of an optical axis, and includes a region sandwiched between an outer outline D11 and an inner outline D12.

  Here, it is assumed that the measurement error zone is displayed so as to be identifiable with respect to a boundary line D10 formed by connecting points at an average distance from the safety sensor 1. For example, the measurement error zone is displayed in a different color from the boundary line D10. Alternatively, the measurement error zone is shaded.

  In the first and second embodiments, the example in which the PC 22 in which the safety area setting program is installed as one of the rewritable application programs is used as the monitoring area setting device has been described. It is not limited to. For example, the present invention can be applied to an area setting dedicated terminal device for setting a safety area for a safety sensor.

It is the perspective view which showed one structural example of the detection system containing an area monitoring sensor, and the optical scanning type safety sensor 1 is shown as an example of an area monitoring sensor. It is the figure which showed the structural example of the area setting system containing the monitoring area setting apparatus by Embodiment 1 of this invention. It is the block diagram which showed the structural example of PC22 in the area setting system of FIG. 2, and an example of the functional structure as a monitoring area setting apparatus is shown. FIG. 4 is a diagram illustrating an example of an operation in the PC 22 in FIG. 3, in which an area setting screen 23 a displayed on the display 23 is illustrated. It is the figure which showed an example of the operation | movement in PC22 of FIG. 3, and the example at the time of displaying the layout of a peripheral installation on the area setting screen 23a is shown. FIG. 4 is a diagram showing an example of the operation in the PC 22 of FIG. 3, and shows a case where a rectangular area 51 existing at a position away from the sensor is designated as a detection target area. It is the figure which showed an example of the operation | movement in the monitoring area setting apparatus by Embodiment 2 of this invention, and the detection data D2, D3 acquired from the safety sensor 1 are shown. It is the figure which showed an example of the operation | movement in the monitoring area setting apparatus by Embodiment 2 of this invention, and the measurement error zone displayed on the coordinate for area setting is shown.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Safety sensor 2 Safety area 11 Cover 12 Operation panel 13 Display part 21 Communication cable 22 PC
23 display 24 operation unit 31 arrangement drawing acquisition unit 32 arrangement drawing storage unit 33 scale information acquisition unit 33a dimension information extraction unit 33b distance designation unit 34 arrangement drawing display unit 35 image scale adjustment unit 36 arrangement drawing angle adjustment unit 37 sensor position designation unit 38 Sensor position display unit 39 Detection target area designation unit 40 Area display unit 41 Area setting information generation unit 41a Inconsistent area extraction unit 41b Monitoring area determination unit 42 Area setting storage unit 43 Area setting transfer unit A1 Processing robot A2 Guard fence B1 Symbol B2 Maximum detection area

Claims (7)

Generates area setting information for designating the monitoring area for an area monitoring sensor that emits detection light in different emission directions and detects intruders in a designated monitoring area based on the reflected light. In the monitoring area setting device to
A layout storage means for storing a layout of peripheral equipment;
Scale information acquisition means for acquiring scale information indicating the correspondence between the dimensions on the layout drawing and the actual dimensions;
A layout map display means for adjusting the size of the layout map based on the scale information and displaying the layout map after the size adjustment as a background image of the monitoring area;
Sensor position display means for displaying a symbol indicating the area monitoring sensor on the background image;
A monitoring area setting device comprising: area setting information generating means for determining the monitoring area based on an operation input and generating the area setting information. Based on an operation input, comprising a sensor position designation means for designating the position of the area monitoring sensor on the layout drawing,
2. The monitoring area setting device according to claim 1, wherein the sensor position display means displays the symbol at a position designated by the sensor position designation means.   The scale information acquisition unit includes a dimension information extraction unit that extracts dimension information as the scale information from image information held as the layout map by the layout map storage unit. Monitoring area setting device.   2. The monitoring area setting device according to claim 1, wherein the scale information acquisition means includes distance designation means for designating a distance between two points on the layout map as the scale information based on an operation input.   The monitoring area setting device according to claim 1, further comprising an image scale adjustment unit that adjusts the scale of the background image based on an operation input.   The monitoring area setting device according to claim 1, further comprising an arrangement angle adjustment unit that rotates the background image around the symbol based on an operation input. Based on the operation input, it has a detection target area specifying means for specifying the detection target area,
The area setting information generation unit includes an inconsistent area extracting unit that extracts an area between the area monitoring sensor and the detection target area as an inconsistent area, and the detection target area specified by the detection target area specifying unit is The monitoring area setting device according to claim 1, wherein the monitoring area is determined as an area including the inconsistent area and the detection target area when the area monitoring sensor is away from the area monitoring sensor.

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