JP2015066664A - Intrusion detection device, robot system and intrusion detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an intrusion detection device for a robot system which makes it possible to eliminate the need of a correct adjustment for a position and an angle of an installation, a robot system, an intrusion detection method for a robot system and so on.SOLUTION: An intrusion detection device for a robot system includes: plural emitters 211 to 213 which are provided correspondingly to an intrusion detection area 280 for detecting intrusion of a movable body into a working area of a robot 30; an imaging part 260 for imaging the plural emitters 211 to 213; and a detection unit for detecting intrusion of the movable body into the intrusion detection area 280 on the basis of the images captured by the imaging part 260.

Description

  The present invention relates to an intrusion detection device, a robot system, an intrusion detection method, and the like.

  When robots and humans co-operate together, it is necessary to ensure safety so that humans are not exposed to danger. As a situation where danger occurs, for example, a robot may enter a human work amount area, or a human may enter a robot work area, causing the robot to harm humans. Or, an unknown object may enter each work area and expose humans to danger.

  As a technique for avoiding such danger, there is a technique for detecting the intrusion of an object into a work area. For example, in Patent Document 1, a light transmitting unit and a light receiving unit are arranged to face each other, a plurality of light beams are emitted from the light transmitting unit to the light receiving unit, and the light beam is detected to be blocked, A technique for detecting the intrusion of an object is disclosed. In this method, the light transmission unit and the light transmission unit are rod-shaped light guides, and a plurality of dot-shaped reflection units are formed along the longitudinal direction of the rod-shaped light guide. Then, a light source is provided on the end face of the rod-shaped light guide of the light transmitting unit, light is incident from the light source in the longitudinal direction, and the dot-shaped reflecting unit reflects the light in the short direction, and from the side surface of the rod-shaped light guide A plurality of light beams are emitted. The light beam enters from the side surface of the rod-shaped light guide of the light receiving unit, the dot-shaped reflection unit reflects the light in the longitudinal direction, and the reflected light is detected by the light detection unit provided on the end surface of the rod-shaped light guide. To do.

JP 2012-108055 A

  However, in the method of Patent Document 1, since it is necessary to make a light beam incident on the dot-like reflecting part on the light receiving side, it is necessary to accurately adjust the position and angle when installing the light transmitting part and the light receiving part. There are challenges. For example, it becomes weak against displacement due to impact or the like. Or, when the robot is moved, it is not practical to use it for changing the installation location frequently.

  According to one aspect of the present invention, a plurality of light emitters provided corresponding to an intrusion detection region that detects intrusion of a moving body into a work area of a robot, an imaging unit that images the plurality of light emitters, and the imaging unit And an intrusion detection device including a detection unit that detects the intrusion of the moving body into the intrusion detection region based on the captured image captured by the method.

  According to one aspect of the present invention, a plurality of light emitters are imaged by the imaging unit, and the intrusion of the moving object into the intrusion detection region is detected based on an image obtained by imaging the plurality of light emitters. This makes it possible to eliminate the need for precise adjustment of the installation position and angle.

  In one embodiment of the present invention, the plurality of light emitters include a first light emitter group and a second light emitter group, and the imaging unit includes a first imaging unit and a second imaging unit, The first light emitter group and the first imaging unit are provided at one end of the intrusion detection region, and the second light emitter group and the second imaging unit are provided in the intrusion detection region. Provided at the other end, the first imaging unit images the second luminous body group, the second imaging unit images the first luminous body group, and the detection unit Detecting intrusion of the moving body into the intrusion detection region based on the captured image obtained by imaging the first light emitter group and the captured image obtained by imaging the second light emitter group. Good.

  In this way, the intrusion detection area can be monitored from both sides by the first imaging unit and the second imaging unit. By the imaging range of these two imaging units, it is possible to cover the intrusion detection area widely and reduce the blind spot. In addition, when the imaging ranges are overlapped, it is possible to detect a failure of the imaging unit.

  In the aspect of the invention, the first imaging unit is disposed at a position where the moving body that passes through the first region of the intrusion detection region can be imaged, and the second imaging unit is The intrusion detection area may be arranged at a position where the moving body that passes through the second area can be imaged, and the intrusion detection area is formed by the first area and the second area.

  In this way, the intrusion detection area can be covered by the first area that is the imaging range of the first imaging unit and the second area that is the imaging range of the second imaging unit. Thereby, it is possible to eliminate the blind spot in the intrusion detection area.

  In the aspect of the invention, the first imaging unit is disposed at a position where the moving body passing through the first region in the intrusion detection region can be photographed, and the second imaging unit is The moving body that passes through the second area in the intrusion detection area may be disposed at a position where the moving body can be imaged, and a part of the first area may overlap with a part of the second area.

  In this way, the first area that is the shooting range of the first imaging unit and the second area that is the shooting range of the second imaging unit can be overlapped. As described above, since the imaging ranges overlap in the intrusion detection area, it is possible to detect a failure in the first imaging unit and the second imaging unit.

  In the aspect of the invention, the imaging unit further includes a third imaging unit that images the second light emitter group, and the third imaging unit includes the one end of the intrusion detection region. The first imaging unit is arranged at a position where the moving body that passes through the first region of the intrusion detection region can be photographed, and the third imaging unit is configured to detect the intrusion detection region. May be arranged at a position where the moving body passing through the third region can be imaged, and a part of the first region and a part of the third region may overlap.

  In the aspect of the invention, the imaging unit further includes a third imaging unit that images the second light emitter group, and the third imaging unit includes the one end of the intrusion detection region. The third imaging unit is disposed at a position where the moving body that passes through the third region of the intrusion detection region can be imaged, and a part of the first region and the third A part of the area may overlap.

  In this way, by further disposing the third imaging unit, the first to third regions of the intrusion detection region can be monitored by the first to third imaging units, so that the intrusion detection region can be monitored more widely. In addition, since the imaging ranges of the first to third imaging units overlap each other, it is possible to detect a failure of the first to third imaging units.

  In one embodiment of the present invention, the first to nth light emitters (n is a natural number of 2 or more), which are the plurality of light emitters, extend along an end of an intrusion detection region that detects intrusion of the mobile body. The i-1 light emitters and the i th light emitter (i is a natural number of 2 or more and n or less) among the first to nth light emitters are arranged in a direction perpendicular to the intrusion detection region. They may be placed one on top of the other.

  In this way, it is possible to eliminate the area where intrusion detection is impossible by arranging the i-1 th light emitter and the i th light emitter so as to overlap each other in the direction perpendicular to the intrusion detection area. It becomes. Thereby, reliable intrusion detection can be performed.

  Moreover, in one aspect of the present invention, the detector includes a mark for device authentication that is provided corresponding to each light emitter of the plurality of light emitters for determining erroneous detection processing by the detector. The device authentication for determining the erroneous detection is performed based on the device authentication mark detected from the captured image, and the detection is performed when it is determined that the device is erroneously detected as a result of the device authentication. It is not necessary to perform processing.

  In this way, by performing device authentication that determines erroneous detection based on the device authentication mark, it is possible to perform reliable intrusion detection by an appropriate device. For example, even when light emission or reflection of light other than the intrusion detection device is imaged, malfunctions due to the light can be suppressed.

  In one aspect of the present invention, the detection unit includes a mark for device authentication that is provided corresponding to each light emitter of the plurality of light emitters and that is used to specify a light emitter used for detection processing by the detection unit. Performs device authentication for identifying a light emitter used for detection processing by the detection unit based on the device authentication mark detected from the captured image, and among the light emitters detected from the captured image, the device authentication is performed. The intrusion of the moving body into the intrusion detection area may be detected based on the light emission state of the light emitting body specified based on the mark for use.

  By performing intrusion detection based on the set of light emitters that can be recognized in this way, the reliability of intrusion detection can be improved. In other words, light emission that cannot be authenticated by the mark is eliminated, and intrusion detection can be performed with the light emitter that has been determined to be reliably of the intrusion detection device.

  In one aspect of the present invention, the plurality of light emitters may be arranged inside an inner intrusion detection region surrounding the robot work area, and an outer intrusion detection region surrounding the inner intrusion detection region. An outer-arranged light-emitting body group arranged corresponding to the inner-side light-emitting body group, and the imaging unit images the inner-arranged light-emitting body group and the outer-arranged light-emitting body group. The detection unit detects an intrusion of the moving body into the inner intrusion detection region based on a captured image of the inner arranged imaging unit group, and a captured image of the outer arranged imaging unit group Based on the above, the intrusion of the moving body into the outer intrusion detection area may be detected.

  By monitoring the inner intrusion detection area and the outer intrusion detection area in this manner, the intrusion direction of the moving body can be detected. As a result, when an intrusion is detected, the robot is stopped to ensure safety, and an instruction to the robot can be controlled according to the intrusion direction.

  In one aspect of the present invention, the detection unit outputs a robot stop instruction when it is determined that the moving body has entered at least one of the inner intrusion detection region and the outer intrusion detection region. If it is determined that the mobile body has entered in the order of the inner intrusion detection area and the outer intrusion detection area after the mobile body has intruded in the order of the outer intrusion detection area and the inner intrusion detection area, the stop instruction May be released.

  If the mobile body passes in the order of the inner intrusion detection area and the outer intrusion detection area after the mobile body has passed in the order of the outer intrusion detection area and the inner intrusion detection area, it can be determined that the person who has once entered the safety area has left. The robot stop operation can be canceled and the robot operation can be resumed.

  In one aspect of the present invention, the detection unit outputs a robot stop instruction when it is determined that the moving body has entered at least one of the inner intrusion detection region and the outer intrusion detection region. If it is determined that the mobile body has entered in the order of the outer intrusion detection area and the inner intrusion detection area after the mobile body has entered in the order of the inner intrusion detection area and the outer intrusion detection area, the stop instruction May be continued.

  If the moving object passes in the order of the outer intrusion detection area and the inner intrusion detection area after the moving object passes in the order of the inner intrusion detection area and the outer intrusion detection area, it is determined that the robot that has once entered the robot's work area it can. However, since the possibility that the robot operates abnormally remains, safety can be improved by continuing the stop instruction to the robot.

  In one embodiment of the present invention, each light emitter of the plurality of light emitters may include a light guide and a light source that causes the light guide to emit light.

  If it does in this way, a light guide can be light-emitted and intrusion detection can be performed based on the light emission state of the light guide. That is, since it is only necessary to determine from the captured image whether or not the light emission of the light guide is shielded, accurate adjustment of the installation position and angle can be eliminated. In addition, intrusion detection of a smaller moving body can be performed as compared with the case where point light sources are arranged.

  Another aspect of the present invention relates to a robot system including the intrusion detection device described above.

  According to still another aspect of the present invention, an imaging unit images a plurality of light emitters provided corresponding to an intrusion detection region that detects an intrusion of a moving body into a robot work area, and the imaging unit images The present invention relates to an intrusion detection method that performs processing for detecting intrusion of the moving body into the intrusion detection region based on a captured image.

  As described above, according to some aspects of the present invention, it is possible to provide an intrusion detection device, a robot system, an intrusion detection method, and the like that can eliminate the need for precise adjustment of the installation position and angle.

An arrangement configuration example of an intrusion detection device. The block diagram of the structural example of an intrusion detection apparatus. The modification of the arrangement configuration of an intrusion detection apparatus. The 1st arrangement configuration example of an imaging part and a light-emitting body. The 2nd arrangement structural example of an imaging part and a light-emitting body. 3 shows a third arrangement configuration example of an imaging unit and a light emitter. An arrangement configuration example of a light emitter and a mark for device authentication. The block diagram of the detailed structural example of an intrusion detection apparatus. Operation | movement explanatory drawing of an intrusion detection apparatus. The flowchart of an intrusion detection process. A modification of the arrangement of poles. The 1st structural example of a robot system. The 2nd structural example of a robot system. A detailed configuration example of a robot control system and a robot system.

  Hereinafter, preferred embodiments of the present invention will be described in detail. The present embodiment described below does not unduly limit the contents of the present invention described in the claims, and all the configurations described in the present embodiment are indispensable as means for solving the present invention. Not necessarily.

1. Configuration of Intrusion Detection Device FIG. 1 illustrates an arrangement configuration example of an intrusion detection device, and FIG. 2 illustrates a block diagram of a configuration example of the intrusion detection device. The intrusion detection device 200 includes a plurality of light emitters 211 to 213, an imaging unit 260 that images the plurality of light emitters 211 to 213, and a moving body to the intrusion detection region 280 based on a captured image captured by the image capturing unit 260. And a detection unit 270 that detects the intrusion of.

  The intrusion detection area 280 is an area for detecting the intrusion of the moving body into the work area of the robot 30 and corresponds to the boundary between the work area of the robot and its external area. The external area is an area where the human 50 works, and is an area where the human 50 can safely work by detecting intrusion. The intrusion detection area 280 is, for example, a plane that intersects (for example, orthogonal to) the floor surface of the work area or the plane of the work table, and may be set, for example, in contact with the floor surface or on a predetermined surface such as the work table You may set to the height of.

  The light emitters 211 to 213 and the imaging unit 260 are provided corresponding to the intrusion detection region 280. That is, the light emitters 211 to 213 and the imaging unit 260 are for monitoring the intrusion detection area 280 and are disposed on both sides of the intrusion detection area 280, for example.

  Here, the light emitter is a member that emits light such as a light source or a fluorescent member, or a member that emits light from a light source such as a light guide or a reflecting member. For example, as will be described later with reference to FIGS. 7, 8, etc., the light emitter is composed of a light guide and a light source that makes light incident on the light guide. In FIG. 7 and FIG. 8, two light sources correspond to one light guide, but it is sufficient that at least one light source exists in one light guide. More specifically, the light emitter is a member that emits light in a linear or planar shape. That is, it is a member that can detect the intrusion of the moving body by shielding a part of the light emitting line or surface.

  In the present embodiment, the moving body that passes through the intrusion detection area 280 is monitored by imaging the light emitters 211 to 213 with the imaging unit 260, and when the moving body passes through the intrusion detection area 280, the robot 30 is informed. An operation for ensuring safety (for example, stop) is instructed. As the moving body, for example, a human 50 (or an arm or a finger thereof), a robot 30 (or an arm or the like), an unknown object, or the like is assumed.

  Specifically, the light emitters 211 to 213 are provided in the arrangement region 210 on one end side of the intrusion detection region 280, and the side surfaces on which the light emitters 211 to 213 emit light are disposed toward the imaging unit 260. The imaging unit 260 is provided on the other end side of the intrusion detection region 280 and is installed with the imaging range facing the light emitters 211 to 213. For example, the light emitters 211 to 213 and the imaging unit 260 are each incorporated in a movable pole, and the light emitters 211 to 213 and the imaging unit 260 are installed by installing the poles at desired positions. Alternatively, the light emitters 211 to 213 and the imaging unit 260 may be embedded in a wall of a room where the robot 30 works. In either case, the space between the installed light emitters 211 to 213 and the imaging unit 260 is set as the intrusion detection region 280.

  The detection unit 270 receives the image captured by the imaging unit 260 and detects the light emission state of the light emitters 211 to 213 from the image. If it is determined that the entire light emitter is captured without being blocked, it is determined that no moving body has entered, and the robot 30 is not instructed to stop. On the other hand, if it is determined that one of the light emitters is blocked and part or all of the light emitter is not captured, it is determined that the moving body has entered, and a stop instruction is given to the robot 30.

  As described above, in this embodiment, intrusion detection is performed by imaging the plurality of light emitters 211 to 213 by the imaging unit 260. Accordingly, intrusion detection can be performed without strictly setting the position and angle of the intrusion detection device 200. That is, the light emitters 211 to 213 do not emit light in a predetermined direction, but emit light from the side surfaces thereof, and can be imaged even if they are not strictly directed toward the imaging unit 260. In addition, since the imaging unit 260 only needs to show the light emitters 211 to 213 somewhere in the two-dimensional imaging range, the light emitters 211 to 213 are not strictly directed toward the light emitters 211 to 213. Can be imaged. This eliminates the need for strict adjustment during installation, and makes it more resistant to displacement due to impact or the like during use.

  Further, in the present embodiment, by using the light emitters 211 to 213, it is possible to reduce the cost and improve the intrusion detection capability. For example, as a comparative example, a method in which a large number of LEDs are arranged instead of the light emitters 211 to 213 to emit light can be considered. Since the installation interval of the LED needs to be narrower than the width of the moving body, for example, when it is desired to detect a human finger, the LED is arranged at an interval of 1 cm or less. In this case, a very large number of LEDs are required, which is expected to be expensive. On the other hand, in this embodiment, the cost can be reduced by using the light emitters 211 to 213 that can emit light without a break from the side surface. In addition, in the case of LEDs, a moving body having a size equal to or smaller than the installation interval cannot be detected. However, in this embodiment, since there is no light emission break, a small moving body can be detected, and the intrusion detection capability can be improved.

  In the above embodiment, the case where one imaging unit is arranged has been described as an example. However, the present embodiment is not limited to this, and a plurality of imaging units may be arranged. Moreover, although the case where three light emitters are arranged has been described as an example in the above embodiment, the present embodiment is not limited to this, and may be a plurality of light emitters. In the above embodiment, the case where the imaging unit 260 and the light emitters 211 to 213 are arranged on the left and right of the intrusion detection region 280 has been described as an example. However, the present embodiment is not limited to this, and as illustrated in FIG. The imaging unit 260 and the light emitters 211 to 215 may be arranged above and below the intrusion detection region 280. In this case, the light emitters 211 to 215 are installed on, for example, a floor or a work table.

2. Next, the detailed configuration of the intrusion detection device will be described. FIG. 4 shows a first arrangement configuration example of the imaging unit and the light emitter.

  The intrusion detection device illustrated in FIG. 4 includes a first light emitter group 241, a second light emitter group 242, a first imaging unit 261, and a second imaging unit 262. The first pole 291 (first stand) provided at one end of the intrusion detection region 280 and the second pole 292 (second stand) provided at the other end of the intrusion detection region 280 And including. Each of the light emitter groups 241 and 242 includes a plurality of light emitters.

  In the first arrangement configuration example, the first light emitter group 241 and the first imaging unit 261 are provided at one end portion of the intrusion detection region 280 that detects the intrusion of the moving object, and the other of the intrusion detection region 280. The second light emitter group 242 and the second imaging unit 262 are provided at the end of the first light emitting unit. That is, the first imaging unit 261 and the first luminous body group 241 are provided on the first pole 291, and the second imaging unit 262 and the second luminous body group 242 are provided on the second pole 292. It is done.

  In this arrangement, the first imaging unit 261 images the second light emitter group 242, and the second imaging unit 262 images the first light emitter group 241. That is, the intrusion detection area 280 is monitored by the two imaging units 261 and 262 from both sides. As a result, the intrusion detection area 280 can be broadly covered by the shooting ranges (field angle and field of view) of the two imaging units 261 and 262, and the blind spot can be reduced.

  Specifically, it is assumed that the intrusion detection area 280 is divided into a first area RA and a second area RB. In this case, the intrusion detection area 280 is formed by these two areas RA and RB. The first imaging unit 261 is arranged at a position where the moving object passing through the first area RA in the intrusion detection area 280 can be imaged. The second imaging unit 262 is disposed at a position where the moving object passing through the second region RB in the intrusion detection region 280 can be imaged. For example, when the poles 291 and 292 are installed vertically, the first imaging unit 261 is disposed on the upper end side of the first pole 291, and the second imaging unit 262 is disposed on the lower end side of the second pole 292. Be placed.

  By arranging in this way, the entire intrusion detection area 280 is covered by the imaging range (first area RA) of the first imaging unit 261 and the imaging range (second area RB) of the second imaging unit 262. It is possible to eliminate the blind spot of intrusion detection. Note that the first region RA and the second region RB may have overlapping portions.

  FIG. 5 shows a second arrangement configuration example of the imaging unit and the light emitter. In addition, the same code | symbol is attached | subjected about the component same as the component demonstrated in the 1st arrangement configuration example, and description is abbreviate | omitted suitably.

  In the second arrangement configuration example, the second imaging unit 262 is provided on the second pole 292 as in the first arrangement configuration example, but the first arrangement configuration example is the installation of the second imaging unit 262. The position is different.

  Specifically, the intrusion detection area 280 is divided into areas RC to RE, the area (RC + RD) is set as the first area, and the area (RC + RE) is set as the second area. The first region (RC + RD) and the second region (RC + RE) overlap in a partial region RC. In this case, the first imaging unit 261 is arranged at a position where the moving body that passes through the first region (RC + RD) in the intrusion detection region 280 can be imaged. The second imaging unit 262 is arranged at a position where a moving body that passes through the second region (RC + RE) in the intrusion detection region 280 can be imaged. For example, when the poles 291 and 292 are placed vertically, the imaging units 261 and 262 are both disposed on the upper end side (or lower end side) of the poles 291 and 292.

  By arranging in this way, the blind spot of intrusion detection in the intrusion detection area 280 can be reduced as in the first arrangement configuration example. Further, by using the region RC where the imaging ranges of the imaging units 261 and 262 overlap, it is possible to detect a failure of the imaging units 261 and 262. That is, when the moving object passes through the region RC, if the imaging units 261 and 262 are not broken, the intrusion can be detected from images captured by both imaging units. On the other hand, if one of the imaging units is out of order, the intrusion is not detected from the image captured by the failed imaging unit, so the results of the intrusion detection by the two captured images are different. Based on the difference in the detection results, it can be determined that one of the imaging units is out of order.

  FIG. 6 shows a third arrangement configuration example of the imaging unit and the light emitter. In addition, the same code | symbol is attached | subjected about the component same as the component demonstrated by the 1st, 2nd arrangement configuration example, and description is abbreviate | omitted suitably.

  In the third arrangement configuration example, the intrusion detection apparatus includes first and second light emitter groups 241 and 242, first and second imaging units 261 and 262, and first and second poles 291 and 292. Further, third and fourth imaging units 263 and 264 are included.

  The third imaging unit 263 is provided on the first pole 291. That is, the first and third imaging units 261 and 263 that image the second light emitter group 242 are provided at one end of the intrusion detection region 280. Specifically, the intrusion detection region 280 is divided into regions RC to RF, the region (RC + RD) is the first region, the region (RC + RE) is the second region, and the region (RF + RD) is the third region. To do. The first region (RC + RD) and the third region (RF + RD) overlap in a partial region RD. In this case, the first imaging unit 261 is arranged at a position where the moving body that passes through the first region (RC + RD) in the intrusion detection region 280 can be imaged. The third imaging unit 263 is arranged at a position where a moving body that passes through the third region (RF + RD) in the intrusion detection region 280 can be imaged. For example, when the pole 291 is placed vertically, the imaging unit 261 is disposed on the upper end side of the pole 291, and the imaging unit 263 is disposed on the lower end side of the pole 291.

  By arranging the third imaging unit 263 in this way, the first and second imaging units 261 and 263 can monitor the areas RC, RD, and RF of the intrusion detection region 280, so the first and second arrangements As in the configuration example, the blind spot for intrusion detection in the intrusion detection area 280 can be reduced. In addition, the failure detection of the imaging units 261 and 263 can be performed by the overlap region RD. In addition, since the second imaging unit 262 monitors the region RE, the first to third imaging units 261 to 263 monitor the entire intrusion detection region 280, and the first to third by the mutual overlapping region. Failure detection of the image pickup units 261 to 263 can be performed.

  The fourth imaging unit 264 is provided at the second pole 292 (that is, the other end of the intrusion detection region 280) and images the first light emitter group 241. More specifically, the fourth imaging unit 264 is disposed at a position for imaging a moving body that passes through the fourth region (RF + RE) in the intrusion detection region 280. For example, the imaging unit 264 is disposed on the lower end side of the pole 292.

  By arranging the first to fourth imaging units 261 to 264 as described above, the regions RC to RF of the intrusion detection region 280 are all monitored by the two imaging units. Thereby, for example, even if any of the imaging units is out of order, the entire intrusion detection area 280 can be monitored, and the monitoring capability is improved. In addition, when any imaging unit fails, an imaging unit having an overlap area common to the failed imaging unit exists, so that the failure detection capability is improved.

  Further, it is possible to detect a failure of the imaging unit by using a device authentication mark to be described later. For example, the imaging units 261 and 263 capture the same light emitter group 242. At this time, if one imaging unit recognizes the mark and the other imaging unit does not recognize the mark, it can be determined that the other imaging unit may be defective.

3. Next, a configuration example in which device authentication is performed by providing a device authentication mark and identifying the device authentication mark will be described. FIG. 7 shows an arrangement configuration example of the light emitter and the device authentication mark, and FIG. 8 shows a block diagram of a detailed configuration example of the intrusion detection apparatus 200.

  7 and 8 includes light emitters 211 to 213, device authentication marks 231 to 236, a light emission control unit 250, an imaging unit 260, and a detection unit 270. In addition, the same code | symbol is attached | subjected about the component same as the component already mentioned above, and description is abbreviate | omitted suitably.

  The light emitters 211 to 213 include light guides 401 to 403 and light sources 411 to 416 that allow light to enter the light guides 401 to 403 and cause the light guides 401 to 403 to emit light. These arrangement configurations will be described later.

  The device authentication marks 231 and 232 are provided corresponding to each of the light emitters 211 to 213. FIG. 7 shows a case where one mark is provided at each end of each light emitter. The light emitters 211 to 213 are, for example, rod-shaped rectangular parallelepiped. When the light emitter 211 is taken as an example, the mark 231 is provided on one end side in the longitudinal direction DB, and the mark 232 is provided on the other end side. It is done. The mark is not limited to the case where the mark is provided on both ends of the light emitter, and the mark may be provided only on one end side of the light emitter.

  The detection unit 270 performs device authentication for determining erroneous detection processing based on the device authentication marks 231 to 236 detected from the captured image. If it is determined as a result of device authentication that an erroneous detection has been made, no detection process is performed. Specifically, the marks 231 to 236 are constituted by a light source such as an LED, for example, and the light source is controlled to be turned on / off by the light emission control unit 250. The light emission control unit 250 blinks the marks 231 to 236 in a predetermined blinking pattern, and the detection unit 270 detects the blinking pattern of the marks 231 to 236 from the image. The detection unit 270 receives the control information of the blinking pattern from the light emission control unit 250, and compares the control information with the light emission pattern detected from the image. When the comparison results match, it is recognized that an appropriate (genuine) device is being used, and intrusion detection is performed. On the other hand, if the comparison result does not match or if blinking cannot be detected, intrusion detection is not performed.

  In this way, by performing device authentication for determining erroneous detection processing by the device authentication marks 231 to 236, it is possible to perform reliable intrusion detection by an appropriate device. For example, it is impossible to deny the possibility that intrusion detection malfunctions when light emission or light reflection is imaged in addition to the intrusion detection device. In this regard, in the present embodiment, since the device can be identified, the malfunction as described above can be suppressed.

  Note that the device authentication marks 231 to 236 are not limited to LEDs, and may be light marks such as a light source other than an LED or a member that reflects light. Alternatively, a mark having a predetermined shape or color that does not emit light may be used, and device authentication may be performed by recognizing an image of the mark. In this case, the light emission control unit 250 can be omitted.

  In addition, the detection unit 270 performs device authentication for specifying a light emitter used for detection processing based on the device authentication marks 231 to 236 detected from the captured image. Then, the intrusion of the moving body into the intrusion detection area 280 is detected based on the light emitting state of the light emitting body specified based on the device authentication marks 231 to 236 among the light emitting bodies detected from the captured image. Specifically, as shown in FIG. 9, it is assumed that a part of the arrangement area 210 is shown in the captured image IM. If the light emitter 211 and the marks 231 and 232 are set SE1, the light emitter 212 and the marks 233 and 234 are set SE2, and the light emitter 213 and the marks 235 and 236 are set SE3, the set SE1 and SE2 are shown as a whole, and the set SE3 is Only a part is shown. In this case, the marks 231 to 235 can be detected from the captured image IM, but the mark 236 cannot be detected. The detection unit 270 authenticates the sets SE1 and SE2 based on the detection result, sets the attention area 205 including the light emitters 211 and 212, and performs intrusion detection based on the image of the attention area 205. At this time, a light emitter is detected by searching for an image between the authenticated marks, and a region of interest is set.

  By performing intrusion detection using the light emitter that can recognize the entire set in this way, the reliability of intrusion detection can be further improved. That is, the possibility that the light emission that cannot be authenticated by the mark is a light emission other than that of the intrusion detection device cannot be denied, but according to the present embodiment, such light emission is excluded and it is surely that of the intrusion detection device. Intrusion detection can be performed by the determined light emitter. Further, by recognizing the set, it is possible to cope with a case where the number of sets is changed.

  The marks 231 to 236, the light guides 401 to 403, the light sources 411 to 416, the light emission control unit 250, and the detection unit 270 are provided, for example, on the circuit board of each pole. When providing a plurality of poles, the light emission control unit 250 and the detection unit 270 may be shared. Alternatively, the light emission control unit 250 and the detection unit 270 may be configured as a device separate from the pole (for example, an information processing device such as a PC), or in the robot control system 10 shown in FIG. It may be built in.

  Next, the arrangement configuration of the light emitters 211 to 213 will be described with reference to FIG. Here, a case where the light emitters 211 to 213 include light guides 401 to 403 and light sources 411 to 416 will be described as an example. It should be noted that the following arrangement configuration can also be applied when the device authentication marks 231 to 236 are not provided.

  As shown in FIG. 7, the first to third light guides 401 to 403, which are a plurality of light guides, are arranged at the end of the intrusion detection area 280 for detecting the intrusion of the moving body (for example, the right end of FIG. 1 or Are arranged along the lower end of FIG. Specifically, the arrangement area 210 is provided at the end of the intrusion detection area 280, and the long side of the arrangement area 210 is along the end of the intrusion detection area 280. The light guides 211 to 213 are provided such that the longitudinal direction DB is along the long side of the arrangement region 210.

  Of the first to third light guides 211 to 213, the (i-1) -th light guide and the i-th light guide (i is a natural number of 2 or more and 3 or less) are in the intrusion detection region 280. Arranged in the vertical direction. In FIG. 7, since the intrusion detection area 280 is a plane perpendicular to the paper surface, the direction perpendicular to the intrusion detection area 280 is the direction DA in the paper surface. Adjacent light guides in the longitudinal direction DB are provided with an overlap portion so that there is no break when viewed in the direction DA.

  Light sources 221 to 226 are provided on the end faces of the light guides 211 to 213 in the longitudinal direction DB. For example, a light source 221 is provided on one end face of the light guide 211, and a light source 222 is provided on the other end face. Light is incident on the end face of the light guide 211 from these light sources 221 and 222. The body 211 is caused to emit light. The light sources 221 to 226 are configured by LEDs, for example, and are controlled to be turned on / off by the light emission control unit 250. For example, when performing intrusion detection, the light sources 221 to 226 are always turned on.

  According to this embodiment, it is possible to perform reliable intrusion detection by arranging the light emitters 211 to 213 (light guides 401 to 403) so as to overlap each other. That is, since the moving body enters the work area of the robot 30 across the intrusion detection area 280, the areas where the intrusion detection is impossible can be eliminated by overlapping the light emitters 211 to 213 in the intrusion direction. For example, it is possible to suppress intrusion of human fingers, small parts, tools, and the like.

  In FIG. 7, the case where the first to third light emitters 211 to 213 are arranged as a plurality of light emitters has been described as an example. However, the present embodiment is not limited to this, and the first to nth light guides. A field (n is a natural number of 2 or more) can be arranged. In this case, i is a natural number of 2 or more and n or less. Moreover, although the case where the longitudinal direction DB of the light emitters 211 to 213 is along the long side direction of the arrangement region 210 has been described as an example, the present embodiment is not limited to this, and the light emitter 211 in plan view with respect to the intrusion detection region 280. What is necessary is just to arrange | position so that -213 may overlap.

4). Intrusion Detection Processing Next, details of processing performed by the intrusion detection device will be described. FIG. 10 shows a flowchart of the process. Here, the case where a light-emitting body is comprised with a light guide and a light source is demonstrated to an example.

  When the process is started, the intrusion detection device is first initialized (step S1). Next, an image of a region of interest (ROI) is cut out from an image captured by each camera (each imaging unit) (step S2). Next, the image of the attention area is presented to the user, and the user is confirmed (step S3). If the user confirmation is not obtained, the attention area is cut out again and presented to the user (step S2). If user confirmation is obtained, the process proceeds to step S4.

  Here, the attention area is an area used for intrusion detection processing in the captured image. By not using an image other than the region of interest for the intrusion detection process, it is less affected by ambient light, and the detection accuracy can be improved. Further, intrusion detection can be performed without being affected by an image captured in an unnecessary image area or noise.

  In step S4, a light emission pattern of an LED (device authentication mark) provided on each stand (each pole) is generated. Next, the LED is caused to emit light by the light emission pattern (step S5). Next, each camera captures an image and acquires an image (step S6). For example, shooting with a moving image is performed, and frames of the moving image are acquired as images. In this case, the loop of steps S4 to S11 is performed for every one or a plurality of frames.

  Next, the light emission state of the LED is detected from the image of the attention area (step S7). That is, it is detected whether each LED is lit or unlit. Next, the detected light emission state is compared with the light emission pattern generated in step S4 (step S8). If they do not match, a stop instruction is output to the robot (step S11). On the other hand, if they match, the light emission state of the light guide is confirmed from the image of the region of interest (step S9). Next, it is determined whether there is a shielding object based on the light emission state of the light guide (step S10). If there is no omission in the light emission of the light guide, it is determined that there is no shielding object, and the process returns to step S4. On the other hand, when there is a lack in the light emission of the light guide, it is determined that there is a shielding object, and a stop instruction is output to the robot (step S11).

5. Modified Example of Pole Arrangement FIG. 11 shows a modified example of the arrangement of poles. In this modification, the work area of the robot 30 is surrounded by a double intrusion detection area, and the double intrusion detection area is monitored to detect intrusion.

  The intrusion detection apparatus of FIG. 11 corresponds to poles 291 to 294 arranged corresponding to the inner intrusion detection areas 281 to 284 surrounding the work area of the robot 30 and outer intrusion detection areas 285 to 288 surrounding the inner intrusion detection area. And poles 295 to 298 disposed in the same manner.

  The poles 291 to 294 are provided with light emitter groups 241 to 244 (inner arranged light emitter groups) and image pickup units 261 to 264 (inner arranged image pickup unit groups), respectively. Specifically, the inner intrusion detection areas 281 to 284 are rectangular in a plan view with respect to the work area of the robot 30. Pole 291 to 294 are respectively installed at the four vertices of the rectangle, and intrusion detection areas 281 to 284 are respectively set corresponding to the four sides of the rectangle. The imaging units 261, 262, 263, and 264 respectively capture the light emitter groups 242, 243, 244, and 241 and monitor the intrusion detection areas 281, 282, 283, and 284.

  Similarly, the poles 295 to 298 are provided with light emitter groups 245 to 248 (outside arranged light emitter groups) and imaging units 265 to 268 (outside arranged imaging unit groups), respectively. As described above with reference to FIGS. 4 to 6, an imaging unit and a light emitting body group may be provided facing each other on both sides of each of the intrusion detection areas 281 to 284 and 285 to 288.

  The detection unit 270 detects the intrusion of the moving body into the inner intrusion detection areas 281 to 284 based on the captured images of the inner arrangement image capturing unit groups 261 to 264. In addition, the detection unit 270 detects the intrusion of the moving body into the outer intrusion detection areas 285 to 288 based on the captured images of the outer arranged imaging unit groups 265 to 268. That is, when it can be judged from the image that the light emission of the inner arranged light emitter groups 241 to 244 is blocked, the intrusion into the inner intrusion detection areas 281 to 284 is detected, and the light emission of the outer arranged light emitter groups 245 to 248 is blocked. If it can be determined from the image that it has been detected, intrusion into the outer intrusion detection areas 285 to 288 is detected.

  The detection unit 270 outputs a stop instruction for the robot 30 when it is determined that the moving body has entered from at least one of the inner intrusion detection areas 281 to 284 and the outer intrusion detection areas 285 to 288. That is, the robot 30 is stopped when intrusion is detected in the inner intrusion detection areas 281 to 284, the outer intrusion detection areas 285 to 288, or both the inner and outer intrusion detection areas 281 to 284 and 285 to 288.

  At this time, the detection unit 270 moves in the order of the inner intrusion detection areas 281 to 284 and the outer intrusion detection areas 285 to 288 after the moving body passes in the order of the outer intrusion detection areas 285 to 288 and the inner intrusion detection areas 281 to 284. When it is determined that the body has passed, the stop instruction to the robot 30 is canceled. That is, in this case, since it can be determined that the human 50 has once entered the robot work area from the human work area and then moved out to the safe human work area, a stop instruction to the robot 30 is given. Is released.

  Further, the detection unit 270 moves in the order of the outer intrusion detection areas 285 to 288 and the inner intrusion detection areas 281 to 284 after the moving body passes in the order of the inner intrusion detection areas 281 to 284 and the outer intrusion detection areas 285 to 288. When it is determined that has passed, the stop instruction to the robot 30 is continued. That is, in this case, it can be determined that the robot 30 (or its arm or the like) has once entered the human work area from the robot work area, and then the robot 30 has left the robot work area. Although there is a possibility that the robot 30 has returned to a normal operation, since it is considered dangerous to resume the operation after the robot 30 has performed an abnormal operation, the stop instruction for the robot 30 is not released.

  According to the above embodiment, since the intrusion direction can be detected by providing double intrusion detection areas, the robot is stopped when intrusion is detected to ensure safety, and a stop instruction is issued according to the intrusion direction. Can be controlled. That is, when it can be confirmed that the intruder has moved out to the safe area, the stop instruction can be canceled and the operation of the robot can be resumed. On the other hand, once the robot has entered the human work area, safety can be improved by not restarting the operation of the robot even if the robot returns to the work area.

  In the above-described embodiment, the case where the inner intrusion detection area and the outer intrusion detection area are rectangular in a plan view with respect to the work area of the robot has been described as an example. However, the present embodiment is not limited thereto, and in the plan view. The inner intrusion detection region and the outer intrusion detection region may be polygonal.

6). Robot System FIG. 12 shows a configuration example of a robot system to which the intrusion detection device of this embodiment is applied. The robot system includes a robot control system 10 (information processing apparatus) and a robot 30.

  The robot control system 10 generates a control signal and controls the robot 30 based on the control signal. Details of the robot control system 10 will be described later. Part or all of the functions of the robot control system 10 are realized by an information processing apparatus such as a PC. Note that some or all of the functions of the robot control system 10 may be realized by the robot 30 or an electronic device different from the information processing apparatus. In addition, some or all of the functions of the robot control system 10 according to the present embodiment may be realized by a server connected to the information processing apparatus or the robot 30 through communication.

  The robot 30 includes an arm 320 and an end effector 340 (for example, a hand), and performs processing according to a control signal from the robot control system 10. The robot 30 performs processing such as gripping and processing on the workpiece 40 that is a processing target in the robot 30.

  Here, the arm 320 refers to a partial region of the robot 30 and a movable region including one or more joints. Further, the end point of the arm 320 is a region of the tip portion of the arm 320 and is not connected to any other region other than the end effector 340 of the robot 30. Further, the end effector 340 refers to a component that is attached to the end point of the arm 320 in order to grip the workpiece 40 or process the workpiece 40. Note that the position of the end point of the arm may be the position of the end effector 340.

  FIG. 12 is an example of a robot system in which the robot 30 and the robot control system 10 exist as separate bodies. However, in this embodiment, the robot control system 10 may be built in the robot 30.

  FIG. 13 shows a configuration example of such a robot system. The robot system includes a robot main body 30 having arms 320 and 330 and end effectors 340 and 350, and a base unit portion that supports the robot main body 30. The robot control system 10 is stored in the base unit portion. In the robot system of FIG. 13, wheels or the like are provided in the base unit portion, and the entire robot is movable. Although FIG. 12 shows an example of a single arm type, the robot may be a multi-arm type robot such as a double arm type as shown in FIG.

7). Robot Control System FIG. 14 shows a detailed configuration example of the robot control system 10 and a robot system including the same. The robot control system 10 includes a processing unit 110, a robot control unit 120, a storage unit 130, and an I / F unit 140 (input unit).

  The processing unit 110 performs various processes based on data from the storage unit 130, information from the robot 30 received by the I / F unit 140, and the like. The function of the processing unit 110 can be realized by hardware such as various processors (for example, CPU, GPU, etc.), ASIC (gate array, etc.), a program, and the like.

  The robot control unit 120 controls the robot 30 based on the control signal output from the processing unit 110. In addition, a signal from the intrusion detection device 200 is input to the robot control unit 120. When the intrusion detection device 200 detects the intrusion of the moving body and outputs a stop instruction, the robot control unit 120 stops the operation of the robot 30 based on the stop instruction.

  The storage unit 130 stores a database and serves as a work area for the processing unit 110 and the like, and its function can be realized by a memory such as a RAM or an HDD (hard disk drive).

  The I / F unit 140 is an interface for performing input from the user to the robot control system 10 and receiving information from the robot 30. Regarding input from the user, etc., it may be constituted by a switch, a button, a keyboard, a mouse, or the like.

  The robot 30 includes a control unit 310 in addition to the arm 320 and the end effector 340. The control unit 310 receives information from the robot control system 10 and controls each unit (such as the arm 320 and the end effector 340) of the robot 30.

  Although the present embodiment has been described in detail as described above, it will be easily understood by those skilled in the art that many modifications can be made without departing from the novel matters and effects of the present invention. Accordingly, all such modifications are intended to be included in the scope of the present invention. For example, a term described at least once together with a different term having a broader meaning or the same meaning in the specification or the drawings can be replaced with the different term in any part of the specification or the drawings. All combinations of the present embodiment and the modified examples are also included in the scope of the present invention. In addition, the configuration and operation of the intrusion detection device, the robot system, and the robot are not limited to those described in this embodiment, and various modifications can be made.

10 robot control systems, 30 robots, 40 workpieces, 50 humans,
110 processing unit, 120 robot control unit, 130 storage unit, 140 I / F unit,
200 intrusion detection device, 205 attention area, 210 arrangement area,
211-215 luminous body, 231-236 mark for device authentication,
241-248 luminous body group, 250 light emission control part, 260-268 imaging part,
270 detector, 280-288 intrusion detection area, 291-298 pole,
310 control unit, 320, 330 arm, 340, 350 end effector,
401-403 Light guide, 411-416 Light source DA direction, IM captured image, RA-RE region, SE1-SE3 set

Claims (15)

A plurality of light emitters provided corresponding to the intrusion detection area for detecting the intrusion of the moving body into the work area of the robot;
An imaging unit that images the plurality of light emitters;
A detection unit that detects the intrusion of the moving body into the intrusion detection region based on a captured image captured by the imaging unit;
An intrusion detection device comprising: In claim 1,
The plurality of light emitters include a first light emitter group and a second light emitter group,
The imaging unit includes a first imaging unit and a second imaging unit,
The first light emitter group and the first imaging unit are provided at one end of the intrusion detection region,
The second light emitter group and the second imaging unit are provided at the other end of the intrusion detection region,
The first imaging unit images the second light emitter group,
The second imaging unit images the first light emitter group,
The detection unit detects the intrusion of the moving body into the intrusion detection region based on the captured image obtained by imaging the first light emitter group and the captured image obtained by imaging the second light emitter group. An intrusion detection device characterized by detecting. In claim 2,
The first imaging unit is disposed at a position where the moving body that passes through the first area of the intrusion detection area can be imaged.
The second imaging unit is disposed at a position where the moving body that passes through the second region of the intrusion detection region can be imaged.
The intrusion detection device is characterized in that the intrusion detection region is formed by the first region and the second region. In claim 2,
The first imaging unit is arranged at a position where the moving body that passes through the first region of the intrusion detection region can be photographed,
The second imaging unit is disposed at a position where the moving body that passes through the second region of the intrusion detection region can be imaged.
An intrusion detection apparatus, wherein a part of the first area and a part of the second area overlap. In claim 2,
The imaging unit further includes a third imaging unit that images the second light emitter group,
The third imaging unit is provided at the one end of the intrusion detection region,
The first imaging unit is arranged at a position where the moving body that passes through the first region of the intrusion detection region can be photographed,
The third imaging unit is disposed at a position where the moving body that passes through the third region of the intrusion detection region can be imaged.
An intrusion detection apparatus, wherein a part of the first area and a part of the third area overlap. In claim 3 or 4,
The imaging unit further includes a third imaging unit that images the second light emitter group,
The third imaging unit is provided at the one end of the intrusion detection region,
The third imaging unit is disposed at a position where the moving body that passes through the third region of the intrusion detection region can be imaged.
An intrusion detection apparatus, wherein a part of the first area and a part of the third area overlap. In any one of Claims 1 thru | or 6.
The first to nth light emitters (n is a natural number of 2 or more) that are the plurality of light emitters are arranged along an end portion of an intrusion detection region that detects intrusion of the mobile body,
Among the first to nth light emitters, the i-1 light emitter and the i th light emitter (i is a natural number of 2 to n) overlap each other in a direction perpendicular to the intrusion detection region. An intrusion detection device characterized by that. In any one of Claims 1 thru | or 7,
Including a mark for device authentication for determining erroneous detection of detection processing by the detection unit, provided corresponding to each light emitter of the plurality of light emitters,
The detector is
Based on the device authentication mark detected from the captured image, performs device authentication to determine the false detection,
An intrusion detection apparatus that does not perform the detection process when it is determined that an erroneous detection is made as a result of the device authentication. In any one of Claims 1 thru | or 7,
Including a mark for device authentication for identifying a light emitter used for detection processing by the detection unit, provided corresponding to each light emitter of the plurality of light emitters,
The detector is
Based on the device authentication mark detected from the captured image, performs device authentication to identify a light emitter used for detection processing by the detection unit,
The intrusion of the moving body into the intrusion detection area is detected based on the light emission state of the light emitter identified based on the device authentication mark among the light emitters detected from the captured image. Intrusion detection device. In any one of Claims 1 thru | or 9,
The plurality of light emitters are arranged corresponding to an inner arranged light emitter group arranged corresponding to an inner intrusion detection region surrounding the robot work area and an outer intrusion detection region surrounding the inner intrusion detection region. An outer arrangement of illuminant groups,
The imaging section includes an inner arrangement imaging section group that images the inner arrangement luminous body group, and an outer arrangement imaging section group that images the outer arrangement luminous body group,
The detection unit detects an intrusion of the moving body into the inner intrusion detection region based on a captured image of the inner disposed image capturing unit group, and the outer intrusion based on a captured image of the outer disposed image capturing unit group. An intrusion detection apparatus for detecting an intrusion of the moving body into a detection area. In claim 10,
The detection unit outputs an instruction to stop the robot when it is determined that the moving body has entered at least one of the inner intrusion detection region and the outer intrusion detection region,
When the detection unit determines that the mobile body has invaded in the order of the inner intrusion detection area and the outer intrusion detection area after the mobile body has intruded in the order of the outer intrusion detection area and the inner intrusion detection area, An intrusion detection apparatus that cancels the stop instruction. In claim 10,
The detection unit outputs an instruction to stop the robot when it is determined that the moving body has entered at least one of the inner intrusion detection region and the outer intrusion detection region,
When the detection unit determines that the mobile body has invaded in the order of the outer intrusion detection area and the inner intrusion detection area after the mobile body has intruded in the order of the inner intrusion detection area and the outer intrusion detection area, An intrusion detection apparatus that continues the stop instruction. In any one of Claims 1 to 12,
Each light emitter of the plurality of light emitters is:
A light guide;
A light source that emits light from the light guide;
An intrusion detection device comprising:   A robot system comprising the intrusion detection device according to claim 1. The imaging unit images a plurality of light emitters provided corresponding to the intrusion detection area for detecting the intrusion of the moving body into the work area of the robot,
Based on the captured image captured by the imaging unit, a process of detecting the intrusion of the moving body into the intrusion detection region is performed.
An intrusion detection method characterized by that.

Images