JP2016111602A - Monitoring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a monitoring system capable of easily identifying a position of a scan surface and preventing an area monitoring sensor from being installed in a state where the scan surface is tilted relatively to an installation surface.SOLUTION: The monitoring system comprises: a light-projecting part 103 which generates a detection light; a light-receiving part 111 which receives a detection light reflected by a target B and generates a detection signal; scan means for scanning the detection light in a circumferential direction around an axis of rotation and along the scan surface across the axis of rotation; a distance measurement part 112 which calculates a distance to the target B on the basis of the detection signal; an invasion detection part 113 which detects an invading object within a monitoring area on the basis of the distance to the target B and a scan angle of the detection light and generates a stop signal for stopping operation of an external device; a plurality of cameras which image the monitoring area and generate camera images; and a distance measurement position display part 116 which displays, on the camera images, a distance measurement line indicating a position of the target on the scan surface.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a monitoring system, and more particularly to a monitoring system that receives detection light reflected by an object and detects an intruder in a monitoring area.

  The area monitoring sensor is a sensor that detects an intruder that has entered the monitoring area, such as a person, and outputs a stop signal for stopping the operation of an external device such as a machine tool (for example, Patent Documents 1 and 2). ). For example, the area monitoring sensor generates a detection signal by receiving a light projecting unit that generates detection light, a scanning unit that scans the detection light in the circumferential direction around the rotation axis, and the detection light reflected by the object. A light receiving portion. Intruder detection is performed by obtaining the distance to the object based on the detection signal and specifying the position of the object from the distance and the scanning angle of the detection light.

JP 2009-296087 A JP 2009-294734 A

  In the area monitoring sensor as described above, it is difficult to visually recognize the scan surface that scans the detection light. For this reason, even if the conventional area monitoring sensor is installed in a state where the scan surface is inclined with respect to the installation surface such as the floor, there is a problem that it is difficult to notice that. Also, with the conventional area monitoring sensor, it is difficult to visually recognize the scanning range of the detection light. For this reason, it is not easy to adjust the orientation, and there is a problem that the monitor area is not installed correctly.

  The present invention has been made in view of the above circumstances, and can easily identify the position of the scan surface and prevent the area monitoring sensor from being installed with the scan surface tilted with respect to the installation surface. An object of the present invention is to provide a monitoring system that can do this. It is another object of the present invention to provide a monitoring system that can easily identify the scanning range of the detection light and easily adjust the direction of the area monitoring sensor.

  A monitoring system according to a first aspect of the present invention includes a light projecting unit that generates detection light, a light receiving unit that receives the detection light reflected by an object and generates a detection signal, and the rotation about a rotation axis. Scanning means for scanning the detection light in a circumferential direction along a scan plane intersecting the axis; distance measuring means for obtaining a distance to the object based on the detection signal; distance to the object and the detection Based on the scanning angle of the light, intrusion detection means for detecting an intruder in the monitoring area and generating a stop signal for stopping the operation of the external device, and imaging for capturing the monitoring area and generating a camera image And a distance measurement position display means for displaying a distance measurement line indicating the position of the object on the scan plane on the camera image.

  According to such a configuration, since the distance measuring line is displayed on the camera image in which the monitoring area is photographed, the position of the scan plane can be easily identified by the distance measuring line. Also, the scanning range of the detection light can be easily identified by the distance measurement line on the camera image.

  The monitoring system according to the second aspect of the present invention is configured such that, in addition to the above configuration, the imaging unit is disposed above the scan plane in the rotation axis direction. According to such a configuration, a parallax in the rotation axis direction is generated between the scan surface of the detection light and the imaging unit, so that a camera image overlooking the scan surface can be obtained. For this reason, when a camera image is displayed, a sense of perspective can be easily obtained for the distance measurement line on the scan plane.

  In addition to the above configuration, the monitoring system according to the third aspect of the present invention is configured such that the ranging position display means displays a frame line indicating the monitoring area on the camera image together with the ranging line. According to such a configuration, since the positional relationship between the monitoring area and the distance measurement line can be confirmed on the camera image, it is easily identified whether or not the desired area is appropriately set as the monitoring area. be able to.

  In addition to the above configuration, the monitoring system according to the fourth aspect of the present invention is configured such that the ranging position display means displays the ranging line in the monitoring area in a display mode different from the ranging line outside the monitoring area. Is done. According to such a configuration, it is possible to easily identify whether or not the position of the object on the scan surface is within the monitoring area.

  In addition to the above configuration, the monitoring system according to the fifth aspect of the present invention is configured such that the ranging position display means changes the display mode of the ranging line according to the distance to the object. According to such a configuration, it is possible to easily obtain a sense of perspective with respect to the distance measurement line on the scan plane when a camera image is displayed.

  In addition to the above configuration, the monitoring system according to the sixth aspect of the present invention is configured such that the ranging position display means changes the display mode of the ranging line according to detection of an intruder in the monitoring area. The According to such a configuration, when a camera image is displayed, the presence or absence of an intruding object can be easily identified by a distance measuring line.

  In the monitoring system according to a seventh aspect of the present invention, in addition to the above configuration, the ranging position display means displays two or more grid lines parallel to the coordinate axis of the orthogonal coordinates on the scan plane on the camera image together with the ranging line. Configured to display. According to such a configuration, the positional relationship on the scan plane can be easily grasped, so that the monitoring area can be easily set or edited.

  In addition to the above configuration, the monitoring system according to the eighth aspect of the present invention is a detection history storage means for storing the camera image taken when an intruder in the monitoring area is detected, together with position information of the intruder, as a detection history. And a detection history display means for displaying the position of the intruder on the camera image stored as the detection history based on the position information of the intruder.

  According to such a configuration, an intruder that has entered the monitoring area can be easily confirmed by a camera image stored as a detection history. For this reason, it is possible to know in detail the cause of the stop signal being generated.

  A monitoring system according to a ninth aspect of the present invention includes, in addition to the above-described configuration, a camera image buffer that sequentially stores camera images generated by the imaging unit and periodically deletes camera images with old shooting times, The imaging means generates a camera image consisting of a moving image, and the detection history storage means detects a moving image of a certain length of time taken with the time when an intruder in the monitoring area is detected. Configured to store as

  According to such a configuration, an intruder that has entered the monitoring area can be confirmed by a moving image stored as a detection history. For this reason, analysis of an intruder can be facilitated. In addition, since camera images with old shooting times are periodically deleted, an increase in storage capacity can be suppressed.

  In the monitoring system according to a tenth aspect of the present invention, in addition to the above-described configuration, the imaging unit includes two or more cameras arranged in different directions, and the detection history storage unit defines the position of an intruder. A camera image captured by a camera included in the corner is stored as a detection history, and a camera image captured by a camera that does not include the position of the intruding object is not stored as a detection history.

  According to such a configuration, since a camera image taken by a camera that does not include the position of the intruder within the angle of view is not stored as a detection history, an increase in storage capacity can be prevented.

  According to an eleventh aspect of the present invention, in addition to the above-described configuration, the imaging system includes two or more cameras arranged in different directions, and the detection history display unit displays the position of an intruder. A camera included in the corner is selected, and the position of the intruder is displayed on the camera image captured by the camera.

  According to such a configuration, when the position of the intruder is displayed on the camera image stored as the detection history, the camera that includes the position of the intruder within the angle of view is automatically selected. Can be easily analyzed.

  In a monitoring system according to a twelfth aspect of the present invention, in addition to the above-described configuration, the imaging unit includes a single wide-angle camera with a fisheye lens whose field angle covers the scanning range of the detection light. According to such a configuration, it is not necessary to prepare a plurality of imaging lenses and image sensors, so that the configuration of the imaging unit can be simplified.

  According to the monitoring system of the present invention, since the distance measuring line is displayed on the camera image in which the monitoring area is photographed, the position of the scanning surface can be easily identified by the distance measuring line, and the installation surface is scanned. It is possible to prevent the area monitoring sensor from being installed with the surface inclined. Also, the scanning range of the detection light can be easily identified by the distance measurement line on the camera image, and the adjustment of the direction of the area monitoring sensor can be facilitated.

1 is a system diagram showing a configuration example of a monitoring system 100 according to an embodiment of the present invention. It is the perspective view which showed the example of 1 structure of the production system containing the area monitoring sensor 1 of FIG. It is the figure which showed the structural example of the area monitoring sensor 1 of FIG. It is the figure which showed an example of operation | movement of the area monitoring sensor 1 of FIG. 3, and the driving | operation screen 31, the monitor screen 32, and the setting screen 33 are shown. FIG. 4 is an explanatory diagram schematically showing an example of the operation of the area monitoring sensor 1 of FIG. 3, in which the positional relationship between the shooting direction 4 of the camera 22 and the scanning range 5 of the detection light and the object B is shown. FIG. 4 is a diagram showing an example of the operation of the area monitoring sensor 1 in FIG. 3, and shows a camera image 6 displayed on a monitor screen 32. It is the figure which showed another example of the camera image 6 displayed on the monitor screen. FIG. 4 is a diagram showing an example of the operation of the area monitoring sensor 1 in FIG. 3, and shows a case where a part of the object B exists in the monitoring area 2. FIG. 4 is a diagram showing an example of the operation of the area monitoring sensor 1 in FIG. 3, and shows a scanner image 40 displayed on the monitor screen 32. FIG. 4 is a diagram illustrating an example of the operation of the area monitoring sensor 1 in FIG. 3, in which a plurality of grid lines 50 to 52 are displayed on the camera image 6 together with the distance measurement line 7. It is the block diagram which showed an example of the function structure in the area monitoring sensor 1 of FIG.

  First, a schematic configuration of a monitoring system assumed by the present invention will be described below with reference to FIGS.

<Monitoring system 100>
FIG. 1 is a system diagram showing a configuration example of a monitoring system 100 according to an embodiment of the present invention. The monitoring system 100 optically detects an intruder in the monitoring area and generates a stop signal for stopping the operation of the external device, and sets a monitoring area, a scanning condition, and the like. And a PC (personal computer) 200.

  The area monitoring sensor 1 is an optical scanning safety sensor and includes an interface unit 10 and a sensor main body unit 20. The interface unit 10 is an input / output unit that receives a user operation and displays an operation state and the like. The sensor body 20 is a measurement unit that projects detection light and receives the detection light reflected by the object to determine the distance to the object.

  The PC 200 is a terminal device that includes a screen display unit 201, a keyboard 202, and a mouse 203, and an application program for setting a monitoring area in the area monitoring sensor 1 is installed. The area monitoring sensor 1 and the PC 200 are connected via a communication cable 204.

<Production system>
FIG. 2 is a perspective view showing a configuration example of a production system including the area monitoring sensor 1 of FIG. In this production system, a transfer device and a work robot A1 are arranged in an area partitioned by a protective fence A2, and an area around the mechanical equipment such as a work area of the work robot A1 is set as the monitor area 2, and the inside of the monitor area 2 Are detected by the area monitoring sensor 1. For example, the area monitoring sensor 1 is an optical scanning safety sensor.

  The area monitoring sensor 1 monitors the monitoring area 2 by scanning the detection light, detects an intruder such as an operator A3 who operates the control panel of the machine facility, and stops the operation of the external device. Is generated. The monitoring area 2 is configured by a region in the installation surface where the area monitoring sensor 1 is installed, for example, a region in a horizontal floor surface. The detection of the intruding object is performed by receiving the detection light reflected by the object, obtaining a distance to the object, and specifying the position of the object from the distance and the scanning angle of the detection light.

  The stop signal is used as a control signal for stopping the work robot A1 operating in the vicinity of the monitoring area 2. For example, the area monitoring sensor 1 has an OSSD (Output Signal Switching Device). When there is no intruder in the monitoring area 2, the OSSD is turned on and an operation permission signal is output. On the other hand, in a state where there is an intruder in the monitoring area 2, the OSSD is turned off, and an operation disapproval signal is output as a stop signal.

<Area monitoring sensor 1>
FIG. 3 is a diagram illustrating a configuration example of the area monitoring sensor 1 of FIG. 1, and shows a separation-type safety sensor that can separate the interface unit 10 from the sensor body 20. (A) in the figure shows a case where the area monitoring sensor 1 is viewed from the front, and (b) shows the interface unit 10.

  The area monitoring sensor 1 includes an interface unit 10 that displays various types of information and receives user operations, and a sensor main body unit 20 that generates detection light and scans the detection light along a horizontal scan plane 3. . The interface unit 10 is disposed on the upper surface of the sensor main body unit 20.

  For example, laser light having a wavelength in the infrared region is used as the detection light. The detection light is repeatedly scanned at a constant period. The sensor body 20 is provided with cameras 21 and 22 for photographing the monitoring area 2 and indicators 23 and 24 for displaying the operation state. A protective cover 26 for protecting the scanning mirror is attached to the scanner unit 25 of the sensor main body unit 20. The detection light is scanned in the circumferential direction around the rotation axis of the mirror. The scan surface 3 is orthogonal to the rotation axis.

  The cameras 21 and 22 and the indicators 23 and 24 are arranged above the scanner unit 25. That is, the cameras 21 and 22 are disposed above the scan plane 3 in the rotational axis direction. With such a configuration, parallax in the direction of the rotation axis occurs between the scan plane 3 and the cameras 21 and 22, so that a camera image overlooking the scan plane 3 can be obtained.

  The cameras 21 and 22 are both imaging devices arranged in the horizontal direction and having different directions, and are arranged on the left side and the right side of the sensor main body 20 with the indicators 23 and 24 in the horizontal plane, respectively. Yes. The indicator 23 is an indicator lamp that displays whether or not an intruder has been detected. For example, the indicator 23 displays the OSSD output status and the like. The indicator 24 is an indicator lamp that displays an error state.

  The interface unit 10 includes a screen display unit 11, a cable connection port 12, an operation unit 13, and an indicator unit 14. The screen display unit 11 is a display device that displays an intruder detection result, a monitoring status, a camera image captured by the camera 21 or 22, input information, and the like on a screen. For example, an LCD (liquid crystal display) is used for the screen display unit 11.

  The cable connection port 12 is an input / output terminal unit for connecting to an external device such as a personal computer and performing communication, and a signal cable is detachably connected thereto. The operation unit 13 includes two or more operation buttons used for numerical input when setting the monitoring area 2, selection of menu items, operation mode switching, camera image switching, and the like. The indicator unit 14 includes two or more indicator lamps for displaying the operation state, and displays the OSSD output state and the like.

  The interface unit 10 communicates with the sensor main body unit 20 and can set the monitoring area 2 or confirm the detection result and monitoring status of the intruder even at a position away from the sensor main body unit 20. .

  FIG. 4 is a diagram illustrating an example of the operation of the area monitoring sensor 1 of FIG. 3, and shows an operation screen 31, a monitor screen 32, and a setting screen 33 displayed on the screen display unit 11. The area monitoring sensor 1 switches the operation mode among the operation mode, the monitor mode, and the setting mode based on a user operation.

  The operation mode is an operation mode in which an intruder in the monitoring area 2 is detected and a stop signal is output, and the operation screen 31 is displayed on the screen display unit 11. A message indicating that the vehicle is in operation is displayed on the operation screen 31.

  The monitor mode is an operation mode for displaying the input / output state, the area monitoring status, and the detection history, and the monitor screen 32 is displayed on the screen display unit 11. On the monitor screen 32, menu items for selecting one of the input / output state, the area monitoring status, and the detection history are displayed.

  If the menu item “1. Input / output state” is selected, the OSSD output state, EDM (external device monitoring) input state, and the like can be monitored. If the menu item “2. Area monitoring status” is selected, the shape and size of the monitoring area, the distance to the object, the scanning range of the detection light, and the like can be monitored. When the menu item “3. Detection history” is selected, a camera image, an intruder position, a detection time, and the like acquired when the OSSD shifts to the off state can be displayed as a detection history.

  The setting mode is an operation mode in which parameters for specifying the monitoring area 2 and external input are set, and a setting screen 33 is displayed on the screen display unit 11. The setting screen 33 displays menu items for selecting any of parameter setting, external input setting, and other settings.

  If the menu item “1. Parameter setting” is selected, an input screen for designating the monitoring area 2 can be displayed. If the menu item “2. External input setting” is selected, an EDM input screen can be displayed. If the menu item “3. Other settings” is selected, the resolution and response time can be set.

  Next, the structure of the characteristic part of the monitoring system 100 by this invention is demonstrated below using FIGS.

<Monitoring area 2>
FIG. 5 is an explanatory diagram schematically showing an example of the operation of the area monitoring sensor 1 of FIG. 3, and shows the positional relationship between the shooting direction 4 of the camera 22 and the scanning range 5 of the detection light and the object B. ing. The area monitoring sensor 1 is installed on a horizontal floor surface. The monitoring area 2 is designated by defining coordinate axes on a horizontal plane.

  For example, orthogonal coordinates with the area monitoring sensor 1 as the center, the front-rear direction of the area monitoring sensor 1 as the Y axis, and the left-right direction orthogonal to the Y axis as the X axis are defined, and the monitoring area 2 has coordinate components for each coordinate axis. Use to specify. In this example, a pentagonal region having the area monitoring sensor 1 as one vertex is designated as the monitoring area 2.

  The detection light is emitted outward in the radial direction with the area monitoring sensor 1 as the center, and is scanned in the circumferential direction along the horizontal plane. The area monitoring sensor 1 can monitor a scanning range 5 exceeding 180 °.

  The object B is a machine facility or a building wall. By receiving the detection light reflected by the object B, the distance from the area monitoring sensor 1 to the object B is obtained. For example, the distance to the object B is obtained by measuring the TOF (Time Of Flight) of the detection light.

  In the camera 22, the shooting direction 4 is directed to a region on the right side of the Y axis when viewed from above the area monitoring sensor 1. By displaying the camera image photographed by the camera 22 on the screen display unit 11, the positional relationship between the monitoring area 2 and the object B can be confirmed. The camera 21 has a shooting direction 4 directed to a region on the left side of the Y axis when viewed from above the area monitoring sensor 1.

<Camera image 6>
FIG. 6 is a diagram showing an example of the operation of the area monitoring sensor 1 of FIG. 3, and shows a camera image 6 displayed on the monitor screen 32. This camera image 6 is a photographed image photographed by the camera 22, and a distance measuring line 7 indicating the position of the object B on the scan plane 3 and a frame line 8 indicating the monitoring area 2 are superimposed.

  The distance measuring line 7 is a figure indicating the boundary line of the scan plane 3. The distance measuring line 7 specifies the position of the object B in the three-dimensional space based on the distance to the object B and the scanning angle of the detection light, and the three-dimensional position and the angle of view of the camera 22 are determined. Based on the positional relationship, it is displayed by specifying the two-dimensional position in the camera image of the object B.

  In the area monitoring sensor 1, the display mode of the distance measuring line 7 is varied according to the distance to the object B. For example, the distance measuring line 7 is composed of a large number of dots, and the size, density, color, or arrangement pitch of the dots varies depending on the distance to the object B. In this example, the longer the distance, the smaller the dots and the wider the arrangement pitch. With such a configuration, it is possible to easily obtain a sense of perspective with respect to the distance measuring line 7 on the scan plane 3 when the camera image 6 is displayed.

  The distance measuring line 7 may be constituted by a number of line segments, and the thickness, density, color, or arrangement pitch of the line segments may be varied according to the distance to the object B. Further, the distance measuring line 7 may be configured by a continuous line, and the thickness, density, or color of the line may be varied depending on the distance to the object B.

  A frame line 8 is a graphic showing the position of the monitoring area 2 on the scan plane 3. The frame line 8 specifies the position of the monitoring area 2 in the three-dimensional space, and specifies the two-dimensional position in the camera image of the monitoring area 2 based on the positional relationship between the three-dimensional position and the angle of view of the camera 22. Is displayed.

  By displaying such a frame line 8 on the camera image 6 together with the distance measuring line 7, the positional relationship between the monitoring area 2 and the distance measuring line 7 can be confirmed on the camera image 6, so that the desired area Is easily set as the monitoring area 2.

  FIG. 7 is a view showing another example of the camera image 6 displayed on the monitor screen 32. (A) in the figure shows a case where the area monitoring sensor 1 is installed in a state of being tilted forward with respect to the floor surface. Further, (b) in the figure shows a case where the area monitoring sensor 1 is installed in a state tilted to the right with respect to the floor surface.

  By displaying the distance measuring line 7 on the camera image 6 in which the monitoring area 2 is photographed, the position of the scan plane 3 can be easily identified by the distance measuring line 7. Also, the scanning range of the detection light can be easily identified by the distance measuring line 7 on the camera image 6. Therefore, by displaying such a camera image 6 on the monitor screen 32, it is easy to determine whether the scan surface 3 is inclined with respect to the floor surface and whether the height of the scan surface 3 is appropriate. Can be determined. Therefore, it is possible to prevent the area monitoring sensor 1 from being installed while being inclined with respect to the floor surface, and it is possible to facilitate the height adjustment.

  FIG. 8 is a diagram showing an example of the operation of the area monitoring sensor 1 in FIG. 3, and shows a case where a part of the object B exists in the monitoring area 2. In this area monitoring sensor 1, the display mode of the distance measuring line 7 is made different between the inside and outside of the monitoring area 2. For example, the color or shape of the dots constituting the distance measuring line 7 is varied.

  In this example, the distance measuring line 7 positioned on the inner side of the frame line 8 is displayed with white dots, and the distance measuring line 7 positioned on the outer side of the frame line 8 is displayed with black dots. With such a configuration, it is possible to easily identify whether or not the position of the object B on the scan plane 3 is within the monitoring area 2.

<Scanner image 40>
FIG. 9 is a diagram showing an example of the operation of the area monitoring sensor 1 in FIG. 3, and shows a scanner image 40 displayed on the monitor screen 32. The scanner image 40 is configured by a plane figure indicating the detection result of the object B, and is generated based on the distance to the object B and the scanning angle of the detection light. A scanner image 40 is generated for each scan of detection light.

  The scanner image 40 includes an X-axis 41 and a Y-axis 42 with orthogonal coordinates centered on the area monitoring sensor 1, a non-scanning area 43 indicating that the detection light is outside the scanning range 5, and the monitoring area 2. An area 44 to be displayed, a straight line indicating the angle of view 45 of the camera 22, and a distance measuring line 46 indicating the position of the object B are displayed. The non-scanning area 43 is configured by a triangular area having the area monitoring sensor 1 as a vertex.

  By displaying such a scanner image 40 on the monitor screen 32, the positional relationship between the object B and the monitoring area 2 can be confirmed by the area 44 and the distance measuring line 46, so that the monitoring area 2 is appropriately set. It is possible to easily determine whether or not it is done.

  FIG. 10 is a diagram showing an example of the operation of the area monitoring sensor 1 of FIG. 3, and shows a case where a plurality of grid lines 50 to 52 are displayed on the camera image 6 together with the distance measuring line 7. The grid lines 50 to 52 are configured by straight lines parallel to the coordinate axes of orthogonal coordinates on the scan plane 3.

  In this camera image 6, a grid line 50 indicating the Y axis, three grid lines 51 parallel to the X axis, and three grid lines 52 parallel to the Y axis are displayed together with the distance measurement line 7. Yes. By displaying such grid lines 50 to 52, it is easy to grasp the positional relationship on the scan plane 3, so that the monitoring area 2 can be easily set or edited.

  FIG. 11 is a block diagram showing an example of a functional configuration in the area monitoring sensor 1 of FIG. The area monitoring sensor 1 includes a scanning control unit 101, a mirror 102, a light projecting unit 103, a light projecting control unit 104, a rotary encoder 105, a light receiving unit 111, a distance measuring unit 112, an intrusion detecting unit 113, a setting data storage unit 114, The camera image buffer 115, the ranging position display unit 116, the detection history generation unit 121, the detection history storage unit 122, and the detection history display unit 123 are configured.

  The light projecting unit 103 is a light source device that generates detection light and emits it toward the mirror 102. The mirror 102 is a scanning reflecting mirror that reflects the detection light incident from the light projecting unit 103 toward the object B, and rotates around the rotation axis. The light receiving unit 111 receives the detection light reflected by the object B and generates a detection signal.

  The scanning control unit 101 drives an electric motor that rotates the mirror 102 and controls the scanning angle of the detection light. The scanning control unit 101 and the mirror 102 are scanning units that scan the detection light in the circumferential direction along the scanning plane 3 that intersects the rotational axis with the rotational axis as the center.

  The rotary encoder 105 is a rotation detection device that detects the rotation angle of the mirror 102 and generates a rotation pulse signal. The light projection control unit 104 controls the light projection unit 103 based on the rotation pulse signal of the rotary encoder 105 and adjusts the light projection timing of the detection light. For example, each time the mirror 102 rotates by 360 ° / 1000, detection light is emitted.

  The distance measuring unit 112 obtains the distance to the object B based on the detection signal from the light receiving unit 111. Specifically, the distance to the object B is calculated by comparing the detection signal with the rotation pulse signal of the rotary encoder 105 and specifying the delay time from when the detection light is projected until it is received. . The delay time of light transmission / reception is measured every time detection light is emitted.

  The intrusion detection unit 113 detects an intruder in the monitoring area 2 based on the distance to the object B and the scanning angle of the detection light, and generates a stop signal for stopping the operation of the external device. The scanning angle of the detection light is specified based on the rotation pulse signal of the rotary encoder 105. Whether or not the object B is present in the monitoring area 2 is determined by specifying the two-dimensional position of the object B from the distance to the object B and the scanning angle of the detection light.

  The setting data storage unit 114 holds position information indicating the two-dimensional position of the monitoring area 2 as setting data. The cameras 21 and 22 generate camera images composed of still images or moving images.

  The camera image buffer 115 is a storage device that sequentially stores camera images generated by the cameras 21 and 22 and periodically deletes camera images with old shooting times. For example, the camera image buffer 115 is configured by a ring buffer, and if the storage area is filled with camera images, the camera images are overwritten with newly captured camera images in order from the oldest camera image.

  The ranging position display unit 116 controls the screen display unit 11 based on the distance to the object B calculated by the ranging unit 112 and the position information of the monitoring area 2, and the object B on the scan plane 3. A distance measuring line 7 indicating the position of is displayed on the camera image 6. This camera image 6 is a display image to be displayed on the screen display unit 11 and is produced by reducing the camera image stored in the camera image buffer 115.

  The distance measurement position display unit 116 displays the frame line 8 indicating the monitoring area 2 on the camera image 6 together with the distance measurement line 7. In addition, the distance measurement position display unit 116 displays the distance measurement line 7 in the monitoring area 2 in a display mode different from the distance measurement line 7 outside the monitoring area 2. Further, the distance measurement position display unit 116 changes the display mode of the distance measurement line 7 according to the distance to the object B.

  The display magnification or scale of the camera image 6 can be changed by adjusting the reduction rate when the camera image 6 is produced by reducing the camera image stored in the camera image buffer 115. Therefore, the camera image 6 can enlarge an arbitrary area within the angle of view.

  The detection history generation unit 121 reads a camera image taken when an intruder in the monitoring area 2 is detected from the camera image buffer 115, and detects based on the camera image and detection information by the intrusion detection unit 113. Generate history. In the detection history storage unit 122, a camera image composed of a moving image of a certain length of time taken with a time when an intruder in the monitoring area 2 is detected, position information indicating a two-dimensional position of the intruder Is stored as a detection history.

  In the detection history storage unit 122, a camera image taken by a camera in which the position of the intruding object is included in the angle of view is stored as a detection history, and is taken by a camera that does not include the position of the intruding object in the angle of view. The camera image is not stored as a detection history. Since a camera image taken by a camera that does not include the position of the intruder within the angle of view is not stored as a detection history, an increase in storage capacity can be prevented.

  The detection history display unit 123 reads the position information of the intruder from the detection history storage unit 122 based on the user operation, controls the screen display unit 11 based on the position information of the intruder, and detects the position of the intruder. Is displayed on the camera image stored as. This camera image is also a display image to be displayed on the screen display unit 11 and is produced by reducing the camera image stored in the detection history storage unit 122.

  The display magnification or scale of the camera image indicating the detection history can be changed by adjusting the reduction ratio when the display image is produced by reducing the camera image stored in the camera image buffer 115. Therefore, the camera image of the detection history can enlarge an arbitrary area within the angle of view.

  According to the present embodiment, since the distance measuring line 7 is displayed on the camera image 6 in which the monitoring area 2 is photographed, the position of the scan plane 3 can be easily identified by the distance measuring line 7. Also, the scanning range 5 of the detection light can be easily identified by the distance measuring line 7 on the camera image 6.

  In addition, since the positional relationship between the monitoring area 2 and the distance measuring line 7 can be confirmed on the camera image 6, it is possible to easily identify whether a desired area is appropriately set as the monitoring area 2. it can.

  In addition, since the intruder that has entered the monitoring area 2 can be easily confirmed by the camera image stored as the detection history, the cause of the generation of the stop signal can be known in detail. Furthermore, since an intruder that has entered the monitoring area 2 can be confirmed by a camera image made up of moving images stored as a detection history, analysis of the intruder can be facilitated. In particular, since the camera image is composed of a moving image having a certain length of time including the detection time of the intruder, the situation around the monitoring area 2 until the intruder is detected and the monitoring area 2 after the intruder is detected. The surroundings can be confirmed from the camera image.

  In the present embodiment, an example in which the area monitoring sensor 1 includes the screen display unit 11 and the camera image 6 on which the distance measurement line 7 is superimposed is displayed on the screen display unit 11 has been described. The configuration of the monitoring system 100 is not limited to this. For example, a configuration in which the camera image 6 on which the distance measuring line 7 is superimposed is displayed on the PC 200 is also included in the present invention. By displaying the camera image 6 on which the distance measurement line 7 is superimposed on the screen display unit 201 of the PC 200, the position of the scan plane 3 can be easily determined even when the area monitoring sensor 1 does not include the screen display unit 11. Thus, the area monitoring sensor 1 can be prevented from being installed in a state where the scan surface 3 is inclined with respect to the installation surface.

  Further, in the present embodiment, the example in which the display mode of the distance measuring line 7 is changed according to the distance to the object has been described, but the present invention limits the method of displaying the distance measuring line 7 to this. It is not a thing. For example, the display mode of the distance measuring line 7 may be changed according to the detection of an intruder in the monitoring area 2. If it demonstrates concretely, the size of the dot which comprises the ranging line 7, or the thickness of a line will differ by the case where an intrusion exists in the monitoring area 2, and the case where it does not exist, or a ranging line The density or color of 7 is varied.

  Further, in the present embodiment, an example has been described in which a camera image composed of a moving image of a certain length of time that is captured with a time when an intruder is detected is stored as a detection history. The camera image stored as the detection history is not limited to this. For example, a camera image taken immediately after an intruder is detected or a camera image made up of one or more still images including a camera image taken immediately before an intruder is detected is stored as a detection history. Such a configuration may be adopted.

  In the present embodiment, an example has been described in which only a camera image captured by a camera that includes the position of an intruder within the angle of view is stored as a detection history. However, the present invention stores the detection history as a detection history. The camera image is not limited to this. For example, a camera image taken by a camera that does not include the position of the intruder within the angle of view is also stored as a detection history, and the detection history display unit 123 selects a camera in which the position of the intruder is included within the angle of view. The configuration may be such that the position of the intruder is displayed on the camera image photographed by the camera. According to such a configuration, when the position of the intruder is displayed on the camera image stored as the detection history, the camera that includes the position of the intruder within the angle of view is automatically selected. Can be easily analyzed.

  In the present embodiment, an example in which the sensor main body 20 includes the two cameras 21 and 22 has been described. However, the present invention is not limited to the configuration of the imaging unit that captures the monitoring area 2. Absent. For example, the imaging unit may be configured by a wide-angle camera with a fisheye lens whose field angle covers the scanning range 5 of the detection light.

  In this embodiment, the area monitoring sensor 1 is installed with the scan plane 3 tilted with respect to the installation plane by displaying the distance measuring line 7 on the camera image 6 in which the monitoring area 2 is captured. However, the present invention is not limited to this method of using the camera image 6. For example, even if the camera image captured immediately after the power is turned on is checked against the camera image stored in the memory, a shift in the installation position of the area monitoring sensor 1 is detected and an error is output. good.

  In the present embodiment, an example in which a camera image taken when an intruder is detected is stored as a detection history has been described. However, the present invention limits the configuration of the detection history to this. is not. For example, the scanner image 40 including the time when the intruder is detected is stored as a detection history together with the position information of the intruder, and the position of the intruder is displayed on the scanner image 40 stored as the detection history. May be.

DESCRIPTION OF SYMBOLS 100 Monitoring system 1 Area monitoring sensor 10 Interface part 11 Screen display part 12 Cable connection port 13 Operation part 14 Indicator part 20 Sensor main-body part 21,22 Camera 23,24 Indicator 25 Scanner part 26 Protective cover 31 Operation screen 32 Monitor screen 33 Setting Screen 40 Scanner image 43 Non-scanning region 44 Monitoring region 45 Camera angle of view 46 Distance measurement lines 50 to 52 Grid line 101 Scan control unit 102 Mirror 103 Light projection unit 104 Light projection control unit 105 Rotary encoder 111 Light reception unit 112 Distance measurement unit 113 Intrusion detection unit 114 Setting data storage unit 115 Camera image buffer 116 Distance measurement position display unit 121 Detection history generation unit 122 Detection history storage unit 123 Detection history display unit 200 PC
2 Monitoring Area 3 Scanning Surface 4 Imaging Direction 5 Scanning Range 6 Camera Image 7 Distance Line 8 Frame A1 Work Robot A2 Guard Fence A3 Operator B Object

Claims (12)

A light projecting means for generating detection light;
A light receiving means for receiving the detection light reflected by the object and generating a detection signal;
Scanning means for scanning the detection light in the circumferential direction along a scan plane intersecting the rotation axis around the rotation axis;
Ranging means for obtaining the distance to the object based on the detection signal;
Based on the distance to the object and the scanning angle of the detection light, intrusion detection means for detecting an intruder in the monitoring area and generating a stop signal for stopping the operation of the external device;
Imaging means for photographing the monitoring area and generating a camera image;
A monitoring system comprising: a distance measuring position display means for displaying a distance measuring line indicating the position of the object on the scan plane on the camera image.   The monitoring system according to claim 1, wherein the imaging unit is disposed above the scan plane in the rotation axis direction.   3. The monitoring system according to claim 2, wherein the ranging position display means displays a frame line indicating the monitoring area on the camera image together with the ranging line.   The monitoring system according to any one of claims 1 to 3, wherein the ranging position display means displays the ranging line in the monitoring area in a display mode different from the ranging line outside the monitoring area. .   The monitoring system according to any one of claims 1 to 4, wherein the distance measurement position display means changes a display mode of the distance measurement line according to a distance to the object.   The monitoring system according to any one of claims 1 to 4, wherein the distance measurement position display means changes a display mode of the distance measurement line according to detection of an intruder in the monitoring area.   The distance measuring position display means displays two or more grid lines parallel to the coordinate axis of orthogonal coordinates on the scan plane on the camera image together with the distance measuring line. The monitoring system described in. A detection history storage means for storing the camera image taken when an intruder in the monitoring area is detected together with the position information of the intruder as a detection history;
8. A detection history display means for displaying the position of the intruder on the camera image stored as the detection history based on the position information of the intruder. The monitoring system described. A camera image buffer that sequentially stores camera images generated by the imaging means and periodically deletes camera images with old shooting times,
The imaging means generates a camera image composed of a moving image,
9. The monitoring according to claim 8, wherein the detection history storage unit stores, as a detection history, a moving image having a certain length of time taken with a time when an intruder in the monitoring area is detected. system. The imaging means is composed of two or more cameras arranged in different directions,
The detection history storage means stores, as a detection history, a camera image taken by a camera whose intruder position is included in the angle of view, and a camera image taken by a camera not containing the position of the intruder in the angle of view. Is not stored as a detection history. The monitoring system according to claim 8 or 9. The imaging means is composed of two or more cameras arranged in different directions,
10. The detection history display means selects a camera in which the position of an intruder is included within an angle of view, and displays the position of the intruder on a camera image photographed by the camera. The monitoring system described in.   The monitoring system according to any one of claims 1 to 9, wherein the imaging unit is configured by one wide-angle camera with a fish-eye lens whose angle of view covers the scanning range of the detection light.

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