JP2023045860A - Monitoring device and monitoring method - Google Patents

Abstract

To provide a monitoring device capable of easily confirming a direction of retraction from a danger source by suppressing reduction in detection accuracy for a moving body to enter a periphery of the danger source, and a monitoring method.SOLUTION: A monitoring device 10 which is disposed in a monitoring environment C1 and monitoring entering to a periphery of a danger source (robot device 30) comprises: a detection unit for detecting a position of a moving body (worker, etc.,) entering a monitoring region MR, which is set based on an operable range of the danger source, while using invisible light; and a notification unit for notifying the moving body of guide information GI indicating a direction in which the moving body is away from the danger source or a state where the moving body is being closer to the danger source, with respect to the entering position of the moving body based on the detected entering position of the moving body. A detection direction which can be detected at a predetermined time by the detection unit is different from a notification direction which can be notified at a predetermined time by the notification unit.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a monitoring device and monitoring method.

2. Description of the Related Art Conventionally, there has been known a monitoring system that monitors the entry of objects into the vicinity of a robot (see Patent Literature 1). As one of these monitoring systems, a sensor unit monitors the entry of a new object that has not been registered in advance into an operation area set to include the operable range of the robot; It is determined that a new object has entered the operation area by the visible light irradiation unit that irradiates visible light toward at least the outer edge of at least one of the predetermined area set around the operation area and the sensor unit. and a supervisory control unit that issues a request to stop the robot to the robot control unit that controls the robot.

JP 2014-140920 A

In the monitoring system of Patent Document 1, visible light is irradiated toward at least the outer edge of at least one of the operating area and the predetermined area set around the operating area, so only the area boundary line is visualized. Therefore, it is difficult to grasp in which direction the user should move away from the danger with reference to the boundary line of the area irradiated with the visible light. In addition, it is difficult to grasp that the danger source is approaching by visualizing only the area boundary line.

Further, in this monitoring system, the irradiation directions of the invisible light for detecting the entry of a new object and the visible light irradiated to the outer edge are set to be the same direction at the same time. Specifically, an invisible light source that emits invisible light and a visible light source that emits visible light emit light from the same position in the same direction at the same time. Therefore, the visible light and the invisible light may interfere with each other by traveling along the same path, and the detection accuracy of the intrusion of a new object may be lowered.

The present disclosure has been made in view of the above circumstances, and provides a monitoring device and a monitoring device capable of suppressing deterioration in detection accuracy of an object entering the vicinity of a danger source and easily confirming the direction of evacuation from the danger source. provide a way.

One aspect of the present disclosure is a monitoring device that monitors entry into the vicinity of a hazard, and uses invisible light to detect objects that have entered a monitoring area set based on the operable range of the hazard. a detection unit for detecting a position; and notification for notifying guide information indicating a direction in which the object moves away from the danger source with respect to the entry position of the object based on the entry position of the object detected by the detection unit. and a detection direction that can be detected by the detection unit at a predetermined time and a notification direction that can be notified by the notification unit at the predetermined time are different.

One aspect of the present disclosure is a monitoring method for monitoring entry into the vicinity of a hazard, wherein invisible light is used to monitor an object that has entered a monitoring area set based on the operable range of the hazard. detecting a position; and based on the detected entry position of the object, announcing guidance information indicating a direction in which the object moves away from the danger source with respect to the entry position of the object. and a monitoring method in which a detection direction in which the entry position of the object can be detected at a predetermined time and a notification direction in which the guidance information can be notified at the predetermined time are different.

Advantageous Effects of Invention According to the present disclosure, it is possible to suppress a decrease in detection accuracy of an object entering the vicinity of a danger source, and to easily confirm the evacuation direction from the danger source.

Schematic diagram showing an example of a monitoring environment in which a monitoring device is arranged according to the first embodiment. Schematic diagram showing an example of the appearance of the monitoring device viewed from the side Schematic diagram showing an example of the appearance of the monitoring device viewed from above Block diagram showing a configuration example of a monitoring device A diagram showing an example of an area display during normal operation by a monitoring device A diagram showing an example of area display at the time of caution by the monitoring device A diagram showing an example of an area display during warning by a monitoring device A diagram showing an example of an area display at the time of danger by a monitoring device A diagram showing an example of an area displayed by a monitoring device when multiple people enter FIG. 4 is a diagram showing a configuration example of the detection unit and the rotation mechanism unit viewed from above and from the side; The figure which shows the 1st structural example of the visible light irradiation part seen from the side. The figure which shows the 2nd structural example of the visible light irradiation part seen from the side. The figure which shows the 3rd structural example of the visible light irradiation part seen from the side. Schematic diagram showing an example of appearance of a monitoring device viewed from the side in a modified example Schematic diagram showing an example of appearance of a monitoring device viewed from above in a modified example FIG. 11 is a diagram showing an example of normal region sound output by the monitoring device according to the second embodiment; A diagram showing an example of area sound output by a monitoring device at the time of caution A diagram showing an example of area sound output by a monitoring device during an alert A diagram showing an example of area sound output by a monitoring device at the time of danger A diagram showing an example of area sound output by a monitoring device when multiple people enter Schematic diagram showing an appearance example of a monitoring device viewed from the side in the second embodiment Schematic diagram showing an appearance example of a monitoring device viewed from above in the second embodiment Schematic diagram showing an example of a rack system, a load carrier, and a monitoring device in a first use case The figure which shows an example of the monitoring apparatus installed in the load carrier, and the load projected from the loading shelf. A diagram showing an example of a protection area and a caution area in the first use case Diagram for explaining the second use case

Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and descriptions of substantially the same configurations may be omitted. This is to avoid unnecessary verbosity in the following description and to facilitate understanding by those skilled in the art. It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure and are not intended to limit the claimed subject matter thereby.

<Description of monitoring environment>
FIG. 1 is a diagram showing an example of a monitoring environment C1 in which the monitoring device 10 according to the embodiment is arranged. The monitoring environment C1 is, for example, the inside of a factory, and the monitoring device 10 monitors whether or not safe work is being performed. The monitoring device 10 is, for example, a lidar (LiDAR) device, which is an electro-optical mechanical lidar device. For example, a monitoring device 10 and a robot device 30 are arranged in the monitoring environment C1. Although the robot device 30 is arranged on the base 40 and the monitoring device 10 is arranged on the base 40 in the vicinity of the robot device 30 in FIG. 1 , the present invention is not limited to this. Also, the worker H1 and other objects may exist in the monitoring environment C1. For example, the worker H1 visually checks the monitoring environment C1, checks the robot device 30, checks products manufactured by the robot device 30, and the like. Other objects may be objects or vehicles required for work in a factory, for example.

When the worker H1 approaches the robot device 30, the movement of the robot device 30 may pose a danger to the worker H1. Therefore, the monitoring area MR is set based on the operable range of the robot device 30 (for example, the reachable range of the robot arm or the like). The monitoring device 10 monitors the inside of the monitoring area MR and detects whether or not an object such as the worker H1 exists within the monitoring area MR. When it is detected that an object exists in the monitoring area MR, the monitoring device 10 visually or audibly gives guidance information GI indicating the direction in which the object moves away from the robot device 30 . Guidance information GI is one of warning information. Therefore, the monitoring device 10 can operate as an area scanner with a warning notification function. Also, the guidance information GI may include approach guidance information indicating that the object is approaching the robot device 30 instead of information indicating the direction in which the object moves away from the robot device 30 .

<Structure of monitoring device>
FIG. 2A is a schematic diagram showing an example of the appearance of the monitoring device 10 viewed from the side. FIG. 2B is a schematic diagram showing an example of the appearance of the monitoring device 10 viewed from above.

In addition, in this embodiment, the x direction, the y direction, and the z direction are defined. The x direction is an arbitrary direction on the xy plane parallel to the installation plane P1 on which the monitoring device 10 is installed. The y direction is the direction perpendicular to the x direction on the xy plane. The z direction is the direction perpendicular to the xy plane. The xy plane is, for example, parallel to the horizontal direction. The z-direction is, for example, parallel to the direction of gravity. The positive side in the z-direction is also described as top, and the negative side in the z-direction is also described as bottom.

The monitoring device 10 has a lower housing 15 and an upper housing 16 . The lower housing 15 has, for example, a rectangular parallelepiped shape (box shape), but may have other shapes. The lower housing 15 does not have translucency and can be made of metal, for example. The upper housing 16 has a circular shape when viewed from above, and has a shape that expands in diameter from the side closer to the installation surface P1 of the monitoring device 10 toward the side farther from the installation surface P1, but other shapes ( For example, it may have a rectangular parallelepiped shape). The upper housing 16 can be made of resin, for example, and has a translucent window at least partially translucent. The translucent window can transmit invisible light (eg, infrared light) and visible light, for example, from the inside to the outside of the monitoring device 10 and from the outside to the inside. Note that the translucent window does not have to transmit visible light. Further, when the entire upper housing 16 is translucent, the upper housing 16 may be a translucent colored or colorless cover.

FIG. 3 is a block diagram showing a configuration example of the monitoring device 10. As shown in FIG. The monitoring device 10 includes a detection unit 110 , a notification unit 120 , a rotation mechanism unit 130 , a communication unit 140 , a control unit 150 and a storage unit 160 .

The detection unit 110 uses invisible light (eg, invisible laser light) to detect the position of an object (eg, worker H1) present within the monitoring area MR set based on the operable range of the robot device 30. A specific configuration of the detection unit 110 will be described later.

Based on the position of the object detected by the detection unit 110, the notification unit 120 notifies guidance information GI indicating the direction in which the object moves away from the robot device 30 with respect to the position of the object. In this embodiment, the notification unit 120 includes a visible light irradiation unit 120A that emits visible light (for example, visible laser light). The visible light irradiation unit 120A displays the guidance information GI by irradiating the visible light from the monitoring device 10 in the object approaching direction dr1 toward the position of the detected object (for example, the worker H1). A specific configuration of the notification unit 120 will be described later.

Also, the visible light irradiation unit 120A may irradiate each region within the monitoring region MR with visible light. The monitoring area MR may include, for example, a protection area R3, a caution area R2, and a caution area R1 in order from the robot device 30 side. The protection area R3 is set based on the operable range of the robot device 30 and includes part or all of the operable range of the robot device 30 . The protection area R3 is an area where entry is prohibited in order to protect the robot device 30 as a hazard. The caution area R2 is set around the protection area R3. The caution area R2 is relatively close to the robot device 30, so it is recommended not to enter. The caution area R1 is set around the caution area R2. The width of the caution area R1 is, for example, a length corresponding to the horizontal safety distance ds specified by the JIS standard. The caution area R1 is an area that requires caution when entering. Note that the monitoring region MR may not include the caution region R1. It should be noted that entry into the area outside the monitoring area MR is not restricted, and for example, the worker H1 can move freely.

The visible light irradiation unit 120A emits visible light in different irradiation modes (for example, visible light irradiation patterns and irradiation colors) to different regions (for example, the protection region R3, the caution region R2, and the caution region R1) within the monitoring region MR. can be irradiated. For example, the protected area R3 may be illuminated with red visible light, the caution area R2 may be illuminated with yellow visible light, and the caution area R1 may be illuminated with green visible light. In addition, the visible light irradiation unit 120A determines which region within the monitoring region MR is to be irradiated with visible light based on the detected position of the object, and displays the visible light corresponding to this region in the determined region. can be irradiated.

The rotation mechanism section 130 rotates a portion (described later) of the detection section 110 . The rotation mechanism section 130 may rotate a part (described later) of the visible light irradiation section 120A. In addition to the components that actually rotate, the rotation mechanism unit 130 may also include components that are fixedly arranged to assist rotation.

The communication unit 140 communicates various data and information with an external device (for example, the robot device 30). The communication unit 140 may be for wired communication or wireless communication. The communication method by the communication unit 140 is LAN (Local Area Network) communication, WAN (Wide Area Network) communication, power line communication, short-range communication, or communication for mobile phones (for example, LTE (Long Term Evolution) communication, 5G (5th Generation) communication) and the like.

The control unit 150 is configured by, for example, a processor, and implements various functions by executing programs held in the storage unit 160 . The processor may include an MPU (Micro processing Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and the like. The control unit 150 controls the operation of each unit of the monitoring device 10 and performs various processes. For example, the control unit 150 controls the detection operation by the detection unit 110, the notification operation by the notification unit 120, the rotation operation by the rotation mechanism unit 130, and the like.

The control unit 150 instructs the control of the operation of the robot device 30 based on the position where the worker H1 has entered (also referred to as the position where the worker H1 enters or the detected position of the worker H1) detected by the detection unit 110. you can For example, when the controller 150 detects that the worker H1 has entered the protection area R3, the control unit 150 sends an operation stop instruction signal for stopping the operation of the robot device 30 via the communication unit 140 to the robot. Send to device 30 . For example, when it is detected that the worker H1 has entered the caution area R2, the control unit 150 transmits an operation restriction instruction signal for restricting the operation of the robot device 30 to the robot device 30 . Restrictions on the movement of the robot device 30 may include, for example, making the movement of the robot device 30 slower than normal.

Upon receiving various instruction signals from the monitoring apparatus 10, the robot apparatus 30 operates according to the instruction signals. When receiving an operation stop instruction signal from the monitoring device 10, the robot apparatus 30 may stop operation (for example, an emergency stop) in accordance with the operation stop instruction signal. When the robot device 30 receives the motion stop restriction signal from the monitoring device 10, the robot device 30 may restrict motion according to the motion stop restriction signal. In this way, the monitoring device 10 can change the operation of the danger source according to the distance from the danger source of the entry position of the worker H1.

The storage unit 160 includes a primary storage device (for example, RAM (Random Access Memory) or ROM (Read Only Memory)). The storage unit 160 may include a secondary storage device (eg, HDD (Hard Disk Drive) or SSD (Solid State Drive)) or a tertiary storage device (eg, optical disk, SD card). Storage unit 160 may include other storage devices. The storage unit 160 stores various data, information, programs, and the like. For example, the storage unit 160 stores information about the monitoring area MR (for example, information on the position and size of the monitoring area MR), information about visible light irradiated to each area of the monitoring area MR (for example, information on the irradiation mode), information (for example, information on the mode of irradiation) related to the invisible light irradiated to the , etc. may be stored. The invisible light irradiation mode may include, for example, an invisible light irradiation interval, an invisible light frequency, an irradiation pattern, or the like.

<Visible Light Irradiation Corresponding to Area>
FIG. 4 is a diagram showing an example of area display by the monitoring device 10 during normal operation. When the worker H1 has not entered any region within the monitoring region MR, that is, when the worker H1 is located outside the caution region R1, the detector 110 does not detect the worker H1 entering the monitoring region MR. In this case (also referred to as normal), the visible light irradiation unit 120A does not irradiate visible light to any region within the monitoring region MR and does not visualize any region within the monitoring region MR. Even in this case, since the worker H1 has not entered the monitoring area MR, the safety of the worker H1 is ensured.

FIG. 5 is a diagram showing an example of area display at the time of caution by the monitoring device 10. In FIG. When the worker H1 enters the caution area R1, the detector 110 detects that the worker H1 has entered the caution area R1 within the monitoring area MR. In this case (also referred to as caution), the visible light irradiation unit 120A, according to the control of the control unit 150, for the caution partial region R11 around the entry position (detection position) of the caution region R1, corresponding to the caution region R1 Then, the attention partial region R11 is visualized by irradiating with visible light. Irradiation of visible light to this approach area is an example of notification of approach guidance information. The caution partial region R11 is a part of the caution region R1 in the object approaching direction dr1 from the monitoring device 10 toward the entry position (detection position) of the caution region R1. Thereby, the worker H1 can recognize that he/she has entered the caution area R1 and can recognize that he or she is approaching the robot device 30 . Further, the visible light irradiation unit 120A may irradiate visible light corresponding to the caution area R2 to the caution partial area R21 in the object approach direction dr1 in the caution area R2 to visualize the caution partial area R21. In this case, visible light may be irradiated in different irradiation modes for the caution partial region R11 and the warning partial region R21. Irradiation of visible light to each region in these different irradiation modes is an example of notification of approach guidance information. Accordingly, the worker H1 can recognize the caution area R2 located closer to the robot device 30 than the caution area R1, and can recognize that the worker H1 is approaching the robot device 30. FIG.

FIG. 6 is a diagram showing an example of area display during warning by the monitoring device 10. In FIG. When the worker H1 enters the caution area R2, the detector 110 detects that the worker H1 has entered the caution area R2 within the monitoring area MR. In this case (also referred to as a caution period), the visible light irradiation unit 120A, under the control of the control unit 150, emits visible light corresponding to the caution region R2 to the caution partial region R21 around the entry position of the caution region R2. Illuminate and visualize the warning subregion R21. Irradiation of visible light to this approach area is an example of notification of approach guidance information. Thereby, the worker H1 can recognize which position of the caution area R2 the operator has entered. Further, the visible light irradiator 120A may irradiate visible light corresponding to the protection region R3 to the protection partial region R31 in the protection region R3 in the object approach direction dr1 to visualize the protection partial region R31. In this case, visible light may be irradiated in different irradiation modes for the warning partial region R21 and the protective partial region R31. Irradiation of visible light to each region in these different irradiation modes is an example of notification of approach guidance information. Accordingly, the worker H1 can recognize the protection area R3 located closer to the robot device 30 than the caution area R2, and can recognize that the worker H1 is even closer to the robot device 30. FIG.

FIG. 7 is a diagram showing an example of area display at the time of danger by the monitoring device 10. As shown in FIG. When the worker H1 enters the protection area R3, the detector 110 detects that the worker H1 has entered the protection area R3 within the monitoring area MR. In this case (also referred to as danger), the visible light irradiator 120A, under the control of the control unit 150, emits visible light corresponding to the protected region R3 to the protected partial region R31 around the entry position of the protected region R3. Illuminate and visualize the protected partial area R31. Thereby, the worker H1 can recognize which position of the protection area R3 the worker H1 has entered.

Further, when it is detected that worker H1 has entered protection area R3, visible light irradiator 120A follows the control of control unit 150 to move worker H1 in the radial direction connecting worker H1 and monitoring device 10. visible light indicating an area (also referred to as a retreat area) one outside (a side away from the monitoring device 10) from the periphery (also referred to as an approach area) including the position of . For example, the visible light irradiator 120A is positioned around (retreat area) a caution area R2 (retreat area) outside the perimeter (also referred to as an entrance partial area) of the position of worker H1 within the protection area R3 (approach area). area) is irradiated with visible light corresponding to the caution area R2. The retreat partial area exists in the object approaching direction dr1 from the monitoring device 10 toward the position where the worker H1 has entered. The worker H1 can easily confirm the direction (retraction direction) away from the robot apparatus 30 by confirming the visible light irradiated to the warning partial area R21 (retraction partial area). Note that when it is detected that the worker H1 has entered the caution region R2, not only when the worker H1 enters the protection region R3, the visible light irradiator 120A causes the caution region R11 as the retreat region to Visible light corresponding to the attention area R1 may be irradiated. Displaying the area one outside the position where the worker H1 is located is an example of the display of the guidance information GI.

As a result, visible light corresponding to each area is irradiated to the protection partial area R31 in which the worker H1 of the protection area R3 is located and the warning partial area R21 outside the protection partial area R31. , visible light is emitted. Similarly, by irradiating visible light corresponding to each area to the caution partial area R21 in which the worker H1 is located in the caution area R2 and the caution partial area R11 outside thereof, the visible light is emitted in different irradiation modes. may be irradiated. Irradiation of visible light in such different irradiation modes is an example of display of the guidance information GI.

FIG. 8 is a diagram showing an example of area display by the monitoring device 10 when multiple people enter. When it is detected that a plurality of workers H1 have entered the protected area R3, the visible light irradiation unit 120A irradiates each worker H1 with respect to the entry partial area around the entry position of the worker H1. A visible light corresponding to the entry area of the person H1 is irradiated. Further, as described above, the visible light irradiation unit 120A irradiates visible light corresponding to the evacuation area to the evacuation partial area located one outside the entry partial area for each worker H1. FIG. 8 shows that the approach direction of the worker H11 is the object approach direction dr11, and the approach direction of the worker H12 is the object approach direction dr12.

For example, it is detected that worker H11 of two workers H1 has entered protection area R3 and worker H12 has entered caution area R2. In this case, the visible light irradiator 120A irradiates the protective partial region R31 with the visible light corresponding to the protective region R3, and irradiates the caution partial region R22 with the visible light corresponding to the caution region R2. Further, in this case, the visible light irradiation unit 120A may irradiate visible light corresponding to the warning region R2 to the warning partial region R21, which is the evacuation partial region of the worker H11 located in the protection region R3. Visible light corresponding to the caution region R1 may be irradiated to the caution partial region R12, which is the evacuation partial region for the worker H12 located in the region R2.

In addition, the visible light irradiator 120A may notify each worker H1 of approach guidance information indicating an approaching state in the same manner as the guidance information GI indicating the retreat direction. In this case, for example, when it is detected that a plurality of workers H1 have entered the monitoring region MR, the visible light irradiator 120A sets the entry portion around the entry position of the worker H1 for each worker H1. The area is irradiated with visible light corresponding to the entry area of the worker H1. In addition, as described above, the visible light irradiation unit 120A, for each worker H1, emits light around the position of the approach region (also referred to as the approach partial region) inside the periphery of the position of the worker H1 in the approach region (approach partial region). ) is irradiated with visible light corresponding to the approach region. The approaching partial region exists in the object approaching direction dr1 from the monitoring device 10 toward the position where the worker H1 has entered. This allows the workers H11 and H12 to recognize which region or position of the monitoring region MR they have entered. Further, the workers H11 and H12 can determine which worker H1 has approached the robot device 30 among the plurality of workers H1, whether any worker H1 has approached the robot device 30, and the like.

<Specific Configurations of Detection Unit, Notification Unit, and Rotation Mechanism Unit>
Next, specific examples of configurations of the detection unit 110, the notification unit 120, and the rotation mechanism unit 130 of the monitoring device 10 will be described.

9A and 9B are diagrams showing configuration examples of the detection unit 110 and the rotation mechanism unit 130 as viewed from above and from the side.

First, the rotation mechanism section 130 will be described. As an example, the rotation mechanism section 130 includes a coil arranged on the outer circumference and a magnet arranged on the inner circumference, and constitutes a hollow motor. In the hollow motor, the current flowing through the coils is switched by the control unit 150 so that the rotating parts including the magnets rotate together.

As a specific example, the rotation mechanism section 130 assists the rotation of the detection section 110 and the visible light irradiation section 120A along the installation surface P1 on which the monitoring device 10 is installed. The rotation mechanism section 130 includes an outer cylindrical section 131 , an inner cylindrical section 132 , a plurality of magnets 133 , a plurality of coils 134 , a mirror fixing section 135 and bearings 136 .

The outer tubular portion 131 has an annular peripheral wall portion 131a along the z direction, a bottom portion 131b along the xy plane, and a shaft 131c positioned in the center of the outer tubular portion 131 along the xy plane. . A central portion of the bottom portion 131b corresponding to the shaft 131c is an opening. A plurality of (for example, eight) coils 134 are installed on the inner surface of the peripheral wall portion 131a. The outer tubular portion 131 accommodates at least a portion of the inner tubular portion 132 inside. A bearing 136 may be inserted between the shaft 131 c of the outer tubular portion 131 and the radial center portion of the inner tubular portion 132 . The bearing 136 can facilitate rotation of the inner tubular portion 132 about the shaft 131c. The outer tubular portion 131 itself is fixedly installed and does not rotate.

The inner tubular portion 132 is arranged inside the outer tubular portion 131 . The inner cylindrical portion 132 has an outer periphery formed of a peripheral wall portion 132a along the z direction and an upper wall portion 132c partially along the xy plane. The inner tubular portion 132 does not have a bottom facing the upper wall portion 132c, but has an opening facing the upper wall portion 132c. A plurality of (for example, eight) magnets 133 are fixedly installed on the outer peripheral surface of the peripheral wall portion 132a. The plurality of magnets 133 are arranged in an annular shape when viewed from above. Two adjacent magnets 133 have different magnetic poles. In other words, the plurality of magnets 133 are annularly arranged such that the S poles and the N poles alternate. The plurality of magnets 133 are installed without being in contact with the plurality of coils 134 . A mirror fixing portion 135 to which a mirror, which will be described later, is fixed is arranged in the central portion of the upper portion of the inner cylindrical portion 132 . The mirror fixing portion 135 may be part of the upper wall portion 132c of the inner cylindrical portion 132, or may be installed on the upper wall portion 132c. The mirror fixing part 135 is arranged to be inclined with respect to the xy plane. At least part of the detection unit 110 is accommodated inside the inner tubular portion 132 .

Alternating currents flow through the plurality of coils 134 under the control of the control unit 150 to generate magnetic fields. Each of the plurality of coils 134 is independent for switching the magnetic field produced by each coil 134 . By utilizing the repulsive force and the attractive force generated by the magnetic field of the coil 134 and the magnetic field of the magnet 133, the inner cylindrical portion 132 rotates about the shaft 131c with respect to the outer cylindrical portion 131. Rotate along the xy plane as On the other hand, when no alternating current flows through the plurality of coils 134, no magnetic field is generated by the coils 134, and the inner tubular portion 132 does not rotate.

Next, the detection unit 110 is described. The detector 110 includes an invisible light source 111 , a rotating mirror 113 , a lens 114 and a light receiver 115 . The invisible light source 111 and the rotating mirror 113 are installed inside the inner tubular portion 132 and rotate as the inner tubular portion 132 rotates.

The invisible light source 111 emits invisible light LA1 (for example, infrared light). The rotating mirror 113 is fixed to the lower surface 135 a of the mirror fixing portion 135 . The rotating mirror 113 reflects the invisible light LA1, and guides the invisible light LA1 to the outside of the monitoring device 10 through the projection window of the upper housing 16, for example, along the entire circumference in the horizontal direction. Thereby, the invisible light source 111 can irradiate the invisible light LA1 to the outside of the monitoring device 10 .

In addition, the monitoring device 10 can introduce invisible light LA2 from the outside to the inside of the monitoring device 10 through the light projection window of the upper housing 16 . The invisible light LA2 is, for example, light obtained by reflecting or scattering the invisible light LA1 by an object to be detected. The rotating mirror 113 reflects the invisible light LA<b>2 introduced from the light projecting window and guides it toward the light receiving unit 115 . The lens 114 converges the invisible light LA<b>2 reflected by the rotating mirror 113 onto the light receiving section 115 . The light receiving unit 115 receives the condensed invisible light LA2.

The rotating mirror 113 rotates along the xy plane together with the mirror fixing portion 135 . Therefore, the direction in which the invisible light LA1 is reflected by the rotating mirror 113 and irradiated changes depending on the timing. The control unit 150 recognizes the rotation state of the rotation mechanism unit 130. For example, by reflecting the invisible light LA2 on the rotating mirror 113, the control unit 150 can recognize from which direction in the horizontal direction the invisible light LA2 is received. . Therefore, the detection unit 110 can emit invisible light LA1 in various directions on the xy plane, receive invisible light LA2 from various directions on the xy plane, and detect objects in various directions on the xy plane.

Based on the invisible light LA1 and the invisible light LA2 under the control of the control unit 150, the detection unit 110 detects whether an object such as the worker H1 is present at the irradiation position of the invisible light LA or whether the object has entered the monitoring region MR. Determine presence/absence.

Next, the configuration of the notification unit 120 will be described. Here, the visible light irradiation section 120A as the notification section 120 will be described.

FIG. 10 is a diagram showing a first configuration example of the visible light irradiation section 120A viewed from the side. The visible light irradiation section 120A1 is configured to include a visible light source 121 and a rotating mirror 122A1 as the rotating mirror 122 . Visible light source 121 emits visible light VLA. The visible light source 121 may adjust the irradiation mode of the visible light VLA (for example, the irradiation position, the irradiation direction, the irradiation pattern, the irradiation color (that is, the frequency of the visible light)) under the control of the control unit 150 . Visible light source 121 has a plurality of light sources. In FIG. 10, the visible light source 121 includes a first light source 121a, a second light source 121b, and a third light source 121c. Note that the number of light sources in the visible light source 121 is not limited to three. Each of the first light source 121a, the second light source 121b, and the third light source 121c may be tunable to multiple different wavelengths and may be tunable in illumination color.

The rotating mirror 122 can reflect the light from the visible light source 121 and irradiate the visible light VLA toward the outside of the monitoring device 10, for example, the entire circumference in the horizontal direction. The rotating mirror 122A1 is composed of a plurality of mirrors 122a, 122b, and 122c, and the number of mirrors is not limited to three. Further, each mirror 122a, 122b, 122c is, for example, a plane mirror, but may not be a plane mirror. The rotating mirror 122 is installed on the upper surface 135 b of the mirror fixing portion 135 of the rotating mechanism portion 130 . The mirrors 122a, 122b, and 122c of the rotating mirror 122A1 are fixed at different angles with respect to the mirror fixing portion 135 so that the irradiation position of the visible light VLA is shifted. Each of the mirrors 122a, 122b, and 122c reflects each visible light VLA in the same direction in the horizontal direction, and leads it out of the monitoring device 10 through the light projection window of the upper housing 16. FIG. The mirror 122a reflects visible light from the first light source 121a. The mirror 122b reflects visible light from the second light source 121b. The mirror 122c reflects visible light from the third light source 121c. Each visible light reflected by each mirror 122a, 122b, 122c has a different reaching distance due to the difference in the installation angle of each mirror 122a, 122b, 122c. Thereby, the monitoring device 10 can irradiate visible light to three regions, ie, the protection region R3, the caution region R2, and the caution region R1, which are located at different distances from the monitoring device 10 .

The rotating mirror 122 rotates along the xy plane together with the mirror fixing portion 135 . Therefore, the direction in which the visible light VLA is reflected by the rotating mirror 122 and irradiated changes depending on the timing. The control unit 150 recognizes the rotation state of the rotation mechanism unit 130, and can recognize in which direction in the horizontal direction the visible light VLA is irradiated, for example, by the rotation mirror 122 reflecting the visible light VLA. be. The control unit 150 controls that at least one light source corresponding to the area to be irradiated is turned on during a period in which the rotary mirror 122 is oriented to irradiate visible light to the entry position of the worker H1 detected by the detection unit 110. Control to emit visible light. As a result, the monitoring device 10 can reflect the visible light VLA emitted by the visible light source 121 while the rotating mirror 122 rotates to irradiate the irradiation target area.

Further, the mirror fixing section 135 is inclined with respect to the xy plane, the rotating mirror 113 of the detecting section 110 is installed on the lower surface 135a, and the rotating mirror 113 of the visible light irradiation section 120A is installed on the upper surface 135b on the opposite side of the lower surface 135a. A mirror 122 is installed. Therefore, at the same timing (same time), the irradiation direction of the invisible light emitted by the invisible light source 111 and emitted from the monitoring device 10 and the irradiation direction of the visible light emitted by the visible light source 121 and emitted from the monitoring device 10 are different. , in opposite directions, i.e. in different directions. The irradiation direction of this invisible light corresponds to the detection direction dr2 shown in FIG. The irradiation direction of this visible light corresponds to the notification direction dr3 shown in FIG.

Further, since the rotating mirror 113 and the rotating mirror 122 are installed on the surfaces of the mirror fixing portion 135 opposite to each other, the visible light VLA emitted by the visible light source 121 hardly reaches the detecting portion 110 side and is invisible. The invisible light LA1 emitted by the light source 111 and the invisible light LA2 from the outside of the monitoring device 10 hardly reach the visible light irradiation section 120A side. Therefore, by installing the rotating mirrors 113 and 122 on both sides of the mirror fixing portion 135, it is difficult for visible light and invisible light to intersect temporally and spatially. Therefore, the monitoring device 10 can suppress interference between visible light and invisible light, and can suppress deterioration in the detection accuracy of the detection unit 110 .

FIG. 11 is a diagram showing a second configuration example of the visible light irradiation section 120A viewed from the side. In the visible light irradiation section 120A2 of FIG. 11, the same reference numerals are given to the same configurations as those of the visible light irradiation section 120A1 of FIG. 10, and the description thereof will be omitted or simplified.

The visible light irradiator 120A2 includes a visible light source 121A, a rotating mirror 122A2 as the rotating mirror 122, and a driving mirror 123. As shown in FIG. The visible light source 121A emits visible light. The visible light source 121A may be one light source. The visible light source 121A may adjust the visible light irradiation mode (eg, irradiation pattern, irradiation color) under the control of the control unit 150 .

The drive mirror 123 moves, for example, in the x-direction under the control of the controller 150 . The moving distance of the driving mirror 123 is variable. The visible light emitted by the visible light source 121A is reflected by the driving mirror 123 and enters the rotating mirror 122A2. Which position on the rotating mirror 122A2 the light is incident on depends on the position of the driving mirror 123. FIG.

The rotating mirror 122A2 is a convex mirror. The convex mirror corresponds to a state in which a plurality of mirrors included in the rotating mirror 122A1 of the visible light irradiation unit 120A1 in FIG. Therefore, the rotating mirror 122A2 can reflect the visible light from the visible light source 121A at different angles depending on the reflection position on the rotating mirror 122A2, and the irradiation distance of the visible light can be adjusted according to the reflecting position on the rotating mirror 122A2. is.

The visible light irradiator 120A2 can irradiate visible light to the protection region R3, the caution region R2, and the caution region R1, which are three regions at different distances from the monitoring device 10. FIG. In addition, since the rotating mirror 122A2 can be a single convex mirror, the configuration of the rotating mirror 122A2 can be simplified and the size of the rotating mirror 122A2 can be reduced.

FIG. 12 is a diagram showing a third configuration example of the visible light irradiation section 120A viewed from the side. In the visible light irradiation section 120A3 of FIG. 12, the same components as those of the visible light irradiation section 120A1 of FIG. 10 or the visible light irradiation section 120A2 of FIG.

The visible light irradiation section 120A3 includes a visible light source 121A, a rotating mirror 122A3 as the rotating mirror 122, a driving mirror 123, and a lens . Rotating mirror 122A3 includes one plane mirror. The visible light emitted by the visible light source 121A is reflected by the driving mirror 123 and enters the rotating mirror 122A3. Which position on the rotating mirror 122A3 the light is incident on depends on the position of the drive mirror 123. FIG.

The lens 124 is arranged inside the projection window of the upper housing 16 . The light projection window may be provided along the entire lateral circumference of the upper housing 16 . A plurality of lenses 124 may be arranged along the entire lateral circumference of the upper housing 16 . The lens 124 receives the light reflected by the rotating mirror 122A3, refracts each light component, and collects the light. By refracting light components contained in visible light, it is possible to adjust the reachable distance of each light component, that is, the irradiation distance of visible light. It should be noted that the light projection window itself of the upper housing 16 may be configured by a lens.

The visible light irradiator 120A3 can irradiate visible light to the protection region R3, the caution region R2, and the caution region R1, which are three regions at different distances from the monitoring device 10. FIG. Further, the rotary mirror 122A3 can be a single plane mirror having a general shape, the configuration of the rotary mirror 122A3 can be simplified, and the size of the rotary mirror 122A3 can be reduced.

(Modification of the first embodiment)
Next, a modified example of this embodiment will be described.

10 A of monitoring apparatuses in a modification are provided with the visible light irradiation part 120B as the alerting|reporting part 120. FIG. The rest of the configuration of the monitoring device 10A is the same as the configuration of the monitoring device 10 described above, so description thereof will be omitted or simplified.

FIG. 13A is a schematic diagram showing an example of the external appearance of the monitoring device 10A viewed from the side. FIG. 13B is a schematic diagram showing an appearance example of the monitoring device 10A viewed from above.

The visible light irradiation section 120B has a plurality of visible light sources 121B. A plurality of visible light sources 121B are installed on the side surface of the lower housing 15 . As a specific example, a plurality of visible light sources 121B are installed on three or four side surfaces of the four side surfaces of the lower housing 15 . A plurality of visible light sources 121B are arranged two-dimensionally on each side surface of the lower housing 15, for example, in a matrix in the x-direction and the z-direction. In FIG. 13A, a total of 12 visible light sources 121B, 3 in the x direction and 4 in the z direction, are arranged on one side. Note that the arrangement method of the plurality of visible light sources 121B is not limited to this.

Each visible light source 121B is installed so that the direction of the optical axis oa is different. In this case, for example, in FIG. 13A, the direction of the optical axis oa is set so that the irradiation distance of the visible light is approximately the same for each of the three visible light sources 121B having the same z-direction position (z coordinate). . Further, for example, for each of the four visible light sources 121B having the same x-direction position (x-coordinate) in FIG. The direction of the axis oa is set (see FIG. 13B). Even with these four visible light sources 121B, the directions of the optical axes oa are different from each other when the z direction is considered. Further, for example, among the four visible light sources 121B along the z-direction, each visible light source is arranged so that the irradiation distance from the lowermost visible light source 121B is the shortest and the irradiation distance from the uppermost visible light source 121B is the longest. The direction of the optical axis oa of 121B may be set.

Note that, in the monitoring device 10B, the invisible light used for detection by the detection unit 110 passes through the light projection window of the upper housing 16 . Also, the visible light emitted by each visible light source 121B is emitted from each position on the lower housing 15 . Therefore, the passage positions of invisible light and visible light differ greatly, and the detection direction dr2 by the detection unit 110 and the notification direction dr3 by the notification unit 120 (here, the visible light irradiation unit 120B) are different at the same time.

Thus, in the monitoring device 10A of the modified example, each visible light source 121B is installed so that the direction of the optical axis oa is different, so that each area within the monitoring area MR can be irradiated with visible light.

According to the monitoring devices 10 and 10A of the first embodiment, it is possible to visually provide the worker H1 with the guidance information GI including the evacuation direction away from the robot device 30 . Therefore, it becomes easier for the worker H<b>1 to retreat from the vicinity of the robot device 30 . Therefore, the monitoring devices 10 and 10A can prevent the operation of the robot device 30 from being stopped or restricted, shorten the waiting time for the return of the operation of the robot device 30, and decrease the productivity of the robot device 30. can be suppressed. In addition, since the monitoring device 10 can be miniaturized by integrating the detection unit 110 and the notification unit 120, the installation area can be reduced, the space can be used efficiently, and the installation man-hours such as wiring can be reduced.

In addition, the monitoring devices 10 and 10A can irradiate visible light toward the floor, wall, object, or the like as an area in which an abnormality has been detected within the monitoring area MR, and can detect in which area (coordinates) an abnormality has occurred. can be made visible. Detection of abnormality includes, for example, detection of entry of worker H1 into monitoring area MR. In addition, the monitoring devices 10 and 10A irradiate the guidance information GI toward the floor, walls, objects, etc., and assist in visually confirming in which direction the worker H1 can move to a safer direction. can. Therefore, the monitoring devices 10 and 10A can prevent the worker H1 from inadvertently remaining in the protection area R3 or the caution area R2, and can prevent the productivity of the robot device 30 from being lowered.

In addition, when each area is visualized with the illumination color corresponding to each area according to the guidance information, it becomes easier for the worker H1 to retreat. For example, when red, yellow, and green change toward the protective area R3, the caution area R2, and the caution area R1, the worker H1 will be safer if he moves from red to the yellow area, and from yellow to green. It can be easily recognized that moving to the area of .

Further, by separating the detection direction dr2 and the notification direction dr3, interference of light used for detection and notification is less likely to occur, and detection performance and notification performance can be improved. In this way, the monitoring device 10 can ensure safety in the monitoring region MR, so that humans and machines can cooperate with each other without a fence or the like between the robot device 30 and the worker H1, for example. .

(Second embodiment)
In the second embodiment, it is assumed that guidance information is reported (sound output) by sound instead of being reported (displayed) using visible light. In the second embodiment, descriptions of items similar to those in the first embodiment will be omitted or simplified.

A monitoring device 10B in the second embodiment includes a detection unit 110, a notification unit 120, a rotation mechanism unit 130, a communication unit 140, a control unit 150, and a storage unit 160, as in the first embodiment. The monitoring device 10B is, for example, a lidar device, but is not limited to an electro-optical-mechanical lidar device, and various types of lidar devices can be applied.

The monitoring device 10B includes a sound output section 120C as the notification section 120. FIG. The control unit 150 has the same functions as the control unit 150 of the first embodiment, but does not perform processing related to the visible light irradiation units 120A and 120B, but performs processing related to sound output by the sound output unit 120C. The processing related to sound output includes, for example, processing related to notification of guidance information GI by sound.

The sound output unit 120C notifies the guidance information GI by outputting a sound from the monitoring device 10 in the object approaching direction dr1 toward the position of the detected object (for example, the worker H1). A specific configuration of the sound output unit 120C will be described later.

Further, the sound output unit 120C may output a sound corresponding to each region (also referred to as region sound) to each region within the monitoring region MR. The regional sounds may have different sound frequencies (sound pitch), sound output levels (sound intensity), or sound patterns for each region. The sound output unit 120C may output different area sounds to different areas (for example, the protection area R3, the caution area R2, and the caution area R1) within the monitoring area MR. Further, the sound output unit 120C may determine which region within the monitoring region MR to output the regional sound based on the detected position of the object, and output the regional sound corresponding to the determined region. .

Further, the sound output unit 120C may have directivity in the output direction of sound. For example, the sound output unit 120C may output the sound with directivity so as to output the sound to the entry position of the worker H1 and not output the sound to other than the entry position of the worker H1. The sound output unit 120C can clarify who and where the output destination of the sound is by outputting the sound having directivity.

<Area sound output corresponding to the area>
14A and 14B are diagrams showing an example of normal region sound output by the monitoring device 10. FIG. When the worker H1 has not entered any region within the monitoring region MR, that is, when the worker H1 is located outside the caution region R1, the detector 110 does not detect the worker H1 entering the monitoring region MR. In this case (also referred to as normal), the sound output unit 120C does not output sound to any region within the monitoring region MR. Even in this case, since the worker H1 has not entered the monitoring area MR, the safety of the worker H1 is ensured.

FIG. 15 is a diagram showing an example of area sound output by the monitoring device 10 at the time of warning. When the worker H1 enters the caution area R1, the detector 110 detects that the worker H1 has entered the caution area R1 within the monitoring area MR. In this case (also referred to as caution), the sound output unit 120C outputs a regional sound corresponding to the caution region R1 to the caution partial region R11 around the entry position of the caution region R1 under the control of the control unit 150. do. This allows the worker H1 to recognize that he/she has entered the caution area R1.

FIG. 16 is a diagram showing an example of area sound output by the monitoring device 10 during warning. When the worker H1 enters the caution area R2, the detector 110 detects that the worker H1 has entered the caution area R2 within the monitoring area MR. In this case (also referred to as the time of caution), the sound output unit 120C outputs a region sound corresponding to the caution region R2 to the caution partial region R21 around the entry position of the caution region R2 under the control of the control unit 150. do. This allows the worker H1 to recognize that he/she has entered the caution area R2.

FIG. 17 is a diagram showing an example of area sound output by the monitoring device 10 at the time of danger. When the worker H1 enters the protection area R3, the detector 110 detects that the worker H1 has entered the protection area R3 within the monitoring area MR. In this case (also referred to as danger), the sound output unit 120C outputs a region sound corresponding to the protection region R3 to the protection partial region R31 around the entry position of the protection region R3, under the control of the control unit 150. do. This allows the worker H1 to recognize that he/she has entered the protection area R3.

Further, when it is detected that worker H1 has entered protection area R3, sound output unit 120C outputs sound guidance information indicating a retreat area outside the entry area of worker H1 under the control of control unit 150. Output with sound. The sound guide information may be an area sound corresponding to the evacuation area, or may be a voice message indicating the evacuation area (for example, a message instructing the movement direction for evacuation). For example, the sound output unit 120C outputs sound guide information indicating the caution area R2 outside the protection partial area R31 to the protection partial area R31. Accordingly, the worker H1 can easily confirm the direction of moving away from the robot device 30 (retraction direction) by confirming the sound guide information corresponding to the caution area R2. Note that when it is detected that the worker H1 has entered the warning region R2, not only when the worker H1 has entered the protection region R3, the sound output unit 120C outputs a signal outside the warning region R21 to the warning region R21. You may output the sound guide information which shows the caution area|region R1 in . Such sound guidance information is an example of the guidance information GI.

FIG. 18 is a diagram showing an example of area sound output by the monitoring device 10 when a plurality of people enter. When it is detected that a plurality of workers H1 have entered the protection area R3, the sound output unit 120C controls the entry partial area around the entry position of the worker H1 for each worker H1. A regional sound corresponding to the entry region of H1 is output. In addition, as described above, the sound output unit 120C outputs sound guidance information indicating a retreat area one outside the entry area of the entry area of the worker H1 by sound for each worker H1.

Therefore, for example, it is detected that the worker H11 of the two workers H1 has entered the protection area R3 and the worker H12 has entered the caution area R2. In this case, the sound output unit 120C outputs the area sound corresponding to the protection area R3 to the protection partial area R31, and outputs the area sound corresponding to the caution area R2 to the caution partial area R22. Further, in this case, the sound output unit 120C may output the sound guide information indicating the caution area R2 located one outside the protection partial area R31 by sound to the protection partial area R31. On the other hand, sound guide information indicating the caution area R1 located one outside the caution partial area R22 may be output by sound.

FIG. 19A is a schematic diagram showing an example of the appearance of the monitoring device 10B viewed from the side. FIG. 19B is a schematic diagram showing an appearance example of the monitoring device 10B viewed from above.

The sound output unit 120C has multiple speakers 126 . Each speaker 126 may be a directional speaker. A plurality of speakers 126 are installed on the side surface of the lower housing 15 . As a specific example, a plurality of speakers 126 are installed on three or four of the four sides of the lower housing 15 . A plurality of speakers 126 are arranged in one direction (for example, the x direction) on each side surface of the lower housing 15 . In FIG. 19A, three speakers 126 are arranged in the x direction on one side. Note that the arrangement method of the plurality of speakers 126 is not limited to this.

Each speaker 126 is installed so that the direction of the sound axis sa is different. In this case, for example, the direction of the sound axis sa may be set so that the reach distance of the sound is approximately the same for each of the three speakers 126 having the same position in the z direction (z coordinate) in FIG. 19A. In addition, the sound axis sa indicates, for example, the output direction or traveling direction of the sound output from the speaker 126 .

The plurality of speakers 126 of the sound output section 120C are arranged in a matrix on each side surface of the lower housing 15 in the same manner as the plurality of visible light sources 121B of the visible light irradiation section 120B in the modified example of the first embodiment. may As a result, the sound output unit 120C may finely classify the sound arrival distance and the sound output direction of the plurality of speakers 126 . In this case, it is possible to output sound to each segmented partial area in the monitoring area MR.

Note that, in the monitoring device 10B, the invisible light used for detection by the detection unit 110 passes through the light projection window of the upper housing 16 . Also, the sound emitted by each speaker 126 is emitted from each position on the lower housing 15 . Therefore, the passage positions of invisible light and sound are significantly different, and the detection direction dr2 by the detection unit 110 and the notification direction dr3 by the notification unit 120 (here, the sound output unit 120C) are different at the same time.

As described above, according to the monitoring device 10B of the present embodiment, it is possible to audibly provide the worker H1 with the sound guidance information including the evacuation direction away from the robot device 30 . Therefore, it becomes easier for the worker H<b>1 to retreat from the vicinity of the robot device 30 . Therefore, the monitoring device 10B can prevent the operation of the robot device 30 from being stopped or restricted, shorten the waiting time for the operation of the robot device 30 to return, and suppress the decrease in productivity caused by the robot device 30. can. In addition, since the monitoring device 10B can be miniaturized by integrating the detection unit 110 and the notification unit 120, the installation area can be reduced, the space can be used efficiently, and the installation man-hours such as wiring can be reduced.

In addition, the monitoring device 10B outputs a sound corresponding to the entry area of the worker H1 within the monitoring area MR toward the target position, so that the worker H1 can determine the form of the output sound (for example, the sound of the sound generation interval, frequency, or strength), it is possible to determine which region is the approach region. In addition, since each speaker 126 has directivity in the sound output direction, the monitoring device 10B can further increase the detection accuracy of the entry position of the worker H1. In addition, since the monitoring device 10B can output a sound corresponding to the entry area of the worker H1, it is possible to audibly determine which area the worker H1 is currently entering.

(Use Case)
Next, use cases using the monitoring devices 10, 10A, and 10B of the first embodiment or the second embodiment will be described. Two use cases are mainly exemplified here. Also, here, the provision of the monitoring device 10 is mainly described, but the same applies to the case where the monitoring devices 10A and 10B are provided.

<First use case>
First, the first use case will be explained. In a first use case, the monitoring device 10 is used to monitor a rack system 50 in which multiple packages are stored.

FIG. 20A is a schematic diagram showing an example of the rack system 50, the load carrier 55, and the monitoring device 10 in the first use case. FIG. 20B is a diagram showing an example of the monitoring device 10 installed on the baggage carrier 55 and the baggage 57 protruding from the placing shelf. FIG. 20C is a diagram showing an example of the protection area R3 and caution area R2 in the first use case.

A plurality of rack systems 50 are installed in a storehouse, for example. Each rack system 50 is provided with a plurality of shelves for partitioning in the height direction perpendicular to the horizontal direction, a plurality of partition plates for partitioning in the horizontal direction, and the like. One or more packages can be placed and stored at least temporarily in storage spaces partitioned in the height direction and the horizontal direction in each rack system 50 .

In a first use case, for example, a load carrier 55 is arranged which can move horizontally in the storage. The load carrying device 55 has, for example, a holding portion 56 arranged along the horizontal direction, and can hold the load. The holding portion 56 may hold the load by simply placing the load on the mounting table, or may hold the load by hooking or pinching the load. Further, the holding portion 56 is movable in the height direction in the baggage carrier 55 . Therefore, the holding portion 56 that holds the cargo is movable in the horizontal direction and the height direction, and the cargo can be held by the cargo transporting device 55 regardless of the position of the cargo stored in the three-dimensional space in the rack system 50. Transportable to other locations.

In the luggage carrier 55 , the monitoring device 10 is installed at the tip of the holding portion 56 . Therefore, by directing the monitoring region MR of the monitoring device 10 toward the rack system 50, it is possible to monitor any position in the three-dimensional space in the rack system 50 and detect an abnormality.

For example, at a predetermined position in the rack system 50, it is assumed that the load 57 protrudes from the rack of the rack system 50 toward the aisle where the load carrier 55 can move. In this case, if the projecting load 57 hits the load carrying device 55 or the worker H1 moving in the passage, the load 57 itself may be damaged, the load carrying device 55 may be broken, or the worker H1 may be injured. can.

Therefore, in the first use case, the load 57 stored at a position deviated from the predetermined storage position (for example, protruding from the placing shelf) may be regarded as a danger source. Also, the object to be detected by the detection unit 110 may be the load carrying device 55 that is movable and capable of transporting the load 57 . In this case, the control unit 150 may set the monitoring region MR based on the position of the luggage 57 that has been staggered. For example, since the load 57 does not move by itself, the peripheral area including the area where the load 57 exists may be set as the protection area R3 as the operable area. Then, the control unit 150 may set the area around the protection area R3 as the caution area R2, and set the area around the caution area R2 as the caution area R1. For example, the control unit 150 determines the size of the protective area R3 and the monitoring area MR based on the size of the stored load 57 itself, the size of the projecting portion of the load 57 from the placement shelf, or the like. You can

When the entry of the load carrying device 55 into the monitoring area MR is detected, the notification unit 120 may visualize the entry area or provide guidance information GI based on the entry position of the load carrying device 55 . As a result, if the cargo being stored is displaced from the predetermined storage position, for example, if the cargo 57 protrudes from the placement shelf, the cargo transporting device 55 may come into contact with the cargo 57 during movement. Even in this case, the monitoring device 10 notifies the guide information GI by visualizing the region in the monitoring region MR near the position of the cargo 57, so that the safety is high in which direction the cargo transporting device 55 moves, for example. You can let us know what happens.

Thus, in the first use case, the monitoring device 10 detects a package 57 that is not normally stored in the rack system 50, and when the package carrier 55 approaches this package 57, the guidance information GI is notified. can. Therefore, the worker H1 and the manager in the storage can visually recognize which area (coordinates) the abnormality has occurred in, the retraction direction of the baggage carrier 55, and the like. Therefore, the monitoring device 10 can assist in resolving the abnormal state (for example, the worker H1 puts the protruding baggage 57 into the loading shelf) and hastening the return to the normal state.

<Second use case>
Next, a second use case will be described. A second use case illustrates that a vehicle 65 runs in a factory 60 . The movable vehicle 65 here is an example of a danger source, and is assumed to be an automated guided vehicle (AGV), but may be a manned vehicle. The area in the factory 60 includes a travel area 61 in which the vehicle 65 can travel, and a work area 62 in which the robot device 30 or the worker H1 can work. The monitoring device 10 is installed at an arbitrary position in the factory 60, for example, near the boundary between the travel area 61 and the work area 62. As shown in FIG.

FIG. 21 is a diagram for explaining the second use case. A region MR monitored by the monitoring device 10 is set so as to include a part of the travel area 61 and the work area 62 near the boundary between the travel area 61 and the work area 62, for example. A travel area 61 within the monitoring area MR is set as a protection area R3. A work area 62 within the monitoring region MR is set to the caution region R2. In addition, in FIG. 21, the protection area R3 and the caution area R2 have a rectangular shape, but they are not limited to this. Also, the sizes of the protection area R3 and the caution area R2 shown in FIG. 21 are not limited to these, and may be larger than those shown in FIG. 21, for example.

For example, when the worker H1 attempts to enter the travel area 61 from the work area 62 in the monitoring area MR, the worker H1 passes through the caution area R2 and the protection area R3 in this order. In this case, the control unit 150 first detects the worker H1 in the caution area R2, and visualizes the surroundings of the worker H1 with visible light corresponding to the caution area R2. When the worker H1 further advances to the protection area R3, the controller 150 detects the worker H1 in the protection area R3 and visualizes the surroundings of the worker H1 with visible light corresponding to the protection area R3.

Detection of entry of an object (for example, worker H1) into the monitoring region MR is performed, for example, when the vehicle 65 enters within a predetermined distance from the monitoring region MR (that is, when the distance between the vehicle and the peripheral edge of the monitoring region MR is a predetermined distance). distance). For example, an external sensor may detect that the vehicle 65 has entered within a predetermined distance from the monitoring area MR. In the monitoring device 10, the communication unit 140 may acquire vehicle detection information indicating that the vehicle 65 has entered within a predetermined distance from the monitoring area MR from an external sensor. In this case, the monitoring device 10 can visualize at least a part of the entry area and the evacuation area of the worker H1 in the monitoring area MR at the stage when the vehicle 65 approaches the periphery of the monitoring area MR, thereby ensuring the safety of the worker H1. can be secured. Further, this object detection may be performed, for example, over a period in which the distance between the vehicle 65 and the peripheral edge of the monitoring area MR is within a predetermined distance. In this case, the monitoring device 10 can visualize at least a part of the entry area and the evacuation area of the worker H1 in the monitoring area MR while the vehicle 65 is traveling around the monitoring area MR, thereby ensuring the safety of the worker H1. can.

In this way, when the entry of the vehicle 65 is detected within a predetermined distance from the monitoring area MR and the entry of the worker H1 into the monitoring area MR is detected, the notification unit 120 detects the entry position of the object. , the guidance information GI may be notified.

As described above, in the second use case, the monitoring device 10 monitors the running condition of the vehicle 65, and when the vehicle 65 passes around the monitoring region MR, an object such as the worker H1 enters the monitoring region MR. is detected, the approach area around the object and the retreat area in the object approach direction dr1 can be visualized. In addition, the monitoring device 10 is installed, for example, at the corner of an intersection of the passage of the factory 60, so that the vicinity of this intersection can be set as the monitoring area MR. can be visualized. Therefore, the worker H1 can recognize the position of the vehicle 65 without looking at the vehicle 65, and can easily avoid the danger caused by the running of the vehicle 65.

Various embodiments have been described above with reference to the drawings, but it goes without saying that the present invention is not limited to such examples. It is obvious that a person skilled in the art can conceive of various modifications or modifications within the scope described in the claims, and these also belong to the technical scope of the present invention. Understood. Moreover, each component in the above embodiments may be combined arbitrarily without departing from the spirit of the invention.

In the above embodiments, processors such as CPUs may be physically configured in any way. Moreover, if a programmable processor is used, the content of processing can be changed by changing the program, so that the degree of freedom in designing the processor can be increased. The processor may be composed of one semiconductor chip, or physically composed of a plurality of semiconductor chips. When configured with a plurality of semiconductor chips, each control of the above embodiments may be realized by separate semiconductor chips. In this case, it can be considered that the plurality of semiconductor chips constitutes one processor. Also, the processor may be composed of a member (capacitor, etc.) having a function different from that of the semiconductor chip. Also, one semiconductor chip may be configured to implement the functions of the processor and other functions. Also, a plurality of processors may be composed of one processor.

As described above, the monitoring device 10 of the above-described embodiment monitors the entry of the robot device 30 (an example of a danger source) into the surroundings. The monitoring device 10 includes a detection section 110 and a notification section 120 . The detection unit 110 uses invisible light to detect the worker H1 (an example of an object) who has entered the monitoring area MR set based on the operable range of the robot device 30 . Based on the entry position of worker H1 detected by detection section 110, notification section 120 notifies guidance information indicating the direction in which worker H1 moves away from robot device 30 with respect to the entry position of worker H1. Further, the detection direction dr2 that can be detected by the detection unit 110 at a predetermined time and the notification direction dr3 that can be notified by the notification unit 120 at this predetermined time are different.

As a result, the monitoring device 10 provides the guidance information, so that the worker H1 can easily confirm the evacuation direction from the robot device 30 . Further, since the direction of detection and the direction of notification are different at the same time, mutual interference between object detection and notification of guidance information can be suppressed, and deterioration in detection accuracy of an object entering the monitoring area MR can be suppressed. . Therefore, the monitoring device 10 can prevent the safety of the monitoring region MR from deteriorating due to the notification.

Also, the notification unit 120 may include a visible light irradiation unit 120A that emits visible light. The visible light irradiation unit 120A may display guidance information by irradiating visible light from the monitoring device 10 in the object approach direction dr1 toward the worker H1's approach position.

As a result, the monitoring device 10 can notify the guidance information with visible light. In addition, the monitoring device 10 can prevent the invisible light for object detection and the visible light for notifying the guidance information from being emitted in the same direction at the same time and interfere with each other. A decrease in accuracy can be suppressed.

The monitoring area MR includes a protection area R3 (an example of a first area) set according to the operable range of the robot device 30 and a warning area R2 (an example of a second area) set around the protection area R3. ) and may include When it is detected that the worker H1 has entered the protection area R3, the visible light irradiation unit 120A outputs the warning partial area R21 (an example of the second partial area) corresponding to the object approaching direction of the caution area R2 as guidance information. may be irradiated with visible light.

As a result, the monitoring device 10 irradiates the warning area R2 outside the protection area R3 with visible light, so that the worker H1 who has entered the protection area R3 can easily visually confirm the evacuation direction.

Also, the monitoring area MR may include a protection area R3 set according to the operable range of the robot device 30 and a caution area R2 set around the protection area R3. When it is detected that the worker H1 has entered the protected area R3, the visible light irradiator 120A sets a protected partial area R31 (an example of a first partial area) corresponding to the object entering direction dr1 of the protected area R3, and a guard area R3. Visible light may be irradiated in a different irradiation mode from the caution portion region R21 corresponding to the object approach direction dr1 of the region R2.

As a result, the monitoring device 10 irradiates the protection area R3 and the caution area R2 outside the protection area R3 with visible light in different manners, so that the worker H1 who has entered the protection area R3 can visually The protection area R3 and the caution area R2 can be discriminated immediately, and the retraction direction can be easily confirmed.

Further, when the detection unit 110 detects that a plurality of workers H1 enter the monitoring region MR, the visible light irradiation unit 120A detects a plurality of object entering directions dr11 from the monitoring device 10 toward each of the plurality of workers H1. , dr12 may be notified of a plurality of pieces of guidance information.

As a result, the monitoring device 10 can notify a plurality of pieces of guidance information corresponding to a plurality of workers H1. Therefore, a plurality of workers H1 who have entered the monitoring area MR can easily confirm the evacuation directions suitable for the workers H1.

The notification unit 120 may also include a sound output unit 120C that has directivity and outputs sound. The sound output unit 120C may notify the guidance information by outputting a predetermined sound from the monitoring device 10B in the object approaching direction dr1 toward the approaching position of the worker H1.

As a result, the monitoring device 10B can audibly notify the guidance information by sound.

Also, the monitoring area MR may include a protection area R3 set according to the operable range of the robot device 30 and a caution area R2 set around the protection area R3. When it is detected that the worker H1 has entered the protected area R3, the sound output unit 120C outputs a voice message corresponding to the guidance information to the protected partial area R31 corresponding to the object entering direction dr1 of the protected area R3. can be output.

As a result, the monitoring device 10B provides a voice message indicating the direction from the protection area R3 to the caution area R2 outside the protection area R3. can be easily verified.

In addition, when the detection unit 110 detects that a plurality of workers H1 enter the monitoring region MR, the sound output unit 120C outputs a plurality of object entering directions dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, dr11, and dr11. A plurality of pieces of guidance information may be notified by outputting a predetermined sound to each of the dr12.

As a result, the monitoring device 10B can notify a plurality of pieces of guidance information corresponding to a plurality of workers H1. Therefore, a plurality of workers H1 who have entered the monitoring area MR can easily confirm the evacuation directions suitable for the workers H1 by sound.

In addition, the monitoring device 10 may further include a rotation mechanism section 130 that assists the rotation of the detection section 110 along the installation surface P<b>1 (an example of the first plane) of the monitoring device 10 . The rotation mechanism section 130 may include a mirror fixing section 135 arranged at an angle with respect to the installation surface P1. The detection unit 110 may include an invisible light source 111, a light receiving unit 115, and a rotating mirror 113 (an example of a first rotating mirror). The invisible light source 111 emits invisible light LA1 (an example of first invisible light). The light receiving unit 115 receives invisible light LA2 (an example of second invisible light). The rotating mirror 113 is fixed to the lower surface 135 a (an example of the first surface) of the mirror fixing portion 135 . The rotating mirror 113 may reflect the invisible light LA1 from the invisible light source 111 and guide it to the outside of the monitoring device 10 , and may reflect the invisible light LA2 from the outside of the monitoring device 10 to the light receiving unit 115 .

As a result, the monitoring device 10 can irradiate the invisible light LA1 along the installation surface P1 in various directions (for example, all directions) in the outer peripheral direction of the monitoring device 10 by the rotation mechanism unit 130, and monitor the invisible light LA2. Light can be received from various directions along the periphery of the device 10 . Therefore, the monitoring device 10 can detect the worker H1 or the like that can exist at each position around the monitoring device 10 .

The notification unit 120 may include a visible light irradiation unit 120A that emits visible light. The visible light irradiation unit 120A includes a visible light source 121 that emits visible light VLA, and a rotating mirror 122 (second rotating mirror An example of) and may be provided. The rotating mirror 122 may reflect the visible light VLA from the visible light source 121 and guide it to the outside of the monitoring device 10, and may be capable of adjusting the irradiation distance of the visible light VLA.

As a result, the monitoring device 10 can temporally and spatially separate the visible light VLA and the invisible lights LA1 and LA2 by installing the rotating mirror 113 and the rotating mirror 122 on both surfaces of the mirror fixing portion 135, respectively. . Therefore, the monitoring device 10 can suppress interference between the visible light VLA and the invisible lights LA1 and LA2.

Also, the rotating mirror 122 may include a plurality of mirrors 122a, 122b, 122c. The plurality of mirrors 122a, 122b, 122c may have different installation angles with respect to the installation surface P1.

As a result, the monitoring device 10 makes the direction (irradiation direction) of each visible light reflected by the plurality of mirrors 122a, 122b, and 122c and guided to the outside of the monitoring device 10 different, so that the irradiation distance of the visible light VLA is is adjustable. Therefore, the monitoring device 10 can irradiate the visible light VLA toward a desired area within the monitoring area.

Also, the rotating mirror 122 may be a convex mirror. Thus, the monitoring device 10 can adjust the irradiation distance of the visible light VLA with one convex mirror, and can irradiate each region in the monitoring region MR with the visible light.

Alternatively, rotating mirror 122 may be a single plane mirror. The visible light irradiator 120A3 is arranged along the peripheral end face in the direction along the installation surface P1 of the monitoring device 10, and may include a lens 124 that allows the visible light VLA from the plane mirror to pass therethrough.

As a result, the monitoring device 10 can adjust the irradiation distance of the visible light VLA and irradiate each region in the monitoring region MR with the visible light, even if the rotating mirror 122 does not have a special shape.

In addition, the monitoring device 10A may further include a lower housing 15 (an example of a housing) that accommodates at least part of the detection unit 110 . The visible light irradiation section 120B may include a plurality of visible light sources 121B arranged on the outer surface of the lower housing 15 . The optical axes oa of the plurality of visible light sources 121B may be different.

As a result, the monitoring device 10A can eliminate the need to provide a configuration (for example, the visible light irradiation unit 120A) for notification of guidance information inside the lower housing 15, so that the monitoring device 10A can be miniaturized. Even in this case, since the irradiation directions (optical axes oa) of the plurality of visible light sources 121B are different from each other, the monitoring device 10A can irradiate each region within the monitoring region MR with visible light.

In addition, the monitoring device 10B may further include a lower housing 15 (an example of a housing) that accommodates at least part of the detection unit 110 . The sound output section 120</b>C may include a plurality of speakers 126 arranged on the outer surface of the lower housing 15 . Sound axes sa of the plurality of speakers 126 may be different from each other.

As a result, the monitoring device 10B can be made compact because it is not necessary to provide a configuration (for example, the visible light irradiation unit 120A) for notification of guidance information inside the lower housing 15 . Even in this case, since the sound output directions (sound axes sa) of the plurality of speakers 126 are different, the monitoring device 10B can output sound to each region within the monitoring region MR.

Also, the monitoring device 10 may be a lidar device. As a result, the monitoring device 10 can detect even objects with low radio wave reflectance (for example, cardboard, wood, styrofoam, etc.) by using laser light. Moreover, since the lidar device has a high detection resolution, it is possible to easily detect the distance between the monitoring device 10 and the object in addition to detecting the approach of the object itself.

In addition, the monitoring device 10 of the above-described embodiment monitors the entry of the robot device 30 into the vicinity. The monitoring device 10 includes a detection section 110 and a notification section 120 . The detection unit 110 uses invisible light to detect the worker H1 who has entered the monitoring area MR set based on the operable range of the robot device 30 . Based on the entry position of the worker H1 detected by the detection unit 110, the notification unit 120 generates an approach signal indicating that the worker H1 is approaching the robot device 30 with respect to the entry position of the worker H1. Notify guidance information. Further, the detection direction dr2 that can be detected by the detection unit 110 at a predetermined time and the notification direction dr3 that can be notified by the notification unit 120 at this predetermined time are different.

As a result, the monitoring device 10 provides the approach guidance information, so that the worker H1 can easily confirm that the worker H1 is approaching the robot device 30 and the danger is increasing. Further, since the detection direction and the notification direction are different at the same time, it is possible to suppress mutual interference between the object detection and the notification of the approach guidance information, and to suppress the deterioration of the detection accuracy of the object entering the monitoring area MR. can. Therefore, the monitoring device 10 can prevent the safety of the monitoring region MR from deteriorating due to the notification.

Also, the notification unit 120 may include a visible light irradiation unit 120A that emits visible light. The visible light irradiation unit 120A may display the approach guidance information by irradiating the visible light from the monitoring device 10 in the object approaching direction dr1 toward the approach position of the worker H1.

As a result, the monitoring device 10 can report the approach guidance information with visible light. In addition, the monitoring device 10 can prevent the invisible light for object detection and the visible light for notification of approach guidance information from being emitted in the same direction at the same time, thereby suppressing mutual interference. A decrease in detection accuracy can be suppressed.

Also, the monitoring area MR may include a protection area R3 set according to the operable range of the robot device 30 and a caution area R2 set around the protection area R3. When it is detected that the worker H1 has entered the caution area R2, the visible light irradiation unit 120A irradiates visible light to the protection partial area R31 corresponding to the object approaching direction of the protection area R3 as approach guidance information. you can

As a result, the worker H1 who has entered the protected area R3 can easily visually confirm the direction of approach by the monitoring device 10 irradiating the warning area R2 outside the protected area R3 with visible light.

Also, the monitoring area MR may include a protection area R3 set according to the operable range of the robot device 30 and a caution area R2 set around the protection area R3. When it is detected that the worker H1 has entered the warning region R2, the visible light irradiating unit 120A illuminates a protected partial region R31 corresponding to the object approaching direction dr1 of the protected region R3 and an object approaching direction dr1 of the guarding region R2. Visible light may be irradiated to the corresponding warning partial region R21 in a different irradiation mode.

As a result, the monitoring device 10 irradiates the protection area R3 and the caution area R2 outside the protection area R3 with visible light in different manners. The protection area R3 and the caution area R2 can be distinguished from each other, and it is possible to easily confirm that the worker H1 is approaching the robot device 30 and the approach direction.

Further, when the detection unit 110 detects that a plurality of workers H1 enter the monitoring region MR, the visible light irradiation unit 120A detects a plurality of object entering directions dr11 from the monitoring device 10 toward each of the plurality of workers H1. , dr12 may be notified of a plurality of pieces of approach guidance information.

As a result, the monitoring device 10 can notify with a plurality of pieces of approach guidance information corresponding to a plurality of workers H1. Therefore, a plurality of workers H1 who have entered the monitoring area MR can easily confirm the state of approach to each robot device 30 suitable for the worker H1.

INDUSTRIAL APPLICABILITY The present disclosure is useful for a monitoring device, a monitoring method, and the like that can suppress a decrease in detection accuracy of an object entering the vicinity of a hazard and easily confirm a retreat direction from the hazard.

10, 10A, 10B Monitoring device 30 Robot device 50 Rack system 55 Baggage carrier 56 Holding unit 57 Baggage 60 Factory 61 Traveling area 62 Work area 65 Vehicle 110 Detecting unit 111 Invisible light source 113 Rotating mirror 114 Lens 115 Light receiving unit 120 Reporting unit 120A , 120B visible light irradiation unit 120C sound output unit 121 visible light source 122, 122A1, 122A2, 122A3 rotating mirror 123 driving mirror 124 lens 130 rotating mechanism unit 131 outer cylindrical portion 132 inner cylindrical portion 133 magnet 134 coil 135 mirror fixing portion 136 Bearing 140 Communication unit 150 Control unit 160 Storage unit dr1, dr11, dr12 Object approach direction dr2 Detection direction dr3 Notification direction LA1, LA2 Invisible light MR Monitoring area oa Optical axis R1 Caution area R2 Caution area R3 Protection area R11 Caution partial area R21 Warning Partial area R31 Protective partial area sa Sound axis VLA Visible light

Claims (23)

A monitoring device for monitoring entry into the vicinity of a hazard,
a detection unit that uses invisible light to detect the position of an object that has entered a monitoring area set based on the operable range of the danger source;
a notification unit for notifying guidance information indicating a direction in which the object moves away from the danger source with respect to the entry position of the object, based on the entry position of the object detected by the detection unit;
with
A detection direction that can be detected by the detection unit at a predetermined time and a notification direction that can be notified by the notification unit at the predetermined time are different,
surveillance equipment. The reporting unit includes a visible light irradiating unit that irradiates visible light,
The visible light irradiation unit displays the guidance information by irradiating visible light from the monitoring device in an object entry direction toward an entry position of the object.
A monitoring device according to claim 1 . The monitoring area includes a first area set according to the operable range of the danger source and a second area set around the first area,
When it is detected that the object has entered the first area, the visible light irradiation unit irradiates visible light to a second partial area corresponding to the direction in which the object enters the second area as the guide information. to irradiate,
3. A monitoring device according to claim 2. The monitoring area includes a first area set according to the operable range of the danger source and a second area set around the first area,
When it is detected that the object has entered the first area, the visible light irradiating section is configured to irradiate a first partial area corresponding to the object entering direction in the first area and the object entering direction in the second area. irradiating the second partial region corresponding to the direction with visible light in a different irradiation manner;
3. A monitoring device according to claim 2. When the detection unit detects that a plurality of objects enter the monitoring area, the visible light irradiation unit emits visible light in each of a plurality of object approach directions toward the plurality of objects from the monitoring device. Notifying a plurality of the guidance information by irradiating,
A monitoring device according to any one of claims 2-4. The notification unit has directivity and includes a sound output unit that outputs sound,
The sound output unit notifies the guidance information by outputting a predetermined sound from the monitoring device in an object entering direction toward the object entering position.
A monitoring device according to claim 1 . The monitoring area includes a first area set according to the operable range of the danger source and a second area set around the first area,
The sound output unit outputs a sound corresponding to the guidance information to a first partial area corresponding to the object entering direction of the first area when it is detected that the object has entered the first area. output a message,
7. A monitoring device according to claim 6. The sound output unit outputs a predetermined sound from the monitoring device to each of a plurality of object approaching directions toward each of the plurality of objects when the detection unit detects the entry of a plurality of objects into the monitoring area. Notifying a plurality of the guidance information by outputting
8. A monitoring device according to claim 6 or 7. further comprising a rotation mechanism that assists rotation of the detection unit along the first plane,
The rotation mechanism includes a mirror fixing portion that is arranged to be inclined with respect to the first plane,
The detection unit is
an invisible light source that emits a first invisible light;
a light receiving unit that receives the second invisible light;
a first rotating mirror fixed to the first surface of the mirror fixing part;
The first rotating mirror is
Reflecting the first invisible light from the invisible light source and guiding it to the outside of the monitoring device;
Reflecting the second invisible light from the outside of the monitoring device and guiding it to the light receiving unit;
A monitoring device according to any one of claims 1-8. The reporting unit includes a visible light irradiating unit that irradiates visible light,
The visible light irradiation unit is
a visible light source that emits the visible light;
a second rotating mirror fixed to a second surface opposite to the first surface of the mirror fixing part;
The second rotating mirror reflects the visible light from the visible light source and guides it to the outside of the monitoring device, and is capable of adjusting the irradiation distance of the visible light.
10. A monitoring device according to claim 9. the second rotating mirror includes a plurality of mirrors;
The plurality of mirrors have different installation angles with respect to the first plane,
11. A monitoring device according to claim 10. wherein the second rotating mirror comprises a convex mirror;
12. A monitoring device according to claim 10 or 11. the second rotating mirror is a single plane mirror;
The visible light irradiation unit includes a lens arranged along a peripheral end surface of the monitoring device in a direction along the first plane and allowing the visible light from the plane mirror to pass through,
11. A monitoring device according to claim 10. Further comprising a housing that accommodates at least part of the detection unit,
The visible light irradiation unit includes a plurality of visible light sources arranged on the outer surface of the housing,
The optical axes of the plurality of visible light sources are different,
11. A monitoring device according to claim 10. Further comprising a housing that accommodates at least part of the detection unit,
The sound output unit includes a plurality of speakers arranged on the outer surface of the housing,
the sound axes of the plurality of speakers are different from each other,
A monitoring device according to any one of claims 6-8. wherein the monitoring device is a lidar device;
A monitoring device according to any one of claims 1-15. A monitoring device for monitoring entry into the vicinity of a hazard,
a detection unit that uses invisible light to detect the position of an object that has entered a monitoring area set based on the operable range of the danger source;
a notification unit for notifying, based on the entry position of the object detected by the detection unit, approach guidance information indicating that the object is approaching the danger source with respect to the entry position of the object; ,
with
A detection direction that can be detected by the detection unit at a predetermined time and a notification direction that can be notified by the notification unit at the predetermined time are different,
surveillance equipment. The reporting unit includes a visible light irradiating unit that irradiates visible light,
The visible light irradiation unit displays the approach guidance information by irradiating visible light from the monitoring device in an object entry direction toward an entry position of the object.
18. A monitoring device according to claim 17. The monitoring area includes a first area set according to the operable range of the danger source and a second area set around the first area,
When it is detected that the object has entered the second area, the visible light irradiation unit emits visible light to a first partial area corresponding to the object entering direction in the first area as the approach guidance information. to irradiate the
19. A monitoring device according to claim 18. The monitoring area includes a first area set according to the operable range of the danger source and a second area set around the first area,
When it is detected that the object has entered the second area, the visible light irradiating section generates a first partial area corresponding to the object entering direction of the first area and the object entering direction of the second area. irradiating the second partial region corresponding to the direction with visible light in a different irradiation manner;
19. A monitoring device according to claim 18. When the detection unit detects that a plurality of objects enter the monitoring area, the visible light irradiation unit emits visible light in each of a plurality of object approach directions toward the plurality of objects from the monitoring device. Notifying a plurality of the approach guidance information by irradiating,
A monitoring device according to any one of claims 18-20. A monitoring method for monitoring entry into the vicinity of a hazard, comprising:
using invisible light to detect the position of an object that has entered a monitoring area set based on the operable range of the hazard;
a step of notifying guidance information indicating a direction in which the object moves away from the danger source with respect to the entry position of the object, based on the detected entry position of the object;
has
A detection direction in which the entry position of the object can be detected at a predetermined time and a notification direction in which the guidance information can be notified at the predetermined time are different,
Monitoring method. A monitoring method for monitoring entry into the vicinity of a hazard, comprising:
using invisible light to detect the position of an object that has entered a monitoring area set based on the operable range of the hazard;
a step of notifying approach guidance information indicating that the object is approaching the danger source for the entry position of the object based on the detected entry position of the object;
has
A detection direction in which the entry position of the object can be detected at a predetermined time and a notification direction in which the approach guidance information can be notified at the predetermined time are different,
Monitoring method.

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