JP2023074350A - Scanner device, and area setting method - Google Patents

Abstract

To provide a scanner device that can reduce a burden of an area setting person setting a monitoring area.SOLUTION: A scanner device, which sets a monitoring area MR, comprises: an acquisition unit that acquires an area setting request signal for setting the monitoring area from a remote control device; a light projection unit that projects projection light to each detection direction around the scanner device; a light reception unit that receives light including detection light having the projection light reflected or scattered by an object, and generates a light reception signal; a recognition unit that recognizes each position, in each detection direction, of a movable area setting person setting the monitoring area on the basis of the light reception signal; and an area setting unit that, in response to the acquisition of the area setting request signal by the acquisition unit, sets the monitoring area on the basis of each position in each detection direction of the area setting person recognized by the recognition unit.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a scanner device and an area setting method.

Conventionally, there has been known a safety scanner that grasps the correspondence between distance measurement positions on a scanning plane and real space (see Patent Document 1). This safety scanner includes light projecting means for projecting detection light onto a detection area, light receiving means for receiving reflected light from an object within the detection area to generate a light reception signal, and based on the light reception signal. , a distance calculating means for calculating the distance to the object; a scanning means for scanning the detection light in the circumferential direction about the rotation axis; distance means; area designation information receiving means for receiving area designation information designating a protection area within the detection area from a setting support device; intrusion detection means for detecting an object; marker discrimination means for discriminating a marker movably arranged in the detection area; and distance measurement information of the marker as area generation information for determining the protection area and area creation information transmitting means for transmitting to the setting support device.

JP 2017-151569 A

In the safety scanner of Patent Document 1, a PC (Personal Computer) as a setting support device is connected to the safety scan via a communication cable. In addition, the setting of the protected area is assisted by a person holding the position of the marker and moving it. Therefore, when setting a monitoring area corresponding to a protected area using the safety scanner of Patent Document 1, the following situations are assumed.

Specifically, the area setter who sets the monitoring area must hold the marker in the detection area when setting the monitoring area and move to the site where the protection area is set. In addition, it is necessary for the person who sets the area to set the monitoring area and check whether detection is possible in the set monitoring area while moving between the site where the monitoring area is set and the PC. Therefore, the person who sets the area must visit the site where the area is to be set at least twice.

The present disclosure has been made in view of the circumstances described above, and provides a scanner device and an area setting method that can reduce the burden on an area setter who sets a monitoring area.

One aspect of the present disclosure is a scanner device for setting a monitored area, comprising: an acquisition unit that acquires an area setting request signal for setting the monitored area from a remote control device; and each detection direction around the scanner device. a light-projecting unit that projects light onto the object; a light-receiving unit that receives light including detection light reflected or scattered by an object to generate a light-receiving signal; a recognition unit for recognizing each position in each detection direction of a movable area setter who sets the monitoring area; and an area setting unit that sets the monitoring area based on each position of the area setter in each detection direction.

One aspect of the present disclosure is an area setting method for setting a monitored area, comprising: obtaining from a remote control device an area setting request signal for setting the monitored area; a step of projecting projection light in each detection direction in the surroundings; a step of receiving light including detection light reflected or scattered by an object in the projection light to generate a received light signal; a step of recognizing each position in each detection direction of a movable area setter who sets the monitoring area based on the signal; and setting the monitoring area based on each position in the detection direction.

According to the present disclosure, it is possible to reduce the burden on an area setter who sets a monitoring area.

Schematic diagram showing a configuration example of a monitoring system according to a 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 1 is a block diagram showing a configuration example of a monitoring device according to a first embodiment; FIG. FIG. 2 is a block diagram showing a functional configuration example of a control unit according to the first embodiment; 1 is a block diagram showing a configuration example of a remote control device according to a first embodiment; FIG. FIG. 4 is a diagram showing an example of each signal transmitted and received between the monitoring device and the remote control device in the first embodiment; FIG. 4 is a sequence diagram showing an operation example of the monitoring system according to the first embodiment; 4 is a sequence diagram showing a modified operation example of the monitoring system according to the first embodiment; FIG. A diagram showing an example of a threshold table A diagram showing a first output example of a signal when an area is set by the monitoring system A diagram showing a second output example of the signal when the area is set by the monitoring system A diagram showing an example of a spatial light-receivable range by a monitoring device A diagram showing a first determination example of the monitoring area A diagram showing a second example of determination of the monitoring area Timing chart showing an example of optical alarm output Schematic diagram showing a configuration example of a monitoring system according to a second embodiment FIG. 3 is a block diagram showing a configuration example of a monitoring device according to the second embodiment; FIG. 5 is a block diagram showing an example of the functional configuration of a control unit according to the second embodiment; Block diagram showing a configuration example of a remote control device according to a second embodiment FIG. 11 is a diagram showing an example of signals transmitted and received between a monitoring device and a remote control device according to the second embodiment; A sequence diagram showing an operation example of the monitoring system according to the second embodiment.

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 enable those skilled in the art to fully understand the present disclosure and are not intended to limit the claimed subject matter thereby.

<Summary of monitoring system>
FIG. 1 is a schematic diagram showing a configuration example of a monitoring system 5 according to the first embodiment. The monitoring system 5 includes a monitoring device 10 and a remote control device 20 .

The monitoring device 10 optically monitors the inside of the monitoring area MR. The monitoring device 10 is installed, for example, in a factory and monitors whether work is being carried out safely. The monitoring device 10 is a lidar (LiDAR) device, for example, an electro-optical-mechanical lidar device, but may be a lidar device of another type. The monitoring device 10 monitors according to the set monitoring area MR.

A monitoring device 10 is placed in a monitored environment. For example, a monitoring device 10 and a robot device 30 are arranged in the monitoring environment. In FIG. 1, the robot device 30 is arranged on the base, and the monitoring device 10 is arranged on the base in the vicinity of the robot device 30, but it is not limited to this. Also, workers and other objects may be present in the monitored environment. The workers include an area setter H1 who sets the monitored area MR using the monitoring device 10 . In addition, the operator may include, for example, a supervisor who visually checks the monitored environment, checks the robot device 30, or checks products manufactured by the robot device 30, or the like. Other objects may be objects or vehicles required for work in a factory, for example.

The remote control device 20 is capable of remote control for setting the monitoring area MR, and is, for example, a remote control device as a portable terminal device. The remote control device 20 is held by an area setter H1, for example. The remote control device 20 supports the setting of the monitoring area MR according to the input operation to the remote control device 20 by the area setter H1. The remote control device 20 communicates various information by wire or wirelessly, for example, with the monitoring device 10 at a remote location.

The monitoring device 10 and the remote control device 20 cooperate to set the monitoring area MR. For example, when a worker approaches the robotic device 30, the movement of the robotic device 30 may pose a danger to the worker. Therefore, for example, the monitoring area MR can be 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 a worker exists within the monitoring area MR. When it is detected that an object exists in the monitoring area MR, the monitoring device 10 can output (alert output) warning information indicating that an object has entered the monitoring area. Therefore, the monitoring device 10 can operate as an area scanner (scanner device) with an alarm output function.

<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 surface S1 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. This directional definition is the same in other embodiments.

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 S1 of the monitoring device 10 toward the side farther from the installation surface S1, 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 (for example, infrared light) from the inside to the outside and vice versa of the monitoring device 10, and may transmit visible light, for example. 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 control section 110 , a storage section 120 , a rotation mechanism section 130 , a light projection section 140 , a light reception section 150 , a signal separation section 160 , an angle detection section 170 , a data input section 180 and a data output section 190 .

The control unit 110 is configured by, for example, a processor, and implements various functions by executing programs held in the storage unit 120 . 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 110 controls the operation of each unit of the monitoring device 10 and performs various processes. For example, the control unit 110 controls an area setting operation for setting the monitoring area MR, an object detection operation, a rotation operation by the rotation mechanism unit 130, or the like.

The storage unit 120 includes a primary storage device (for example, RAM (Random Access Memory) or ROM (Read Only Memory)). The storage unit 120 may include a secondary storage device (eg, HDD (Hard Disk Drive) or SSD (Solid State Drive)) and a tertiary storage device (eg, optical disk, SD card). Storage unit 120 may include other storage devices. The storage unit 120 stores various data, information, programs, and the like. For example, the storage unit 120 stores information on the monitored area MR (for example, information on the position, size, or shape of the monitored area MR), information on visible light irradiated to the monitored area MR (for example, information on the irradiation mode and wavelength), Information about the invisible light irradiated into the MR (for example, irradiation mode, wavelength information), etc. may be stored. The irradiation mode of invisible light or visible light may include irradiation interval, frequency of irradiated light, irradiation pattern, or the like. The storage unit 120 also holds a threshold table T1, which will be described later.

The rotation mechanism unit 130 rotates an optical system (for example, mirrors and lenses not shown) along the xy plane about the rotation axis. The rotation axis is, for example, an axis that passes through the center of a surface (for example, the bottom surface) along the xy plane of the monitoring device 10 and is parallel to the z-axis. The optical system changes (scans) the light projection direction by the light projection part 140 and the light reception direction (detection direction) by the light reception part 150 along the xy plane by rotating the rotation mechanism part 130 . That is, the optical system changes the detection direction of the object by the monitoring device 10 over the entire circumference or part of the entire circumference of the monitoring device 10 . Note that the rotation mechanism unit 130 may change the detection direction by rotating the light projecting unit 140 and the light receiving unit 150 along the xy plane together with or instead of the optical system.

Light projecting unit 140 includes a light emitting element such as a laser diode, and projects predetermined light. The light projecting unit 140 may project at least invisible light (for example, infrared light) and visible light. The light projecting unit 140 may be capable of changing the wavelength of light that can be projected. For example, the wavelength of light that can be projected by the light projecting unit 140 is predetermined, and the wavelength of the light to be projected may be selected and determined from among a plurality of wavelengths. Further, the light projecting section 140 may be capable of projecting any wavelength of light. The light projected by the light projecting unit 140 (projected light) may be reflected or scattered by, for example, an object to be detected. A plurality of light projecting units 140 may be provided.

The light projecting section 140 may project light for distance measurement based on a distance measurement synchronization signal from the distance measurement light emission synchronization section 114 (see FIG. 4), which will be described later. The light projecting unit 140 may project an alarm output signal based on an alarm output synchronization signal (see FIG. 4) from the alarm output light emission synchronization unit 115, which will be described later. Further, the light projecting section 140 may project various optical signals.

The light receiving section 150 includes a light receiving element such as a photodiode and receives predetermined light. The light receiving unit 150 receives at least invisible light (for example, infrared light) and may receive visible light. The light receiving section 150 can change the wavelength of light that can be received. For example, the wavelength of light that can be received by the light receiving unit 150 is predetermined, and the wavelength of light to be received may be selected from a plurality of wavelengths. Further, the light receiving section 150 may be capable of receiving any wavelength of light. The light received by the light receiving unit 150 (received light) may include, for example, detection light that is reflected or scattered by the object to be detected from the light projected by the light projecting unit 140 . Further, the light receiving section 150 may receive various optical signals, or may receive light in which an arbitrary optical signal is superimposed on the detection light. The light receiving section 150 generates a light receiving signal from the received light. Therefore, the received light signal can include detected light, various optical signals, or a composite optical signal of these.

The signal separator 160 is, for example, a beam splitter, and separates the received light signal into a plurality of signal components. The multiple signal components include, for example, a distance detection signal and an area setting request signal, which will be described later. The distance detection signal is a signal for detecting the distance between the monitoring device 10 and the detection position of the object, and includes, for example, a detection light signal. The detected position of the object is the position where the projected light is reflected or scattered by the object. This detected position is, for example, the position of the remote control device 20, and may be the position of the area setter H1 who holds the remote control device 20. FIG. The area setting request signal is a trigger signal for setting the monitoring area MR. The area setting request signal is passed to control unit 110 as a data rewrite request signal. The data rewrite request signal is a signal requesting rewriting of the threshold data defining the monitoring area MR. Rewriting the threshold data may include, for example, storing new threshold data in the threshold table T1 or changing existing threshold data. Note that the signal separation unit 160 does not need to separate the received light signal when the received light signal included in the received light signal is one signal component (for example, the signal of the detected light).

The angle detection unit 170 detects the detection direction (detection angle) by the monitoring device 10 . Specifically, the angle detection unit 170 detects the rotation angle of the rotation mechanism unit 130 as a physical amount of change based on an encoder signal (for example, an encoder pulse) emitted by the monitoring device 10 . The detection angle is indicated, for example, by an angle with respect to a predetermined reference direction of the monitoring device 10. For example, the irradiation direction of the projected light from the light projecting unit 140 and the light received by the light receiving unit 150 (for example, the detected light ) may indicate the direction of light reception (direction of detection). For example, the center direction of the detection range in which the object can be detected by the monitoring device 10 is the detection direction. The rotation mechanism section 130 rotates at an arbitrary speed along the xy plane. The rotation speed may be constant or variable. As the monitoring device 10 rotates, predetermined positions around the monitoring device 10 can be detected periodically. When the rotation speed is constant, this predetermined position can be detected at constant intervals.

The data input unit 180 inputs various data, information, signals, and the like. The data input unit 180 may have a wireless communication unit, for example, and the wireless communication unit may receive data by radio waves or the like. The data input unit 180 may have, for example, an acoustic input unit (microphone), and the acoustic input unit may input by sound. The data input unit 180 may have, for example, an ultrasonic wave receiving unit, and the ultrasonic wave receiving unit may receive the data by means of ultrasonic waves. Note that optical input is performed by light reception by the light receiving unit 150 . The data input unit 180 may input, for example, an area setting request signal for setting the monitoring area MR from the remote control device 20 . The area setting request signal may be passed to control section 110 as a data rewrite request signal.

The data output unit 190 outputs various data, information, signals, and the like. The data output unit 190 may have a wireless communication unit, for example, and the wireless communication unit may output by transmitting by radio waves or the like. The data output unit 190 may have, for example, an audio output unit (speaker), and the audio output unit may output sound. The data output unit 190 may have, for example, an ultrasonic transmission unit, and the ultrasonic transmission unit may output using ultrasonic waves. Note that optical output is performed by light projection by the light projection unit 140 .

For example, when an object is detected within the monitoring area MR, that is, when an object detection signal is acquired from a later-described comparison/determination unit 113 (see FIG. 4), the data output unit 190 outputs a warning output signal including warning information. you can The alarm output signal may be output toward the remote controller 20, the area setter H1, or the monitor, for example.

Moreover, the data output part 190 transmits an object detection signal to a PLC(Programmable Logic Controller) apparatus, when an object detection signal is acquired. The PLC device directs control of the operation of the robot device 30 . Upon receiving the object detection signal from the monitoring device 10, the PLC device transmits a signal (operation restriction instruction signal) for restricting the operation of the robot device 30 to the robot device 30 based on the object detection signal. The robot device 30 limits the motion of the robot device 30 upon receiving the motion restriction instruction signal from the PLC device. Restricting the motion of the robotic device 30 may include stopping motion of the robotic device 30, reducing the range of motion of the robotic device 30, reducing the speed of motion, or otherwise limiting motion. In this manner, the monitoring device 10 can limit the movement of the danger source such as the robot device 30 when the area setter H1 or the monitor exists in the monitoring area MR, thereby ensuring the safety of the operator. can.

FIG. 4 is a block diagram showing a functional configuration example of the control unit 110. As shown in FIG.
The control unit 110 includes a distance calculation unit 111, a data rewriting unit 112, a comparison determination unit 113, a distance measurement light emission synchronization unit 114, and an alarm output light emission synchronization unit 115 as functional units that implement various functions.

The distance calculation unit 111 calculates the distance (detection distance) between the monitoring device 10 and the detection position of the object based on the distance detection signal by, for example, a TOF (Time Of Flight) method. In the TOF method, the time required for the projected light projected from the light projecting unit 140 to be reflected or scattered by an object, returned to the monitoring device 10, and received by the light receiving unit 150 as detection light is calculated. A detection distance is calculated based on

The data rewriting unit 112 acquires angular distance data and a data rewriting request signal. The angular distance data is data including the detected angle detected by the angle detector 170 and the detected distance obtained by the distance calculator 111 . The data rewrite request signal is acquired from the signal separation section 160 or the data input section 180 . The data rewriting section 112 may determine the monitoring area MR based on the data rewriting request signal and the angular distance data. In this case, the data rewriting unit 112 determines the overall position, size, shape, etc., of the monitoring area MR, and determines the angle and distance indicating each point that defines the peripheral edge (outer edge, perimeter) of the determined monitoring area MR. to derive The data rewriting unit 112 writes the derived angle and distance to the threshold table T1 held in the storage unit 120 as threshold data. For example, the data rewriting unit 112 may store the derived angles and distances as new threshold data in the threshold table T1 as one point forming the peripheral edge of the monitoring area MR. Further, the data rewriting unit 112 may update and store the threshold data stored in the threshold table T1 with the derived angle and distance.

The comparison determination unit 113 determines whether or not an object exists within the monitoring area MR based on the threshold data held in the threshold table T1 and the angular distance data obtained when the monitoring mode is set. . In this case, the comparison/determination unit 113 acquires the threshold data held in the threshold table T1 and recognizes the set monitoring area MR. The comparison determination unit 113 recognizes the detected position of the object based on the detected angle and the detected distance included in the angular distance data obtained when the monitoring mode is set. The comparison determination unit 113 determines whether or not the detection position of the object is included in the monitoring area MR. The comparison/determination unit 113 sends an object detection signal to the alarm output light emission synchronization unit 115 and the data output unit 190 when it detects that an object exists within the monitoring area MR.

The distance measurement light emission synchronizer 114 acquires the detected angle from the angle detector 170 . The distance measurement light emission synchronization unit 114 synchronizes the detection angle, that is, the direction of light projection for distance measurement (object detection) by the light projection unit 140 and the timing of light projection for distance measurement by the light projection unit 140 . Distance measurement light emission synchronization section 114 sends a distance measurement synchronization signal for performing this synchronization to light projection section 140 . The distance measurement may be, for example, the measurement of the distance to the area setter H1 who sets the monitoring area MR, or the measurement of the distance to an object within the set monitoring area MR.

The alarm output light emission synchronizer 115 acquires the detected angle from the angle detector 170 . When the alarm output light emission synchronization unit 115 acquires the object detection signal from the comparison determination unit 113, the detection angle, that is, the direction of alarm output light projection by the light projection unit 140 and the light projection direction for alarm output by the light projection unit 140 are determined. Synchronize the timing with The alarm output light emission synchronizing section 115 sends an alarm output synchronizing signal for performing this synchronization to the light projecting section 140 . The alarm output may be an output of warning information that notifies an object (for example, a worker (for example, area setter H1 or an observer)) within the monitoring area MR of danger.

Also, the control unit 110 may recognize whether or not the detected object is a person (for example, a worker). In this case, control unit 110 may recognize whether or not the object is a person based on the shape of the detected object. For example, the range of the distance between two legs in the horizontal direction (for example, the distance when the legs are spread) in the normal state of a person (also referred to as a two-leg pattern) and the length of the arm in the vertical direction (the direction of gravity) in the normal state of a person (For example, the length when the arm is raised) range (also referred to as both-arm pattern) and information are stored in the storage unit 120 as matching information for identifying a person. Matching information may include other information for identifying a person. The control unit 110 may compare the detected object and matching information to determine whether the detected object is a person. For example, when the degree of matching between the detected object and the matching information is equal to or greater than a predetermined threshold, the detected object is determined to be a person, that is, a worker, and the degree of matching between the detected object and the matching information is determined. If it is less than the predetermined threshold, it may be determined that the detected object is not a person, that is, a worker.

Also, the control unit 110 sets the operation mode of the monitoring system 5 . Operation modes of the monitoring system 5 include a monitoring mode for detecting objects and an area setting mode for setting a monitoring area. In the monitor mode, an optical signal for object detection is transmitted and received, and a signal for area setting is also transmitted and received. In the monitor mode, an alarm is output when an object is detected. In the area setting mode, an optical signal for object detection is transmitted and received, and a signal for area setting is also transmitted and received. In the area setting mode, no warning is output when an object is detected. The control unit 110 may set the operation mode to the area setting mode while the area setting request signal is being acquired. The control unit 110 may set the operation mode to the monitor mode while the area setting request signal is not acquired. Further, in switching from the monitor mode to the area setting mode, when receiving an area setting request signal from the remote control device 20, the control unit 110 executes the main flow corresponding to the monitor mode as an interrupt routine triggered by the setting request signal. A transition may be made from the routine to a subroutine corresponding to the area setting mode for a certain period of time. Note that the control unit 110 can set an operation mode (for example, an area setting mode, a monitoring mode) via an operation unit (not shown) included in the monitoring device 10 without depending on a signal from the remote control device 20. good.

Further, the control unit 110 may control the rotation speed of the rotation mechanism unit 130 to be constant or change it. For example, in the area setting mode, the setting accuracy of the monitoring area MR can be adjusted by changing the rotation speed of the rotation mechanism unit 130 . For example, the monitoring device 10 can increase the angular resolution at the time of area setting by reducing the rotation speed, and can improve the setting accuracy of the monitoring area MR. Further, the control unit 110 may control the rotation speed of the rotation mechanism unit 130 to be higher when the monitoring mode is set than when the area setting mode is set. In this case, the monitoring device 10 can realize high-speed object detection in the monitoring area MR.

FIG. 5 is a block diagram showing a configuration example of the remote control device 20. As shown in FIG. The remote control device 20 includes a light receiving section 210 , a display section 220 , an operating section 230 , a light projecting section 240 , a control section 250 , a data input section 260 and a data output section 270 . The remote control device 20 may also include a data output section 270 .

The light receiving section 210 includes a light receiving element and receives predetermined light. The light receiving unit 210 receives at least invisible light (for example, infrared light) and may receive visible light. The light receiving section 210 can change the wavelength of light that can be received. For example, the wavelength of light that can be received by the light receiving unit 210 is predetermined, and the wavelength of light to be received may be selected from a plurality of wavelengths. Further, the light receiving section 210 may be capable of receiving any wavelength of light. Light (received light) received by the light receiving unit 210 may include, for example, projected light from the monitoring device 10 and an alarm output signal. The light receiving unit 210 generates a light receiving signal from the received light.

The display unit 220 displays various information. The display unit 220 may be, for example, a liquid crystal display or an organic EL display, or may be an LED or the like that simply emits light. For example, when an alarm output signal is input via the light receiving unit 210 or the data input unit 260, the display unit 220 may display various information based on the alarm information included in the alarm output signal. The information to be displayed may include, for example, information indicating that an object (for example, area setter H1 or an observer) has been detected, and the detected position (detected angle, detected position) of the object. As a result, for example, the area setter H1 or the monitor can recognize that he or she is located within the monitor area MR.

The operation unit 230 may include various buttons, keys, switches, touch panels, microphones, or other input devices. The operation unit 14 receives input of various data and information. For example, the control unit 250 may output an area setting request signal to the monitoring device 10 via the light projecting unit 240 or the data output unit 270 by detecting depression of a switch as the operation unit 230 .

Light projecting unit 240 includes a light emitting element and projects predetermined light. The light projecting unit 240 may project at least invisible light (for example, infrared light) and visible light. The light projecting section 240 may be capable of changing the wavelength of light that can be projected. For example, the wavelength of light that can be projected by the light projecting unit 240 is predetermined, and the wavelength of the light to be projected may be selected and determined from among a plurality of wavelengths. Further, the light projecting section 240 may be capable of projecting any wavelength of light. The light projected by the light projecting unit 240 (projected light) is output toward the monitoring device 10, for example. Further, the light projecting section 240 may project an area setting request signal.

The control unit 250 is configured by, for example, a processor, and implements various functions by executing a program held in a storage unit (not shown). 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 250 controls the operation of each unit of the remote control device 20 and performs various processes.

The data input unit 260 inputs various data, information, signals, and the like. The data input unit 260 may have a wireless communication unit, for example, and the wireless communication unit may receive data by radio waves or the like. The data input unit 260 may have, for example, an acoustic input unit (microphone), and the acoustic input unit may input by sound. The data input unit 260 may have an ultrasonic wave receiving unit, for example, and the ultrasonic wave receiving unit may receive the data by means of ultrasonic waves. Note that optical input is performed by light reception by the light receiving unit 210 . The data input unit 260 may input an alarm output signal from the monitoring device 10, for example.

The data output unit 270 outputs various data, information, signals, and the like. The data output unit 270 may have, for example, a wireless communication unit, and the wireless communication unit may output by transmitting by radio waves or the like. The data output unit 270 may have, for example, an audio output unit (speaker), and the audio output unit may output sound. The data output unit 270 may have, for example, an ultrasonic transmission unit, and the ultrasonic transmission unit may output using ultrasonic waves. Note that optical output is performed by light projection by the light projection unit 240 . The data output section 270 may output an area setting request signal, for example.

FIG. 6 is a diagram showing an example of signals transmitted and received between the monitoring device and the remote control device.

As shown in FIG. 6, for example, monitoring light (projection light) for object detection and an alarm output signal are sent from the monitoring device 10 to the remote control device 20 . The alarm output signal may be optically projected or output by a method other than an optical method. Also, for example, monitoring light (detection light) for the projected light and an area setting request signal are sent from the remote control device 20 to the monitoring device 10 . The area setting request signal may be optically projected or output by a method other than an optical method.

<Operation of the monitoring system>
Next, an operation example of the monitoring system 5 will be described.
FIG. 7A is a sequence diagram showing an operation example of the monitoring system 5. FIG.

The area setter H1 can move around the monitoring device 10 . When area setter H1 is located within the detection area, control unit 110 can detect area setter H1. A monitoring area MR is set within the detection area.

First, the area setter H1 holds and moves the remote control device 20 to any one reference position rp for setting the monitoring area MR. One reference position rp is, for example, a position that is A1 degrees (eg, 100 degrees) with respect to the monitoring device 10 and a distance A2 (eg, 2000 mm) from the monitoring device 10 .

In the monitoring device 10, the light projecting unit 140 starts projecting light for object detection at an arbitrary timing, and the light receiving unit 150 starts receiving detection light corresponding to the projected light (S11). ). Projection of the projection light and reception of the detection light are continued in both the area setting mode and the monitoring mode.

It is assumed that the remote control device 20 has not received an area setting operation for setting the monitoring area MR from the area setter H1 on the operation unit 230 . The area setting operation may be, for example, pressing of a switch by the area setting person H1. In this case, the remote control device 20 does not output the area setting request signal even if the projected light is detected via the light receiving section 210 . On the other hand, it is assumed that the control unit 250 receives an area setting operation via the operation unit 230 (S12). In this case, when the control unit 250 detects the projected light via the light receiving unit 210, it outputs an area setting request signal via the light projecting unit 240 or the data output unit 270 according to the projected light ( S13). Transmission of the area setting request signal may be continued while the area setting operation is continued.

When the control unit 110 acquires the area setting signal via the light receiving unit 150 or the data input unit 180, the monitoring device 10 changes the operation mode to the area setting mode (S14). In this case, the control unit 110 may display information indicating that the area setting mode has been set via a display device (not shown) included in the monitoring device 10 or an external display device (not shown). When set to the area setting mode, the control unit 110 derives the detection distance and detection angle for the reference position rp (S15), and stores them in the threshold table T1 as threshold data (S16). The threshold table T1 holds a distance threshold for each angle as threshold data. For example, a distance threshold of 2000 mm for 100 degrees is registered. The distance threshold for each angle indicates the set distance for each angle corresponding to the distance from the monitoring device 10 to the peripheral edge of the monitoring area MR.

As the area setter H1 moves within the detection area, detection angles and detection distances for different reference positions rp can be derived. When a detection angle and a detection distance different from those in step S15 are derived (Yes in S17), the control unit 110 stores threshold data based on the detection angle and detection distance in the threshold table T1. By the area setter H1 continuing to move within the detection area, the control unit 110 can repeatedly execute the processes of steps S16 and S17.

When the control unit 250 finishes accepting the area setting operation from the area setter H1, the remote control device 20 stops outputting the area setting request signal via the light projecting unit 240 or the data output unit 270 . When the control unit 110 finishes acquiring the area setting request signal via the light receiving unit 150 or the data input unit 180, the monitoring device 10 changes the operation mode from the area setting mode to the monitoring mode (S18). It should be noted that the remote control device 20 does not indirectly change the operation mode to the monitor mode upon completion of transmission of the area setting request signal, but sends an instruction signal to the light projecting unit 240 or the data to change the operation mode to the monitor mode. You may output through the output part 270. FIG.

In the monitoring device 10, for example, the comparison determination unit 113 of the control unit 110 acquires the distance threshold for each angle as each threshold data held in the threshold table T1, and determines the monitoring area MR based on the distance threshold for each angle. Set (S19).

The area setter H1 can remain within the detection area even after changing to the monitoring mode. In the monitoring device 10, the comparison/determination unit 113 of the control unit 110 determines whether or not the area setter H1 is detected within the monitoring area MR (S20). When the area setter H1 is detected within the monitoring area MR, the light projecting section 140 or the data output section 190 outputs an alarm output signal including setter detection information (S21). The configurator detection information may include detection of the area configurator H1 within the monitoring area MR, or the detection angle and detection position at which the area configurator H1 is detected.

When the control unit 250 acquires the alarm output signal through the light receiving unit 210 or the data input unit 260, the remote control device 20 displays the configurator detection information through the display unit 220 (S22).

Also, when checking the monitoring area MR, the area setter H1 can move within the detection area. Therefore, different detection angles and detection distances can be derived corresponding to the position of the area setter H1. Therefore, every time the position where the area setter H1 is located moves, the control unit 110 determines whether the area setter H1 is detected within the monitoring area MR in step S20 when different detection angles and detection distances are derived. You may repeat the determination of

In this way, the monitoring system 5 enables the area setter H1 to hold the remote control device 20 and move around the monitoring device 10, while moving around the monitoring device 10 with respect to each reference position rp. of data are collected. The monitoring device 10 can easily register each threshold data in the threshold table T1 based on each angular distance data collected.

In addition, even when confirming the set monitoring area by transitioning to the monitoring mode, the area configurator H1 can continue to move within the detection area. The monitoring device 10 determines whether each confirmation position where the area setter H1 is located within the detection area is inside or outside the monitoring area MR, and outputs an alarm output signal to the remote control device 20 . As a result, the area setter H1 can easily confirm whether or not each confirmation position is within the detection area when setting the area and confirming the area without moving a long distance.

Also, the configurator detection information may include information indicating that the area configurator H1 was not detected instead of information indicating that the area configurator H1 was detected. In this case, the remote control device 20 continuously transmits information indicating that the area setter H1 has been detected or information indicating that the area setter H1 has not been detected according to the movement of the area setter H1. may be displayed in This allows the area setter H1 to easily check the vicinity of the boundary of the monitoring area MR.

If the confirmation result at each confirmation position is different from the intention of the area setter H1, the remote control device 20 is used to output the area setting request signal again to shift to the area setting mode, and the threshold value table is displayed. By updating or adding the threshold data held in T1, the shape of the set monitoring area MR can be easily changed. As a result, the monitoring system 5 can set the monitoring area MR desired by the area setting person H1, and can realize desired monitoring.

FIG. 7B is a sequence diagram showing a modified operation example of the monitoring system 5. As shown in FIG. In FIG. 7B, the same step numbers are assigned to the same processes as those in FIG. 7A, and the description thereof will be omitted or simplified.

The monitoring system 5 performs steps S11 to S18. After shifting to the monitor mode, control unit 110 determines whether or not a predetermined time has passed after changing to the monitor mode (that is, after finishing acquisition of the area setting request signal) (S26). If the predetermined time has not passed, wait until the predetermined time has passed.

If a predetermined period of time has elapsed after switching to the monitoring mode (Yes in step S26), the control unit 110 determines whether or not the area setting request signal has been reacquired (S27). If the area setting request signal is reacquired, the process proceeds to step S14. If the area setting request signal is not reacquired, the process proceeds to step S19. After that, the monitoring system 5 performs the processes of steps S19 to S22.

According to the modified operation example of FIG. 7B, the monitoring device 10 can resume registering the threshold data for the monitoring area MR in the threshold table T1 even after the acquisition of the area setting request signal is completed once. Therefore, for example, the area setter H1 moves to each position and then operates the operation unit 230 of the remote control device 20 instead of moving to the monitoring site and registering the threshold data at each position while operating the operation unit 230 all the time. 230 can be operated to register the threshold data at each location. Therefore, the monitoring device 10 can reduce the burden on the area setter H1 when registering the threshold data at each position, and reduce the burden when setting the monitoring area MR.

FIG. 8 is an example of the threshold table T1. The threshold table T1 holds a distance threshold for each angle as threshold data. The distance threshold defines the distance from the monitoring device 10 to the peripheral edge position of the monitoring area MR in the direction of the detection angle.

<Signal output when setting area>
Next, an output example of a signal when setting an area by the monitoring system 5 will be described. Here, two types of signal output are illustrated when the area setting request signal is optically projected.

FIG. 9 is a diagram showing a first output example of the signal when the monitoring system 5 sets the area. In FIG. 9, each signal is shown as a pulse signal. In FIG. 9, the vertical axis indicates the magnitude of the pulse signal, and the horizontal axis indicates time. In the first output example, the timing of transmission/reception of light for object detection (projected light and received light) and the timing of transmission/reception of light for area setting (light oscillation signal indicating area setting request signal) are different. It is shown that it is different and switches at regular time intervals.

In FIG. 9, each signal is shown as a pulse signal, and each signal includes an encoder signal generated by the monitoring device 10, projected light emitted by the light projecting section 140, and detection light received by the light receiving section 150. , an optical oscillation signal emitted by the light projecting unit 240 of the remote control device 20 , and an optical oscillation signal from the remote control device 20 received by the monitoring device 10 .

In FIG. 9, the projected light and the detection light corresponding to the projected light appear at the same time, but in reality, the detection light is received after the projected light is projected, so there is a slight time lag. A detection distance is derived according to the time difference between the projected light and the detected light. The optical oscillation signal is an area setting request signal transmitted from the remote control device 20 in response to an area setting operation. Therefore, the optical oscillation signal is continuously transmitted from the remote control device 20 to the monitoring device 10 while the area setting operation is continued in the remote control device 20 .

In addition, FIG. 9 shows a light-receivable range in which the light-receiving unit 150 can temporally receive the remote control synchronization signal, that is, the light-receivable timing. The light-receivable range corresponds to an angle characteristic (light-receiving angle characteristic) in which an object can be detected by the monitoring device 10, and corresponds to a temporal detectable range (detectable timing). That is, the optical oscillation signal received at the timing when the light receiving section 150 can receive light becomes the remote control synchronization signal. The light-receivable range appears for a certain period of time on the time axis, which means that light can be received by the light-receiving section 150 continuously for a certain period of time while the rotation mechanism section 130 rotates. The angle detection unit 170 determines that the angle corresponding to the remote control synchronization signal P1 at the center position of the light-receivable range is the angular position where the area setter H1 as the object to be detected is located.

The light emission timing of the optical oscillation signal and the light reception timing of the optical oscillation signal are the timings at which the monitoring device 10 transmits and receives light for synchronizing the area setting. It is not the timing to transmit and receive light. Therefore, the optical oscillation signal does not contain the detected light that is the basis of the distance from the monitoring device 10 to the remote control device 20 . Therefore, the control unit 110 derives the detection distance corresponding to the position of the area setter H1, for example, based on the detected light P2 immediately before the remote control synchronization signal P1. Note that the control unit 110 may derive the detection distance corresponding to the position of the area setter H1 based on the detected light immediately after the remote control synchronization signal P1. Although the angle at the timing at which the remote control synchronization signal P1 is obtained is used as the detection angle corresponding to the position of the area setter H1, the angle detection unit 170 detects the distance immediately before or after the remote control synchronization signal P1. It is also possible to calculate the angle of the timing at which the detection light that is the basis of is received, and use this angle as the detection angle corresponding to the position of the area setter H1.

Thus, according to the first output example, the monitoring device 10 can receive the area setting optical oscillation signal at the timing when the detection light is not received, and can determine the angle at which the area setter H1 is located. In addition, the monitoring device 10 can acquire distance data based on the detected light P2 received immediately before the remote control synchronization signal P1 at the central position of the light-receivable range, and use this distance data as a distance threshold. The monitoring device 10 can repeatedly acquire such distance data around the monitoring device 10, determine a distance threshold for each angle of the monitoring device 10, and store it in the threshold table T1.

FIG. 10 is a diagram showing a second output example of the signal when setting the area by the monitoring system 5. As shown in FIG. In FIG. 10, each signal is shown as a pulse signal. In FIG. 10, the vertical axis indicates the magnitude of the pulse signal, and the horizontal axis indicates time. In FIG. 10, in the first output example, the timing of transmission/reception of light for object detection (projected light and received light) and the transmission/reception of light for area setting (optical oscillation signal indicating area setting request signal) are It is shown that the timing and the overlap. In FIG. 10, descriptions of items similar to those in FIG. 9 are omitted or simplified.

In FIG. 10 , each signal is shown as a pulse signal, and each signal includes an encoder signal generated by the monitoring device 10 , a projected light emitted by the light projecting section 140 , and a light projecting section 240 of the remote control device 20 . , and the received light received by the light receiving unit 150 are included.

In FIG. 10, unlike in FIG. 9, the timing of the optical oscillation signal and the timing of the received light signal are the timing for the monitoring device 10 to transmit and receive light for synchronizing the area setting, and the timing for the monitoring device 10 to detect the object. The timing of transmitting and receiving light for detection is not separated. Specifically, light is continuously transmitted and received for the monitoring device 10 to synchronize for area setting.

In FIG. 10, the pulse width t of the optical oscillation signal is smaller than the pulse width T of the projected light used for object detection. The received light may include an optical oscillation signal as well as detected light relative to the projected light. That is, the received light is an optical oscillation signal or a combined signal of the optical oscillation signal and the detected light, and this combined signal becomes the received light signal. The signal separator 160 analyzes the waveform of the received light signal and measures the pulse width based on the time positions of the rise and fall of this waveform, thereby separating the optical oscillation signal and the detected light signal. Further, the signal level of the optical oscillation signal is substantially constant, and the signal level of the detected light is also substantially constant. Therefore, the combined signal portion has a higher signal level than the optical oscillation signal portion alone. Therefore, the signal separation section 160 may separate the optical oscillation signal and the detection light signal based on the signal level of the received light signal. Furthermore, as described above, since the signal level (that is, the amount of received light) differs between the combined signal portion and the optical oscillation signal portion, it is possible to determine that the combined signal portion contains the optical oscillation signal. Therefore, the control unit 110 can identify the time position of the area setting request signal corresponding to the optical oscillation signal even when the signal separation unit 160 does not perform signal separation.

10, similarly to FIG. 9, the light-receivable range (light-receiving angle characteristics) in which the light-receiving unit 150 can temporally receive the remote control synchronization signal is shown. The light receiving section 150 can receive the optical oscillation signal at the light receiving timing. The angle detection unit 170 determines that the angle corresponding to the optical oscillation signal P3 at the center position of the receivable range is the angular position where the area setter H1 as the object to be detected is located.

Further, the signal of the detected light is also included at the position of the optical oscillation signal P3. Therefore, the control unit 110 can derive the detected distance at the same time position as the optical oscillation signal P3, and use this distance data as the distance threshold. This detection distance can be derived based on the corresponding time position of the projected light and the corresponding time position of the detected light. The control unit 110 repeats such detection distance derivation around the monitoring device 10, determines a distance threshold for each angle of the monitoring device 10, and stores it in the threshold table T1. In addition, in the second output example, the time position from which the angle was derived and the time position from which the distance was derived are the same time position. High accuracy.

Next, the spatial light-receivable range of the monitoring device 10 will be described.
FIG. 11 is a diagram showing an example of a spatial light-receivable range of the monitoring device 10. As shown in FIG. The storage unit 120 holds light-receiving angle characteristics (light-receivable range) of the monitoring device 10 and a blind angle range, which is an angle corresponding to the blind spot of the monitoring device 10 . That is, the monitoring device 10 recognizes the light receiving angle characteristics and the blind angle range.

In the monitoring device 10 , light can be transmitted and received by the light projecting section 140 and the light receiving section 150 rotated by the rotating mechanism section 130 in a part of the periphery of the monitoring device 10 . A range in which light can be transmitted and received is a light-receivable range (detectable range). The light-receivable range is at least a part of the range other than blind spots where light cannot be transmitted and received by the light-projecting unit 140 and the light-receiving unit 150 by the monitoring device 10 . As the rotation mechanism 130 rotates, the light receiving range also rotates and moves.

The light projecting unit 140 can irradiate light so that it spreads as the distance from the monitoring device 10 increases, with reference to the position of the monitoring device 10 (the position of the light projecting unit 140 ). The light receiving unit 150 can receive light from an object to be detected so that the position of the monitoring device 10 (the position of the light receiving unit 150 ) is used as a reference so that the light spreads as the distance from the monitoring device 10 increases. In addition, the receivable range rotates around the monitoring device 10 . Therefore, the object to be detected moves from one end to the other end of the rotating receivable range. Control unit 110 determines that the angle corresponding to center position C1 between one end E1 and the other end E2 of the light-receivable range is the angle at which the object to be detected exists. In other words, when the light from the remote control device 20 is received over the entire range of the light receiving angle characteristics of the monitoring device 10, the control unit 110 determines that the central direction of the light receiving angle characteristics is the angle at which the remote control device 20 is located. It is determined that Then, the distance calculation unit 111 calculates the detection distance based on the detection light obtained corresponding to this angle.

At a position (angle) where the light-receiving angle characteristic overlaps the blind spot, the control unit 110 assumes that the light corresponding to the light-receiving angle characteristic is received after the detection light is received by the light-receiving unit 150, and this light-receiving angle characteristic may be determined to be the angle at which the remote control device 20 is located. That is, the control unit 110 may determine the angle at which the remote control device 20 is located based on the light receiving angle characteristics, the blind angle range, and the angle at which the light receiving unit 150 starts or ends receiving the detection light. For example, the angle at which the remote control device 20 is located is obtained by adding a half angle of the angle range corresponding to the light receiving angle characteristic to the light receiving start angle of the detected light in the rotational direction. For example, the angle at which the remote control device 20 is located is obtained by adding half the angle of the angle range corresponding to the light receiving angle characteristic to the light receiving end angle of the detected light in the direction opposite to the rotation direction. Then, the distance calculator 111 may calculate the detected distance based on the detected light obtained corresponding to the angle at which the remote control device 20 is located.

Next, an example of determining the monitoring area MR will be described.
FIG. 12 is a diagram showing a first setting example of the monitoring area MR. FIG. 13 is a diagram showing a second setting example of the monitoring area MR.

The area setter H1 holds the remote control device 20 and moves around the monitoring device 10 while transmitting an area setting request signal based on the area setting operation. can be specified. 12 and 13, five reference positions rp are designated. The reference position rp is a detection position detected by the monitoring device 10, and a detection angle and a detection distance with the monitoring device 10 as a reference are derived. Based on the detected angle and the detected distance, the control unit 110 causes the threshold table T1 to hold the distance threshold for each angle as threshold data.

Then, the control unit 110 sets the monitoring area MR based on the threshold data, that is, the distance threshold for each angle. In this case, the control unit 110 may set the monitoring area MR so as to pass through each reference position rp corresponding to the distance threshold for each angle. As shown in FIG. 12, the control unit 110 may set the monitoring area MR by connecting each reference position rp smoothly with a curved line to generate the periphery of the monitoring area MR. As shown in FIG. 13, the control section 110 may set the monitoring area MR by connecting the respective reference positions rp with straight lines to generate the peripheral edge of the monitoring area MR. In this case, the monitored area MR in FIG. 12 is wider than the monitored area MR in FIG. In this way, the peripheral portion of the monitoring area MR may be formed linearly, curvedly, or formed by connecting the reference positions rp by arcs. Note that the storage unit 120 may hold information indicating the shape of the monitoring area to be generated through each reference position rp. Incidentally, when the periphery of the monitoring area MR is formed linearly, there are cases where three or more reference positions rp are arranged linearly. In this case, the monitoring area MR may be composed only of the two reference positions rp at both ends, in which case the points other than the reference positions rp do not directly contribute to the formation of the periphery of the monitoring area MR. Although it becomes a point, the storage unit 120 may also hold a distance threshold value of an angle corresponding to a constituent point other than the reference position rp. In addition to the reference position rp, the configuration points here may include, for example, vertices, inflection points, or some other characteristic points that configure the monitoring area MR.

Next, a specific example of alarm output will be described.

FIG. 14 is a timing chart showing an example of optical alarm output. In FIG. 14, each signal is shown as a pulse signal. In FIG. 14, the vertical axis indicates the magnitude of the pulse signal, and the horizontal axis indicates time.

FIG. 14 shows the encoder signal, the detection light of the first round, and the projected light of the second round. The n-th round (n=1, 2, . . . ) indicates that the rotation by the rotation mechanism section 130 is the n-th round. Although part of the illustration is omitted, in reality, the detection light of the first round is received with respect to the projected light of the first round, and the detection light of the second round is received with respect to the projected light of the second round. is received. The same is true for the third and subsequent rounds.

In FIG. 14, three distance thresholds (monitoring alarms set in FIG. 14) corresponding to the three angles held in the threshold table T1 are set to Three detection distances based on detected light are exceeded. In this case, the comparison determination unit 113 determines that the area setter H1 exists within the set monitoring area MR in the angle range including these three angles.

When it is determined that the area setter H1 exists within the monitoring area MR, an alarm output signal is sent to the remote control device 20 or the area setter H1 in this angle range in the next round (here, the second round) of the projected light wave. Output for In this case, light projecting section 140 generates an alarm output signal based on the detected light. For example, light projecting section 140 may modulate the detected light to generate an alarm output signal. In this case, the light projecting unit 140 may generate an alarm output signal by increasing the frequency of the detection light or changing the signal level of the detection light. An output signal may be generated. Further, the light projecting section 140 may change the wavelength of the detection light to change the color of the detection light. For example, the light projecting section 140 may transmit one or more (for example, three consecutively) light pulse signals indicating the alarm output signal at each of the three angles described above, according to the encoder signal. Also, one or more (for example, three consecutive) light pulse signals indicating the alarm output signal may be transmitted at least one of the three angles.

In the remote control device 20, the display unit 220 may display based on the alarm output signal by the light receiving unit 150 receiving the alarm output signal. When the area setter H1 moves inside or outside the monitored area MR, the display unit 220 receives and displays a setter detection signal indicating that the area setter H1 is in the monitored area MR, It may not be displayed without receiving the setting person detection signal. This allows the area setter H1 to easily confirm whether or not the monitoring area MR is set within a desired range.

It should be noted that the monitoring device 10, for a certain period of time after the operation mode transitions from the area setting mode to the monitoring mode, does not project the object detection light in the angle range in which the area setter H1 is detected. The light and the projection of the alarm output signal may be switched alternately. As a result, the monitoring system 5, while continuing object detection in the set monitoring area MR, asks the area setter H1 to confirm that the location of the area setter H1 is outside the monitoring area MR, which is within the monitoring area MR. can notify you if

(Variation of the first embodiment)
Next, variations of this embodiment will be described.

In this embodiment, the wavelength of the area setting request signal may be the same as the wavelengths of the projection light and detection light used for object detection. In this case, the monitoring device 10 can share the light receiving unit 150 for area setting and object detection, and the cost required for the light receiving unit 150 can be reduced. Also, the wavelength of the alarm output signal may be the same as the wavelengths of the projected light and detection light used for object detection. In this case, the monitoring device 10 can share the light projecting unit 140 for area setting and object detection, and the cost required for the light projecting unit 140 can be reduced.

Also, the wavelength of the area setting request signal may be different from the wavelengths of the projected light and detection light used for object detection. In this case, the monitoring device 10 may share the light receiving unit 150 capable of receiving multiple wavelengths, or may include multiple light receiving units 150 . Also, the wavelength of the alarm output signal may be different from the wavelengths of the projected light and the detected light used for object detection. In this case, the monitoring device 10 may share the light projecting unit 140 capable of receiving multiple wavelengths, or may include multiple light projecting units 140 .

Also, the data output unit 190 may output an alarm without considering the location of the remote control device 20 or the area setter H1. For example, the data output unit 190 simply converts the output state in which no object is detected in the monitoring area MR (for example, the light is turned off or no alarm sound is output) to the state in which an object is detected in the monitoring area MR. You may change from a mode (for example, light blinking or warning sound output).

As described above, according to the monitoring system 5 of the first embodiment, the area setter H1 himself becomes a detection target, and the distance and angle corresponding to the position of the area setter H1 define the peripheral edge of the monitoring area MR. can be stored as threshold data to be used, and a monitoring area R can be set. Further, even if the mode is shifted from the area setting mode to the monitoring mode, the area setting person H1 himself continues to be the detection target, and the monitoring device 10 determines whether the position of the area setting person H1 is included in the set monitoring area MR. can be determined. Therefore, the area setter H1 can easily perform two tasks of setting the monitoring area MR and confirming the monitoring area MR by moving the remote control device 20 to the site. Therefore, it is possible to reduce the burden of setting the monitoring area MR on the area setting person H1. In addition, since the moving distance of the area setter H1 when setting and confirming the monitoring area MR is reduced, the time required to determine the monitoring area MR can be shortened.

In addition, the monitoring system 5 uses the remote control device 20 to set the area, so that the monitoring area MR can be set easily and safely even when the monitoring device 10 is installed at a high place.

(Second embodiment)
1st Embodiment demonstrated that the monitoring apparatus 10 determines threshold data (distance threshold value for every angle of the monitoring apparatus 10). A second embodiment describes the remote control device 20 determining the threshold data.

FIG. 15 is a schematic diagram showing a configuration example of a monitoring system 5A of the second embodiment. The monitoring system 5A includes a monitoring device 10A and a remote control device 20A. The monitoring device 10A is, for example, a lidar device. The remote control device 20A is capable of remote control for setting the monitoring area MR, and is, for example, a device combining a remote control device and a tablet terminal.

FIG. 16 is a block diagram showing a configuration example of the monitoring device 10A. The configuration of the monitoring device 10A in FIG. 16 is similar to the configuration of the monitoring device 10 in FIG. In FIG. 16, the same components as those in FIG. 3 are denoted by the same reference numerals, and the description thereof will be omitted or simplified.

FIG. 17 is a block diagram showing a functional configuration example of the control section 110A. The configuration of control unit 110A in FIG. 17 is the same as the configuration of control unit 110 in FIG. In FIG. 17, the same components as in FIG. 4 are denoted by the same reference numerals, and the description thereof will be omitted or simplified.

The data input unit 180 may input, for example, an area setting request signal, a distance threshold (threshold data) for each angle derived by the remote control device 20A, and the remote control device 20A. The input method by the data input unit 180 is the same as in the first embodiment. Note that the area setting request signal and the threshold data may be optically input from the light receiving section 150 .

The data output unit 190 outputs, for example, angle/distance data including the detected angle detected by the angle detection unit 170 and the detection distance calculated by the distance calculation unit 111, and a data rewrite request signal to the remote control device 20A. You can The output method by the data output unit 190 is the same as in the first embodiment. The angular distance data and the data rewrite request signal may be optically output by the light projecting section 140 .

FIG. 18 is a block diagram showing a configuration example of the remote control device 20A. The configuration of the remote control device 20A in FIG. 18 is similar to the configuration of the remote control device 20A in FIG. Prepare. In FIG. 18, the same components as in FIG. 5 are denoted by the same reference numerals, and the description thereof will be omitted or simplified.

The light receiving section 210 may receive, for example, an optical signal indicating angular distance data, a data rewrite request signal, or the like. The light projecting section 240 may project, for example, an optical signal indicating threshold data, an area setting request signal, or the like. The data input unit 260 may input, for example, angular distance data or a data rewrite request signal from the monitoring device 10A. The input method by the data input unit 260 is the same as in the first embodiment. The data output unit 270 may output threshold data, an area setting request signal, or the like to the monitoring device 10A, for example. The output method by the data output unit 270 is the same as in the first embodiment.

Control unit 250A includes threshold control unit 251 . The threshold control unit 251 derives the threshold data (distance threshold for each angle) based on the acquired data rewrite request signal and angular distance data. This threshold data derivation method may be the same as the threshold data derivation method performed by the data rewriting unit 112 of the monitoring apparatus 10 in the first embodiment. The threshold control unit 251 outputs the derived threshold data to the monitoring device 10 via the light projecting unit 240 or the data output unit 270A.

FIG. 19 is a diagram showing an example of signals transmitted and received between the monitoring device 10A and the remote control device 20A.

As shown in FIG. 19, monitoring light (projection light) for object detection, a data rewrite request signal, angular distance data, and an alarm output signal, for example, are sent from the monitoring device 10A to the remote control device 20A. The data rewrite request signal, the angular distance data, and the alarm output signal may be projected optically or output by a method other than the optical method. Also, for example, monitoring light (detection light) for object detection, an area setting request signal, and threshold data are sent from the remote control device 20A to the monitoring device 10A. The area setting request signal and the threshold data may be optically projected, or may be output by a method other than the optical method.

FIG. 20 is a sequence diagram showing an operation example of the monitoring system 5A. In FIG. 20, the same step numbers are assigned to the same processes as those in FIGS. 7A and 7B, and the description thereof will be omitted or simplified.

First, the monitoring device 10A and the remote control device 20A perform the processes of steps S11 to S15 shown in FIG. In the monitoring device 10A, the light projection unit 140 or the data output unit 190 outputs the angle distance data including the detected angle and the detected distance derived in step S15 and the data rewrite request signal to the remote control device 20A ( S31). In the remote control device 20A, the light receiving section 210 or the data input section 260 acquires the angular distance data and the data rewrite request signal from the monitoring device 10A. The threshold controller 251 of the controller 250A derives threshold data based on the angular distance data according to the data rewrite request signal (S32). The light projection unit 240 or the data output unit 270 outputs the derived threshold data to the monitoring device 10A. After that, the processing after step S16 is performed. If different detection positions and detection distances are derived in step S17, the process proceeds to step S31.

As described above, according to the monitoring system 5 of the present embodiment, the remote control device 20A can generate threshold data and store it in the threshold table T1 of the monitoring device 10A, and the same effects as in the first embodiment can be obtained. can get.

Note that the monitoring system 5A may include a device (for example, a PC) that supports the area setting operation separately from the remote control devices 20 and 20A. In this case, the remote controllers 20 and 20A are dedicated to receiving operations by the area setter H1, transmitting an area setting request signal as a trigger signal, displaying based on the alarm output signal, and performing other processes. (For example, acquisition of angular distance data, generation of threshold data, and instruction to store the threshold data in the threshold table T1) may be performed by the PC.

As in the modified operation example of FIG. 7B described in the first embodiment, even after the acquisition of the area setting request signal is finished once, the threshold data for the monitoring area MR is registered in the threshold table T1. can resume. Specifically, after the process of step S18, that is, after shifting to the monitor mode, the control unit 110 determines whether a predetermined time has passed after changing to the monitor mode (that is, after finishing acquisition of the area setting request signal). If a predetermined time has passed since the mode was changed to the monitor mode, it is determined whether or not the area setting request signal has been reacquired, and if the area setting request signal has been reacquired, the process proceeds to step S If the area setting request signal is not acquired again, the process may proceed to step S19. Therefore, also in the second embodiment, the area setter H1 can move to each position in the monitoring site and then operate the operation unit 230 to register the threshold data at each position. Therefore, the monitoring system 5A can reduce the burden on the area setter H1 when registering the threshold data at each position, and reduce the burden when setting the monitoring area MR.

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 (an example of a scanner device) of the above embodiment sets the monitoring area MR. The monitoring device 10 includes an acquisition unit (for example, the light receiving unit 150 or the data input unit 180) that acquires from the remote control device 20 an area setting request signal for setting the monitoring area MR. The monitoring device 10 includes a light projecting unit 140 that projects light in each detection direction around the monitoring device 10, and receives light including detection light reflected or scattered by an object. , and a light-receiving unit 150 that generates a light-receiving signal. The monitoring device 10 includes a recognition unit (for example, the distance calculation unit 111 or the angle detection unit 170) that recognizes each position in each detection direction of the movable area setter H1 who sets the monitoring area MR based on the received light signal. . The monitoring device 10 has an area setting unit (for example, the control unit 110) that sets the monitoring area MR based on each position in each detection direction recognized by the recognition unit in response to acquisition of the area setting request signal by the acquisition unit. Prepare.

As a result, the monitoring device 10 can eliminate the need for the area setter H1 to move while holding the marker in the monitoring schedule when setting the monitoring area MR. In addition, the area setter H1 can remotely check whether or not the detection in the monitoring area MR is possible after setting the monitoring area MR while operating in the detection area. Therefore, the monitoring device 10 does not need to set the monitoring area MR and check whether detection is possible in the set monitoring area MR while moving between the monitoring area MR and the device that sets the monitoring area MR. can. Therefore, the area setter H1 can visit the site for which the area is to be set only once. Therefore, the monitoring device 10 can reduce the burden on the area setter H1 and shorten the time required to determine the monitoring area MR.

In addition, the monitoring device 10 may include a rotation mechanism section 130 that rotates the detection direction around the rotation axis. The recognition section may recognize the angle of rotation by the rotation mechanism section and the distance from the monitoring device 10 to the area setter H1 based on the light reception signal. The area setting section may set the monitoring area MR based on the angle and distance recognized by the recognition section.

As a result, the monitoring device 10 rotates the detection direction by the rotation mechanism 130 and detects the area setter H1, so that a large number of light projection units 140 that project light in each detection direction and each detection direction rotates. The above angles and distances can be derived around the monitoring device 10 without providing a large number of light receiving units 150 for receiving detection light from the monitoring device 10 . Therefore, the monitoring device 10 can detect with high accuracy each position of the area setter H1 who can move around the monitoring device 10, and can set the monitoring area MR with high accuracy.

The monitoring device 10 may also include a rotation control section (for example, the control section 110 ) that changes the rotation speed of the rotation mechanism section 130 . Thereby, the monitoring device 10 can adjust the setting accuracy of the monitoring area MR, for example.

Also, the monitoring device 10 may include a storage unit 120 . The area setting unit derives a set distance for each angle corresponding to the distance from the monitoring device 10 to the peripheral edge of the monitoring area MR based on the angle and distance recognized by the recognition unit, and calculates the set distance for each angle. You may make it memorize|store in the memory|storage part 120. FIG.

Thereby, the monitoring device 10 can hold the distance threshold value for each angle that defines the monitoring area MR.

The acquisition unit may include the light receiving unit 150 . The light projecting section 140 may project light having a first wavelength. The light receiving section 150 may receive the detection light having the first wavelength and the area setting request signal.

As a result, the monitoring device 10 can share the general-purpose light receiving unit 150 for receiving an optical signal for object detection and for receiving a trigger signal for setting the monitoring area MR. Therefore, the monitoring device 10 can carry out object detection and setting of the monitoring area MR at a low cost.

The acquisition unit may include the light receiving unit 150 . The light receiving section 150 may receive the detection light and the area setting request signal at different timings. The recognition unit recognizes (determines) the angle of the position where the area setter H1 is located based on the time position when the area setting request signal is received, and based on the recognized (determined) angle and the detected light, The distance to the location where area setter H1 is located may be recognized (determined).

As a result, the monitoring device 10 can acquire the optical signal for object detection and the area setting request signal as the trigger signal while suppressing mutual interference. Therefore, the setting accuracy of the monitoring area is improved.

Further, the light receiving section 150 may receive the detection light and the area setting request signal at the same timing. The recognition unit recognizes the angle of the position where the area setter H1 is located based on the time position when the area setting request signal was received, and determines the location of the area setter H1 based on the recognized angle and the detected light. You may recognize the distance to the position where The monitoring device 10 may also include a signal separating section 160, and the signal separating section 160 may separate the area setting request signal from the received light signal.

Thereby, even if the monitoring device 10 receives the detection light and the area setting request signal at the same timing, it is possible to derive the angle and the distance corresponding to the position of the area setting person H1.

Further, the recognition section may recognize the angle of the position where the area setter H1 is located based on the central position of a plurality of time positions at which the area setting request signal is received in the light receiving range of the light receiving section 150 .

Rotation of the rotation mechanism 130 can also rotate the light receiving range of the light receiving unit 150 . In this case, when the area setter H1 is located at a predetermined position, the area setting signal from the remote control device 20 held by the area setter H1 can be continuously detected in the light-receivable range. Even in this case, the position of the area setter H1 can be estimated with high accuracy.

The monitoring device 10 also includes a determination unit (for example, a comparison determination unit 113) that determines whether or not the area setter H1 is located within the set monitoring area MR, and a determination unit that determines whether the area setter H1 is located within the monitoring area MR. If it is determined that an area setter H1 has been detected in the monitoring area MR, an output unit (for example, the light projecting unit 140 or the data output unit 190) that outputs a setter detection signal (an example of an alarm output signal) indicating that the area setter H1 has been detected. and may be provided.

Thereby, the monitoring device 10 can determine whether or not it is possible to stay at the site where the monitoring area MR is set and detect the area setter H1 himself/herself in the monitoring area MR that has been set. Therefore, the monitoring device 10 can eliminate the need for the area setter H1 to go back and forth between the site and a position other than the site for setting the monitoring area MR.

Also, the output unit may include a communication unit (for example, data output unit 190 ) and transmit the configurator detection signal to remote control device 20 . As a result, the monitoring device 10 suppresses optical interference between the projected light and the configurator detection signal, and can confirm with high accuracy that the configurator has been detected.

Also, the output unit may include the light projecting unit 140 . The light projecting unit 140 projects light at predetermined time intervals, and when it is determined that the area configurator H1 is located within the monitoring area MR, replaces the light with the projected light and outputs the area configurator detection signal. Light may be projected toward the setter H1.

As a result, object detection within the monitoring area MR can be performed at predetermined time intervals. Also, when the area setter H1 is detected, the setting of the monitoring area MR in the detection direction has been successfully completed. The monitoring device 10 can suppress the output of the projection light for object detection in the detection direction in which the area setter H1 is detected, so that the area setter H1 can be safely detected with respect to the area setter H1. , can notify that the monitoring area MR is set.

Further, the light projecting section 140 may modulate the detection light received by the light receiving section 150 to generate the configurator detection signal. As a result, the monitoring device 10 uses the received detection light to detect the area configurator H1 within the monitoring area MR by the configurator detection signal as an optical signal having a wavelength different from that of the detection light for object detection. can be notified that

INDUSTRIAL APPLICABILITY The present disclosure is useful for a scanner device, an area setting method, and the like that can reduce the burden on an area setting person who sets a monitoring area.

10, 10A Monitoring device 20, 20A Remote control device 30 Robot device 110 Control unit 111 Distance calculation unit 112 Data rewriting unit 113 Comparison determination unit 114 Distance measurement light emission synchronization unit 115 Alarm output light emission synchronization unit 120 Storage unit 130 Rotation mechanism unit 131 Outside Cylindrical part 132 Inner cylindrical part 133 Magnet 134 Coil 135 Mirror fixing part 136 Bearing 140 Light projecting part 143 Rotating mirror 144 Lens 150 Light receiving part 160 Signal separation part 170 Angle detection part 180 Data input part 190 Data output part 210 Light receiving part 220 Display unit 230 Operation unit 240 Light projection unit 250, 250A Control unit 251 Threshold control unit 260 Data input unit 270 Data output unit MR Monitoring area

Claims (14)

A scanner device for setting a monitoring area,
an acquisition unit that acquires an area setting request signal for setting the monitoring area from a remote control device;
a light projecting unit that projects light in each detection direction around the scanner device;
a light-receiving unit that receives light including detection light reflected or scattered by an object to generate a light-receiving signal;
a recognition unit that recognizes each position in each detection direction of a movable area setter who sets the monitoring area based on the light receiving signal;
an area setting unit that sets the monitoring area based on each position in each detection direction of the area setter recognized by the recognition unit in response to acquisition of the area setting request signal by the acquisition unit;
A scanner device comprising: further comprising a rotation mechanism that rotates the detection direction around a rotation axis;
The recognition unit recognizes the angle of rotation by the rotation mechanism and the distance from the scanner device to the position where the area setter is located based on the light reception signal,
The area setting unit sets the monitoring area based on the angle and the distance recognized by the recognition unit.
2. A scanner device according to claim 1. Further comprising a rotation control unit that changes the rotation speed of the rotation mechanism unit,
3. A scanner device according to claim 2. further comprising a storage unit,
The area setting unit
Based on the angle and the distance recognized by the recognition unit, a set distance for each angle corresponding to the distance from the scanner device to the peripheral edge of the monitoring area is derived,
storing the set distance for each angle in the storage unit;
4. A scanner device according to claim 2 or 3. The acquisition unit includes the light receiving unit,
The light projecting unit projects the light having a first wavelength,
the light receiving unit receives the detection light having the first wavelength and the area setting request signal;
The scanner device according to any one of claims 2-4. The acquisition unit includes the light receiving unit,
the light receiving unit receives the detection light and the area setting request signal at different timings;
The recognition unit
recognizing the angle of the position where the area setter is based on the time position at which the area setting request signal was received;
Recognize the distance to the position where the area setter is located based on the recognized angle and the detected light;
The scanner device according to any one of claims 2-5. The acquisition unit includes the light receiving unit,
The light receiving unit receives the detection light and the area setting request signal at the same timing,
The recognition unit
recognizing the angle of the position where the area setter is based on the time position at which the area setting request signal was received;
Recognize the distance to the position where the area setter is located based on the recognized angle and the detected light;
The scanner device according to any one of claims 2-5. further comprising a signal separator,
The signal separation unit separates the area setting request signal from the received light signal.
8. A scanner device according to claim 7. The recognizing unit recognizes the angle of the position where the area setting person is located, based on a central position of a plurality of time positions at which the area setting request signal is received in a light receiving range of the light receiving unit.
The scanner device according to any one of claims 6-8. a determination unit that determines whether or not the area setter is located within the set monitoring area;
an output unit that outputs a configurator detection signal indicating that the area configurator is detected in the monitoring area when it is determined that the area configurator is located within the monitoring area;
The scanner device according to any one of claims 1-9. The output unit includes a communication unit, and transmits the configurator detection signal to the remote control device.
11. A scanner device according to claim 10. The output unit includes the light projecting unit,
The light projecting unit
projecting the projected light at predetermined time intervals;
When it is determined that the area setter is located within the monitoring area, the setter detection signal is projected toward the area setter instead of the projected light.
12. A scanner device according to claim 10 or 11. The light projecting unit generates the configurator detection signal based on the detection light received by the light receiving unit.
13. A scanner device according to claim 12. An area setting method for setting a monitoring area, comprising:
obtaining an area setting request signal for setting the monitoring area from a remote control device;
a step of projecting projection light in each detection direction around the scanner device for setting the monitoring area;
receiving light including detection light reflected or scattered by an object to generate a received light signal;
a step of recognizing each position in each detection direction of a movable area setting person who sets the monitoring area based on the light receiving signal;
setting the monitoring area based on each position in each detection direction of the recognized area setter in response to acquisition of the area setting request signal;
area setting method.

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