JP7373177B2 - object detection device - Google Patents

Description

The present invention relates to an object detection device, and particularly to one in which an object detection sensor section can be easily arranged regardless of the shape of the installation location. The present invention also relates to an object detection device, and particularly to one that detects the vicinity of the surface of an object to which an object detection sensor section is attached. Furthermore, the present invention relates to an object detection system, and particularly to one in which a detection area can be adjusted as appropriate.

A conventional object detection device will be explained using an object detection device Z100 shown in FIG. 12. FIG. 12 shows, as an example of how the object detection device Z100 (not shown) is used, it is placed on the outer surface of an industrial robot. Object detection device Z100 has a plurality of optical sensor units ZSU and one central control unit Z115. In the optical sensor unit ZSU, a plurality of optical sensor sections Z111 and one unit control section Z113 are connected in a star shape via an optical sensor connection line ZL111. Unit control sections Z113 belonging to one group line ZGL are connected in a cascade manner via a unit control section connection line ZL113. One of the unit control sections Z113 connected in a cascade type is connected to the central control section Z115 via a unit control section connection line ZL113. By using the flexible optical sensor connection line ZL111 and unit control unit connection line ZL113, the optical sensor unit Z111 and unit control unit Z113 can be freely arranged according to the shape of the installation location, and the installation location can be easily adjusted. The detection range can be set freely.

The industrial robot Z50 is a robot having seven movable axes. The industrial robot Z50 has arms ZAM1 to ZAM7, movable rotary joints ZJ1 to ZJ13, a base ZB1, and a hand ZH1. An object detection device Z100 is arranged on each outer peripheral surface of arms ZAM1 to ZAM7, hand ZH1, and base ZB1.

One unit control section and a plurality of optical sensor sections Z111 are arranged in each of the arms ZAM1 to ZAM7, the base ZB1, and the hand ZH1. As shown in FIG. 12, the optical sensor section Z111 can be placed anywhere, such as on the arms ZAM1 to ZAM7, the hand ZH1, the base ZB1, etc., regardless of the shape of the installation site. In this way, the optical sensor part Z111 of the object detection device Z100 can be easily placed on the outer surface of the device to be installed, so that when an object such as a person is detected around the industrial robot, the robot It becomes possible to make an emergency stop. In other words, the safety of the installation target device, for example, an industrial robot, can be improved.

Moreover, by adjusting the length of the optical sensor connection line ZL111, the optical sensor part Z111 can be placed at any position. Therefore, the optical sensor section 111 can be arranged all around the prismatic arms ZAM1 to ZAM7, the cylindrical base ZB1, etc., regardless of the shape of the installation location. As a result, objects such as people can be detected on the entire periphery of the robot, thereby increasing the safety of the device to be installed.

Furthermore, even if the hand ZH1 has a complicated shape, the optical sensor part Z111 can be freely arranged. Therefore, since it is possible to prevent the occurrence of a blind spot when arranging the optical sensor section Z111, it is possible to improve the safety of the installation target device.

Furthermore, even if there is an obstacle between the arms ZAM1 to ZAM7, etc. where the optical sensor part Z111 is arranged, such as the movable rotary joints ZJ1 to ZJ13, by adjusting the length of the connection line ZL113 for the unit control part, , the unit control sections Z113 can be connected to each other while avoiding obstacles. In this way, the object detection device Z100 can be freely arranged regardless of the shape of the device.

In the object detection device Z100, regardless of the installation shape, the number and arrangement positions of the optical sensor section Z111 and the unit control section Z113, and the lengths of the optical sensor connection line ZL111 and the unit control section connection line ZL113 The object detection device can be easily placed by simply adjusting the In addition, the object detection device Z100 changes the installation position of the optical sensor section Z111 and unit control section Z113 in accordance with changes in the installation environment, such as changes in the detection position, detection range, change in installation position, and change in the shape of the installation target device. It is possible to easily respond to changes in the installation environment by changing the number of installations or adding or reducing the number of installations (see Patent Document 1 above).

Japanese Patent Application Publication No. 2013-083615

1. The object detection device Z100 described above has the following points to be improved. In the object detection device Z100, it is necessary to individually arrange a plurality of optical sensor sections Z111 and a unit control section Z113 on an installation target. For this reason, there is a problem that should be improved in that the work of arranging the optical sensor section Z111 and the unit control section Z113 is complicated and time consuming.

Furthermore, since the plurality of optical sensor sections Z111 and unit control section Z113 are connected by respective connection lines, there is a problem that the object detection device Z100 is difficult to carry and handle, which should be improved.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an object detection device that is easy to handle and in which an object detection sensor section can be easily placed regardless of the shape of the installation location.

2. The object detection device Z100 described above has the following points to be improved. In the object detection device Z100, the plurality of optical sensor units Z111 project detection light outward from the surface of the industrial robot Z50 that is the installation target, that is, in the radial direction from the surface of each arm. . Therefore, there is a problem that needs to be improved in that it is not possible to detect the vicinity of the surface of each arm of the industrial robot Z50.

Furthermore, in order to minimize the area that cannot be detected near the surface, it is necessary to arrange a large number of optical sensor units Z111. There is a point to be improved in that it is not practical to arrange a large number of optical sensor sections Z111 to detect the vicinity of the surface because the workload required for arranging the optical sensor sections Z111 becomes very large.

Therefore, an object of the present invention is to provide an object detection device that can easily detect the vicinity of the surface of an installation target.

3. The object detection device Z100 described above has the following points to be improved. In the object detection device Z100, depending on the shape of the installation target, each optical sensor unit Z111 may unintentionally detect the installation target itself, or may unintentionally detect the movement of the installation target. There is a point that needs to be improved in that it may cause the system to stop.

Therefore, an object of the present invention is to provide an object detection system that can prevent unintended object detection regardless of the shape of the object to be attached.

The means for solving the problems of the present invention and the effects of the invention are shown below.

The object detection device according to the present invention includes an object detection sensor unit that detects surrounding objects, a flexible sensor arrangement member in which a plurality of the object detection sensor units are arranged, and a flexible sensor arrangement member that controls the operation of the object detection sensor unit. The control unit includes a connection harness that directly or indirectly connects the object detection sensor unit and the control unit.

Thereby, by deforming the sensor placement flexible member, the object detection sensor section can be easily placed regardless of the shape of the installation location. In this way, the object detection sensor unit can be easily placed on the outer surface of the installation target, so when an object is detected around the installation target, a motion control system that controls the movement of the installation target can be installed. Easy to build.

Furthermore, since the plurality of object detection sensor sections are integrally arranged on the sensor arrangement flexible member, handling can be facilitated.

The object detection device according to the present invention is characterized in that the sensor arrangement flexible member has a band shape, and has the object detection sensor portion linearly arranged along the long axis of the band shape. .

Thereby, the object detection sensor section can be placed on the placement object by simply wrapping the band-shaped sensor placement flexible member around the placement object, which is the object on which the object detection device is placed.

In the object detection device according to the present invention, the sensor arrangement flexible member is a flexible intermediate member that connects a sensor arrangement member on which the object detection sensor section is arranged and the sensor arrangement member, and is a flexible intermediate member. It is characterized by having a flexible member.

As a result, flexibility can be imparted to the sensor placement member and the flexible sensor placement member can be deformed, so that the object detection sensor section can be easily placed regardless of the shape of the installation location. In this way, the object detection sensor unit can be easily placed on the outer surface of the installation target, so when an object is detected around the installation target, a motion control system that controls the movement of the installation target can be installed. Easy to build.

The object detection device according to the present invention is characterized in that the intermediate flexible member has an expansion and contraction mechanism that adjusts its length.

Thereby, the object detection sensor section can be placed at a desired position.

In the object detection device according to the present invention, the sensor arrangement flexible member includes a plurality of unit flexible members in which the object detection sensor section is arranged, and the unit flexible member is connected to the other unit flexible member adjacent to the unit flexible member. It is characterized by having a connecting mechanism for connecting.

As a result, flexibility can be imparted to the sensor arrangement member and the flexible sensor arrangement member can be deformed, so that the object detection sensor section can be easily arranged regardless of the shape of the installation location. In this way, the object detection sensor unit can be easily placed on the outer surface of the installation target, so when an object is detected around the installation target, a motion control system that controls the movement of the installation target can be installed. Easy to build.

The object detection device according to the present invention is characterized in that the connection harness directly connects each of the object detection sensor sections to the control section.

Thereby, the object detection sensor section does not need to be connected to another object detection sensor section, that is, through another object detection sensor section. Therefore, since the object detection sensor section can be placed considering only the positional relationship with the control section, such as the distance between the object detection sensor section and the control section, it can be placed freely regardless of the placement position of other object detection sensor sections. It can be placed in Further, the number of object detection sensor units connected to the control unit 17 can be easily increased or decreased.

The object detection device according to the present invention is characterized in that the connection harness connects the object detection sensor sections in a cascade manner.

As a result, only the end portion of the plurality of cascade-connected object detection sensor portions needs to be connected to the control portion. That is, the object detection sensor section and the control section can be connected with a simple configuration.

The object detection device according to the present invention includes an object detection sensor unit that detects surrounding objects, a sensor arrangement flexible member in which a plurality of the object detection sensor units are arranged, and a flexible sensor arrangement member that controls the operation of the object detection sensor unit. An object detection device including a control section and a connection harness connecting the object detection sensor section and the control section, wherein the sensor arrangement flexible member includes a sensor arrangement member on which the object detection sensor section is arranged, and a connection harness that connects the object detection sensor section and the control section. The present invention is characterized by having a flexible intermediate connection harness that connects the detection sensor sections in cascade.

Thereby, the sensor arrangement members can be connected between the sensor arrangement members and the object detection sensor section can be electrically connected between the sensor arrangement members by simply using the intermediate connection harness, so that the object detection device can have a simple configuration.

The object detection device according to the present invention is characterized in that the intermediate connection harness has an expansion and contraction mechanism that adjusts its length.

Thereby, the object detection sensor section can be arranged at a desired position with a simple configuration.

In the object detection device according to the present invention, the connection harness includes an inter-sensor connection line that connects the adjacent object detection sensor sections, and a connection that directly connects the object detection sensor section and the control section. and an inter-sensor connection line protection unit that protects the inter-sensor connection line by covering the inter-sensor connection line.

Thereby, the inter-sensor connecting wire is protected by the inter-sensor connecting wire covering part, and it is possible to prevent the inter-sensor connecting wire from being damaged by external force.

The object detection device according to the present invention is characterized in that the inter-sensor connection line protection section is arranged between adjacent object detection sensor sections.

Thereby, since the inter-sensor connection line protection part is formed corresponding to each inter-sensor connection line, the flexibility of the sensor arrangement flexible member is not impaired.

The object detection device according to the present invention is characterized in that the inter-sensor connection line protection section has an annular structure.

Thereby, it is possible to easily protect the inter-sensor connection line that connects the object detection sensor sections arranged in the official structure.

The object detection device according to the present invention is characterized in that the inter-sensor connection line protection section has a sensor opening for arranging the object detection sensor section.

Thereby, the object detection sensor section can be easily fixed in an annular shape.

The object detection device according to the present invention is an object detection device installed on the surface of a predetermined installation target, and includes a light projecting section that projects detection light in a direction intersecting the normal direction of the surface; , at least one of a light receiving section that receives the detection light from a direction intersecting the normal direction of the surface.

Thereby, objects can be easily detected in a direction that intersects with the normal direction of the surface of the installation target. If the light projector is installed close to the surface of the object, objects can be detected near the surface of the object.

The object detection device according to the present invention further includes a housing section in which the light projecting section and/or the light receiving section are located, and the housing section has an annular structure.

Thereby, the light projector and the light receiver can be easily attached to the object.

In the object detection device according to the present invention, the housing portion has an end face whose normal direction is a direction intersecting the normal direction of the surface, and the end face projects the detection light. It is characterized by having an opening for detecting the detection light and/or an opening for receiving the detection light.

Thereby, it can be easily attached to the attachment target while protecting the light projecting section and the light receiving section.

In the object detection device according to the present invention, the light projecting section projects the detection light to the light receiving section of another object detecting device, and the light receiving section is configured to transmit the detection light to the light projecting section of the other object detecting device. It is characterized by receiving the detection light projected by.

This allows it to be determined that an object has been detected when the detection light is blocked and the detection light cannot be received.

The object detection device according to the present invention includes the light projecting section and the light receiving section that are paired with each other, and the light receiving section receives the detection light projected by the paired light projecting sections. , is characterized by.

This eliminates the need to adjust the direction in which the detection light is projected at the light emitter and the direction in which the light is received at the light receiver during installation. Can be installed.

In the object detection device according to the present invention, the reflective surface is located opposite to the end surface, and the reflective surface is configured to receive the detection light projected by the light projecting section, and to form a pair with the light projecting section that has projected the detection light. It is characterized by comprising a reflecting section having a reflecting surface that reflects the light toward the light receiving section.

This allows it to be determined that an object has been detected when the detection light is blocked and the detection light cannot be received.

The object detection system according to the present invention detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving reflected light of the detection light, and converts the detection result into detection result information. an object detection sensor unit that acquires movement information indicating its own movement state, a transmission unit that transmits the detection result information and the position information, and receives detection area adjustment information that adjusts the detection area. a receiving unit for adjusting the sensing area, a sensing area adjusting unit for adjusting the sensing area using the sensing area adjustment information when emitting the sensing light next time the sensing area adjustment information is received; an object detection sensor unit having a housing, a receiving section that receives the detection result information and the movement information, and a shape estimation section that estimates the shape of the attachment target using the received movement information. a detection area interference determination unit that estimates a detection area of the object detection sensor unit and determines whether or not the estimated detection area interferes with the estimated shape of the attachment target; a detection area adjustment information generation unit that generates detection area adjustment information for adjusting the detection area when it is determined that the shape of the attachment target interferes with the shape of the attachment target; an object detection control device including a detection area adjustment information transmitter that transmits to the object detection sensor unit that forms the detection area that interferes with the object detection sensor unit.

Thereby, the detection area is adjusted after determining the shape of the object to be attached and whether or not there is interference with the detection area, so it is possible to prevent detection of unintended objects.

The object detection sensor unit according to the present invention includes:
An object detection sensor unit that detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving reflected light of the detection light, and uses the detection result as detection result information, and its own movement. A movement information acquisition unit that acquires movement information indicating a state, a transmission unit that transmits the detection result information and the position information, a reception unit that receives detection area adjustment information that adjusts the detection area, and the detection area adjustment information. The sensor includes a detection area adjustment unit that adjusts the detection area using the detection area adjustment information when the detection light is received, and a casing unit for attaching to an object.

Thereby, the detection area can be adjusted after determining the shape of the object to be attached and whether or not there is interference with the detection area, so that detection of unintended objects can be prevented.

The object detection sensor unit according to the present invention is characterized in that the detection area adjustment section reduces or adjusts the detection area to zero.

This makes it possible to easily adjust the detection area and prevent detection of unintended objects.

The object detection sensor unit according to the present invention is characterized in that the movement information acquisition section is a three-axis acceleration sensor.

Thereby, the shape of the attachment target and the detection area can be easily estimated.

The object detection control device according to the present invention detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving reflected light of the detection light, and converts the detection result into detection result information. an object detection sensor unit that acquires movement information indicating its own movement state, a transmission unit that transmits the detection result information and the position information, and a detection area adjustment information that adjusts the detection area. a receiving unit that receives the detection area adjustment information; a detection area adjustment unit that adjusts the detection area using the detection area adjustment information when emitting the detection light next time the detection area adjustment information is received; and a detection area adjustment unit that is attached to the attachment target. An object detection control device that transmits the detection area adjustment information to an object detection sensor unit having a casing section for the object detection sensor unit, the receiving section that receives the detection result information and the movement information; A shape estimation unit that estimates the shape of the attachment target using movement information; and a detection area of the object detection sensor unit that estimates a detection area of the object detection sensor unit, and determines whether or not the estimated detection area interferes with the estimated shape of the attachment target. a detection area interference determination unit that determines the detection area, and a detection area adjustment information generation unit that generates detection area adjustment information that adjusts the detection area when it is determined that the estimated detection area interferes with the estimated shape of the attachment target. , a detection area adjustment information transmitter that transmits the generated detection area adjustment information to the object detection sensor unit that forms the detection area that interferes with the estimated shape of the attachment target.

Thereby, the detection area is adjusted after determining the shape of the object to be attached and whether or not there is interference with the detection area, so it is possible to prevent detection of unintended objects.

The object detection control device according to the present invention is characterized in that the detection area adjustment information generation unit generates the detection area adjustment information that reduces or adjusts the detection area to 0 (zero). do.

This makes it possible to easily adjust the detection area and prevent detection of unintended objects.

In the object detection control device according to the present invention, the detection area adjustment information generation section is configured to provide the detection area adjustment information that shortens the light reception standby time that enables the object detection sensor section of the object detection sensor unit to receive the reflected light. It is characterized by generating.

Thereby, the detection area can be easily adjusted.

The detection area adjustment program according to the present invention is as follows:
an object detection sensor unit that detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving reflected light of the detection light, and uses the detection result as detection result information; a movement information acquisition unit that acquires movement information indicating its own movement state; a transmission unit that transmits the detection result information and the position information; a reception unit that receives detection area adjustment information that adjusts the detection area; and the detection unit. Upon receiving the area adjustment information, the detection area adjustment section adjusts the detection area using the detection area adjustment information when emitting the detection light next time, and the casing section for attaching to the attachment target. A detection area adjustment program that causes the computer to operate as an object detection control device that transmits the detection area adjustment information to an object detection sensor unit that has the detection result information and the a receiving section that receives movement information; a shape estimating section that estimates the shape of the attachment target using the received movement information; and a shape estimating section that estimates a detection area of the object detection sensor section, a detection area interference determination unit that determines whether or not the shape of the attachment target interferes; a detection area that adjusts the detection area when it is determined that the estimated detection area interferes with the estimated shape of the attachment target; a detection area adjustment information generation unit that generates adjustment information; a detection area that transmits the generated detection area adjustment information to the object detection sensor unit that forms the detection area that interferes with the estimated shape of the attachment target; It operates as an adjustment information transmitter.

Thereby, the detection area is adjusted after determining the shape of the object to be attached and whether or not there is interference with the detection area, so it is possible to prevent detection of unintended objects.

1 is a diagram showing an object detection device 10 which is an embodiment of an object detection device according to the present invention. 3 is a diagram showing the hardware configuration of an object detection sensor section 13. FIG. FIG. 3 is a diagram showing a sensor placement flexible member 15; 3 is a diagram showing a hardware configuration of a control unit 17. FIG. 3 shows an installation example of the object detection device 10. 1 is a diagram showing a hardware configuration of an object detection device 20, which is an embodiment of an object detection device according to the present invention. 2 is a diagram showing an object detection sensor unit 21 of the object detection device 20. FIG. 1 is a diagram showing a hardware configuration of an object detection device 30, which is an embodiment of an object detection device according to the present invention. 3 is a diagram showing a hardware configuration of an object detection sensor unit 31 of an object detection device 30. FIG. It is a figure which shows the other Example of an object detection apparatus. It is a figure which shows the other Example of an object detection apparatus. FIG. 1 is a diagram showing a conventional object detection device. FIG. 4 is a diagram showing a linear state of an object detection device 40, which is an embodiment of the object detection device according to the present invention. 4 is a diagram showing a linear state of the object detection device 40. FIG. 4 is a diagram showing an annular state of the object detection device 40. FIG. FIG. 4 is a perspective view of a unit arrangement section 433 viewed from the top side. A perspective view of the unit placement section 433 seen from the bottom side FIG. 4 is a perspective view of the inter-sensor connection line protection section 49 as seen from the top side. FIG. 4 is a perspective view of the inter-sensor connection line protection section 49 viewed from the bottom side. 1 is a diagram showing a hardware configuration of an object detection device 50, which is an embodiment of an object detection device according to the present invention. 5 is a diagram showing an object detection sensor unit 51. FIG. 5 is a diagram showing an object detection sensor unit 51. FIG. FIG. 5 is a diagram showing an inter-sensor connection line protection section 59. FIG. FIG. 5 is a diagram showing a cross section of an inter-sensor connection line protection section 59. FIG. It is a diagram showing the hardware configuration of an object detection device 60 which is an embodiment of the object detection device according to the present invention. FIG. 6 is a diagram showing an inter-sensor connection line protection section 69; 6 is a diagram showing an object detection sensor unit 61. FIG. It is a diagram showing an object detection device X10 which is an embodiment of the object detection device according to the present invention. It is a figure showing the appearance of object detection sensor unit X11. It is a figure showing the inside of object detection sensor unit X11. It is a diagram showing the hardware configuration of a control unit X19. An example of installation of the object detection device X10 is shown. It is a diagram showing an object detection device X20 which is an embodiment of the object detection device according to the present invention. It is a figure showing the appearance of object detection sensor unit X21. It is a figure showing the inside of object detection sensor unit X21. An example of installation of the object detection device X20 is shown. It is a figure showing the appearance of object detection sensor unit X31 of object detection device X30 which is one example of the object detection device concerning the present invention. It is a figure showing the inside of object detection sensor unit X31. It is a figure which shows the other Example of an object detection apparatus. It is a figure which shows the other Example of an object detection apparatus. It is a figure which shows the other Example of an object detection apparatus. It is a figure which shows the other Example of an object detection apparatus. It is a figure which shows the other Example of an object detection apparatus. 1 is a diagram showing an object detection system 100 that is an embodiment of an object detection system according to the present invention. 3 is a diagram showing the appearance of an object detection sensor unit 110. FIG. FIG. 3 is a diagram illustrating the inside of a part of the object detection sensor unit 110. 3 is a diagram showing a housing section 119 of the object detection sensor unit 110. FIG. 3 is a diagram showing a hardware configuration of a first object detection sensor section 111. FIG. 3 is a diagram showing the hardware configuration of a second object detection sensor unit 113. FIG. 3 is a diagram showing a hardware configuration of a control unit 170. FIG. It is a figure showing the initial state of industrial robot RBT which is an attachment object. 3 is a flowchart showing the operation of the control section 170. 3 is a flowchart showing the operation of the control section 170. 3 is a flowchart showing the operation of the control section 170. It is a figure which shows the state after operation of the industrial robot RBT which is an attachment object for a predetermined time. It is a figure showing the state of a detection area. It is a figure showing the state of a detection area. 3 is a flowchart showing the operation of the first object detection sensor section 111. FIG. 3 is a flowchart showing the operation of the second object detection sensor section 113. It is a figure which shows the other Example of the object detection system based on this invention. It is a figure which shows the other Example of the object detection system based on this invention. It is a figure which shows the other Example of the object detection system based on this invention. It is a figure which shows the other Example of the object detection system based on this invention. It is a figure which shows the other Example of the object detection system based on this invention.

Embodiments of the present invention will be described in detail below with reference to the drawings.

The object detection device according to the present invention will be explained using the object detection device 10 shown in FIG. 1 as an example. The object detection device 10 detects whether or not an object exists in the surrounding area, and performs a predetermined operation based on the object detection result.

First Hardware Configuration The object detection device 10 includes an object detection sensor unit 11, a control section 17, and a connection harness 19. The object detection sensor unit 11 includes a plurality of object detection sensor sections 13 and a sensor arrangement flexible member 15.

The object detection sensor section 13 detects whether or not an object is present by emitting predetermined light as detection light and receiving the reflection of the detection light. The hardware configuration of the object detection sensor section 13 is shown in FIG.

The object detection sensor section 13 includes a light projecting element 13a, a light projecting lens 13b, a light receiving element 13c, and a sensor communication circuit 13d. The light projecting element 13a projects predetermined detection light, for example, near-infrared light. The light projection lens 13b diffuses the detection light projected by the light projection element 13a into a predetermined range (detection region R13). For example, by using a cylindrical lens, it is possible to form a detection area that extends linearly in a predetermined direction. In addition, by appropriately selecting the shape and characteristics of the lens for the light emitting lens 13b, it is possible to avoid erroneously detecting an object to be placed, such as an industrial robot, on which the object detection sensor section 13 is placed. It may be adjusted to The light receiving element 13c receives the reflected light from the object of the detection light projected by the light projecting element 13a.

As the light projecting element 13a, for example, a near-infrared LED (Light Emitting Diode) or the like can be used. As the light receiving element 13c, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, etc. can be used. Note that when using a photodiode, an amplifier circuit or a filter circuit may be arranged together with the light receiving element 13c.

The sensor communication circuit 13d is connected to the sensor control communication circuit 17g of the control section 17, so that the object detection sensor section 13 and the control section 17 can communicate with each other. Note that the sensor communication circuit 13d of each object detection sensor section 13 is connected directly, that is, in parallel, to the control section 17.

Returning to FIG. 1, the sensor placement flexible member 15 is a flexible member that can be placed along the surface of the object to which it is attached. For example, a thin rubber plate can be used as a material from which the sensor arrangement flexible member 15 can be formed. A plan view of the sensor arrangement flexible member 15 in which the object detection sensor section 13 is arranged is shown in FIG. 3A. The sensor arrangement flexible member 15 has a band shape, that is, an elongated rectangular shape. The sensor arrangement flexible member 15 has a plurality of object detection sensor sections 13 arranged in a straight line along the long axis J15 of the band shape. Note that the object detection sensor sections 13 are arranged on the sensor arrangement flexible member 15 at equal intervals. The object detection sensor section 13 is fixed to the sensor arrangement flexible member 15 using a predetermined fixing means such as a predetermined fixing member, adhesive, or screw.

As shown in FIG. 3B, a strip-shaped detection region R11 is formed on the sensor arrangement flexible member 15 by the detection region R13 formed by each of the object detection sensor sections 13 arranged linearly on the sensor arrangement flexible member 15. Ru. That is, a strip-shaped detection region R13 is formed on the strip-shaped sensor arrangement flexible member 15.

Returning to FIG. 1, the control unit 17 receives sensor detection information from each object detection sensor unit 13 via the connection harness 19. The control unit 17 receives the received sensor detection information and sensor connection information indicating the connection relationship between each object detection sensor unit 13 and/or the arrangement position of the connection relationship between each object detection sensor unit 13 and the control unit 17. Based on this, it is determined whether an object exists around the object detection sensor section 13. The sensor connection information is stored in advance in a storage means such as a predetermined memory.

The hardware configuration of the control unit 17 will be explained using FIG. 4. The control unit 17 includes a CPU 17a, a memory 17b, a sensor control communication circuit 17g, and an operation control communication circuit 17h.

The CPU 17a performs processing based on the operating system (OS), sensor control program, and other applications recorded in the memory 17b. The memory 17b provides a work area for the CPU 17a, and records and holds an operating system (OS), other application programs such as a sensor control program, and various data.

The sensor control communication circuit 17g is connected to the sensor communication circuit 13d (see FIG. 2) of the object detection sensor unit 13 via the connection harness 19 (see FIG. 1), and transmits and receives information between the two. Note that the sensor control communication circuit 17g is connected to each of the object detection sensor units 13 directly, that is, in parallel. The operation control communication circuit 17h is connected to an object whose operation is to be controlled based on detection of the presence of an object by the object detection sensor unit 11, and transmits and receives information between the two.

Returning to FIG. 1, the connection harness 19 directly connects each object detection sensor section 13 and the control section 17. That is, the connection harness 19 is a connection line for connecting each object detection sensor section 13 to the control section 17 in parallel.

Second Usage Example As an example of how the object detection device 10 is used, FIG. 5 shows a state in which it is placed on the outer surface of an industrial robot. The industrial robot RBT is a robot having seven movable axes. The industrial robot RBT has arms AM1 to AM7, movable rotation joints J1 to J13, a base B1, and a hand H1. An object detection sensor unit 11 of the object detection device 10 is arranged on each outer peripheral surface of the arms AM3, AM5, and base B1. The three object detection sensor units 11 arranged on the arms AM3, AM5 and the base B1 are connected to the control section 17. Further, the control unit 17 is connected to a power source (not shown) that operates the movable rotary joints J1 to J13 of the industrial robot RBT. The control unit 17 controls the operation of the arms AM1 to AM7 by controlling the operation of the power source.

Each object detection sensor unit 11 has a sensor arrangement flexible member 15 arranged along the outer periphery of each arm. By deforming the sensor placement flexible member 15, the object detection sensor unit 11 can be easily placed regardless of the shape of the arms AM3, AM5 where it is installed. In this way, since the object detection sensor unit 11 can be easily placed on the outer surface of the equipment to be installed, it is possible to create a safety system that makes an emergency stop of the industrial robot when an object such as a person is detected in the vicinity of the industrial robot. can be easily constructed. In other words, the safety of the equipment to be installed, such as an industrial robot, can be easily established.

Further, since the plurality of object detection sensor sections 13 are integrally arranged on the sensor arrangement flexible member 15, it can be easily handled such as being carried.

In addition, in FIG. 5, the object detection sensor unit 11 can be arranged in any shape by adjusting the length of the sensor arrangement flexible member 15 and the number of object detection sensor sections 13 to be arranged. . Therefore, the object detection sensor unit 11 can be placed on the surface regardless of the shape of the installation location, such as the prismatic arms AM1 to AM7 or the cylindrical base B1. As a result, objects such as people can be easily detected in a necessary range such as the entire periphery of the robot, so that the safety of the installation target device can be easily increased.

Furthermore, even if there is an obstacle between the arms AM1 to AM7 on which the object detection sensor unit 11 is arranged, such as the movable rotary joints J1 to J13, the length of the sensor arrangement flexible member 15 and the object to be arranged By adjusting the number of detection sensor sections 13, it is possible to arrange the object detection sensor unit 11 while avoiding obstacles. In this way, in the object detection device 10, the object detection sensor units 11 can be freely arranged regardless of the shape of the object to be arranged.

Further, in the object detection device 10, since the detection region R11 is formed on the sensor arrangement flexible member 15 (see FIG. 3), it is possible to grasp the region where the detection region R11 is formed along the shape of the sensor arrangement flexible member 15. Therefore, the detection region R11 of the object detection device 10 can be easily formed in a desired region.

In the object detection sensor unit 11 in the object detection device 10 according to the first embodiment described above, the object detection sensor section 13 is arranged on the sensor arrangement flexible member 15. On the other hand, the object detection sensor unit 21 in the object detection device 20 according to the present embodiment has a sensor arrangement member 251 for arranging the object detection sensor section 13 and an intermediate flexible member 253 for connecting the sensor arrangement member 251. Member 25 is used. In addition, in the following, the same reference numerals are given to the same configurations as in the first embodiment, and detailed explanations are omitted.

First Hardware Configuration The hardware configuration of the object detection device 20 will be described using FIG. 6. The object detection device 20 includes an object detection sensor unit 21 , a control section 17 , and a connection harness 19 .

The hardware configuration of the sensor arrangement flexible member 25 will be explained using FIG. 7. The object detection sensor unit 21 includes a plurality of object detection sensor sections 13 and a sensor arrangement flexible member 25. The sensor placement flexible member 25 includes a sensor placement member 251 and an intermediate flexible member 253. The sensor arrangement member 251 has a square disc shape, and the object detection sensor section 13 is arranged thereon. The intermediate flexible member 253 is arranged between the sensor arrangement members 251 and connects the sensor arrangement members 251. The intermediate flexible member 253 has a belt 253a and an expansion/contraction mechanism 253b. The belt 253a is flexible and is made of, for example, a cloth material such as that used in shoulder belts for bags. The expansion/contraction mechanism 253b adjusts the length of the belt 253a between adjacent sensor placement members 251. As the extension mechanism 253b, for example, a length adjustment mechanism such as that used in a shoulder belt of a bag is used.

By forming the sensor placement flexible member 25 using the sensor placement member 251 and the intermediate flexible member 253, the sensor placement flexible member 25 has flexibility as a whole, and can be moved along the surface of the object to which the sensor placement flexible member 25 is attached. can be placed. Further, by using the length-adjustable extension/contraction mechanism 253b, the length between adjacent sensor arrangement members 251 can be adjusted, so the object detection sensor section 13 can be arranged at a desired position. Furthermore, by increasing or decreasing the number of sensor placement members 251 and intermediate flexible members 253, the overall length of the sensor placement flexible member 25 can be adjusted, so that the sensor placement flexible member can be adjusted according to the size and length of the object to be placed. 25 can be easily prepared.

Note that each object detection sensor section 13 is connected to the control section 17 in parallel using a connection harness 19 (see FIG. 6).

In the object detection sensor unit 21 in the object detection device 20 according to the second embodiment, the sensor arrangement member 251 and the intermediate flexible member 253 are used to impart flexibility to the sensor arrangement flexible member 25, so that it can be moved along the surface of the object to be attached. It was intended to be placed in On the other hand, the object detection sensor unit 31 in the object detection device 30 according to this embodiment uses a sensor arrangement flexible member 35 that connects a plurality of unit flexible members 351. In addition, below, the same code|symbol is attached|subjected about the structure similar to Example 1 and Example 2, and detailed description is abbreviate|omitted.

First Hardware Configuration The hardware configuration of the object detection device 30 will be described using FIG. 8. The object detection device 30 includes an object detection sensor unit 31, a control section 17, and a connection harness 19.

The hardware configuration of the object detection sensor unit 31 will be explained using FIG. 9. The object detection sensor unit 31 includes a plurality of object detection sensor sections 13 and a sensor arrangement flexible member 35. The sensor arrangement flexible member 35 has a plurality of unit flexible members 351. The unit flexible member 351 has a rectangular plate shape, and the object detection sensor section 13 is arranged thereon. Moreover, the unit flexible member 351 has a connection mechanism for connecting with another unit flexible member 351 located adjacently. As the connection mechanism, for example, an endless track belt connection mechanism called a crawler, a caterpillar, or the like is used.

By forming the sensor arrangement flexible member 35 using the unit flexible members 351, flexibility is imparted to the sensor arrangement flexible member 35, and the sensor arrangement flexible member 35 can be arranged along the surface of the object. Further, the number of connected unit flexible members 351 can be increased or decreased, and the entire length of the sensor arrangement flexible member 35 can be easily changed. Therefore, it is possible to easily prepare the sensor placement flexible member 35 that matches the size and shape of the object.

Note that each object detection sensor section 13 is connected to the control section 17 in parallel via a connection harness 19 (see FIG. 8).

In the object detection sensor unit 11 in the object detection device 10 according to the first embodiment described above, the object detection sensor section 13 disposed on the sensor arrangement flexible member 15 was connected to the control section 17 in parallel. On the other hand, in the object detection device 40 according to the present embodiment, each object detection sensor section 13 is cascade-connected to an adjacent object detection sensor section 13 using a flexible connection line, and the connection line between the object detection sensor sections 13 is It protects the In addition, in the following, the same reference numerals are given to the same configurations as in the first embodiment, and detailed explanations are omitted.

First Hardware Configuration The hardware configuration of the object detection device 40 will be explained using FIGS. 13 to 15. The object detection sensor unit 41 (described later) of the object detection device 40 is arranged in a linear state in which a sensor arrangement flexible member 45 (described later) is arranged in a straight line (see FIGS. 13 and 14), and at both ends of the sensor arrangement flexible member 45. It has an annular state (see FIG. 15) in which the two are connected. Further, in the linear state, FIG. 13 shows a state in which the inter-sensor connection line protection part 49 is attached, and FIG. 14 shows a state in which the inter-sensor connection line protection part 49 is removed. Note that in FIGS. 13 and 14, only one end side of the object detection sensor unit 41 is shown.

As shown in FIG. 13, the object detection device 40 includes an object detection sensor unit 41, a control section 17, and a connection harness 19. The object detection sensor unit 41 includes a plurality of object detection sensor sections 43, a sensor arrangement flexible member 45, and an inter-sensor connection line protection section 49. Furthermore, as shown in FIG. 14, the object detection sensor unit 41 has a plurality of inter-sensor connection lines 47.

As shown in FIG. 13, the object detection sensor section 43 includes a sensor substrate 431 and a unit placement section 433. The sensor board 431 is a circuit board and includes a light emitting element 13a, a light emitting lens 13b, a light receiving element 13c, and a sensor communication circuit 13d (see FIG. 2 above).

FIG. 16 shows a perspective view of the unit arrangement portion 433 as seen from the top side, and FIG. 17 shows a perspective view as seen from the bottom side. As shown in FIG. 16, the unit placement section 433 has a unit protection housing section 433a and a sensor placement flexible member locking section 433b. The unit protection housing section 433a is a case that houses the sensor board 431 therein. The unit protection housing portion 433a has an internal space 433a1 for sensor board placement, a light projection opening 433a2, a light reception opening 433a3, and an inter-sensor connection line opening 433a4. Note that one of the mutually connected object detection sensor sections 43 located at the end is further provided with a connection harness 19 for connecting to the control section 17 to the unit protection casing section 433a. It has a connection harness opening 433a5 (see FIG. 15).

The sensor board placement internal space 433a1 is a space in which the sensor board 431 is placed. The light projection opening 433a2 is formed corresponding to the arrangement position of the light projection element 13a and the light projection lens 13b (see FIG. 2) on the sensor board 431 arranged in the sensor board arrangement internal space 433a1. The sensor board 431 projects detection light through the light projection opening 433a2. The light-receiving opening 433a3 is formed corresponding to the position of the light-receiving element 13c (see FIG. 2) on the sensor board 431 arranged in the sensor board arrangement internal space 433a1. The sensor board 431 receives reflected light of the projected detection light through the light receiving aperture 433a3. The inter-sensor connection line opening 433a4 is formed corresponding to the position of the sensor communication circuit 13d (see FIG. 2) on the sensor board 431 arranged in the sensor board arrangement internal space 433a1. The sensor substrate 431 is connected to another adjacent sensor substrate 431 by an inter-sensor connection line 47 (described later) via an inter-sensor connection line opening 433a4. Note that by making the upper surface of the unit protection housing section 433a parallel to the light-emitting surface of the light-emitting element 13a and the light-receiving surface of the light-receiving element 13c, detection light is emitted by the light-emitting element 13a and reflected by the light-receiving element 13c. It is possible to prevent the reception of light from interfering with each other.

The sensor arrangement flexible member locking portion 433b is located at the lower part of the unit protection housing portion 433a, that is, the surface opposite to the surface where the light projection opening 433a2 and the light reception opening 433a3 of the unit protection housing portion 433a are formed. It is formed to protrude from the As shown in FIG. 17, the sensor placement flexible member locking portion 433b has a convex shape with an L-shaped cross section. The sensor placement flexible member locking portions 433b are formed as a set of two such that the end portions of each having an L-shaped cross section face each other. The sensor arrangement flexible member locking portion 433b has a flexible member insertion space 433b1 and a flexible member arrangement space 433b2. The flexible member insertion space 433b1 is a space for inserting the sensor arrangement flexible member 45 into the flexible member arrangement space 433b2. The flexible member arrangement space 433b2 is a space for arranging the sensor arrangement flexible member 45. The sensor placement flexible member 45 placed in the flexible member placement space 433b2 is fixed to the unit protection housing portion 433a by the sensor placement flexible member locking portion 433b.

The sensor arrangement flexible member 45 holds the object detection sensor section 43 and the inter-sensor connection line protection section 49 in a straight line, and integrates both. The sensor arrangement flexible member 45 is a flexible belt-like member. As the sensor arrangement flexible member 45, for example, both fasteners are used.

Note that by joining one end 45T1 (see FIG. 13) and the other end 45T2 (not shown) of the sensor placement flexible member 45, the object detection sensor unit 41 can be assembled as shown in FIG. It is formed into a ring shape and is fixed by being wrapped around an object to be attached, for example, an arm of an industrial robot. The length of the flexible sensor placement member 45, the number of object detection sensor units 43 attached to the flexible sensor placement member 45, and the interval (pitch) between adjacent object detection sensor units 43 may be determined depending on conditions such as the size of the object to be attached and the detection range. adjust.

As shown in FIG. 14, the inter-sensor connection line 47 is an electrical connection line for connecting adjacent sensor boards 431 in cascade. The inter-sensor connection line 47 has flexibility and absorbs the positional deviation of the object detection sensor section 43. The inter-sensor connection line 47 is arranged along the sensor arrangement flexible member 45. In FIG. 14, the inter-sensor connection line 47 is shown as a straight line, but it has a certain degree of margin or a certain degree of redundancy due to a bellows shape or the like.

FIG. 18 shows a perspective view of the sensor-to-sensor connection line protector 49 as seen from the top side, and FIG. 19 shows a perspective view as seen from the bottom side. As shown in FIG. 18, the inter-sensor connection wire protection section 49 has an inter-sensor connection wire covering section 49a and a sensor arrangement flexible member locking section 49b. The inter-sensor connection line covering portion 49a is formed so as to cover the inter-sensor connection line 47 connecting between the sensor boards 431, that is, on the upper part of the inter-sensor connection line 47. The sensor placement flexible member locking portion 49b is formed to protrude from the lower part of the inter-sensor connection wire covering portion 49a. The sensor placement flexible member locking portion 49b has a convex shape with an L-shaped cross section. The sensor placement flexible member locking portions 49b are formed in pairs such that the end portions of the respective L-shaped cross sections are opposed to each other.

The inter-sensor connection line protection section 49 has a flexible member insertion space 49b1 and an inter-sensor connection line/flexible member arrangement space 49b2. The flexible member insertion space 49b1 is a space for inserting the inter-sensor connection line 47 and the sensor arrangement flexible member 45 into the inter-sensor connection line/flexible member arrangement space 49b2. The inter-sensor connection line/flexible member arrangement space 49b2 is a space for arranging the inter-sensor connection line 47 and the sensor arrangement flexible member 45. The inter-sensor connecting line 47 arranged in the inter-sensor connecting line/flexible member arrangement space 49b2 is protected by the inter-sensor connecting line covering part 49a. This can prevent the inter-sensor connection line 47 from being damaged by external force. The sensor arrangement flexible member 45 arranged in the inter-sensor connection line/flexible member arrangement space 49b2 is fixed to the inter-sensor connection line protection part 49 by the sensor arrangement flexible member locking part 49b.

Furthermore, since the inter-sensor connection line protection section 49 is formed corresponding to each inter-sensor connection line 47 that connects the sensor substrates 431, the flexibility of the sensor arrangement flexible member 45 is not impaired.

In the object detection device 40 according to the fourth embodiment described above, the inter-sensor connection line protection section 49 is formed for each inter-sensor connection line 47 that connects between the sensor boards 431. In this case, a plurality of inter-sensor connection wires 47 are covered as one body. In addition, in the following, the same reference numerals are given to the same components as in the fourth embodiment, and detailed explanations are omitted.

First Hardware Configuration The hardware configuration of the object detection device 50 will be described using FIG. 20. The object detection device 50 includes an object detection sensor unit 51, a control section 17, and a connection harness 19.

The object detection sensor unit 51 includes a plurality of object detection sensor sections 43, a sensor arrangement flexible member 45 (see FIG. 22), an inter-sensor connection line 47 (see FIG. 22), and an inter-sensor connection line protection section 59. There is. The inter-sensor connection line protection part 59 has a hollow cylindrical shape. The inter-sensor connection line protection section 59 has a first housing 591, a second housing 592, and a hinge section 593. The first housing 591 and the second housing 592 are rotated about the hinge portion 593 in the direction of arrow R21 and the direction of arrow R22, respectively, so that the object detection sensor portion 43, etc. Place.

The first housing 591 and the second housing 592 each have a hollow semi-cylindrical shape obtained by dividing a hollow cylindrical shape along the axis. The first housing 591 and the second housing 592 are configured to engage with each other at ends different from the hinge portion 593 and become integral.

FIG. 21 shows a state in which one end 591d of the first casing 591 and one end 592d of the second casing 592 are removed. The first casing 591 faces an inter-sensor connection wire covering portion 591a, an end portion 591b along the end surface of the hollow cylinder, an inner peripheral portion 591c along the inner peripheral surface of the hollow cylinder, and an end portion 591b. It has an end portion 591d located at the same position. Note that the end portion 591b and the inner peripheral portion 591c are integrally formed. Further, the first housing 591 is formed by fitting the inter-sensor connecting wire covering portion 591a and the end portion 591d to the end portion 591b and the inner circumferential portion 591c that are integrally formed. The same applies to the second housing 592.

FIG. 22 shows a state in which the inter-sensor connecting wire covering portion 591a and the inter-sensor connecting wire covering portion 592a are removed from the first casing 591 and the second casing 592 shown in FIG. 21, respectively. As is clear from FIGS. 21 and 22, the inter-sensor connection line covering parts 591a and 592a are formed at positions that cover the inter-sensor connection line 47 connecting between the sensor boards 431 (see FIG. 13). .

Further, FIG. 23 shows a state in which the object detection sensor section 43, the sensor arrangement flexible member 45, and the inter-sensor connection wire 47 are removed from the inter-sensor connection wire protection section 59 shown in FIG. 21. The inter-sensor connection wire covering portion 591a has an annular structure divided into two parts. The inter-sensor connection line covering portion 591a has a sensor placement opening 591a1 in which the object detection sensor portion 43 is placed. A portion of the inter-sensor connection line covering portion 591a in which the sensor arrangement opening 591a1 is not formed corresponds to a position covering the inter-sensor connection line 47, and has a function of protecting the inter-sensor connection line 47.

Note that the object detection sensor section 43 is arranged in an internal space formed by the inter-sensor connection line covering section 591a and the inner peripheral section 591c. Further, by the engagement between the sensor arrangement opening 591a1 and the object detection sensor section 43, the position of the object detection sensor section 43 with respect to the inter-sensor connection wire covering section 591a is fixed. The above also applies to the second casing.

In this manner, by using the hollow cylindrical sensor-to-sensor connection line protection section 59, it is possible to prevent external force from acting on the inter-sensor connection line 47. In other words, damage to the inter-sensor connection wire 47 can be prevented. Moreover, since the inter-sensor connection wire protection section 59 can fix the shape of the object detection sensor unit 51 before attaching it to the attachment target, it can be easily attached to the attachment target.

As shown in FIG. 24, in the inter-sensor connection line protection section 59, the distance L1 from the light emitting element 13a and the light receiving element 13c to the outer peripheral surface of the inter-sensor connection line covering section 591a is set in advance in the object detection sensor section 43. The set detection region R13, the preset light receiving range R14 in the object detection sensor section 43, etc. are set to distances that do not impede the measurement performance of the sensor. Generally, the distance L1 from the light emitting element 13a and the light receiving element 13c to the outer circumferential surface of the inter-sensor connection line covering part 591a is short, and for example, if the thickness of the inter-sensor connection line protection part 59 is made thin, good. The same applies to the second housing 592.

In the object detection device 50 according to the fifth embodiment described above, the object detection sensor section 43 having the unit arrangement section 433 is arranged within the inter-sensor connection line protection section 59. On the other hand, in the object detection device 60 according to this embodiment, the object detection sensor section 63 without the unit arrangement section 433 is arranged within the inter-sensor connection line protection section 69. In addition, below, the same code|symbol is attached|subjected about the structure similar to Example 1 - Example 5, and detailed description is abbreviate|omitted.

First Hardware Configuration The hardware configuration of the object detection device 60 will be described using FIG. 25. The object detection device 60 includes an object detection sensor unit 61, a control section 17, and a connection harness 19.

The object detection sensor unit 61 includes a plurality of object detection sensor sections 63, an inter-sensor connection line 67 (see FIG. 27), and an inter-sensor connection line protection section 69. The inter-sensor connection line protection part 69 has a hollow cylindrical shape. The inter-sensor connection line protection section 69 has a first housing 691, a second housing 692, and a hinge section 593. The first housing 691 and the second housing 692 rotate in the direction of arrow R31 and the direction of arrow R32, respectively, around a hinge part 593, and have an object detection sensor part 63 in a hollow cylindrical internal space, and a flexible sensor arrangement. A space for inserting the member 65 is formed.

The first housing 691 and the second housing 692 each have a hollow cylindrical shape divided along the axis. The first housing 691 and the second housing 692 are configured to engage with each other at ends different from the hinge portion 593 and become integral.

FIG. 26 shows the sensor-to-sensor connection wire protector 69 with one end 691d of the first casing 691 and one end 692d of the second casing 692 removed. The first casing 691 faces an inter-sensor connection wire covering portion 691a, an end portion 691b along the end surface of the hollow cylinder, an inner peripheral portion 691c along the inner peripheral surface of the hollow cylinder, and an end portion 691b. It has an end portion 691d (not shown in FIG. 26, see FIG. 25) that is located at the same position. Note that the end portion 691b and the inner peripheral portion 691c are integrally formed. Further, the first housing 691 is formed by fitting the inter-sensor connection wire covering portion 691a and the end portion 691d to the end portion 691b and the inner circumferential portion 691c that are integrally formed.

The inter-sensor connection line covering portion 691a is provided with a light emitting opening 691a1 so as not to impede the emitting of the detection light at the light emitting element 13a of the object detection sensor section 63, and so as not to impede the reception of reflected light at the light receiving element 13c. It has a light receiving opening 691a2.

The object detection sensor section 63 is arranged in an internal space formed by the inter-sensor connection wire covering section 691a and the inner peripheral section 691c.

FIG. 27 shows a state in which the inter-sensor connection line covering portion 691a is removed from the first casing 691 shown in FIG. 26. As shown in FIG. 27, the object detection sensor section 63 is a circuit board, and includes a sensor board 631, a light emitting element 13a, a light emitting lens 13b (not shown, see FIG. 2), a light receiving element 13c, and a sensor for the sensor. It has a communication circuit 13d.

Further, adjacent sensor boards 631 are connected by an inter-sensor connection line 67. Note that the inter-sensor connection line 67 is connected to the sensor communication circuit 13d of the object detection sensor section 63, has a function of electrically connecting adjacent object detection sensor sections 63, and has flexibility, and is suitable for the object to which it is attached. It also has the function of physically connecting adjacent sensor substrates 631 to each other.

As is clear from FIGS. 25 and 27, the inter-sensor connection wire covering portion 691a is formed at a position that covers the object detection sensor portion 63 (see FIG. 27), and also covers the inter-sensor connection wire 67. It is also formed in position. A portion of the inter-sensor connection wire covering portion 691a other than the position covering the object detection sensor portion 63 has a function of protecting the inter-sensor connection wire 67. By making the surface of the inter-sensor connection line covering section 691a that covers the object detection sensor section 63 (see FIG. 27) parallel to the light-emitting surface of the light-emitting element 13a and the light-receiving surface of the light-receiving element 13c, The projection of the detection light and the reception of the reflected light at the light receiving element 13c can be prevented from being obstructed. The above also applies to the second casing.

In this manner, by using the hollow cylindrical sensor-to-sensor connection line protection section 69, it is possible to prevent external forces from acting on the inter-sensor connection line 67. In other words, damage to the inter-sensor connection wire 67 can be prevented. In addition, in the inter-sensor connection wire protection section 69, the shape of the object detection sensor section 63 can be fixed to an annular shape before the object detection sensor section 63 is attached to the attachment target (for example, an industrial robot). Easy to install.

The object detection device according to the present invention will be explained using an example of the object detection device X10 shown in FIG. 28, which is an embodiment. The object detection device X10 detects whether or not an object exists in a predetermined detection area, and performs a predetermined operation based on the object detection result.

First Configuration The configuration of the object detection device X10 will be described using FIG. 28. The object detection device 10 includes an object detection sensor unit X11 and a control section X19. In the object detection device X10, two object detection sensor units X11 are arranged as a pair to face each other. An object is detected by determining whether or not the other object detection sensor unit X11 receives the detection light projected from one object detection sensor unit X11.

FIG. 29 shows the appearance of the object detection sensor unit 11. The object detection sensor unit X11 includes a housing section X13, an axial light projecting section X15 (described later), and an axial light receiving section X17 (described later). An axial light projecting section X15 and an axial light receiving section X17 are arranged inside the housing section X13. The housing portion X13 has a thin hollow cylindrical shape.

The housing section X13 includes a first housing section 131, a second housing section 132, and a hinge section 133. The first housing section 131 and the second housing section 132 rotate about the hinge section 133 in the arrow A21 direction and the arrow A22 direction, respectively.

The first casing part 131 and the second casing part 132 each have a hollow semi-cylindrical shape obtained by dividing a hollow cylindrical shape into two. The first housing part 131 and the second housing part 132 are configured to engage with each other at ends different from the hinge part 133 and become integral.

The first housing portion 131 has an outer circumferential portion 131a, an end portion 131b forming an aperture for emitting and receiving light, an end portion 131c located opposite to the aperture forming end portion 131b for emitting and receiving light, and an inner circumferential portion 131d. . Note that the light emitting/receiving aperture forming end 131b, the end 131c, and the inner peripheral part 131d are formed integrally. Further, the first housing portion 131 is formed by fitting the outer peripheral portion 131a into the light emitting/receiving aperture forming end portion 131b, the end portion 131c, and the inner peripheral portion 131d that are integrally formed. .

The outer peripheral portion 131a is formed in a thin cylindrical shape corresponding to the outer peripheral surface of the hollow cylinder.

The light emitting/receiving opening forming end 131b is formed as an annular lid that closes one end surface of a hollow cylindrical shape. When the object detection sensor unit X11 is installed on the installation object, for example, the arm of an industrial robot, the light emitting/receiving aperture forming end 131b is arranged in a direction that intersects with the normal direction of the surface of the installation object. It has an end surface P131b with the normal direction N13. The light emitting/receiving aperture forming end 131b has a plurality of light emitting/receiving apertures R131a. The light emitting/receiving openings R131a are formed at predetermined intervals.

The end portion 131c is formed as an annular lid that closes the other end surface of the hollow cylindrical shape. The end portion 131c is formed to face the light emitting/receiving opening forming end portion 131b via the outer peripheral portion 131a and the inner peripheral portion 131d.

The inner peripheral portion 131d is formed into a thin cylindrical shape corresponding to the inner peripheral surface of the hollow cylinder.

The above also applies to the second housing section 132.

By using the housing section X13, the object detection sensor unit X11 can be easily attached to an attachment target, for example, an arm of an industrial robot.

FIG. 30 shows the internal structure of the object detection sensor unit X11. FIG. 30 shows a state in which the outer peripheral parts 131a and 132a of the housing part X13 are removed from the object detection sensor unit X11 shown in FIG. 29. The axial light projector X15 projects predetermined detection light, for example, near-infrared light. The axial light projecting section X15 projects near-infrared light using, for example, a near-infrared LED (Light Emitting Diode). Note that the axial light projecting section X15 projects detection light into a predetermined range using a predetermined light projecting lens or the like.

The axial light receiving section X17 receives the detection light projected from the axial light projecting section X15. The axial light receiving section X17 receives the detection light using, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, or the like. Note that when using a photodiode, an amplifier circuit or a filter circuit may be arranged.

The axial light projector X15 and the axial light receiver X17 are each arranged on a predetermined substrate S. The substrate S at the end of a predetermined sensor communication line W is connected to the control section X19 via a control section connection line connector C using a control section connection line (not shown).

The axial light projecting section X15 and the axial light receiving section X17 are alternately arranged inside the housing section X13. In addition, the axial light projecting section It is arranged in accordance with the position of R132a. That is, the axial light projecting section X15 projects the detection light along the normal direction N13 of the end surface P131b, that is, along the axial direction of the housing section X13. Note that the axial light projecting section X15 acquires light projection control information indicating the light projection timing from the control section X19, and projects detection light as appropriate.

The axial light receiving section X17 is arranged to match the positions of the light emitting and receiving openings R131a and R132a so that the emitted detection light can be received through the light emitting and receiving apertures R131a and R132a of the housing section X13. That is, the axial light receiving section X17 receives the detection light projected along the axial direction of the housing section X13. The axial light receiving section X17 transmits information indicating whether or not the detection light has been received to the control section X19 as detection information. Further, the axial light receiving section X17 acquires light reception control information indicating the timing of receiving the detection light, and receives the detection light as appropriate.

Thereby, as shown in FIG. 28, the two object detection sensor units X11 are arranged to face each other, and the detection light emitted by the axial light projecting section By arranging the sensor unit X11 so that the axial light receiving section X17 receives light, objects can be detected in the region along the axial direction from one object detection sensor unit X11 to the other object detection sensor unit X11. . For example, by installing the object detection sensor unit X11 on the arm of an industrial robot, objects can be detected in a region along the arm. In other words, objects in areas closer to the arm can be detected.

Returning to FIG. 28, the control unit X19 receives detection information from the object detection sensor unit X11. The control unit X19 determines whether an object exists in the detection area based on the received detection information. Further, the control section X19 transmits light projection control information to the axial light projecting section X15 and light reception control information to the axial light receiving section X17.

The control unit X19 determines that some object is present when the axial light receiving unit X17 is no longer able to receive the detection light, that is, when the detection light projected from the axial light projecting unit X15 is blocked.

The hardware configuration of the control unit X19 will be explained using FIG. 31. The control unit 19 includes a CPU 19a, a memory 19b, a sensor control communication circuit 19g, and an operation control communication circuit 19h.

The CPU 19a performs processing based on the operating system (OS), object detection program, and other applications recorded in the memory 19b. The memory 19b provides a work area for the CPU 19a, and records and holds an operating system (OS), other application programs such as an object detection program, and various data.

The sensor control communication circuit 19g is connected to the axial light projector X15 and the axial light receiver X17 of the object detection sensor unit X11, and transmits and receives information between them. The operation control communication circuit 19h is connected to an object whose operation is to be controlled based on detection of the presence of an object by the object detection sensor unit X11, and transmits and receives information between the two.

Second Usage Example As an example of how the object detection device X10 is used, FIG. 32 shows a state in which it is placed on the outer surface of an industrial robot. The industrial robot RBT is a robot having three movable axes. Industrial robot RBT has arms AM11 to AM15. A pair of object detection sensor units X11 of an object detection device X10 (see FIG. 28) are attached along the outer peripheral surface of each arm AM1, AM3. Note that the detection light emitted by the axial light emitting section X15 of one object detection sensor unit X11 is received by the axial light receiving section X17 of the other object detection sensor unit X11. The mounting position of X11 has been adjusted. A pair of object detection sensor units X11 are connected to a control section X19 (see FIG. 28). Further, the control unit X19 is connected to a power source (not shown) that operates the arms AM11 to AM15 of the industrial robot RBT. Note that when installing the pair of object detection devices X11, by aligning the hinge portions 133, the respective axial light projecting portions X15 and axial light receiving portions X17 can be aligned.

In this way, the object detection sensor unit . In other words, the safety of the installation target, for example, an industrial robot, can be easily established.

Furthermore, since the plurality of axial light projecting sections X15 and axial light receiving sections X17 can be attached as one unit, it can be easily handled, such as being carried.

Furthermore, even if there is an obstacle between the arms AM1 to AM3, etc. to which the object detection sensor units X11 are attached, the obstacle can be avoided by adjusting the number of object detection sensor units X11 to be attached. In this way, the object detection sensor unit X11 can be freely attached to the object detection device X10 regardless of the shape of the object to be attached.

In the object detection device X10 according to the seventh embodiment described above, the pair of object detection sensor units X11 are arranged facing each other at a predetermined interval, and the detection light emitted by one object detection sensor unit X11 is transmitted to the other object. The object was detected depending on whether or not the detection sensor unit X11 received light. On the other hand, the object detection device X20 according to this embodiment detects an object depending on whether or not it receives the detection light projected by the object detection sensor unit X21. Note that, hereinafter, the same configurations as those in Example 7 will be denoted by the same reference numerals, and detailed explanations will be omitted.

First Configuration The configuration of the object detection device X20 will be described using FIG. 33. The object detection device X20 includes an object detection sensor unit X21, a control section X19, and a reflection section X200. The object detection sensor unit X21 detects an object by reflecting the detection light emitted by itself at the reflection section X200 and determining whether or not to receive the detection light reflected at the reflection section X200.

FIG. 34 shows the appearance of the object detection sensor unit X21. The object detection sensor unit X21 includes a housing section X23, an axial light projecting section X15 (see FIG. 35), and an axial light receiving section X17 (see FIG. 35). An axial light projecting section X15 and an axial light receiving section X17 are arranged inside the housing section X23. The housing portion X23 has a thin hollow cylindrical shape.

The housing section X23 includes a first housing section 231, a second housing section 232, and a hinge section 133. The first housing section 231 and the second housing section 232 rotate about the hinge section 133 in the arrow A71 direction and the arrow A72 direction, respectively.

The first casing section 231 and the second casing section 232 each have a hollow semi-cylindrical shape obtained by dividing a hollow cylindrical shape into two. The first housing part 231 and the second housing part 232 are configured to engage with each other at ends different from the hinge part 133 and become integral.

The first housing portion 231 has an outer peripheral portion 131a, an end portion 231b forming an aperture for transmitting and receiving light, an end portion 131c, and an inner peripheral portion 131d. Note that the light emitting/receiving aperture forming end 231b, the end 131c, and the inner peripheral part 131d are integrally formed. In addition, the first housing portion 231 is formed by fitting the outer peripheral portion 131a into the light emitting/receiving aperture forming end 231b, the end portion 131c, and the inner peripheral portion 131d, which are formed integrally. .

The light emitting/receiving opening forming end 231b is formed as an annular lid that closes one end surface of a hollow cylindrical shape. When the object detection sensor unit X21 is attached to an installation object, for example, an arm of an industrial robot, the light emitting/receiving aperture forming end 231b is configured such that when the object detection sensor unit X21 is attached to an installation object, for example, an arm of an industrial robot, It has an end surface P231b that extends in the linear direction N13.

The light emitting/receiving aperture forming end 231b has a plurality of light emitting apertures R231a and a plurality of light receiving apertures R231b. One light projecting aperture R231a and one light receiving aperture R231b are formed as a pair and adjacent to each other. The pair of light projecting aperture R231a and light receiving aperture R231b are formed at a predetermined interval. The above also applies to the second housing section 232.

By using the housing section X23, the object detection sensor unit X21 can be easily attached to an attachment target, for example, an arm of an industrial robot.

FIG. 35 shows the internal structure of the object detection sensor unit X21. FIG. 35 shows the object detection sensor unit X21 shown in FIG. 34 with the outer peripheral portions 131a and 232 (not shown) a of the housing section X23 removed. The axial light projector X15 projects predetermined detection light, for example, near-infrared light. The axial light projecting section X15 projects near-infrared light using, for example, a near-infrared LED (Light Emitting Diode). Note that the axial light projecting section X15 projects detection light into a predetermined range using a predetermined light projecting lens or the like.

The axial light receiving section X17 receives the detection light projected from the axial light projecting section X15. The axial light receiving section X17 receives the detection light using, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, or the like. Note that when using a photodiode, an amplifier circuit or a filter circuit may be arranged.

The axial light projecting section X15 and the axial light receiving section X17 are alternately arranged inside the housing section X13. In addition, the axial light projecting section It is arranged in accordance with the position of R232a. That is, the axial light projecting section X15 projects the detection light along the axial direction of the housing section X23. Note that the axial light projecting section X15 acquires light projection control information indicating the light projection timing from the control section X19, and projects detection light as appropriate.

The axial light receiving section X17 is arranged to match the positions of the light receiving openings R231b and R232b so that the reflected light of the projected detection light can be received through the light receiving openings R231b and R232b of the housing section 23. . In other words, the axial light receiving section X17 emits light from the pair of axial light projecting sections X15 along the axial direction of the casing section Receives the reflected detection light. The axial light receiving section X17 transmits information indicating whether or not the detection light has been received to the control section X19 as detection information. Further, the axial light receiving section X17 acquires light reception control information indicating the light reception timing at which the detection light projected by the paired axial light projecting section X15 can be received, and receives the detection light as appropriate.

Returning to FIG. 33, the control unit X19 receives detection information from the object detection sensor unit X21. The control unit X19 determines whether an object exists in the detection area based on the received detection information. Further, the control section X19 sequentially transmits light projection control information for starting light projection to each axial light projection section X15. Further, the control unit X19 transmits light reception control information for starting light reception to the axial light receiving unit X17 that is paired with the axial light projecting unit X15 that has transmitted the light projecting control information, The reflected light of the detection light emitted by the X15 is transmitted so that it can be received.

The control unit X19 determines that some object is present when the axial light receiving unit X17 does not receive the detection light, that is, does not receive the reflected light of the detection light projected from the axial light projecting unit X15. to decide.

The reflecting section X200 has the same configuration as the housing section X23 of the object detection sensor unit X21. However, the reflecting section X200 does not have the light emitting apertures R231a, R232a and the light receiving apertures R231b, R232b at the light emitting/receiving aperture forming ends 231b, 232b, and has the same configuration as the end portions 131c, 132c. There is. Further, the reflecting section X200 does not have internal circuits such as the axial light projecting section X15 and the axial light receiving section X17.

As shown in FIG. 33, the object detection sensor unit X21 and the reflection section X200 reflect the detection light projected by the axial light projection section X15 of the object detection sensor unit X21, and the reflected detection light are mounted to face each other so that the axial light-receiving section X17 of the object detection sensor unit X21 receives the light. Can be detected. For example, by installing the object detection sensor unit X21 on the arm of an industrial robot, objects can be detected in a region along the arm. In other words, objects in areas closer to the arm can be detected.

Second Usage Example As an example of how the object detection device X20 is used, FIG. 36 shows a state in which it is placed on the outer surface of an industrial robot RBT. An object detection sensor unit X21 and a reflection section X200 of an object detection device X20 (see FIG. 28) are attached along the outer circumferential surface of each of arms AM11 and AM13. The respective mounting positions are adjusted so that the detection light projected by the axial light projecting section 15 of the object detection sensor unit X21 is reflected by the reflecting section X200. The object detection sensor unit X21 is connected to the control section X19 (see FIG. 33). Further, the control unit X19 is connected to a power source (not shown) that operates the arms AM11 to AM15 of the industrial robot RBT.

In this way, since the object detection sensor unit X21 can be easily attached to the surface of the installation target, it is possible to easily construct a safety system that makes an emergency stop of the industrial robot when an object such as a person is detected near the industrial robot. In other words, the safety of the installation target, for example, an industrial robot, can be easily established.

Furthermore, since the plurality of axial light projecting sections X15 and axial light receiving sections X17 can be attached as one unit, it can be easily handled, such as being carried.

Furthermore, even if there is an obstacle between the arms AM1 to AM3, etc. to which the object detection sensor unit X21 is attached, the obstacle can be avoided by adjusting the number of the object detection sensor units X21 and the reflecting portions X200 to be attached. In this way, the object detection sensor unit X21 can be freely attached to the object detection device X20 regardless of the shape of the object to be attached.

Furthermore, in the object detection sensor unit Since adjustment is required, the object detection sensor unit X21 can be more easily attached to the installation target.

The object detection device X20 according to the eighth embodiment described above detects objects along the axial direction of the object detection sensor unit X21. On the other hand, the object detection device X30 according to this embodiment not only detects objects along the axial direction, but also detects objects in the radial direction from the axis. In addition, in the following, the same reference numerals are attached to the same configurations as those in Example 7 and Example 8, and detailed description thereof will be omitted.

First Configuration The configuration of the object detection device X30 is the same as that in Example 8 (see FIG. 33). The object detection device X30 includes an object detection sensor unit X31 that replaces the object detection sensor unit X21, a control section X19, and a reflection section X200. In the axial direction, the object detection sensor unit X31 detects an object by reflecting the detection light emitted by itself at the reflection section X200 and determining whether or not to receive the detection light reflected at the reflection section X200. At the same time, in the radial direction with respect to the axis, the object is detected by determining whether or not the detection light emitted by the object is received.

FIG. 37 shows the external appearance of the object detection sensor unit X31. The object detection sensor unit X31 includes a housing part X33, an axial light projecting part X15 (see FIG. 38), an axial light receiving part X17 (see FIG. 38), a radial light projecting part X35 (see FIG. 38), and a radiation It has a direction light receiving section X37 (see FIG. 38). Inside the housing section X33, an axial light projector X15, an axial light receiver X17, a radial light projector X35, and a radial light receiver X37 are arranged. The housing portion X33 has a thin hollow cylindrical shape.

The housing section X33 includes a first housing section 331, a second housing section 332, and a hinge section 133. The first housing part 331 and the second housing part 332 rotate in the arrow A101 direction and the arrow A102 direction, respectively, about the hinge part 133.

The first casing section 331 and the second casing section 332 each have a hollow semi-cylindrical shape obtained by dividing a hollow cylindrical shape into two. The first housing part 331 and the second housing part 332 are configured to engage with each other at ends different from the hinge part 133 and become integral.

The first housing portion 331 has an outer circumferential portion 331a, a light emitting/receiving opening forming end 231b, an end portion 131c, and an inner circumferential portion 131d. The first housing part 331 is formed by fitting the outer peripheral part 331a into the light emitting/receiving opening forming end 231b, the end 131c, and the inner peripheral part 131d, which are integrally formed.

The outer peripheral portion 331a is formed in a thin cylindrical shape corresponding to the outer peripheral surface of the hollow cylinder. The outer peripheral portion 331a has a plurality of radial light projecting openings R331a and a plurality of radial light receiving openings R331b. One radial light projecting aperture R331a and one radial light receiving aperture R331b are formed as a pair and adjacent to each other. A pair of apertures R331a for radial light projection and R331b for radial light reception are formed at a predetermined interval. The above also applies to the second housing section 332.

FIG. 38 shows the internal structure of the object detection sensor unit X31. FIG. 38 shows the object detection sensor unit X31 shown in FIG. 37 with the outer peripheral parts 331a and 332a (not shown) of the housing part X33 removed. The radial light projector X35, like the axial light projector X15, projects predetermined detection light, for example, near-infrared light. The axial light projecting section X15 projects near-infrared light using, for example, a near-infrared LED (Light Emitting Diode). Note that the radial light projecting section X35 projects detection light into a predetermined range using a predetermined light projecting lens or the like.

The radial light receiving section X37, like the radial light receiving section X17, receives the reflected light of the detection light projected from the radial light projecting section X35. The radiation direction light receiving section X37 receives the detection light using, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, or the like. Note that when using a photodiode, an amplifier circuit or a filter circuit may be arranged.

A pair of radial light projecting section X35 and radial light receiving section X37 are arranged inside the housing section X33 at a predetermined interval. Further, the radial light projecting section X35 is configured so that the detected light to be projected can be projected outward from the radial light projecting openings R331a and R332a of the casing section X33 in the radial direction relative to the axis of the casing section X33. , are arranged in accordance with the positions of the radial light projection openings R331a and R332a. That is, the radial light projecting section X35 projects the detection light in the radial direction with respect to the axis of the housing section X33. Note that the radial light projecting section X35 acquires light projection control information indicating the light projection timing from the control section X19, and projects detection light as appropriate.

The radial direction light receiving section X37 has a radial direction light receiving opening so that the reflected light of the detection light projected from the radial direction light projecting section X35 can be received through the radial direction light receiving openings R331b and R332b of the housing section X33. It is arranged in accordance with the position of R331b and R332b. In other words, the radial light receiving section X37 emits light from the paired radial light projecting section X35 in the radial direction relative to the axis of the housing section X33, and is reflected by an object along the radial direction relative to the axis of the housing section X33. The sensor receives the detected light. The radial direction light receiving section X37 transmits information indicating whether or not the detection light has been received to the control section X19 as detection information. Further, the radial light receiving section X37 acquires light reception control information indicating the light reception timing at which the detection light projected by the paired radial light projecting section X35 can be received, and receives the detection light as appropriate.

Note that the control unit X19 of the object detection device X30 receives detection information from the object detection sensor unit X31. Based on the received detection information, the control unit X19 determines whether an object exists in the detection area along the axial direction of the object detection sensor unit X31, and whether or not an object exists in the detection area in the radial direction with respect to the axis of the object detection sensor unit Determine whether it exists or not. Further, the control unit X19 sequentially transmits light projection control information for starting light projection to each of the axial light projecting units X15 and the radial light projecting unit X35. Further, the control unit X19 transmits light reception control information for starting light reception to the axial light receiving unit X17 that is paired with the axial light projecting unit X15 that has transmitted the light projecting control information, The reflected light of the detection light emitted by the X15 is transmitted so that it can be received.

When the axial light receiving section X17 does not receive the detection light, that is, does not receive the reflected light of the detection light projected from the axial light projecting section X15, the control section Decide that some object exists. In addition, when the radial direction light receiving section X37 receives the detection light, that is, when the radial direction light receiving section X37 receives the reflected light of the detection light projected from the radial direction light projecting section Then judge.

The object detection device according to the present invention will be explained using an object detection device 100 shown in FIG. 44 as an example. FIG. 44 shows a state in which the object detection device 100 is installed with an industrial robot RBT as an installation target. The object detection device 100 is installed at a predetermined installation target and detects whether or not an object exists in the surrounding area without erroneously detecting a detection target that does not need to be detected, such as the installation target. .

First Hardware Configuration The hardware configuration of the object detection device 100 will be described using FIG. 44. The object detection device 100 includes an object detection sensor unit 110, a control section 170, and a connection harness 190. The object detection sensor unit 110 is attached to the arm of the industrial robot RBT. Object detection sensor unit 110 is connected to control section 170 via a connection harness.

The control unit 170 controls the operation of the object detection sensor unit 110, and also controls the operation of the industrial robot RBT, which is the installation target, based on the detection information acquired from the object detection sensor unit 110.

1. Object detection sensor unit 110
The configuration of the object detection sensor unit 110 will be explained using FIGS. 45 to 49. FIG. 45 shows an external perspective view of the object detection sensor unit 110. FIG. 46 shows a state in which a part of the object detection sensor unit 110 shown in FIG. 45 is removed. FIG. 47 shows the object detection sensor unit 110 shown in FIG. 46 with components disposed in the internal space of the casing 119 (described later) removed.

As shown in FIGS. 45 and 46, the object detection sensor unit 110 includes one first object detection sensor section 111, a plurality of second object detection sensor sections 113, an inter-sensor connection line 117, and a housing section 119. have. The first object detection sensor section 111 and the second object detection sensor section 113 are cascade-connected by an inter-sensor connection line 117 and are arranged inside the housing section 119.

(1) First object detection sensor section 111
The configuration of the first object detection sensor section 111 will be explained using FIG. 48. The object detection sensor section 111 includes a light emitting element 111a, a light emitting lens 111b, a light receiving element 111c, a sensor communication interface 111d, a sensor control section 111e, a control section communication interface 111f, and an acceleration sensor 111g.

The light projecting element 111a projects a predetermined detection light, for example, near-infrared light. The light projection lens 111b diffuses the detection light projected by the light projection element 111a into a predetermined range (detection region R111). Note that the shape and characteristics of the light emitting lens 111b may be appropriately selected to avoid false detection of an object to be placed, such as an industrial robot, on which the object detection sensor unit 110 is placed. It may be adjusted to As the light projecting element 111a, for example, a near-infrared LED (Light Emitting Diode) or the like can be used.

The light-receiving element 111c receives the detection light emitted by the light-emitting element 111a that is reflected by an object. As the light receiving element 111c, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, etc. can be used. Note that when using a photodiode, an amplifier circuit or a filter circuit may be arranged together with the light receiving element 111c.

The sensor communication interface 111d is connected to the sensor communication interface 113d of the adjacent second object detection sensor section 113, so that the first object detection sensor section 111 and the second object detection sensor section 113 can communicate.

The sensor control unit 111e acquires sensor control information from the control unit 170, controls object detection by the light projecting element 111a and the light receiving element 111c, and transmits the object detection information to the control unit 170. Further, the sensor control unit 111e transmits movement information acquired from the acceleration sensor unit 111g to the control unit.

The control unit communication interface 111f is connected to the sensor control communication circuit 170g (see FIG. 50) of the control unit 170, so that the control unit 170 and the first object detection sensor unit 111, that is, the object detection sensor unit 110 and the control 170 to be able to communicate with each other. Note that the control section communication interface 111f of the first object detection sensor section 111 of each object detection sensor unit 110 is directly connected to the control section 170 in parallel. Therefore, the plurality of object detection sensor units 110 are each connected to the control section 170 in parallel.

The acceleration sensor section 111g has a three-axis acceleration sensor. The three-axis acceleration sensor measures acceleration in a direction along each axis in a predetermined coordinate space (X-axis, Y-axis, Z-axis) and generates movement information. By integrating the measured acceleration twice, the displacement along each axis can be calculated.

(2) Second object detection sensor section 113
The configuration of the second object detection sensor section 113 will be explained using FIG. 49. The object detection sensor section 113 includes a light emitting element 113a, a light emitting lens 113b, a light receiving element 113c, a sensor communication interface 113d, and a sensor control section 113e. Note that the light emitting element 113a, the light emitting lens 113b, the light receiving element 113c, the sensor communication interface 113d, and the sensor control section 113e are the light emitting element 111a, the light emitting lens 111b, and the light receiving element of the first object detection sensor section 111. 111c, sensor communication interface 111d, and sensor control unit 111e, detailed description will be omitted.

(3) Inter-sensor connection line 117
As shown in FIG. 46, the inter-sensor connection line 117 is connected between the adjacent first object detection sensor section 111 and the second object detection sensor section 113, and between the two adjacent second object detection sensor sections 113. Connect. Note that the inter-sensor connection line 117 is connected to the sensor communication interface 111d of the first object detection sensor section 111 and the sensor communication interface 113d of the second object detection sensor section 113, and is connected to the adjacent first object detection sensor section 111, The second object detection sensor section 113 is electrically and physically connected.

(4) Housing part 119
As shown in FIG. 47, the housing portion 119 has a hollow cylindrical shape. The housing section 119 includes a first housing section 1191, a second housing section 1192, and a hinge section 1193. The object detection sensor unit 110 is attached by rotating the first housing part 1191 and the second housing part 1192 in the directions of arrow R31 and arrow R32, respectively, about the hinge part 1193 and opening one end. Attach to the object.

The first casing part 1191 and the second casing part 1192 are semi-hollow bodies that are obtained by dividing a hollow cylindrical shape along a plane including a long axis J119 of the hollow cylindrical shape and a rotation axis J1193 of the hinge part 1193, respectively. It has a cylindrical shape. Note that the first housing part 1191 and the second housing part 1192 having a semi-hollow cylindrical shape are engaged with each other at ends different from the hinge part 1193, and are integrated to form a hollow cylindrical shape.

The first housing part 1191 is located opposite to the outer peripheral part 1191a, the end part 1191b along the end surface of the hollow cylinder, the inner peripheral part 1191c along the inner peripheral surface of the hollow cylinder, and the end 1191b. It has an end portion 1191d. Note that the outer peripheral portion 1191a, the end portion 1191b, and the inner peripheral portion 1191c are integrally formed. Further, the first housing portion 1191 is formed by fitting the end portion 1191d into the outer peripheral portion 1191a, the end portion 1191b, and the inner peripheral portion 1191c, which are integrally formed.

The outer circumferential portion 1191a is arranged so as not to obstruct the projection of detection light from the light emitting element 113a of the second object detection sensor section 113, nor to prevent the reception of reflected light from the light receiving element 113c of the second object detection sensor section 113. A light emitting/receiving opening 1191a1 having a size and shape is provided at a position corresponding to the light emitting element 113a and the light receiving element 113c of the second object detection sensor section 113.

The above also applies to the second housing section 1192. Note that the outer peripheral part 1192a (not shown) of the second housing part 1192 is located at a position corresponding to the light emitting element 113a and the light receiving element 113c of the second object detection sensor part 113, as well as the position corresponding to the first object detection sensor. A light emitting/receiving opening 1192a1 (not shown) is provided at a position corresponding to the light emitting element 111a and the light receiving element 111c of the portion 111.

In this way, the first casing part 1191 and the second casing part 1192 are opened left and right around the hinge part 1193 and placed along the outer periphery of a predetermined attachment target, for example, the arm of an industrial robot. The object detection sensor unit 110 can be easily attached by simply closing the first housing section 1191 and the second housing section 1192.

2. Control unit 170
The hardware configuration of the control unit 170 will be explained using FIG. 50. The control unit 170 includes a CPU 170a, a memory 170b, a sensor control communication circuit 170g, and an operation control communication circuit 170h.

The CPU 170a performs processing based on other applications such as an operating system (OS) and a detection area adjustment program recorded in the memory 170b. The memory 170b provides a work area for the CPU 170a, and records and holds an operating system (OS), other application programs such as a detection area adjustment program, and various data.

The sensor control communication circuit 170g is connected to the control section communication interface 111f (see FIG. 48) disposed in the first object detection sensor section 111 of the object detection sensor unit 110 via the connection harness 190 (see FIG. 44). , sends and receives information between the two. Note that the sensor control communication circuit 170g is connected to each object detection sensor unit 110 directly, that is, in parallel. The operation control communication circuit 170h is connected to a control target whose operation is to be controlled, for example, an industrial robot RBT, based on detection of the presence of an object by the object detection sensor unit 110, and transmits and receives information between the two.

3. Connection harness 190
As shown in FIG. 44, the connection harness 190 connects the control section communication interface 111f of the first object detection sensor section 111 of each object detection sensor unit 110 and the sensor control communication circuit 170g of the control section 170, Each object detection sensor unit 110 and control section 170 are directly connected.

Second Detection Area Adjustment Process in Control Unit 170 The detection area adjustment process performed by the CPU 170a of the control unit 170 based on the detection area adjustment program will be explained using an example in which the object detection device 100 is placed on the outer surface of an industrial robot. .

1. Installation Target An industrial robot RBT as shown in FIG. 51 is set as an installation target for the object detection device 100. The industrial robot RBT is a robot having three rotation axes. The industrial robot RBT has arms AM1 to AM7, a base B1, and a working end H1.

The arm AM1 is arranged on the base B1 and rotates around a rotation axis RJ1 set in the direction of its own long axis. Arm AM3 is connected to adjacent arm AM1 and rotates relative to arm AM1 around a rotation axis RJ3 set at one end. Arm AM5 is connected to adjacent arm AM3 and rotates relative to arm AM3 around a rotation axis RJ5 set at one end. Arm AM7 is connected to adjacent arm AM5 and rotates relative to arm AM5 around a rotation axis RJ7 set at one end.

An object detection sensor unit 110 of the object detection device 100 is arranged on each outer peripheral surface of the arms AM3, AM5, and AM7. Six object detection sensor units 110 arranged on arms AM3, AM5, and AM7 are connected to a control section 170. Further, the control unit 170 is connected to a power mechanism (not shown) that operates each arm AM1 to AM7 of the industrial robot RBT. Control unit 170 controls the operation of arms AM1 to AM7 by controlling the operation of the power mechanism.

Each object detection sensor unit 110 is arranged along the outer periphery of each arm. Since the object detection sensor unit 110 can be easily placed on the outer surface of the device to be installed, it is possible to easily construct a safety system that makes an emergency stop of the industrial robot when an object such as a person is detected around the industrial robot. In other words, the safety of the equipment to be installed, such as an industrial robot, can be easily established.

2. Initial Setting Information Before implementing the detection area adjustment process, predetermined initial setting values are set. First, the initial state of the industrial robot RBT to which the object detection sensor unit 110 is attached is set. Here, it is assumed that the industrial robot RBT has a base B1, arms AM1 to AM7, and a working end H1, as shown in FIG. 51, for example.

The base B1 supports the industrial robot RBT. The base B1 has a flat upper surface, and the arm AM1 is arranged so as to protrude upward from the upper surface. Each of the arms AM1 to AM7 has a cylindrical shape along the respective long axes LJ1 to LJ7 (see FIG. 55). Note that the long axes LJ1 to LJ7 of each arm exist on the Z axis in FIG. 51. An arm AM3 is connected to the arm AM1 at an end different from the end connected to the base B1 so as to be rotatable about a rotation axis RJ3. Note that the intersection of the long axis LJ3 of the arm AM3 and the rotation axis RJ3 is defined as the rotation center C3. The same applies to arms AM5 and AM7. A working end H1 is connected to the arm AM7 at an end different from the end connected to the arm AM5.

Here, the initial state is set, for example, as shown in FIG. 51, with the center of the bottom of the arm AM1 located at the lowest position being the origin O, the Z axis in the vertical direction, and the coordinate axes having the X and Y axes in the bottom surface. The arms AM1 to AM7 are arranged vertically in a straight line, that is, the long axes LJ1 to LJ7 of the arms AM1 to AM7 are arranged in a straight line along the Z axis.

In the initial state, the positions of rotation center points C3 to C7 (C3(0) to C7(0)) on the set coordinate axes and the lengths between each rotation center point (L1, L3,...) are set in the initial setting information. As part of the data, it is stored and held in the memory 170b.

The radius R from the center of the object detection sensor unit 110 attached to the industrial robot RBT to each light emitting element, the central angle α between the adjacent first object detection sensor section 111 and second object detection sensor section 113, and the first object detection The apex angle θ that specifies the shape of the detection region R111 of the sensor section 111 and the detection region R113 of the second object detection sensor section 113 as a cone is stored and held in the memory 170b as part of the initial setting information.

The object detection sensor unit 110 is attached to the industrial robot RBT at a predetermined position. In addition, in the industrial robot RBT, two object detection sensor units 110 are attached to each of the arms AM3 to AM7, and the object detection sensor units 110_1, 110_2, etc. are installed in order from the bottom. The first object detection sensor sections 111 of the sensor unit 110 are also referred to as first object detection sensor sections 111_1, 111_2, . . . in order from the bottom.

After setting the industrial robot RBT to the initial state, initial positions (P111_1(0), P111_2(0), ...) of the first object detection sensor section 111 of each object detection sensor unit 110 in the set coordinate axes are initialized. It is stored and held in the memory 170b as part of the information.

3. Detection Area Adjustment Process The detection area adjustment process performed by the CPU 170a of the control unit 170 based on the detection area adjustment program will be described using the flowcharts shown in FIGS. 52 to 57 and FIG. 53.

As shown in FIG. 52, after the object detection device 100 starts operating, the CPU 170a sends object detection start information to the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110. Send (S901). The object detection start information will be described later.

The operations of the first object detection sensor section 111 and the second object detection sensor section 113 of the object detection sensor unit 110 that acquire object detection start information will be described later.

The CPU 170a acquires sensor information from the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110 (S903). The sensor information will be described later.

When the CPU 170a determines that sensor information has been acquired from the first object detection sensor section 111 and the second object detection sensor section 113 of all object detection sensor units 110 (S905), the CPU 170a detects the first object detection having movement information. Sensor information regarding the sensor unit 111 is extracted (S907), and shape estimation processing is performed to determine the current shape of the industrial robot RBT (S909).

The shape estimation process will be explained using the flowchart shown in FIG. 53 and FIG. 55. Note that FIG. 55 shows the state of the industrial robot RBT after it has operated for a predetermined period of time. Hereinafter, a plurality of constituent elements will be specified by adding the suffix "_n" (n is a natural number) in order from the lowest one in the initial state. For example, in the initial state, the first object detection sensor section 111 located second from the bottom is written as the first object detection sensor section 111_2. Note that unless otherwise specified, it will be referred to as a first object detection sensor section 111_n.

As shown in FIG. 53, the CPU 170a calculates the displacement from the previous position (m111_n(x): see FIG. 55) for each first object detection sensor unit 111_n from the acquired movement information (S1001). Next, the CPU 170a adds the calculated displacement (m111_n(x)) to the previous position (P111_n(x-1): see FIG. 55) for each first object detection sensor unit 111_n, and adds the calculated displacement (m111_n(x)) to the current position ( P111_n(x): see FIG. 55) is calculated (S1003). Note that the current position of the first object detection sensor unit 111_n (P111_n(x)) is calculated a priori using the position of the first object detection sensor unit 111 in the initial state (P111_n(0): see FIG. 51). It can be calculated as follows.

Next, the CPU 170a sequentially executes the following processing from arm AM1 located on the lower side to arms AM3, AM5, and AM7 located on the upper side as target arms in the initial state.

When the CPU 170a determines that the object detection sensor unit 110 is attached to the target arm (S1005), the CPU 170a selects the second rotation center from the current lower rotation center Cm(x) (m=3, 5, 7) for the target arm. 1 The vector to the current position P111_n(x) of the object detection sensor unit 111_n is the lower rotation center Cm(0) of the target arm in the initial state, with the current lower rotation center Cm(x) as the starting point. Calculate the rotation angle r_n(x) by rotating the vector from to the position P111_(0) of the first object detection sensor unit 111_n around the rotation axis RJm passing through the current lower rotation center Cm so that they match. (S1007).

For example, for arm AM3, the vector from the current lower rotation center C3(x) to the current position P111_2(x) of the first object detection sensor unit 111_2 is the current lower rotation center C3(x). The vector from the lower rotation center C3(0) of the target arm in the initial state to the position P111_(0) of the first object detection sensor unit 111_n, starting from the current lower rotation center C3(x) A rotation angle r_3(x) that is rotated to match the rotation axis RJ3 passing through is calculated. Note that since the center of rotation C3 does not move, the current position C3(x) of the center of rotation becomes the position C3(0) of the center of rotation C3 in the initial state (see FIG. 51).

Using the calculated rotation angle r_n(x), the CPU 170a moves the long axis LJm of the target arm in its initial state to the current lower rotation center Cm(x) of the target arm, and calculates the rotation angle r_n(x). ) and calculates the position of the current long axis LJ_n(x) passing through the current lower rotation center Cm(x) (S1009). Then, the CPU 170a calculates the position of the upper rotation center Cm(x) using the distances between the rotation centers of the target arms (L3, L5, L7 (see FIG. 51)) (S1011).

The CPU 170a executes the processes of steps S1005 to S1013 for all arms (S1013). The CPU 170a calculates the current shape of the industrial robot RBT using the calculated radius of each arm, etc. (S1015).

Returning to FIG. 52, after completing the shape estimation process for the industrial robot RBT, the CPU 170a executes the detection area adjustment information generation process (S911).

The detection area adjustment information generation process will be explained using FIG. 54. The CPU 170a detects second object detection sensor sections other than the first object detection sensor section 111 for each object detection sensor unit 110 based on the position of the first object detection sensor section 111 of each arm and the position of the long axis of each arm. 113 is calculated (S1101). The CPU 170a determines whether the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110 are the same based on the calculated position of the second object detection sensor section 113 and the calculated shape of the industrial robot RBT. The detection area to be formed is calculated (S1103). Note that, as shown in FIG. 56, the detection area extends radially from the center of the object detection sensor unit 110 toward the positions of the first object detection sensor section 111 and the second object detection sensor section 113, that is, the detection area of the industrial robot RBT. is formed in a direction perpendicular to the surface of

The CPU 170a calculates whether or not the calculated detection area interferes with the shape of the industrial robot RBT calculated in the shape estimation process (see FIG. 53) (S1105). For example, in the industrial robot RBT having a shape as shown in FIG. It is determined that the detection area formed by the first object detection sensor section 111 and/or the second object detection sensor section 113 interferes with the other arm.

Here, FIG. 57 shows the industrial robot RBT shown in FIG. 56 as viewed from the right side of the same figure. As shown in FIG. 57, in arm AM3 and arm AM7 located at opposing positions, in arm AM3, the first object detection sensor section 111 and/or the second object detection sensor section 111 located on the opposing surface F3 It is determined that the detection area formed by the sensor unit 113 interferes with the other arm AM7. The same judgment is made for arm AM7. The same judgment is made for other arms.

Returning to FIG. 55, when determining that the two interfere, the CPU 170a generates detection area adjustment information for the interfering first object detection sensor section 111 or second object detection sensor section 113 (S1107).

Here, the detection area adjustment information will be explained. The detection area adjustment information is information for adjusting the light reception standby period for receiving reflected light in each of the light receiving elements of the first object detection sensor section 111 and the second object detection sensor section 113. By adjusting the light reception standby period, the area where the detection light actually reaches, that is, the detection area can be limited. For example, if the light reception standby period is shortened to 30% of the predetermined period, it is possible to limit the detection area to a detection area that is close to the object to be attached, and to prevent effective detection of reflected light due to interference between arms.

When the CPU 170a determines that the processes of steps S1101 to S1107 have been executed for all object detection sensor units 110 (S1209), the CPU 170a ends the detection area adjustment information generation process.

Returning to FIG. 52, after completing the detection area adjustment information generation process, the CPU 170a generates object detection start information for starting the next object detection at a predetermined timing (S913).

Here, object detection start information will be explained. The object detection start information is information for causing the first object detection sensor section 111 and the second object detection sensor section 113 included in the object detection sensor unit 110 to start object detection. The first object detection sensor section 111 and the second object detection sensor section 113 that have acquired the object detection start information start object detection using their respective light emitting elements, light receiving elements, and the like. The object detection start information is generated in association with sensor specifying information for specifying the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110. Furthermore, the first object detection sensor unit 111 and the second object detection sensor unit 113 whose detection areas are determined to need to be adjusted are also associated with the detection area adjustment information generated in step S1207.

At a predetermined time (S915), the CPU 170a transmits the generated object detection start information to the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110, etc., in steps S901 to S915. Repeat the process until the end of the operation.

Note that, in step S903, the CPU 170a acquires sensor information from the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110, extracts detection result information from among them, and extracts the sensor information. If the detected detection result information indicates that an object has been detected, a stop signal to stop the operation of the industrial robot RBT to which it is attached is transmitted to the industrial robot RBT.

4. Operation of the first object detection sensor section 111 As shown in FIG. 57, the sensor control section 111e of the first object detection sensor section 111 of the object detection sensor unit 110 receives object detection start information via the control section communication interface 111f. Once acquired (S1301), it is determined whether the acquired object detection start information corresponds to itself (S1303). When the sensor control unit 111e determines that the object detection start information is for itself, it extracts the detection area adjustment information included in the object detection start information (S1305), and the light receiving element 111c adjusts the detection light based on the extracted detection area adjustment information. A light reception standby period, which is a period during which reflected light is received, is adjusted (S1307).

The sensor control unit 111e projects detection light via the light projecting element 111a (S1309). The sensor control unit 111e monitors whether reflected light is received via the light receiving element 111c. When the sensor control unit 111e determines that reflected light has been received (S1311), it generates detection result information indicating that an object has been detected (S1315). The sensor control unit 111e acquires the acceleration measured from the acceleration sensor unit 111g as movement information (S1317). The sensor control unit 111e transmits the generated detection result information and movement information to the control unit 170 as sensor information together with sensor identification information that identifies itself (S1319).

On the other hand, if the sensor control unit 111e determines that a predetermined light reception standby period has elapsed without receiving any reflected light after emitting the detection light in step S1309 (S1313), the sensor control unit 111e indicates that no object has been detected. Detection result information shown is generated (S1315). The sensor control unit 111e acquires the acceleration measured from the acceleration sensor unit 111g as movement information (S1317). The sensor control unit 111e transmits the generated detection result information and movement information to the control unit 170 as sensor information together with sensor identification information that identifies itself (S1319).

Further, if the sensor control unit 111e determines that the object detection start information acquired in step S1301 does not correspond to the sensor control unit 111e, the sensor control unit 111e transmits the acquired object detection start information to the adjacent second object via the sensor communication interface 113d. The information is transmitted to the detection sensor unit 113 (S1321).

Further, when the sensor control unit 111e acquires detection result information from the adjacent second object detection sensor unit 113 via the sensor communication interface 113d, the sensor control unit 111e transmits the detection result information to the control unit 170 via the control unit communication interface 111f. .

5. Operation of the second object detection sensor section 113 As shown in FIG. 57, the sensor control section 113e of the second object detection sensor section 113 of the object detection sensor unit 110 acquires object detection start information via the sensor communication interface 113d. Then (S1401), it is determined whether the acquired object detection start information corresponds to itself (S1403). When the sensor control unit 113e determines that the object detection start information is for itself, it extracts the detection area adjustment information included in the object detection start information (S1405), and the light receiving element 113c adjusts the detection light based on the extracted detection area adjustment information. A light reception standby period, which is a period during which reflected light is received, is adjusted (S1407).

The sensor control unit 113e projects detection light via the light projecting element 113a (S1409). The sensor control unit 113e monitors whether reflected light is received via the light receiving element 113c. When the sensor control unit 113e determines that reflected light has been received (S1411), it generates detection result information indicating that an object has been detected (S1415). The sensor control unit 113e transmits the generated detection result information and sensor identification information that identifies itself to the control unit 170 as sensor information (S1419).

On the other hand, if the sensor control unit 113e determines that a predetermined light reception standby period has elapsed without receiving any reflected light after emitting the detection light in step S1409 (S1413), the sensor control unit 113e indicates that no object has been detected. Detection result information shown is generated (S1415). The sensor control unit 113e transmits the generated detection result information to the control unit 170 as sensor information together with sensor identification information that identifies itself (S1419).

Further, if the sensor control unit 113e determines that the object detection start information acquired in step S1403 does not correspond to itself, the sensor control unit 113e transmits the acquired object detection start information to the adjacent first object via the sensor communication interface 113d. The information is transmitted to the detection sensor section 111 or the second object detection sensor section 113 (S1421).

Further, when the sensor control unit 113e acquires sensor information from the adjacent second object detection sensor unit 113 via the sensor communication interface 113d, the sensor control unit 113e transmits the information to the adjacent first object detection sensor unit via the control unit communication interface 111f. 111 or the second object detection sensor section 113.

[Other embodiments]
(1) Sensor arrangement flexible member 15: In the above-described first embodiment, the sensor arrangement flexible member 15 is formed of a rubber plate, but it has flexibility and deforms along the surface of the installation target. It is not limited to the illustrated examples. For example, it may be a fibrous sheet, a flexibly deformable plastic, or the like. The same applies to the fourth and fifth embodiments described above.

In addition, although the sensor arrangement flexible member 15 has a band shape, it may have a rectangular shape or other polygonal shape as long as it has a width and area where a plurality of object detection sensor units 11 can be arranged. It's okay. The same applies to the fourth and fifth embodiments described above.

(2) Sensor arrangement flexible member 25: In the above-described second embodiment, the sensor arrangement flexible member 25 uses the intermediate flexible member 253 having the adjustable expansion/contraction mechanism 253b. It is not limited to the examples as long as the length can be adjusted. For example, the belt 253a may be made of a stretchable material, such as a predetermined rubber material, without having the stretch mechanism 253b. The same applies to the fourth and fifth embodiments described above.

(3) Sensor arrangement flexible member 35: In the unit flexible member 351 of the third embodiment described above, a plurality of types having different lengths in the connection direction are prepared, and by appropriately selecting and connecting them, the object detection sensor section 13 The arrangement position may be adjustable. Since the entire length of the sensor arrangement flexible member 35 can be adjusted, it can be easily adapted to the object.

(4) Shape of detection region R13: In the first to third embodiments described above, a cylindrical lens was used as the light projecting lens 13b to form a linear detection region R13, but it is possible to form a desired detection region. Any type of light projecting lens 13b may be used as long as it is suitable. For example, as shown in FIG. 10, a circular detection area R143 may be formed using a projection lens 143b that is a circular convex lens.

Further, the light projection direction of the light projection lens 143b may be adjustable. In this case, for example, as shown in FIG. 10, the light projecting element 13a and the light projecting lens 143b of the object detection sensor section 143 may be rotated vertically and horizontally in the direction of arrow a6.

Furthermore, instead of forming the detection regions R143 in the same direction for all the object detection sensor sections 143, the detection regions R143 may be formed in a plurality of directions as shown in FIG. 11A.

The object detection device 10 in Example 1 also uses an object detection sensor unit 153 that can rotate the light emitting element 13a and the light emitting lens 13b (see FIG. 2), and similarly, as shown in FIG. 11B, it can be used in multiple directions. The detection area R153 may be formed in the area. The same applies to the object detection device 20 in the second embodiment and the object detection device 30 in the third embodiment. The above also applies to the fourth and fifth embodiments described above.

(5) Arrangement of object detection sensor unit 13: In the first to third embodiments described above, the object detection sensor unit 13 was arranged in a straight line and the detection region R11 was formed on the sensor arrangement flexible member 15. , in a matrix, or in a random manner without any regularity, as long as the desired detection range can be formed. The same applies to the fourth and fifth embodiments described above.

Further, the arrangement of the object detection sensor section 13 of the object detection device 10 in the first embodiment is not fixed, but may be changed as appropriate. For example, a plurality of mounting recesses are formed in the sensor arrangement flexible member 15, a desired mounting recess is selected, and the mounting protrusion of the object detection sensor section 13 is engaged with the mounting recess, and the object detection sensor section 13 is arranged. You may also do so. Alternatively, a rail may be arranged on the sensor arrangement flexible member 15, and the object detection sensor section 13 may be arranged by engaging the rail of the object detection sensor section 13 at a desired position. The same applies to Examples 2 and 3.

(6) Intermediate flexible member 253: In the above-described second embodiment, the intermediate flexible member 253 was arranged separately from the connection harness 19, but if the object detection sensor section 13 is connected in cascade, it is connected to the intermediate flexible member 253. A connecting harness (intermediate connecting harness) which is integrally formed with the harness 19, has an expanding and contracting mechanism, and can be expanded and contracted may be used as the intermediate flexible member. The same applies to the fourth and fifth embodiments described above.

(7) Function of the object detection sensor unit 13: In the first to third embodiments described above, the object detection sensor unit 13 was designed to detect the presence of an object, but it also detects the distance and direction to the object. It may be something. By detecting the distance with the object detection sensor section 13, it is possible to detect an object or person that has entered within an arbitrary set distance from the object on which the object detection sensor section 13 is arranged. Thereby, the operation of the placement target can be controlled based on the distance from the placement target. The same applies to the fourth and fifth embodiments described above.

In addition, although the object detection sensor section 13 is configured to detect the presence of an object using a predetermined detection light, other detection waves such as infrared rays and sound waves may be used as long as the presence of an object can be detected. It's okay. The same applies to the fourth and fifth embodiments described above.

(8) Configuration of the control unit 17: In the first to third embodiments described above, the operation of the control unit 17 was realized using the CPU 17a, but any configuration that can realize the operation of the control unit 17 may be used. Not limited to things. For example, a dedicated logic circuit may be designed and used. The same applies to the fourth and fifth embodiments described above.

(9) Connection of object detection sensor units 13: In the first to third embodiments described above, each object detection sensor unit 13 was connected to the control unit 17 in parallel, but each object detection sensor unit 13 is connected in cascade to each other. Alternatively, the object detection sensor section 13 at the end may be connected to the control section 17.

Further, in the object detection device 10, each object detection sensor unit 11 and the control section 17 are connected by the connection harness 19, but they may be connected wirelessly. The same applies to the object detection device 20 of the second embodiment and the object detection device 30 of the third embodiment. The same applies to the fourth and fifth embodiments described above.

Furthermore, in the object detection device 10, the object detection sensor section 13 and the control section 17 are connected using the connection harness 19, but a plurality of object detection sensor sections 13 are connected to one intermediate interface section, and the intermediate interface section In other words, the object detection sensor section 13 and the control section 17 may be connected to the control section 17 via an intermediate interface section. The same applies to the object detection device 20 of the second embodiment and the object detection device 30 of the third embodiment. The same applies to the fourth and fifth embodiments described above.

(10) Use of optical filter: In the first to third embodiments described above, an optical filter may be further used to detect objects using only predetermined light. The same applies to the fourth and fifth embodiments described above.

(11) Sensor connection information: In the first embodiment described above, the sensor connection information is stored in the memory in advance, but the sensor connection information is acquired at the stage of using the object detection device 10. Good too. For example, when the control unit 17 is activated, the control unit 17 transmits and receives information to and from each object detection device 10 via the sensor communication circuit 13d, determines whether or not the object detection device 10 is connected, and determines whether or not the object detection device 10 is connected to the sensor connection information. may be generated. Further, the connection position (eg, connection port) of the object detection device 10 in the sensor communication circuit 13d may be determined. The same applies to the object detection device 20 of the second embodiment and the object detection device 30 of the third embodiment. The same applies to the fourth and fifth embodiments described above.

(12) Separation of light emitting element 13a and light receiving element 13c: In the fourth embodiment described above, the detection light emitted by the light emitting element 13a is reflected inside the unit arrangement section 433, and is received by the light receiving element 13c. In order to prevent this, a partition wall may be arranged inside the unit arrangement section 433 to separate the detection light projected from the light projecting element 13a and the reflected light received by the light receiving element 13c.

Similarly, in the inter-sensor connection line protection section 59 in the fifth embodiment and the inter-sensor connection line protection section 69 in the sixth embodiment, the detection light emitted from the light emitting element 13a and the light receiving element 13c receive the light inside each of them. A partition wall may be provided to separate the reflected light and the reflected light. The same applies to the inter-sensor connection line protection section 69 in the sixth embodiment.

(13) Number of divisions of the inter-sensor connection line protection sections 59 and 69: In the above-described fifth embodiment, the inter-sensor connection line protection section 59 is formed by the first casing 591 and the second casing 592. However, it may be formed by three or more casings. The same applies to the inter-sensor connection line protection section 69.

(14) Number of light-emitting elements and light-receiving elements in the object detection sensor unit: In each object detection sensor unit 13 in the first embodiment described above, one pair of light-emitting element 13a and one pair of light-receiving element 13c are arranged, but a plurality of A pair of light projecting element 13a and light receiving element 13c may be arranged. For example, this can reduce manufacturing costs. Further, the number of connection harnesses 19 connecting the object detection sensor section 13 and the control section 17 can be reduced. The same applies to Examples 2 to 6. Note that in Examples 4 to 6, the number of connection lines between each sensor can be reduced.

(15) Visualization of detection status: In the object detection sensor unit 13 in the first embodiment described above, a detection status display unit may be further provided to indicate the detection status of the object. As the detection status display section, for example, an LED and a light emission control circuit for the LED are used. When an object is detected in the object detection sensor section, an LED is emitted.

Furthermore, the light emitted by the LED may be changed depending on the detection situation of the object. For example, using a multicolor LED and a light emission control circuit that controls the color of the light emitted, the light is emitted in blue when no object is detected, and when an object is detected, the light is emitted in blue depending on the distance to the detected object. , change from yellow to red.

Furthermore, the brightness of the emitted light may be changed depending on the distance to the detected object. For example, by using a light emission control circuit that controls the current flowing through the LED, it will not emit light when no object is detected, and when an object is detected, the brightness will be reduced to a dark state depending on the distance to the detected object. Change from bright to bright.

Thereby, the detection state of the object can be easily known. Further, malfunctions in the operation of the object detection sensor can be easily detected. The same applies to each of the object detection sensor units in Examples 2 to 6.
(16) Shape of each housing part: In the aforementioned Examples 7 to 9, each housing part had a hollow cylindrical shape, but it may have a shape that can be attached to the surface of a predetermined installation object. However, the present invention is not limited to the illustrated examples. For example, it may have a linear shape or a hollow prismatic shape.

Further, the installation object to which each housing portion is attached does not have to be cylindrical like the arms AM11 to AM13 of the industrial robot RBT. For example, even in the case of a prismatic arm, each object detection sensor unit may be attached such that the apex in the cross section is supported by each inner peripheral portion of each object detection sensor unit. Furthermore, the object detection sensor unit may be attached to the installation target by arranging a predetermined spacer between the installation target and the inner peripheral portion of each object detection sensor unit.

(17) Light emitting/receiving aperture forming ends 131b, 132b: In the seventh embodiment described above, the light emitting/receiving aperture forming ends 131b, 132b have the light emitting/receiving aperture R131a so as to be able to emit and receive detection light. However, it is not limited to the examples as long as it can emit and receive detection light. For example, instead of forming the light emitting/receiving aperture R131a in the light emitting/receiving aperture forming end portions 131b, 132b, they may be formed in a translucent annular shape that can emit and receive detection light. The same applies to Examples 8 and 9.

Furthermore, instead of forming the light emitting/receiving aperture R131a only in the light emitting/receiving aperture forming end portions 131b, 132b, the axial light projecting section X15 and the axial light receiving section X17 are arranged also on the end surfaces P131b, P132b. A light emitting/receiving aperture may be formed. The same applies to Examples 8 and 9.

(18) Presence of reflection section X200: In the above-mentioned embodiment 8, the object detection sensor unit X21 has the reflection section X200 that reflects the detection light projected from the axial light projection section X15. As in the object detection device X40 shown in No. 39, the reflecting section X200 may not be used. In this case, the control section X19 of the object detection sensor unit X21 determines that the object X exists when the reflected light of the projected detection light is received.

(19) Adjustment of light projection direction: In the above embodiments 7 to 9, the axial light projection section X15 is made rotatable so that the direction in which the axial light projection section X15 emits the detection light can be adjusted. You can also do this. The same applies to the axial light receiving section X17.

(20) Arrangement of axial light emitter X15 and axial light receiver X17: In the seventh embodiment described above, the axial light emitter X15 and the axial light receiver X17 are arranged alternately in the same object detection sensor unit X11. However, only the axial light projecting section X15 may be disposed in one of the pair of object detection sensor units X11, and only the axial light receiving section X17 may be disposed in the other.

(21) Arrangement of radial light projecting section X35 and radial light receiving section X37: In the aforementioned embodiment 9, the radial direction light projecting section X35 and radial direction light receiving section X37 are arranged in the object detection sensor unit X21 of embodiment 8. However, the object detection sensor unit X11 of the seventh embodiment may be provided with a radial light projector X35 and a radial light receiver X37.

(22) Function of the object detection sensor unit X21: In the above-mentioned Embodiment 8, the object detection sensor unit Good too. Thereby, it is also possible to control the operation of the controlled object based on the distance and direction to the detected object. The same applies to the above-mentioned Example 9.

(23) Detection light: In the aforementioned Examples 7 to 9, the presence of an object was detected using a predetermined detection light, but if the presence of an object can be detected, only infrared rays can be used. Instead, other detection waves such as sound waves may be used.

(24) Configuration of control unit X19: In the seventh to ninth embodiments described above, the operation of the control unit X19 was realized using the CPU 19a, but if the configuration can realize the operation of the control unit Not limited to things. For example, a dedicated logic circuit may be designed and used.

(25) Connection of object detection sensor units: In the seventh to ninth embodiments described above, each object detection sensor unit was connected to the control unit You can also do this.

(26) Use of optical filter: In the seventh to ninth embodiments described above, an optical filter may be further used to detect objects using only predetermined light.

(27) Separation of the axial light projecting section X15 and the axial light receiving section In order to prevent the light from being reflected and received by the axial light receiving section X17, the detection light projected from the axial light projecting section X15 and the reflected light received by the axial light receiving section X17 are arranged inside each housing section. Separating partition walls may be arranged.

(28) Number of divisions of each housing part: In the above-described seventh embodiment, the housing part X13 was formed of two parts, the first housing part 131 and the second housing part 132, It may be formed by the above-mentioned casing section. The same applies to Examples 8 and 9.

(29) Visualization of detection status: In each of the object detection sensor units in Examples 7 to 9 described above, a detection status display section may be further arranged to indicate the detection status of the object. As the detection status display section, for example, an LED and a light emission control circuit for the LED are used. When an object is detected in the object detection sensor section, an LED is emitted.

Furthermore, the light emitted by the LED may be changed depending on the detection situation of the object. For example, using a multicolor LED and a light emission control circuit that controls the color of the light emitted, the light is emitted in blue when no object is detected, and when an object is detected, the light is emitted in blue depending on the distance to the detected object. , change from yellow to red.

Furthermore, the brightness of the emitted light may be changed depending on the distance to the detected object. For example, by using a light emission control circuit that controls the current flowing through the LED, it will not emit light when no object is detected, and when an object is detected, the brightness will be reduced to a dark state depending on the distance to the detected object. Change from bright to bright.

Thereby, the detection state of the object can be easily known. Further, malfunctions in the operation of the object detection sensor can be easily detected.

(30) Substrate S: In the object detection sensor unit in the aforementioned Example 7, a plurality of substrates S were connected by a connection line W in the housing X13, but the axial light projecting section It is not limited to the example as long as it can electrically connect the portion X17. For example, an annular board that can be placed inside the casing X13 may be formed, each axial light emitting section X15 and axial light receiving section X17 may be arranged, and electrically connected by wiring formed on the board. good. The same applies to other embodiments.

(31) Stacked installation of object detection devices X10: The object detection devices X11 in the seventh embodiment described above may be installed so as to be stacked on an installation target, as shown in FIG. 40. In this case, the inner object detection device X11-S is arranged along the surface of the installation target, similar to the object detection device X11 shown in FIG. The portion 131d (see FIG. 29) is arranged along the outer peripheral portion 131a (see FIG. 29) of the object detection device X11-S. As a result, as shown in FIG. 41a and FIG. 41b, by stacking and arranging the paired object detection device X11-S and the paired object detection device X11-L, as shown in FIG. 41c. According to the distance from the surface of the installation target, multiple layers of detection areas are formed, such as the detection area of the object detection device X11-S (solid line arrow) and the detection area of the object detection device X11-L (dotted line arrow). can. In other words, the control operation for the installation target can be changed depending on the distance from the surface of the installation target. For example, an alarm can be issued when an object is detected by the outer object detection device X11-L, and the operation of the installation target can be stopped when an object is detected by the inner object detection device X11-S. Note that when arranging the object detection devices X11-S and X11-L in a stacked manner, the hinge portions 133-S and 133 shown in FIG. -L, it may be formed at a position that does not protrude from the outer peripheral portion 131a (see FIG. 29).

In addition, as shown in FIGS. 42a and 42b, the inner object detection device X11-S in FIG. 40 has an axial light projecting section X15 and an axial light receiving section The height adjustment section X500 may be configured such that the height adjustment section Thereby, as shown in FIG. 42c, the distance of the object detection device X11-L from the surface of the installation target can be freely adjusted.

Furthermore, when arranging the paired object detection devices X11, one is arranged along the surface of the installation target as shown in FIG. It may also be installed on top of the X500. Thereby, as shown in FIG. 43, the detection area can be formed in an inclined manner along the surface of the installation target. On the side where the object detection device X11-L is installed, objects can be detected at a position farther from the surface of the installation target than on the side where the object detection device The operation of the installation target can be controlled, for example, the operation can be stopped more quickly. The above also applies to other embodiments.

(32) Alignment of paired object detection devices: In the object detection device Although the positions of the light projecting section X15 and the axial light receiving section X17 have been aligned, the present invention is not limited to the illustrated example as long as the positions of both can be aligned. For example, a predetermined positioning mark may be placed on the housing X13.
(33) Adjustment of detection area: In the tenth embodiment described above, when the estimated shape of the attachment target interferes with the estimated detection areas of the first object detection sensor section 111 and the second object detection sensor section 113, Although the detection area adjustment information is generated, the generation of the detection area adjustment information is not limited to the example. For example, as shown in FIG. 60, the detection area adjustment information is generated even when the estimated detection areas of the first object detection sensor section 111 and the second object detection sensor section 113 are generated toward the ground. It's okay.

In this case, in arms AM3 and AM5 that are in positions facing the ground (see FIG. 60), as shown in FIG. It is determined that the detection area formed by the first object detection sensor section 111 and/or the second object detection sensor section 113 located within 45 degrees left and right around the lowest generating line in the arm interferes with the ground. . The same determination is made for other arms and other object detection sensor units 110.

Furthermore, in the above-mentioned Embodiment 10, when it is determined that there are opposing arms in estimating the shape of the industrial robot RBT that is the installation target, the detection area that interferes with the opposing arms is as follows: Although it is assumed that the detection area is reduced to a predetermined range, for the first object detection sensor section 111 and the second object detection sensor section 113 that form interfering detection areas, even if the detection area is set to 0 (zero) and reflected light is received. , it may not be determined that an object has been detected, that is, the received reflected light may be invalidated. As a result, for the second object detection sensor section 113, it is necessary to adjust the detection area each time for each of the first object detection sensor section 111 and the second object detection sensor section 113, depending on the estimated shape of the attachment target. Therefore, the processing load on the control unit 170 can be reduced. Note that even if the detection areas of the first object detection sensor section 111 and the second object detection sensor section 113, which form interfering detection areas, are set to 0 and reception of reflected light is disabled, they are arranged in a ring shape with respect to the installation target. For example, it is often possible to detect a person or object approaching from the outside using either the first object detection sensor section 111 or the second object detection sensor section 113.

Furthermore, in the above-mentioned Embodiment 10, the detection area was reduced to a predetermined range, but if it is determined that there is an arm located opposite to the object by estimating the shape of the attachment target, the detection area is calculated from the estimated shape. The detection area may be adjusted using the distance between the arms. For example, when an object is detected at a distance shorter than the distance between the arms, detection result information indicating that the object has been detected is generated, and when an object is detected at a distance longer than the distance between the arms, the object is not detected. Generates detection result information indicating that the

(34) Estimation of detection area: In the above-described tenth embodiment, the shape of the attachment target and the detection areas of the first object detection sensor section 111 and the second object detection sensor section 113 are specifically estimated, Although the detection area adjustment information is generated after determining the interference between the two, the present invention is not limited to the examples as long as the detection area adjustment information can be generated so as to prevent detection of unintended objects. . For example, as shown in FIG. 62, in arms AM3 and AM7 located opposite to each other, a first object detection sensor section 111 located in a predetermined area F13 on a surface of arm AM3 facing arm AM7, and/or Alternatively, detection area adjustment information may be generated for the second object detection sensor section 113. In this case, as shown in FIG. 63, a predetermined area F13 of the surface of arm AM3 facing arm AM7 may be determined by the central angle β of arm AM3.

(35) Acceleration sensor unit: In the tenth embodiment described above, the three-axis acceleration sensor unit 111g was used to detect acceleration and generate movement information. It is not limited to those of For example, in addition to the three-axis acceleration sensor, a three-axis angular velocity sensor may be provided. As a result, even if the industrial robot RBT operates so that its arm rotates around its long axis, the shape of the industrial robot RBT can be estimated. The position of the portion 113 and each detection area can be estimated.

Further, in the above-described tenth embodiment, the acceleration sensor section 111g is arranged in the first object detection sensor section 111, but it may be arranged also in the second object detection sensor section 113.

Furthermore, in the above-described tenth embodiment, two object detection sensor units 110 are arranged on each arm, and each has the first object detection sensor section 111, but a plurality of object detection sensor units 110 are arranged on each arm. The acceleration sensor section 111g may be disposed in a part of the object detection sensor unit 110, for example, in any one of the object detection sensor units 110.

(36) Movement information acquisition control: In the tenth embodiment described above, the first object detection sensor unit 111 acquires acceleration information after generating ground detection result information (see FIG. 58). Regardless of the generation of the acceleration, the acceleration may be acquired and the movement information may be transmitted to the control unit 170 at appropriate timings. Thereby, the control unit 170 can follow the operating state of the industrial robot RBT to which it is attached in real time, and can realize high-speed processing.

In this case, as shown in FIG. 64, in the control unit 170 as well, the CPU 170a executes the process of estimating the shape of the attachment target (S909) every time movement information is acquired (S2101). Furthermore, when the CPU 170a acquires sensor information from all the first object detection sensor units 111 and second object detection sensor units 113 (S905), the CPU 170a determines the estimated shape of the industrial robot RBT at that time estimated by the shape estimation process. may be acquired (S2109), and the detection area information generation process may be executed (S911).

Further, in the above-described tenth embodiment, the sensor control unit 111e of the first object detection sensor unit 111 controls the acquisition timing of movement information from the acceleration sensor unit 111g. If so, it is not limited to the illustrated example. For example, the CPU 170a of the control unit 170 may control the timing of acquiring movement information from the acceleration sensor unit 111g. Thereby, communication overhead occurring between the control section 170 and the first object detection sensor section 111 can be reduced. The same applies to the second object detection sensor section 113.

(37) First object detection sensor section 111, second object detection sensor section 113: In the tenth embodiment described above, the first object detection sensor section 111 and the second object detection sensor section 113 are formed on the respective substrates. , are connected by inter-sensor connection lines, but they may be arranged on the same board.

(38) Housing portion 119: In the above-described tenth embodiment, the housing portion 119 of the object detection sensor unit 110 has a hollow cylindrical shape, but it may have a shape that allows it to be attached to an object. However, the present invention is not limited to the illustrated examples. For example, the shape may be a hollow quadrangular prism. Further, the object detection sensor unit 110 may not have the housing section 119, and the first object detection sensor section 111 and the second object detection sensor section 113 may be attached to the object to be attached.

(39) Functions of the first object detection sensor section 111 and the second object detection sensor section 113: In the above-described tenth embodiment, the first object detection sensor section 111 and the second object detection sensor section 113 detect the presence of an object. Although it is assumed that the object is detected, the distance or direction to the object may also be detected. By detecting the distance using the object detection sensor section 13, it is possible to detect objects or people that have entered within an arbitrary set distance from the attachment target. Thereby, the operation of the attachment target can be controlled based on the distance from the attachment target.

In addition, the first object detection sensor section 111 and the second object detection sensor section 113 are configured to detect the presence of an object using predetermined detection light, but if the presence of an object can be detected, infrared rays, Other detection waves such as sound waves may also be used.

(40) Configuration of control unit 170: In the tenth embodiment described above, the operation of the control unit 170 was realized using the CPU 170a, but the configuration is not limited to the example as long as it can realize the operation of the control unit 170. . For example, a dedicated logic circuit may be designed and used.

(41) Connection of object detection sensor units 110: In the above-described 10th embodiment, each object detection sensor unit 110 was connected to the control unit 170 in parallel, but each object detection sensor unit 110 is connected in cascade, and The object detection sensor unit 110 of the section may be connected to the control section 170.

Further, in the object detection device 100, each object detection sensor unit 110 and the control section 170 are connected by the connection harness 190, but they may be connected wirelessly.

Furthermore, in the object detection device 100, the object detection sensor unit 110 and the control section 170 are connected using the connection harness 190, but a plurality of object detection sensor units 110 are connected to one intermediate interface section. In other words, the object detection sensor unit 110 and the control section 170 may be connected to the control section 170 through an intermediate interface section.

(42) Use of a light filter: In the tenth embodiment described above, a light filter may be further used in the projection lens 111b to detect objects using only predetermined light.

(43) Number of divisions of the housing section 119: In the above-described tenth embodiment, the housing section 119 was formed of two parts, the first housing part 1191 and the second housing part 1192; It may be formed by the above-mentioned casing.

(44) Configuration of control unit 170: In the tenth embodiment described above, the control unit 170 uses the CPU 170a to execute the detection area adjustment process. It is not limited to those of For example, a logic circuit may be designed to execute the detection area adjustment process.

(45) Detection area adjustment process: In the above-mentioned Embodiment 10, the flowcharts shown in FIGS. 52 to 54 were shown as the detection area adjustment process, but the flowcharts are limited to the illustrated flowcharts as long as similar processes can be executed. Not done.

(46) Processing of the first object detection sensor section 111 and second object detection sensor section 113: In the above-described tenth embodiment, the processing of the first object detection sensor section 111 and the second object detection sensor section 113 is as follows. Although the flowcharts shown in FIGS. 58 and 59 are shown, the flowchart is not limited to the illustrated flowchart as long as it can execute similar processing.

The object detection device according to the present invention can be used, for example, in an industrial robot.

10 Object detection device 11 Object detection sensor unit 13 Object detection sensor section 13a Light emitting element 13b Light emitting lens 13c Light receiving element 13d Communication circuit for sensor 15 Sensor arrangement flexible member J15 Long axis 17 Control section 17a CPU
17b Memory 17g Communication circuit for sensor control 17h Communication circuit for operation control 19 Connection harness R11 Detection area R13 Detection area 20 Object detection device 21 Object detection sensor unit 25 Sensor arrangement flexible member 251 Sensor arrangement member 253 Intermediate flexible member 253a Belt 253b Expanding and contracting mechanism 30 Object detection device 31 Object detection sensor unit 35 Sensor arrangement flexible member 351 Unit flexible member 40 Object detection device 41 Object detection sensor unit 43 Object detection sensor section 431 Sensor board 433 Unit arrangement section 433a Unit protection housing section 433a1 For sensor board arrangement Internal space 433a2 Light projecting opening 433a3 Light receiving opening 433a4 Inter-sensor connection line opening 433a5 Connection harness opening 433b Sensor placement flexible member locking portion 433b1 Flexible member insertion space 433b2 Flexible member placement space 45 Sensor placement flexible member 45T1 End portion 45T2 End portion 47 Inter-sensor connection line 49 Inter-sensor connection line protection part 49a Inter-sensor connection line covering part 49b Sensor arrangement flexible member locking part 49b1 Flexible member insertion space 49b2 Inter-sensor connection line/flexible member arrangement space 50 Object detection device 51 Object Detection sensor unit 59 Inter-sensor connection line protection part 591 First housing 591a Inter-sensor connection line covering part 591a1 Sensor arrangement opening 591b End part 591c Inner peripheral part 591d End part 592 Second housing 592a Inter-sensor connection line covering part 592d End part 593 Hinge part 60 Object detection device 61 Object detection sensor unit 63 Object detection sensor part 631 Sensor board 65 Sensor arrangement flexible member 67 Inter-sensor connection line 69 Inter-sensor connection line protection part 691 First housing 691a Inter-sensor connection line coating Part 691a1 Light projection opening 691a2 Light reception opening 691b End 691c Inner circumference 691d End 692 Second housing 692d End L1 Distance 143 Object detection sensor section 143b Light projection lens R143 Detection area 153 Object detection sensor section R153 Detection area RBT Industrial robot AM1-AM7 Arm J1-J13 Movable rotary joint B1 Base H1 Hand X10 Object detection device X11 Object detection sensor unit Linear direction P131b End surface R131a Light emitting/receiving opening 131c End portion 131d Inner peripheral portion 132 Second housing portion 133 Hinge portion X15 Axial light projecting portion X17 Axial light receiving portion X19 Control portion 19a CPU
19b Memory 19g Communication circuit for sensor control 19h Communication circuit for operation control X20 Object detection device X21 Object detection sensor unit Light reception opening R231b Light reception opening 232 Second housing part X200 Reflection part X30 Object detection device X31 Object detection sensor unit Opening 332 Second housing section X35 Radial light projecting section X37 Radial light receiving section 111a Light emitting element 111b Light emitting lens 111c Light receiving element 111d Sensor communication interface 111e Sensor control section 111f Control section communication interface 111g Acceleration sensor section R111 Detection area 113 Second object detection sensor section 113a Light emitting element 113b Light emitting lens 113c Light receiving Element 113d Sensor communication interface 113e Sensor control unit R113 Detection area 117 Inter-sensor connection line 119 Housing part J119 Long axis 1191 First housing part 1191a Outer periphery 1191a1 Light emitting/receiving opening 1191b End 1191c Inner periphery 1191d End 1 192 Second housing part 1192a Outer part 1192a1 Light emitting/receiving opening 1192b End part 1192c Inner part 1192d End part 1193 Hinge part J1193 Rotating shaft 170 Control part 170a CPU
170b Memory 170g Sensor control communication circuit 170h Operation control communication circuit 190 Connection harness

Claims (4)

Object detection sensor unit that detects surrounding objects,
a flexible sensor arrangement member in which a plurality of the object detection sensor sections are arranged and has flexibility;
a control unit that controls the operation of the object detection sensor unit;
a connection harness connecting the object detection sensor section and the control section;
An object detection device having:
The sensor arrangement flexible member is
a sensor arrangement member in which the object detection sensor section is arranged;
An inter- sensor connection line that connects the adjacent object detection sensor units in cascade, the inter-sensor connection line having flexibility;
has
an inter-sensor connection line protection unit that protects the inter-sensor connection line by covering it;
has
The inter-sensor connection line protection section is
having a housing having a hollow cylindrical shape having an annular structure and having the object detection sensor section and the inter-sensor connection line in an internal space of the hollow cylindrical shape having the annular structure;
An object detection device featuring: In the object detection device according to claim 1,
The casing is
being divided into multiple parts,
An object detection device featuring: In the object detection device according to claim 2,
The casing is
A first casing obtained by dividing the hollow cylindrical shape having the annular structure, and a second casing. thing,
An object detection device featuring: In the object detection device according to claim 2 or claim 3,
The casing is
having a hinge portion connecting the plurality of adjacent casings;
An object detection device featuring:

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