JPH07174560A - Intrusion-monitoring apparatus - Google Patents

Abstract

PURPOSE:To suitably monitor an intruding moving body by detecting whether a position of the moving body detected by a position-detecting/operating part is within an intrusion prohibition area or not. CONSTITUTION:Laser lights LS1, LS2 projected and scanned on a moving space 1 from a background-reflecting member 5 are reflected towards a first and a second laser light-emitting means 19 to 22. An exit angle psi1 of the laser light LS1 not reflected by the member 5 is detected by first exit angle-detecting means 23, 25, and similarly, an exit angle psi2 of the laser light LS2 is detected by second exit angle-detecting means 53, 55. A position-detecting/operating part detects/operates an intersection of the laser light LS1 not reflected by the member 5 and the laser light LS2 based on the exit angles psi1, psi2 as a position of a moving body 3. A section-setting part sets an intrusion prohibition section S at a detecting surface, and an intrusion-detecting part detects whether the position of the moving body 3 detect at the position-detecting/operating part is within the section S or not, and informs of the result with an informing means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an intrusion monitoring device capable of suitably monitoring a moving body such as a worker who enters an intrusion prohibited area.

[0002]

2. Description of the Related Art Conventionally, the prevention of a moving body such as a worker from unknowingly entering a prohibited area such as a dangerous zone at a construction site is exclusively monitored by a supervisor such as a site supervisor. Was by

[0003]

However, in the conventional surveillance by an observer, it is difficult to always pay attention to a moving body such as a worker invading an invasion prohibited area, especially in a large construction site. Had. Also there,
It is conceivable that a plurality of infrared sensors connected to the alarm device are stretched around the intrusion-prohibited area. Then, the infrared sensor can detect a moving body entering the prohibited area and sound an alarm to notify the moving body itself and a supervisor that the prohibited area is invaded. . However, installing a plurality of infrared sensors so as to surround the intrusion-prohibited area is a labor-intensive and time-consuming task, and the danger zone at the construction site in particular changes with the progress of construction. Reinstalling a plurality of infrared sensors in the inaccessible area every time the zone changes has a problem that it takes a lot of labor and time. In view of the above circumstances, it is an object of the present invention to provide an intrusion monitoring device that can easily set an intrusion prohibited area and can appropriately monitor a moving body invading the intrusion prohibited area.

[0004]

The present invention provides a mobile unit (3).
Has a movement space (1) in which the laser beam (LS1, L2) is set at a predetermined height position (L2) of the movement space, and a detection plane (XY coordinate plane) is set in the movement space (1). LS
A background reflecting member (5) that reflects 2) on the same reflection path as the incident path is provided along the detection plane (XY coordinate plane), and the laser light (LS1) is on the detection plane (XY coordinate plane). First laser light emitting means (19, 20,
21, 22) are provided, and the first laser light emitting means (1
9, 20, 21, 22) is reflected toward the background reflection member (5) while being emitted toward the background reflection member (5) by the first laser light emission means (19, 20, 21, 22). First emission angle detection means (23, 2) for detecting the emission angle (ψ1) of the laser beam (LS1) that has not been reflected.
5, 27, 29), and the laser light (LS2) is applied to the detection plane (X2) at a position having a predetermined distance (L1) from the first laser light emitting means (19, 20, 21, 22).
Second laser light emitting means (4 for scanning on the Y coordinate plane)
9, 50, 51, 52), and the second laser light emitting means (49, 50, 51, 52) is provided with the second laser light emitting means (49, 50, 51, 52). Second emission angle detection means (53, 5) for detecting the emission angle (ψ2) of the laser light (LS2) which is not reflected by the background reflection member (5) while being emitted toward (5).
5, 57, 59), and the first ejection angle detection means (23, 25, 27, 29) and the second ejection angle detection means (53, 55, 57, 59) are provided with the first ejection angle detection means. The emission angle (ψ1) detected by the means (23, 25, 27, 29) and the second emission angle detection means (53,
55, 57, 59), the ejection angle (ψ2) detected by
And the first laser beam emitting means (19, 2
0, 21, 22) emitted toward the background reflection member (5) but not reflected by the background reflection member (5), and the second laser light emission means (49, 50). , 51, 52) while being emitted toward the background reflection member (5), the background reflection member (5)
A position detection calculation unit (4) for detecting and calculating the intersection with the laser beam (LS2) that is not reflected by the position as the position of the moving body.
6, 47) are connected to each other and an intrusion prohibited area (S) can be set in the detection plane (XY plane coordinates).
6) is provided, and the position of the moving body (3) detected by the position detection calculation unit (46, 47) is within the intrusion prohibited area (S) set by the area setting unit (37, 66). An intrusion detection unit (67) for determining whether or not the intrusion detection unit (67) is provided so that the position of the moving body (3) is within the intrusion prohibited area (S). If it is determined that there is, the notification means (39, 48, 69) for notifying that the position of the moving body (3) is in the intrusion prohibited area (S) is provided. In addition,
Numbers in parentheses are for convenience of reference to corresponding elements in the drawings, and thus the present description is not limited to the description in the drawings. The same applies to the column of "action" below.

[0005]

With the above structure, the present invention provides the first and second laser light emitting means (19, 19) by the background reflecting member (5).
20, 21, 22, 49, 50, 51, 52) and laser beams (LS1, LS) emitted and scanned into the moving space (1).
The second and the second laser light emitting means (19, 20, 21, 22, 49, 50, 51, 52) unless 2) is blocked by the moving body (3) moving in the moving space (1).
The first emission angle detecting means (23,
25, 27, 29) is emitted toward the background reflecting member (5) by the first laser light emitting means (19, 20, 21, 22) but is not reflected by the background reflecting member (5). The emission angle (ψ1) of the laser beam (LS1) is detected, and the second emission angle detection means (53, 5) is detected.
5, 57, 59) is emitted toward the background reflecting member (5) by the second laser light emitting means (49, 50, 51, 52) but is not reflected by the background reflecting member (5). The emission angle (ψ2) of the laser beam (LS2) is detected, and the first detection angle detection means (23, 25, 27,
29) and the emission angle (φ2) detected by the second emission angle detection means (53, 55, 57, 59), the first laser beam emission means. (19, 20, 21, 22) laser light (LS1) emitted toward the background reflection member (5) but not reflected by the background reflection member (5),
Second laser light emitting means (49, 50, 51, 52)
The intersection point with the laser beam (LS2) that is emitted toward the background reflection member (5) but is not reflected by the background reflection member (5) is detected and calculated as the position of the moving body (3), The setting section (37, 66) sets an intrusion prohibited area (S) on the detection plane (XY plane coordinates), and the intrusion detection section (67) detects the position detection calculation section (46, 47). It is determined whether or not the position of the moving body (3) is within the intrusion prohibition area (S) set by the area setting unit (37, 66), and the notification means (3).
9, 48, 69), the position of the moving body (3) when it is determined by the intrusion detection unit (67) that the position of the moving body (3) is within the intrusion prohibited area (S). Acts to signal that the vehicle is in the no-entry area (S).

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing an embodiment of the intrusion monitoring device of the present invention installed at a construction site. FIG. 2 is a front view showing the background reflector installed on the protective wall of the construction site in FIG. FIG. 3 is a front view showing a laser angle detection unit of the intrusion monitoring device of FIG. FIG. 4 is a plan view showing a laser angle detection unit of the intrusion monitoring device of FIG. FIG. 5 is a diagram showing a control unit of the intrusion monitoring device of FIG. FIG. 6 is a diagram showing an image displayed on the display of the control unit of the intrusion monitoring device of FIG.

At the construction site 1 surrounded by the protective wall 2,
As shown in FIG. 1, there are workers 3 and the construction site 1
An intrusion monitoring device 100 is installed in. The intrusion monitoring device 100 includes an intrusion monitoring device body 80 installed in the construction site 1 near one side of a protection wall 2 forming a square so as to surround the construction site 1 when viewed from above, and an intrusion monitoring device body 8
And a background reflector 5 installed on the protective wall surface 2a of the construction site 1 facing 0. At the construction site 1,
As shown in FIGS. 1 and 2, the XY coordinate plane is defined by the worker 3
Is horizontally set to a predetermined height L2 across the body of the vehicle.

As shown in FIG. 1, the background reflection plate 5 is formed so as to face the intrusion monitoring device body 80 on the wall surfaces 2a of all the protection walls 2 except one side of the protection wall 2 near the intrusion monitoring device body 80. As shown in FIG. 2, the background reflection plate 5 is continuously provided on the protection wall surface 2a in a horizontal strip shape centered on the line of intersection with the XY coordinate plane. In addition, the background reflection plate 5 can fly on the XY coordinate plane and reflect the laser beams LS1 and LS2 incident on the reflection plate 5 as shown in FIG. 1 on the same reflection path as the incident path. Is formed by.

Further, as shown in FIG. 1, the intrusion monitoring device main body 80 has two laser angle detecting units 10 and 40, and the two laser angle detecting units 10 and 40.
Are arranged side by side with the front surfaces 15a and 45a thereof facing the worker 3. The machine centers CP1 and CP2 of the laser angle detection units 10 and 40 are
Known coordinate point Pt on the X axis in the XY coordinate plane
Located at 1 and Pt2, the machine center CP of each
1 and CP2 have a predetermined interval L1 in the horizontal direction. In addition, the laser angle detection unit 10, 40,
Reference horizontal axes CT1 and CT including machine centers CP1 and CP2
2 are set in parallel and horizontal directions with respect to the front surfaces 15a and 45a, respectively.
1 and CT2 coincide with the X axis.

The laser angle detection unit 10 (4
0) has a tripod 11 (41) as shown in FIG. 3, and is erected on the construction site 1 by the tripod 11 (41). At the upper end of the tripod 11 (41), a box-shaped box 15 (45) is provided with its bottom surface 15b (45b) being horizontal, and the box 15 (45) is
Includes machine center CP1 (CP2) and bottom surface 15b (45
A scan plane PL1 (PL2) parallel to b) is set. Therefore, the scanning plane PL1 (PL2) coincides with the XY coordinate plane.

Further, inside the box 15 (45),
As shown in FIG. 3, a laser oscillator 19 (49) capable of oscillating the laser light LS1 (LS2) is provided, and the laser oscillator 19 (49) is provided with the laser light LS1 (LS2).
In the scanning plane PL1 (PL2), the box 15
It is installed so that it can oscillate toward the front surface 15a (45a) of (45). A half mirror 20 (50) is provided in front of the laser oscillator 19 (49).
Laser light LS1 (LS2) oscillated by (49)
As shown in FIG. 4, a shape capable of being reflected along the horizontal axis CT1 (CT2) in the scanning plane PL1 (PL2), that is, a shape capable of being reflected in a right angle direction (right side in FIG. 4). A plate-shaped rotating mirror 21 (51) having a reflecting surface 21a (51a) is provided on the right side of the half mirror 20 (50) in FIG. 4 to reflect the laser beam LS1 (LS2). (51a) allows the scanning plane PL1 (PL
2) A rotary shaft 21 provided perpendicularly to the scanning plane PL1 (PL2) at a position including the machine center CP1 (CP2) so that the light can be reflected in an arbitrary direction within a predetermined angle range γ.
around b (51b), that is, arrows G1 (G2) and H in FIG.
It is provided rotatably in the 1 (H2) direction. As shown in FIG. 3, the rotating mirror 21 (51) has a rotating shaft 21b.
The scanning drive unit 22 (52) causes the rotary mirror 21 (51) to move through (51b) to the direction indicated by arrows G1 (G2) and H1 (H).
As shown in FIG. 4, the scanning drive unit 22 (52) is provided so as to be rotationally driven in the 2) direction, and the normal line LH1 of the reflecting surface 21a (51a) of the rotating mirror 21 (51).
A scanning angle detecting means 23 (53) shown in FIG. 3 is provided which can instantaneously detect the angular position θ1 (θ2) of (LH2) with respect to the horizontal axis CT1 (CT2). The optical sensor 25 (55) is reflected by the rotating mirror 21 (51) along the horizontal axis CT1 (CT2) at a position facing the rotating mirror 21 (51) across the half mirror 20 (50). The laser beam LS1 (LS2) can be detected, and the box 15 (45) is provided.
The front surface 15a (45a) of the laser light LS1 (LS2)
Is formed so as to be transparent.

Also, the two laser angle detection units 1
0 and 40 are both connected to the control unit 70 as shown in FIG. 1, and the control unit 70 is connected to the optical sensor 25 of the laser angle detection unit 10 as shown in FIG. A scanning angle detector 29 connected to the scanning angle detector 23, a laser controller 31 connected to the laser oscillator 19,
The scanning drive unit control unit 32 connected to the scanning drive unit 22, the shadow detection unit 57 connected to the optical sensor 55 of the other laser angle detection unit 40, the scanning angle detection unit 59 connected to the scanning angle detection unit 53, and the laser. A laser control unit 61 connected to the oscillating unit 49, a scan drive unit control unit 62 connected to the scan drive unit 52, both end detection calculation unit 46, a center position detection calculation unit 47, an image forming unit 48, an angle determination unit 65, an intrusion. Prohibited area setting unit 66, intruder detection unit 67, alarm sound output unit 6
9, main controller 36, keyboard 37, display 39
The shadow detection units 27 and 57, the scanning angle detection units 29 and 59, the laser control units 31 and 61, the scanning drive unit control units 32 and 62, the both end detection calculation unit 46, the center position detection calculation unit 47, The image forming unit 48, the angle determination unit 65, the intrusion prohibited area setting unit 66, the intruder detection unit 67, the alarm sound output unit 69,
The keyboard 37 and the display 39 are connected to the main control unit 36 via a bus line 68.

Since the intrusion monitoring device 100 has the above-described structure, as shown in FIG. 1, when trying to monitor the intrusion of the worker 3 into the intrusion prohibited area S at the construction site 1, first, At the construction site 1, as shown in FIGS. 1 and 2, the XY coordinate plane is horizontally set to a predetermined height L2 across the body of the worker 3. Next, inside the construction site 1, a protection wall 2 forming a square surrounding the construction site 1 when viewed from above
The intrusion monitoring device main body 80 is installed near one side. At this time, as shown in FIG. 1, the two laser angle detection units 10 and 40 of the intrusion monitoring device main body 80 have their front surfaces 15a and 45a directed toward the intrusion prohibited area S at the construction site 1 and in the horizontal direction. In parallel with each other with a predetermined distance L1. Then, the laser angle detection units 10 and 40 can scan the intrusion prohibited area S with the laser beams LS1 and LS2. At this time, the reference horizontal axes CT1 and CT2 of the laser angle detection units 10 and 40 are provided on the X axis of the XY coordinate plane. Then, the machine centers CP1 and CP2 of the laser angle detection units 10 and 40 are located at known coordinate points Pt1 and Pt2 on the X axis of the XY coordinate plane in a form having a predetermined distance L1. . Next, the background reflection plate 5 is continuously installed in the horizontal direction along the XY coordinate plane on the three protection wall surfaces 2a facing the intrusion monitoring device body 80. In addition, the background reflection plate 5 is the intrusion monitoring device body 80.
Laser beams LS1 and LS2 are provided over the entire range that can be scanned.

Therefore, using the keyboard 37 shown in FIG. 5, the installation positions of the laser angle detection units 10 and 40 shown in FIG. 1, that is, the machine center CP1 of the laser angle detection units 10 and 40 shown in FIG. , XY coordinates (x1, 0), (x2, 0) of the position of CP2 are input.
Then, the both-ends detection calculation unit 46 causes each XY coordinate (x1,
0) and (x2, 0) are held. As a result, the laser angle detection units 10 and 40 in the both-ends detection calculation unit 46.
The installation position of can be set. Next, the keyboard 37 is used to input the mathematical expression y = F (x) or the like representing the position and shape of the boundary line Bl of the intrusion prohibited area S on the XY coordinate plane into the intrusion prohibited area setting unit 66. Then, the intrusion prohibited area setting unit 66 sets the intrusion prohibited area S (hatched portion in FIG. 1) on the XY coordinate plane shown in FIG. 1 based on the mathematical expression y = F (x) or the like. Then, the intrusion prohibited area setting unit 66 outputs the intrusion prohibited area S to the intruder detection unit 67 and the image forming unit 48. Then, the intruder detection unit 67 holds the intrusion prohibited area S. Further, the image forming unit 48 displays the intrusion prohibited area S on the display 39 as shown in FIG. Therefore, the invasion prohibited area S can be easily set to any place.

Then, the monitoring start command S1 is output to the main control unit 36 by the keyboard 37 of FIG. Then, the main controller 36, based on the command S1, scan driver controller 3
The drive command S2 is output to 2 and 62. Then, the scan driving unit control units 32 and 62, based on the command S2, respectively, the scan driving units 22 and 52 of the boxes 15 and 45 shown in FIG.
To drive. At this time, the scan driver control units 32 and 6 shown in FIG.
2, the scanning drive units 22 and 52 of FIG.
51b is controlled to be rotationally driven at a constant angular velocity ω. Therefore, the rotary mirrors 21 and 51 fixed to the rotary shafts 21b and 51b respectively have horizontal scanning planes PL1 and PL.
Rotation starts at a constant angular velocity ω around the rotation shafts 21b and 51b perpendicular to 2, that is, in the directions of arrows G1 and G2 in FIG. Here, the scanning angle detecting means 2 shown in FIG.
As shown in FIG. 4, 3 and 53 are normals LH1 and LH of the reflecting surfaces 21a and 51a of the rotating mirrors 21 and 51, respectively.
2, the horizontal axis CT1 and CT2, that is, the angles θ1 and θ2 with respect to the X axis are constantly detected, and the scanning angle detection units 29 and 59 shown in FIG. 5 momentarily detect the angles θ1 and θ2. It is output to 36. Therefore, the main controller 36 can always recognize the angles θ1 and θ2. Therefore, the main control unit 36, when the angles θ1 and θ2 become zero, that is, as shown by the dotted line in FIG.
When the normals LH1 and LH2 of the first reflecting surfaces 21a and 51a coincide with the horizontal axis centers CT1 and CT2, that is, the X axis, the drive start command S5 is output to the laser control units 31 and 61 shown in FIG. Then, the laser control units 31 and 61 drive the respective laser oscillation units 19 and 49 provided inside the boxes 15 and 45 based on the drive start command S5. Then, the respective laser oscillators 19 and 49 oscillate the laser light LS1 (LS2) toward the front surfaces 15a and 45a of the respective boxes 15 and 45, as shown in FIG. Then,
The laser light LS1 (LS2) has horizontal axis centers CT1 and CT.
By the half mirrors 20 and 50 provided on the 2
Reflected at right angles within the scanning planes PL1 and PL2 shown in FIG.
Rotating mirrors 21, 5 along the horizontal axis CT1, CT2
1 toward the machine centers CP1 and CP2 set on the rotating shafts 21b and 51b. Therefore, the laser light LS
1 (LS2), first, as shown in FIG.
The rotating mirrors 21 and 51 are irradiated when H1 and LH2 coincide with the horizontal axes CT1 and CT2. Therefore, when the rotating mirrors 21 and 51 are rotated to a predetermined angular position, the laser beam LS1 (LS2) is emitted from the front surfaces 15a and 45a of the box into the scanning surfaces PL1 and PL2 shown in FIG. 3 as shown in FIG. At the same time, scanning is performed around the rotary shafts 21b and 51b, that is, in the directions of arrows G1 and G2 in FIG. Therefore, as long as the worker 3 is within the predetermined scanning angle range γ of the construction site 1, the worker 3 can be irradiated with the laser beams LS1 and LS2.
In addition, here, the background reflection plate 5 is provided on the scanning planes PL1 and PL2, and thus on the XY coordinate plane.
Walls 2 of all protection walls 2 except one side of the protection wall 2 near the
a is continuously provided so as to face the intrusion monitoring device main body 80, and the background reflector 5 is, as shown in FIG.
On the protective wall surface 2a, it is installed in a band shape in the horizontal direction around the line of intersection with the XY coordinate plane. As shown in FIG. 1, even if the emitted laser beam LS1 (LS2) is scanned in the horizontal direction, the predetermined scanning angle range γ is such that the background reflection plate 5 is always present on the extension line of the emission direction. The scanning angle range γ is set to. Further, the background reflection plate 5 is a shape that can be emitted along the XY coordinate plane and reflect the laser beams LS1 and LS2 entering the reflection plate 5 as shown in FIG. 1 on the same reflection path as the incident path. Is formed by. Therefore, in the predetermined scanning angle range γ, each of the laser beams LS1 and LS2 is always applied to the background reflection plate 5 unless the worker 3 blocks the laser beams LS and LS2.
1, laser angle detection unit 10 and 4 which emitted LS2
It returns to 0. Then, the respective laser lights LS1 and LS2
First, as shown in FIG. 4, the laser beams LS1 and L
It is reflected toward the mechanical centers CP1 and CP2 of the laser angle detection units 10 and 40 that emitted S2, that is, the rotating mirrors 21 and 51. By the way, the respective laser beams LS1 and LS
When 2 returns to the rotary mirrors 21 and 51 again, the rotational angular positions θ1 and θ2 of the rotary mirrors 21 and 51 are almost equal to the angular positions at the moment when the background reflection plate 5 is irradiated with the laser beams LS1 and LS2. I haven't moved. This is because the rotational angular velocities ω of the rotating mirrors 21 and 51 are the
This is because the round trip time of 2 is set so that it can be ignored. Therefore, the laser beams LS1 and LS2 are reflected by the rotating mirrors 21 and 51 toward the half mirrors 20 and 50 so as to return along the same path as when the laser beams are emitted, and the laser beams LS1 and LS2 are reflected by the half mirrors 20 and 50. The light passes through 50 and is received by the optical sensors 25 and 55. Therefore, while the laser beams LS1 and LS2 are being emitted and scanned within the predetermined scanning angle range γ, the optical sensors 25 and 55 continuously detect the laser beams LS1 and LS2 unless the worker 3 blocks the laser beams LS1 and LS2. Continue. The optical sensors 25 and 55 are shown in FIG.
As shown in FIG. 3, the light detection signals S7 and S8 are continuously supplied to the shadow detection unit 2 as long as the laser lights LS1 and LS2 are detected.
Output continues to 7 and 57. Therefore, conversely, as shown in FIG. 1, when the laser light LS1 and LS2 is blocked by the worker 3, as shown in FIG. 5, the optical sensors 25 and 55 normally output the shadow detectors 27 and 57. Light-sensing signal S
In S7 and S8, the output is suspended for a while. The shadow detectors 27 and 57 detect the light sensing signal S from the light sensors 25 and 55.
When the input of 7 and S8 is interrupted, the shadow detection signals S9 and S10 are output to the scanning angle detection units 29 and 59 at that moment. Then, the scanning angle detection units 29 and 59 are configured to rotate the rotary mirror 2 at the moment when the shadow detection signals S9 and S10 are input.
The angles θ1 and θ2 of 1, 51 are the scanning angle detecting means 23 and 5,
3, the moment the laser light LS1, LS2 is blocked by the worker 3, as shown in FIG. 1, based on the angles θ1, θ2, that is, the laser light LS1, LS2 1 Scanning angle ψ at the moment of irradiating the right end Pr1
1 and ψ2 are calculated and detected. As shown in FIG. 4, the rotary mirror 2 is moved along the horizontal axes CT1 and CT2.
Laser light L radiated on the reflecting surfaces 21a and 51a
S1 and LS2 are reflection surfaces 2 with respect to the horizontal axis centers CT1 and CT2, according to the optical law that the incident angle and the reflection angle are equal.
Since the laser beams LS1 and LS2 reflect the laser beams LS1 and LS2 with respect to the horizontal axes CT1 and CT2, the scanning angles ψ1 and ψ2 is the angle θ1, θ2
Can be easily detected by doubling. When detecting the scanning angles ψ1 and ψ2, the scanning angle detection units 29 and 59 output the scanning angles ψ1 and ψ2 to the angle determination unit 65. Then, the angle determination unit 65 causes the scan angle ψ.
It is determined whether 1 and ψ2 are angles at both ends of the predetermined scanning angle range γ. Then, the scanning angles ψ1 and ψ2 are
The scan angles ψ1 and ψ2 are output to the both-ends detection calculation unit 46 only when the angles are not the start end Bs to the end end Bf of the predetermined scan angle range γ. This is performed for the purpose of preventing the angle of the end end Bf and the angle of the start end Bs that are unrelated to the worker 3 from being detected, as shown in FIG. That is,
The laser beams LS1 and LS2 are the laser beams LS1 and LS2 until the laser beams LS1 and LS2 return from the end Bf of the scanning angle range γ to the start Bs of the scanning angle range γ. The light is blocked by the boxes 15 and 45 which are emitting light, and is not received by the optical sensors 25 and 55. Therefore, the angle of the end end Bf and the angle of the start end Bs will be detected by the scanning angle detection units 29 and 59 similarly to the worker 3, but the angle of the end end Bf and the angle of the start end Bs. The angle determination unit 65 of FIG. Then, the both-end detection calculation unit 4
6 is a diagram of the worker 3 based on the scanning angles ψ1 and ψ2.
The XY coordinate (x10, y10) of the right end Pr1 is detected and calculated. Here, as shown in FIG. 1, in the XY coordinates, from the coordinate point Pt1 (x1, 0) where the machine center CP1 of the laser angle detection unit 10 is installed, an angle ψ1 is formed with respect to the horizontal axis center CT1, that is, the X axis. From the coordinate point Pt2 where the laser beam LS1 emitted toward the right end Pr1 of the worker 3 in FIG. 1 and the machine center CP2 of the other laser angle detection unit 40 are installed, the horizontal axis center CT2, that is, the X-axis. On the other hand, the laser beams LS1 and LS2 emitted toward the right end Pr1 in FIG. 1 of the worker 3 with the angle ψ2 are both straight lines on the same plane (XY coordinate plane), and therefore, the intersections of the two straight lines. That is, it is obvious that the position of the right end Pr1 of the worker 3 in FIG. 1 is unique. Therefore, the scanning angle ψ1,
Based on ψ2, the position (x10, y10) of the worker 3 on the XY coordinate of the right end Pr1 in FIG.
Can be calculated using.

[Equation 1]

[Equation 2] The equations 1 and 2 can be obtained as follows. First, the laser light LS1 emitted from the machine center CP1, (x1, 0) of the laser angle detection unit 10 shown in FIG. 1 and irradiated on the right end Pr1, (x10, y10) of FIG. Since it has an angle ψ1,
The number 3 can be derived.

[Equation 3] In addition, the laser angle detection unit 40 shown in FIG. 1 is injected from the machine center CP2, (x2, 0), and the worker 3 of FIG.
Laser light L irradiated on the right end Pr1, (x10, y10)
Since S2 has an angle ψ2 with respect to the X axis,
Can be guided.

[Equation 4] When the equation 3 is transformed, the equation 5 is obtained, and when the equation 4 is transformed, the equation 6 is obtained.
Can be expressed as

[Equation 5]

[Equation 6] From equations 5 and 6, if y10 is deleted, equation 7 is derived.

[Equation 7] If Equation 7 is organized by x10, Equation 8 is obtained.

[Equation 8] By transforming Equation 8, Equation 9 is derived.

[Equation 9] And from the definition of trigonometric function, tan (180 ° −ψ2) ＝ tan
Since it is (−ψ2), the formula 1 can be derived. Further, when formula 3 and formula 4 are organized by x10, formula 10 and formula 11
Can be expressed as

[Equation 10]

[Equation 11] When x10 is deleted from the equations 10 and 11, the equation 12 is derived.

[Equation 12] Rearranging Equation 12 by y10 gives Equation 13.

[Equation 13] By transforming Equation 13, Equation 14 is derived.

[Equation 14] And from the definition of trigonometric function, tan (180 ° −ψ2) ＝ tan
Since it is (−ψ2), the equation 2 can be derived. Therefore, the both-ends detection calculation unit 46 shown in FIG.
When 1 and ψ2 are calculated and detected, the scanning angles ψ1 and ψ2 are detected.
By substituting the above into Equations 1 and 2, the XY coordinates (x10, y10) of the right end Pr1 in FIG. 1 of the worker 3 can be detected and calculated.

Further, as shown in FIG. 1, laser light LS
1 and LS2 are irradiated to the right end Pr1 of FIG. 1 of the worker 3, and then the worker 3 is scanned leftward, that is, in the directions of arrows G1 and G2 of FIG. Three
After leaving, the laser beams LS1 and LS2 irradiate the background reflection plate 5 again and are reflected. Therefore, FIG.
As shown in, the optical sensors 25 and 55 output the optical detection signals S7 and S8 to the shadow detection units 27 and 57 again. The shadow detection units 27 and 57 output the shadow detection signals S9 and S10 to the scanning angle detection units 29 and 59 again at the moment when the light sensing signals S7 and S8 from the optical sensors 25 and 55 are restarted. Then, the scanning angle detectors 29 and 59 detect the angles θ1 and θ2 of the rotary mirrors 21 and 51 at the moment when the shadow detection signals S9 and S10 are input, respectively.
3 and 53, the scanning angles ψ1 and ψ2 of the laser beams LS1 and LS2 are detected based on the angles θ1 and θ2, and output to the angle determination unit 65. When the angle determination unit 65 determines that the scanning angles ψ1 and ψ2 are not the angles from the start end Bs to the end end Bf of the predetermined scan angle range γ, the angle determination unit 65 outputs the scan angles ψ1 and ψ2 to the both-end detection calculation unit 46. . Then, the both-end detection calculation unit 46, based on the scanning angles ψ1 and ψ2, similarly to the right end Pr1 of the worker 3 in FIG.
It is possible to detect the XY coordinates (x20, y20) of the left end Pl1 of FIG. Then, the both-ends detection calculation unit 46 detects the XY coordinates (x10, x10,
x10) and the XY coordinates (x2) of the left edge Pr2 of the worker 3 in FIG.
0, y20) is output to the center position detection calculation unit 47 shown in FIG. Then, the center position detection calculation unit 47 causes the XY coordinates (x10, x10) of the right end Pr1 of the worker 3 in FIG. 1 and the XY coordinates (x20, y20) of the left end Pl1 of the worker 3 in FIG.
XY coordinates (x10, x10) of the right end Pr1 of FIG. 1 of the worker 3 and XY of the left end Pl1 of FIG. 1 of the worker 3 based on
The position on the XY coordinates of the midpoint between the coordinates (x20, y20),
That is, the XY coordinates (x30, y3) of the center Ps1 of the worker 3
0) is detected and calculated. Then, the center position detection calculation unit 47 in FIG. 5 causes the center Ps1 of the worker 3 to have XY coordinates (x30,
y30) is output to the intruder detection unit 67 and the image forming unit 48. Then, first, the image forming unit 48 sets the XY of the center Ps1 of the worker 3 input from the center position detection calculation unit 47.
The coordinates (x30, y30) are displayed on the display 39 as shown in FIG.
Display as shown in. At this time, as described above, the intrusion prohibited area setting unit 66 is displayed on the display 39.
The intrusion prohibition area S set by is displayed. Therefore, the operator moves the position (x30, y3) of the worker 3 with respect to the intrusion prohibited area S on the display 39.
Since 0) can be monitored, the worker 3 can be urged not to enter the invasion prohibited area S. Also,
The intruder detection unit 67 in FIG. 5 is the center Ps1 of the worker 3.
It is determined whether or not the XY coordinates (x30, y30) are within the intrusion prohibition area S set by the intrusion prohibition area setting unit 66 as shown in FIG. And the center Ps of the worker 3
If it is determined that the XY coordinates (x30, y30) of 1 are within the intrusion prohibited area S, the alarm signal S11 is output to the alarm sound output unit 69 in FIG. Then, the alarm sound output unit 69 emits an alarm sound indicating that the XY coordinate (x30, y30) of the center Ps1 of the worker 3 is within the intrusion prohibited area S. Therefore, the operator can know from this alarm sound that the worker 3 has entered the prohibited area S. In addition, this alarm sound causes the worker 3 himself to also enter the prohibited area S.
You can know that you have invaded. Therefore, the worker 3 can be urged to avoid the invasion prohibited area S. Therefore, according to the present invention, it is possible to easily set an intrusion prohibited area of any shape such as the intrusion prohibited area S on the detection plane such as the XY coordinate plane, and to prevent the worker 3 or the like who intrudes into the intrusion prohibited area. The moving body can be suitably monitored.

[0017]

As described above, according to the present invention,
There is a moving space such as the construction site 1 in which a moving body such as the worker 3 can move, and a detection plane such as an XY coordinate plane is set at a height position such as a predetermined height L2 of the moving space, and the movement is performed. In the space, a background reflection member such as a background reflection plate 5 that reflects laser light such as laser light LS1 and LS2 on the same reflection path as the incident path is provided along the detection plane, and laser light such as laser light LS1 is provided. Laser oscillating unit 1 for scanning the scanning plane on the detection plane
9, half mirror 20, rotary mirror 21, scan drive unit 2
A second laser light emitting means such as 2 is provided, and a laser which is emitted to the first laser light emitting means toward the background reflecting member by the first laser light emitting means but is not reflected by the background reflecting member The first emission angle detection means, such as the scanning angle detection means 23 for detecting the emission angle of the laser light such as the light LS1 or the like, the emission angle ψ1 or the like, the optical sensor 25, the shadow detection part 27, the scanning angle detection part 29 or the like, is provided. A laser oscillating unit 49, a half mirror 50, a rotary mirror 51, and a scan driving unit 52, which scans the detection plane with a laser beam such as a laser beam LS2 at a position having a predetermined gap such as a gap L1 from one laser beam emitting means. And the like, and the second laser light emitting means is reflected by the background reflecting member while being emitted toward the background reflecting member by the second laser light emitting means. A second emitting angle detecting means such as a scanning angle detecting means 53 for detecting an emitting angle such as an emitting angle ψ2 of a laser beam such as the desired laser beam LS2, an optical sensor 55, a shadow detecting section 57, a scanning angle detecting section 59 and the like is provided. The first injection angle detection means and the second injection angle detection means based on the injection angle detected by the first injection angle detection means and the injection angle detected by the second injection angle detection means. While being emitted toward the background reflection member by the first laser light emission means and not reflected by the background reflection member, while being emitted toward the background reflection member by the second laser light emission means Position detection calculation of a both-ends detection calculation unit 46, a center position detection calculation unit 47, etc. for detecting and calculating the intersection point with the laser light not reflected by the background reflection member as the position of the moving body. And a zone setting unit such as a keyboard 37 and an intrusion prohibited area setting unit 66 which can set an intrusion prohibited area S such as an intrusion prohibited area S on the detection plane, and the moving body detected by the position detection calculation unit. Is provided with an intrusion detection unit such as an intruder detection unit 67 that determines whether or not the position is within the intrusion prohibited area set by the area setting unit, and the intrusion detection unit causes the intrusion detection unit to move the moving object. When it is determined that the position of the moving body is in the invasion prohibited area, the display 39 that informs that the position of the moving body is in the intrusion prohibited area, the image forming unit 4
8. Since the notification means such as the alarm sound output unit 69 is provided, the laser light emitted and scanned into the moving space by the background reflecting member from the first and second laser light emitting means is moved to the moving space. Can be reflected toward the first and second laser light emitting means as long as it is not blocked by a moving body. Further, the first emission angle detection means can detect the emission angle of the laser light which is not reflected by the background reflection member while being emitted toward the background reflection member by the first laser light emission means. The emission angle detection means can detect the emission angle of the laser light that is not reflected by the background reflection member while being emitted toward the background reflection member by the second laser light emission means. Then, the position detection calculation unit causes the first laser light emission unit to perform the emission based on the emission angle detected by the first emission angle detection unit and the emission angle detected by the second emission angle detection unit. Laser light that was emitted toward the background reflection member but was not reflected by the background reflection member, and was emitted toward the background reflection member by the second laser light emitting means and was not reflected by the background reflection member The intersection with the laser beam can be detected and calculated as the position of the moving body. Further, since the area setting unit can set an intrusion prohibited area on the detection plane,
It is possible to easily set an intrusion prohibited area having an arbitrary shape in any place on the detection plane. Then, the intrusion detection unit can determine whether or not the position of the moving body detected by the position detection calculation unit is within the intrusion prohibited area set by the area setting unit. When the intrusion detection unit determines that the position of the moving body is in the intrusion prohibited area, the notification unit may report that the position of the moving body is in the intrusion prohibited area. I can. Therefore, according to the present invention, it is possible to easily set an intrusion prohibition area having an arbitrary shape at an arbitrary position on a detection plane such as an XY coordinate plane, and it is preferable that the moving body invading the intrusion prohibition area is suitably set. Can be monitored.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an embodiment of an intrusion monitoring device of the present invention installed at a construction site.

FIG. 2 is a front view showing a background reflector installed on a protective wall of the construction site of FIG.

FIG. 3 is a front view showing a laser angle detection unit of the intrusion monitoring device of FIG.

FIG. 4 is a plan view showing a laser angle detection unit of the intrusion monitoring device of FIG.

FIG. 5 is a diagram showing a control unit of the intrusion monitoring device of FIG.

FIG. 6 is a diagram showing an image displayed on a display of a control unit of the intrusion monitoring device of FIG.

[Explanation of symbols]

1 ... moving space (construction site) 3 ... moving body (worker) 5 ... background reflecting member (background reflecting plate) 19 ... first laser light emitting means (laser oscillator) 20 ... first laser light Ejection Means (Half Mirror) 21 ...... First Laser Light Emission Means (Rotating Mirror) 22 ...... First Laser Light Emission Means (Scan Drive Unit) 23 ...... First Emission Angle Detection Means (Scanning Angle Detection Means) 25 ...... First emission angle detection means (optical sensor) 27 ...... First emission angle detection means (shadow detection section) 29 ...... First emission angle detection means (scanning angle detection section) 37 ...... Area setting section (keyboard) 39 …… Notification means (display) 46 …… Position detection calculation section (both ends detection calculation section) 47 …… Position detection calculation section (center position detection calculation section) 48 …… Notification means (image forming section) 49 …… Second laser Light emitting means (laser oscillator) 50 … Second laser light emitting means (half mirror) 51 …… Second laser light emitting means (rotating mirror) 52 …… Second laser light emitting means (scan drive section) 53 …… Second emission angle detecting means (scanning angle) Detecting means) 55 ...... Second emitting angle detecting means (optical sensor) 57 ...... Second emitting angle detecting means (shadow detecting section) 59 ...... Second emitting angle detecting means (scanning angle detecting section) 66 ...... Section setting Part (intrusion prohibited area setting part) 67 ... intrusion detection part (intruder detection part) 69 ... informing means (alarm sound output part) L1 ... predetermined interval (interval) L2 ... predetermined height (predetermined height) Position) LS1, LS2 ... Laser light (laser light) ψ1 ...... Emission angle (emission angle) of laser light emitted from the first laser light emitting means ψ2 ...... Laser light emitted from the second laser light emitting means Injection angle (ejection angle) S .... Zone (intrusion prohibited area)

Claims (1)

[Claims] 1. A moving space in which a moving body can move is provided, a detection plane is set at a predetermined height position of the moving space, and a laser beam is provided in the moving space on the same reflection path as an incident path. A background reflecting member that reflects the light is provided along the detection plane, and a first laser beam emitting unit that scans the laser beam on the detection plane is provided. The first laser beam emitting unit is provided in the first laser beam emitting unit. While being emitted toward the background reflection member by providing a first emission angle detection means for detecting the emission angle of the laser light not reflected by the background reflection member, a predetermined interval from the first laser light emission means A second laser light emitting means for scanning a laser beam on the detection plane is provided at a position having, while being emitted toward the background reflecting member by the second laser light emitting means to the second laser light emitting means. , The above The second emission angle detection means for detecting the emission angle of the laser light not reflected by the scene reflection member is provided, and the first emission angle detection means and the second emission angle detection means are provided with the first emission angle detection means. Based on the detected emission angle and the emission angle detected by the second emission angle detection means, the first laser light emission means reflects the background reflection member while being emitted toward the background reflection member. A position where the intersection point between the laser beam that was not present and the laser beam that was emitted toward the background reflecting member by the second laser beam emitting means and was not reflected by the background reflecting member is detected and calculated as the position of the moving body. An area setting unit that connects a detection calculation unit and can set an intrusion prohibited area on the detection plane, and the position of the moving body detected by the position detection calculation unit is the area An intrusion detection unit that determines whether or not it is in the intrusion prohibited area set by the controller is provided, and the intrusion detection unit determines that the position of the moving body is in the intrusion prohibited area by the intrusion detection unit. The intrusion monitoring device is provided with a notifying means for notifying that the position of the moving body is within the intrusion prohibited area when the above situation occurs.