JPWO2020036217A1 - Object detection device - Google Patents

Abstract

The object detection device (10) includes an object detection sensor unit (11), a control unit (17), and a connection harness (19). The object detection sensor unit (11) has a plurality of object detection sensor units (13) and a sensor arrangement flexible member (15). The sensor arrangement flexible member (15) is a flexible member and can be arranged along the surface of the object to be attached. As a material capable of forming the sensor arrangement flexible member (15), there is a thin rubber plate. The sensor arrangement flexible member (15) has a band shape. Each object detection sensor unit (11) is arranged so that the sensor arrangement flexible member (15) is arranged along the outer circumference of the installation object. Sensor placement By deforming the flexible member (15), the object detection sensor unit (11) can be easily placed on the outer surface of the device to which the object detection sensor unit (11) is to be installed, regardless of the shape of the installation location. can. [Selection diagram] Fig. 1

Description

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

The conventional object detection device will be described with reference to the object detection device Z100 shown in FIG. FIG. 12 shows a state in which the object detection device Z100 (not shown) is arranged on the outer surface of an industrial robot as an example of use. The 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 units Z111 and one unit control unit Z113 are connected in a star shape via an optical sensor connection line ZL111. The unit control unit Z113 belonging to one group line ZGL is connected in a cascade type via the unit control unit connection line ZL113. One of the unit control units Z113 connected in a cascade type is connected to the central control unit Z115 via the unit control unit connection line ZL113. By using the flexible optical sensor connection line ZL111 and the unit control unit connection line ZL113, the optical sensor unit Z111 and the unit control unit Z113 can be freely arranged according to the shape of the installation location, and at the installation location. 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 the arms ZAM1 to ZAM7, the hand ZH1, and the base ZB1.

One unit control unit and a plurality of optical sensor units Z111 are arranged on the arms ZAM1 to ZAM7, the base ZB1, and the hand ZH1, respectively. As shown in FIG. 12, the optical sensor unit Z111 can be arranged at any place such as the arms ZAM1 to ZAM7, the hand ZH1, and the base ZB1 regardless of the shape of the installation place. In this way, the object detection device Z100 can be easily arranged with the optical sensor unit Z111 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 Can be stopped urgently. That is, the safety of the device to be installed, for example, an industrial robot can be enhanced.

Further, by adjusting the length of the optical sensor connection line ZL111, the optical sensor unit Z111 can be arranged at any position. Therefore, the optical sensor unit 111 can be arranged around the entire circumference regardless of the shape of the installation location such as the prismatic arms ZAM1 to ZAM7 and the columnar base ZB1. As a result, it is possible to detect an object such as a person on the entire periphery of the robot, so that the safety of the device to be installed can be enhanced.

Further, the optical sensor unit Z111 can be freely arranged even if it has a complicated shape such as the hand ZH1. Therefore, it is possible to prevent the occurrence of a blind spot when arranging the optical sensor unit Z111, so that the safety of the device to be installed can be enhanced.

Further, even if there is an obstacle between the arms ZAM1 to ZAM7 on which the optical sensor unit Z111 is arranged like the movable rotary joints ZJ1 to ZJ13, the length of the unit control unit connection line ZL113 can be adjusted. , Unit control units Z113 can be connected to each other while avoiding obstacles. As described above, in the object detection device Z100, the object detection device Z100 can be freely arranged regardless of the shape of the device to be arranged.

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

Japanese Unexamined Patent Publication No. 2013-083615

1. 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 the plurality of optical sensor units Z111 and the unit control unit Z113 on the installation target. Therefore, there is a point to be improved that the arrangement work of the optical sensor unit Z111 and the unit control unit Z113 is complicated and takes time.

Further, since the plurality of optical sensor units Z111 and the unit control unit Z113 are connected by each connection line, there is a point to be improved that the handling such as carrying the object detection device Z100 is troublesome.

Therefore, an object of the present invention is to provide an object detection device that is easy to handle and can easily arrange an object detection sensor unit 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 from the surface of the industrial robot Z50, which is an installation object, toward the outside, that is, from the surface of each arm toward the radiation direction. .. Therefore, there is a point to be improved that the vicinity of the surface of each arm of the industrial robot Z50 cannot be detected.

Further, in order to reduce the undetectable range near the surface as much as possible, it is necessary to arrange a large number of optical sensor units Z111. Since the work load required for arranging the optical sensor unit Z111 becomes very large, it is not realistic to arrange a large number of optical sensor units Z111 in order to detect the vicinity of the surface, and there is a point to be improved.

Therefore, an object of the present invention is to provide an object detection device capable of easily detecting the vicinity of the surface of an object to be installed.

3. 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 object, each optical sensor unit Z111 may unintentionally detect the installation object itself on which it is installed, and does not intend the operation of the installation object. There is a point to be improved that it may be stopped.

Therefore, an object of the present invention is to provide an object detection system capable of preventing unintended object detection regardless of the shape of the attachment target.

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

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

As a result, the object detection sensor unit can be easily arranged regardless of the shape of the installation location by deforming the sensor arrangement flexible member. In this way, since the object detection sensor unit can be easily arranged on the outer surface of the installation object, an operation control system that controls the operation of the installation object when an object is detected around the installation object can be provided. Easy to build.

Further, since a plurality of object detection sensor units are integrally arranged with 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 unit linearly arranged along the long axis of the band shape. ..

As a result, the object detection sensor unit can be arranged on the object to be arranged by simply wrapping the strip-shaped sensor arrangement flexible member around the object to be arranged on which the object detection device is to be arranged.

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

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

The object detection device according to the present invention is characterized in that the intermediate flexible member has an expansion / contraction mechanism for adjusting the length.

As a result, the object detection sensor unit can be arranged at a desired position.

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

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

In the object detection device according to the present invention, the connection harness is characterized in that each of the object detection sensor units is directly connected to the control unit.

As a result, the object detection sensor unit does not have to be connected to the other object detection sensor unit via the other object detection sensor unit, that is, to the other object detection sensor unit. Therefore, since the object detection sensor unit can be arranged considering only the positional relationship with the control unit such as the distance between the object detection sensor unit and the control unit, it is free regardless of the arrangement position of the other object detection sensor unit. 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 is cascade-connected between the object detection sensor units.

As a result, only the one located at the end of the plurality of cascade-connected object detection sensor units needs to be connected to the control unit. That is, the object detection sensor unit and the control unit can be connected with a simple configuration.

The object detection device according to the present invention controls the operation of an object detection sensor unit that detects a surrounding object, a plurality of the object detection sensor units, a flexible sensor arrangement flexible member, and the object detection sensor unit. An object detection device having a control unit, a connection harness for connecting the object detection sensor unit and the control unit, and the sensor arrangement flexible member is a sensor arrangement member on which the object detection sensor unit is arranged, the object. It is an intermediate connection harness for cascade connection between the detection sensor units, and is characterized by having a flexible intermediate connection harness.

As a result, the sensor arrangement member can be connected and the object detection sensor unit can be electrically connected between the sensor arrangement members simply by using the intermediate connection harness, so that the object detection device can be made a simple configuration.

The object detection device according to the present invention is characterized in that the intermediate connection harness has an expansion / contraction mechanism for adjusting the length.

As a result, the object detection sensor unit can be arranged at a desired position with a simple configuration.

In the object detection device according to the present invention, the connection harness is a connection line between sensors that connects adjacent object detection sensor units, and a connection that directly connects the object detection sensor unit and the control unit. It has a sensor-to-sensor connection line protection unit, which has a wire and protects the sensor-to-sensor connection line by covering the line.

As a result, the sensor-to-sensor connection line is protected by the sensor-to-sensor connection line covering portion, and the sensor-to-sensor connection line can be prevented from being damaged by an external force.

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

As a result, the sensor-to-sensor connection line protection unit is formed corresponding to each sensor-to-sensor connection line, so that 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 sensor-to-sensor connection line protection portion has an annular structure.

Thereby, the sensor-to-sensor connection line connecting the object detection sensor units arranged in the official shape can be easily protected.

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

As a result, the object detection sensor unit 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 object, and has a light projecting unit that emits detection light in a direction intersecting the normal direction of the surface, and a light projecting unit. It has at least one of the light receiving portions that receive the detection light from the direction intersecting the normal direction of the surface.

As a result, the object can be easily detected in the direction intersecting the normal direction of the surface of the installation object. If the floodlight is installed near the surface of the object to be installed, the object can be detected near the surface of the object to be installed.

The object detection device according to the present invention further includes the light emitting portion and / or the housing portion in which the light receiving portion is located inside and has an annular structure.

As a result, the light emitting unit and the light receiving unit can be easily attached to the attachment target.

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 receiving the detection light and / or an opening for receiving the detection light.

As a result, it can be easily attached to the attachment target while protecting the light emitting portion and the light receiving portion.

In the object detection device according to the present invention, the light projecting unit projects the detection light onto the light receiving unit of another object detection device, and the light receiving unit is the light emitting unit of the other object detection device. It is characterized in that it receives the detected light projected by the light.

As a result, when the detection light is blocked and the detection light cannot be received, it can be determined that the object has been detected.

The object detection device according to the present invention has the light projecting unit and the light receiving unit paired with each other, and the light receiving unit receives the detection light projected by the light emitting unit paired with each other. It is characterized by.

As a result, it is not necessary to adjust the light projecting direction of the detection light in the light projecting unit and the light receiving direction in the light receiving unit when the detection light is projected and received, so that the light projecting unit and the light receiving unit can be more easily attached. Can be attached.

In the object detection device according to the present invention, the reflection surface is a reflection surface located opposite to the end face, and the detection light projected by the light projecting unit is paired with the light projecting unit projecting the detection light. It is characterized by having a reflecting portion having a reflecting surface that reflects the light receiving portion.

As a result, when the detection light is blocked and the detection light cannot be received, it can be determined that the object has been detected.

The object detection system according to the present invention detects a surrounding object by projecting a predetermined detection light into a predetermined detection area and receiving the reflected light of the detection light, and uses the detection result as detection result information. Object detection sensor unit, movement information acquisition unit that acquires movement information indicating its own movement state, detection result information, transmission unit that transmits the position information, and detection area adjustment information that adjusts the detection area. When the receiving unit receives the detection area adjustment information, the next time the detection light is projected, the detection area adjustment information is used to attach the detection area adjustment unit to the attachment target. A shape estimation unit that estimates the shape of the mounting object by using the object detection sensor unit having the housing unit, the detection result information, the receiving unit that receives the movement information, and the received movement information. , The detection area of the object detection sensor unit is estimated, and the detection area interference determination unit for determining whether or not the estimated detection area and the estimated shape of the mounting object interfere with each other is estimated to be the estimated detection area. When it is determined that the shape of the mounting target interferes with the shape of the mounting target, the detection region adjustment information generator that generates the detection region adjustment information that adjusts the detection region, and the generated detection region adjustment information are estimated to have the shape of the mounting target. It has an object detection control device having a detection area adjustment information transmission unit for transmitting to the object detection sensor unit that forms the detection region that interferes with the object detection region.

As a result, since the detection area is adjusted after determining the shape of the mounting target and whether or not it interferes with the detection area, it is possible to prevent the detection of an unintended object.

The object detection sensor unit according to the present invention is
The object detection sensor unit itself moves by projecting a predetermined detection light into a predetermined detection area and receiving the reflected light of the detection light to detect surrounding objects and use the detection result as detection result information. 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. Then, when the detection light is projected next time, it has a detection area adjustment unit that adjusts the detection area using the detection area adjustment information, and a housing unit for attaching to the attachment target.

As a result, the detection area can be adjusted after determining the shape of the mounting target and whether or not it interferes with the detection area, so that it is possible to prevent the detection of an unintended object.

In the object detection sensor unit according to the present invention, the detection area adjusting unit is characterized in that the detection area is reduced or adjusted to be 0 (zero).

As a result, the detection area can be easily adjusted and the detection of an unintended object can be prevented.

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

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

The object detection control device according to the present invention detects a surrounding object by projecting a predetermined detection light into a predetermined detection area and receiving the reflected light of the detection light, and detects the detection result as detection result information. An object detection sensor unit, a movement information acquisition unit that acquires movement information indicating its own movement state, the detection result information, a transmission unit that transmits the position information, and a detection area adjustment information that adjusts the detection area. When the receiving unit receives the detection area adjustment information and then projects the detection light, the detection area adjustment unit that adjusts the detection area is attached to the attachment target using the detection area adjustment information. An object detection control device that transmits the detection area adjustment information to an object detection sensor unit having a housing portion for the purpose, and a receiving unit that receives the detection result information and the movement information, and the received portion. Using the movement information, the shape estimation unit that estimates the shape of the mounting target and the detection area of the object detection sensor unit are estimated, and whether or not the estimated detection area interferes with the estimated shape of the mounting target. 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 and the estimated shape of the mounting target interfere with each other. It has a detection area adjustment information transmitting unit 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 mounting target.

As a result, since the detection area is adjusted after determining the shape of the mounting target and whether or not it interferes with the detection area, it is possible to prevent the detection of an unintended object.

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.

As a result, the detection area can be easily adjusted and the detection of an unintended object can be prevented.

In the object detection control device according to the present invention, the detection area adjustment information generation unit shortens the light receiving standby time during which the object detection sensor unit of the object detection sensor unit can receive the reflected light. Is characterized by producing.

As a result, the detection area can be easily adjusted.

The detection area adjustment program according to the present invention is
An object detection sensor unit that detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving the 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. When the area adjustment information is received, the next time the detection light is projected, the detection area adjustment unit that adjusts the detection area and the housing portion for attaching to the attachment target are displayed using the detection area adjustment information. A detection area adjustment program that operates as an object detection control device that transmits the detection area adjustment information to the object detection sensor unit that has the object detection sensor unit. The receiving unit that receives the movement information, the shape estimation unit that estimates the shape of the attachment target using the received movement information, and the detection area of the object detection sensor unit are estimated, and the estimated detection area is the said. Detection area interference determination unit that determines whether or not the shape of the mounting target interferes, and a detection region that adjusts the detection area when it is determined that the estimated detection area interferes with the estimated shape of the mounting target. Detection area that generates adjustment information Adjustment information generation unit, 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 mounting target. Operates as an adjustment information transmitter.

As a result, since the detection area is adjusted after determining the shape of the mounting target and whether or not it interferes with the detection area, it is possible to prevent the detection of an unintended object.

It is a figure which shows the object detection apparatus 10 which is an Example of the object detection apparatus which concerns on this invention. It is a figure which shows the hardware composition of the object detection sensor unit 13. It is a figure which shows the sensor arrangement flexible member 15. It is a figure which shows the hardware composition of the control part 17. An installation example of the object detection device 10 is shown. It is a figure which shows the hardware structure of the object detection apparatus 20 which is an Example of the object detection apparatus which concerns on this invention. It is a figure which shows the object detection sensor unit 21 of the object detection device 20. It is a figure which shows the hardware structure of the object detection apparatus 30 which is an Example of the object detection apparatus which concerns on this invention. It is a figure which shows the hardware composition of the object detection sensor unit 31 of the object detection device 30. It is a figure which shows the other embodiment of the object detection apparatus. It is a figure which shows the other embodiment of the object detection apparatus. It is a figure which shows the conventional object detection device. It is a figure which shows the linear state of the object detection apparatus 40 which is an Example of the object detection apparatus which concerns on this invention. It is a figure which shows the linear state of the object detection device 40. It is a figure which shows the annular state of the object detection device 40. It is a perspective view seen from the upper surface side of the unit arrangement part 433. Perspective view seen from the lower surface side of the unit arrangement portion 433 It is a perspective view seen from the upper surface side of the sensor-to-sensor connection line protection part 49. It is a perspective view seen from the lower surface side of the sensor-to-sensor connection line protection part 49. It is a figure which shows the hardware structure of the object detection apparatus 50 which is an Example of the object detection apparatus which concerns on this invention. It is a figure which shows the object detection sensor unit 51. It is a figure which shows the object detection sensor unit 51. It is a figure which shows the connection line protection part 59 between sensors. It is a figure which shows the cross section of the connection line protection part 59 between sensors. It is a figure which shows the hardware structure of the object detection apparatus 60 which is an Example of the object detection apparatus which concerns on this invention. It is a figure which shows the connection line protection part 69 between sensors. It is a figure which shows the object detection sensor unit 61. It is a figure which shows the object detection apparatus X10 which is an Example of the object detection apparatus which concerns on this invention. It is a figure which shows the appearance of the object detection sensor unit X11. It is a figure which shows the inside of the object detection sensor unit X11. It is a figure which shows the hardware composition of the control part X19. An installation example of the object detection device X10 is shown. It is a figure which shows the object detection apparatus X20 which is an Example of the object detection apparatus which concerns on this invention. It is a figure which shows the appearance of the object detection sensor unit X21. It is a figure which shows the inside of the object detection sensor unit X21. An installation example of the object detection device X20 is shown. It is a figure which shows the appearance of the object detection sensor unit X31 of the object detection device X30 which is an Example of the object detection device which concerns on this invention. It is a figure which shows the inside of the object detection sensor unit X31. It is a figure which shows the other embodiment of the object detection apparatus. It is a figure which shows the other embodiment of the object detection apparatus. It is a figure which shows the other embodiment of the object detection apparatus. It is a figure which shows the other embodiment of the object detection apparatus. It is a figure which shows the other embodiment of the object detection apparatus. It is a figure which shows the object detection system 100 which is one Example of the object detection system which concerns on this invention. It is a figure which shows the appearance of the object detection sensor unit 110. It is a figure which shows the inside of a part of the object detection sensor unit 110. It is a figure which shows the housing part 119 of the object detection sensor unit 110. It is a figure which shows the hardware composition of the 1st object detection sensor unit 111. It is a figure which shows the hardware composition of the 2nd object detection sensor unit 113. It is a figure which shows the hardware composition of the control part 170. It is a figure which shows the initial state of the industrial robot RBT which is the object of attachment. It is a flowchart which shows the operation of the control unit 170. It is a flowchart which shows the operation of the control unit 170. It is a flowchart which shows the operation of the control unit 170. It is a figure which shows the state after the operation for a predetermined time of the industrial robot RBT which is the object of attachment. It is a figure which shows the state of the detection area. It is a figure which shows the state of the detection area. It is a flowchart which shows the operation of the 1st object detection sensor unit 111. It is a flowchart which shows the operation of the 2nd object detection sensor unit 113. It is a figure which shows the other embodiment of the object detection system which concerns on this invention. It is a figure which shows the other embodiment of the object detection system which concerns on this invention. It is a figure which shows the other embodiment of the object detection system which concerns on this invention. It is a figure which shows the other embodiment of the object detection system which concerns on this invention. It is a figure which shows the other embodiment of the object detection system which concerns on this invention.

Hereinafter, examples of the present invention will be described in detail with reference to the drawings.

The object detection device according to the present invention will be described by taking 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 surroundings, and causes a predetermined operation based on the detection result of the object.

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

The object detection sensor unit 13 detects whether or not an object exists by projecting a predetermined light as detection light and receiving the reflection of the detection light. The hardware configuration of the object detection sensor unit 13 is shown in FIG.

The object detection sensor unit 13 includes a light projecting element 13a, a light projecting lens 13b, a light receiving element 13c, and a communication circuit 13d for a sensor. The light projecting element 13a projects a predetermined detection light, for example, near infrared rays. The light projecting lens 13b diffuses the detection light projected by the light projecting element 13a into a predetermined range (detection region R13). For example, by using a cylindrical lens, it is possible to form a detection region extending linearly in a predetermined direction. Regarding the light projecting lens 13b, by appropriately selecting the shape and characteristics of the lens, it is possible to prevent erroneous detection of an object to be arranged such as an industrial robot to which the object detection sensor unit 13 is arranged. You may adjust 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 having a built-in amplifier circuit, or the like can be used. When a photodiode is used, the amplifier circuit and the 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 unit 17 so that the object detection sensor unit 13 and the control unit 17 can communicate with each other. The sensor communication circuit 13d of each object detection sensor unit 13 is directly connected to the control unit 17, that is, in parallel.

Returning to FIG. 1, the sensor arrangement flexible member 15 is a member having flexibility and can be arranged along the surface of the object to be attached. As a material capable of forming the sensor arrangement flexible member 15, for example, a thin rubber plate can be used. FIG. 3A shows a plan view of the sensor arrangement flexible member 15 in which the object detection sensor unit 13 is arranged. 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 units 13 arranged in a straight line along the strip-shaped long axis J15. The object detection sensor unit 13 is arranged on the sensor arrangement flexible member 15 at equal intervals. The object detection sensor unit 13 is fixed to the sensor arrangement flexible member 15 by a predetermined fixing means such as a predetermined fixing member, an adhesive, or a screw.

As shown in FIG. 3B, a band-shaped detection region R11 is formed on the sensor arrangement flexible member 15 by the detection regions R13 formed by each of the object detection sensor units 13 linearly arranged on the sensor arrangement flexible member 15. NS. That is, the band-shaped detection region R13 is formed on the band-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 indicates the received sensor detection information, the connection relationship between the object detection sensor units 13, and / and the sensor connection information indicating the arrangement position of the connection relationship between each object detection sensor unit 13 and the control unit 17. Therefore, it is determined whether or not an object exists around the object detection sensor unit 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 described with reference to FIG. 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 other applications such as an operating system (OS) and a sensor control program recorded in the memory 17b. The memory 17b provides a work area for the CPU 17a, and records and holds programs of other applications such as an operating system (OS) and 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 information is transmitted and received between the two. The sensor control communication circuit 17g is directly connected to each of the object detection sensor units 13, that is, in parallel. The motion control communication circuit 17h is connected to an object whose motion is controlled based on the presence detection of an object by the object detection sensor unit 11, and transmits / receives information between the two.

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

Second Usage Example As a usage example of the object detection device 10, FIG. 5 shows a state in which the object detection device 10 is arranged on the outer surface of the industrial robot. The industrial robot RBT is a robot having seven movable axes. The industrial robot RBT has arms AM1 to AM7, movable rotary joints J1 to J13, a base B1, and a hand H1. The object detection sensor unit 11 of the object detection device 10 is arranged on each outer peripheral surface of the arms AM3, AM5, and the base B1. The arms AM3, AM5, and the three object detection sensor units 11 arranged on the base B1 are connected to the control unit 17. Further, the control unit 17 is connected to a power source (not shown) for operating 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.

In each object detection sensor unit 11, the sensor arrangement flexible member 15 is arranged along the outer circumference of each arm. By deforming the sensor arrangement flexible member 15, the object detection sensor unit 11 can be easily arranged regardless of the shapes of the arms AM3 and AM5, which are the installation locations. In this way, since the object detection sensor unit 11 can be easily arranged on the outer surface of the device to be installed, a safety system for urgently stopping the robot when an object such as a person is detected around the industrial robot. Can be easily constructed. That is, the safety of the device to be installed, for example, an industrial robot can be easily constructed.

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

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 units 13 to be arranged. .. Therefore, the object detection sensor unit 11 can be arranged on the surface regardless of the shape of the installation location such as the prismatic arms AM1 to AM7 and the columnar base B1. As a result, it is possible to easily detect an object such as a person in a necessary range such as the entire periphery of the robot, so that the safety of the device to be installed can be easily enhanced.

Further, 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 units 13, the object detection sensor unit 11 can be arranged while avoiding obstacles. In this way, in the object detection device 10, the object detection sensor unit 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, the object detection sensor unit 13 may be arranged on the sensor arrangement flexible member 15. On the other hand, in the object detection sensor unit 21 in the object detection device 20 according to the present embodiment, the sensor arrangement flexibility has a sensor arrangement member 251 for arranging the object detection sensor unit 13 and an intermediate flexible member 253 for connecting the sensor arrangement member 251. Member 25 is used. In the following, the same configurations as in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

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

The hardware configuration of the sensor arrangement flexible member 25 will be described with reference to FIG. 7. The object detection sensor unit 21 has a plurality of object detection sensor units 13 and a sensor arrangement flexible member 25. The sensor arrangement flexible member 25 has a sensor arrangement member 251 and an intermediate flexible member 253. The sensor arranging member 251 has a square plate shape, and the object detection sensor unit 13 is arranged. The intermediate flexible member 253 is arranged between the sensor arranging members 251 and connects the sensor arranging members 251. The intermediate flexible member 253 has a belt 253a and an expansion / contraction mechanism 253b. The belt 253a has flexibility, and for example, a cloth material such as that used for a shoulder belt of a bag is used. The telescopic mechanism 253b adjusts the length of the belt 253a between the adjacent sensor arranging members 251. As the expansion / contraction mechanism 253b, for example, a length adjustment mechanism such as that used for the shoulder belt of a bag is used.

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

Each object detection sensor unit 13 is connected to the control unit 17 by a parallel connection 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, along the surface of the object to be attached. It was to be placed. On the other hand, in the object detection sensor unit 31 in the object detection device 30 according to this embodiment, a sensor arrangement flexible member 35 that connects a plurality of unit flexible members 351 is used. In the following, the same configurations as those in the first and second embodiments will be designated by the same reference numerals, and detailed description thereof will be omitted.

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

The hardware configuration of the object detection sensor unit 31 will be described with reference to FIG. The object detection sensor unit 31 has a plurality of object detection sensor units 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 an object detection sensor unit 13 is arranged. Further, the unit flexible member 351 has a connecting mechanism for connecting with another unit flexible member 351 located adjacent to the unit flexible member 351. As the connecting mechanism, for example, a connecting mechanism for an endless track belt called a crawler, a caterpillar, or the like is used.

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

Each object detection sensor unit 13 is connected to the control unit 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, the object detection sensor unit 13 arranged on the sensor arrangement flexible member 15 was connected to the control unit 17 in parallel. On the other hand, in the object detection device 40 according to the present embodiment, each object detection sensor unit 13 is cascade-connected to the adjacent object detection sensor unit 13 by a flexible connection line, and the connection line between the object detection sensor units 13 is connected. It protects. In the following, the same configurations as in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

First Hardware Configuration The hardware configuration of the object detection device 40 will be described with reference to FIGS. 13 to 15. The object detection sensor unit 41 (described later) of the object detection device 40 is in a linear state in which the sensor arrangement flexible member 45 (described later) is linearly arranged (see FIGS. 13 and 14), and both ends of the sensor arrangement flexible member 45. Has an annular state (see FIG. 15) connected to the above. Further, in a linear state, FIG. 13 shows a state in which the sensor-to-sensor connection line protection unit 49 is attached, and FIG. 14 shows a state in which the sensor-to-sensor connection line protection unit 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 unit 17, and a connection harness 19. The object detection sensor unit 41 includes a plurality of object detection sensor units 43, a sensor arrangement flexible member 45, and a sensor-to-sensor connection line protection unit 49. Further, as shown in FIG. 14, the object detection sensor unit 41 has a plurality of sensor-to-sensor connection lines 47.

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

A perspective view of the unit arrangement portion 433 as viewed from the upper surface side is shown in FIG. 16, and a perspective view as viewed from the lower surface side is shown in FIG. 17, respectively. As shown in FIG. 16, the unit arrangement portion 433 has a unit protection housing portion 433a and a sensor arrangement flexible member locking portion 433b. The unit protection housing portion 433a is a case for accommodating the sensor board 431 inside. The unit protection housing portion 433a has an internal space 433a1 for arranging the sensor substrate, an opening 433a2 for projecting light, an opening 433a3 for receiving light, and an opening 433a4 for connecting lines between sensors. One of the object detection sensor units 43 connected to each other located at the end is for connecting the connection harness 19 for connecting to the control unit 17 to the unit protection housing unit 433a. It has a connection harness opening 433a5 (see FIG. 15).

The internal space 433a1 for arranging the sensor board is a space for arranging the sensor board 431. 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) in the sensor substrate 431 arranged in the sensor substrate arrangement internal space 433a1. The sensor substrate 431 projects the detection light through the light projection opening 433a2. The light receiving opening 433a3 is formed corresponding to the placement position of the light receiving element 13c (see FIG. 2) in the sensor board 431 arranged in the sensor board placement internal space 433a1. The sensor substrate 431 receives the reflected light of the projected detection light through the light receiving opening 433a3. The sensor-to-sensor connection line opening 433a4 is formed corresponding to the arrangement position of the sensor communication circuit 13d (see FIG. 2) in the sensor substrate 431 arranged in the sensor substrate arrangement internal space 433a1. The sensor board 431 is connected to another adjacent sensor board 431 by a sensor-to-sensor connection line 47 (described later) via the sensor-to-sensor connection line opening 433a4. By making the upper surface of the unit protection housing portion 433a parallel to the light projecting surface of the light projecting element 13a and the light receiving surface of the light receiving element 13c, the light projected by the light projecting element 13a and reflected by the light receiving element 13c. It is possible to prevent the reception of light from being hindered.

The sensor arrangement flexible member locking portion 433b is the lower portion of the unit protection housing portion 433a, that is, the surface of the unit protection housing portion 433a opposite to the surface on which the light emitting opening 433a2 and the light receiving opening 433a3 are formed. It is formed so as to protrude from. As shown in FIG. 17, the sensor arrangement flexible member locking portion 433b has a convex shape having an L-shaped cross section. The sensor arrangement flexible member locking portion 433b is formed as a set of two so that the end portions 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-arranged flexible member 45 arranged in the flexible member-arranged space 433b2 is fixed to the unit protection housing portion 433a by the sensor-arranged flexible member locking portion 433b.

The sensor arrangement flexible member 45 holds the object detection sensor unit 43 and the sensor-to-sensor connection line protection unit 49 in a straight line, and integrates the two. The sensor arrangement flexible member 45 is a strip-shaped object having flexibility. As the sensor arrangement flexible member 45, for example, both fasteners are used.

By combining one end 45T1 (see FIG. 13) of the sensor arrangement flexible member 45 and the other end 45T2 (not shown), the object detection sensor unit 41 is formed as shown in FIG. It is in an annular state and is fixed by winding it around an object to be attached, for example, an arm of an industrial robot. Depending on the size of the mounting target, the detection range, and other conditions, the length of the sensor placement flexible member 45, the number of object detection sensor units 43 to be mounted on the sensor placement flexible member 45, and the spacing (pitch) between adjacent object detection sensor units 43 can be determined. adjust.

As shown in FIG. 14, the sensor-to-sensor connection line 47 is an electrical connection line for cascading adjacent sensor boards 431. The sensor-to-sensor connection line 47 has flexibility and absorbs the positional deviation of the object detection sensor unit 43. The sensor-to-sensor connection line 47 is arranged along the sensor arrangement flexible member 45. In FIG. 14, the sensor-to-sensor connection line 47 is described in a straight line, but has a certain 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 protection unit 49 as viewed from the upper surface side, and FIG. 19 shows a perspective view as viewed from the lower surface side. As shown in FIG. 18, the sensor-to-sensor connection line protection unit 49 has an inter-sensor connection line covering portion 49a and a sensor arrangement flexible member locking portion 49b. The sensor-to-sensor connection line covering portion 49a is formed so as to cover the sensor-to-sensor connection line 47 connecting the sensor substrates 431, that is, above the sensor-to-sensor connection line 47. The sensor arrangement flexible member locking portion 49b is formed so as to project from the lower portion of the sensor-to-sensor connection line covering portion 49a. The sensor arrangement flexible member locking portion 49b has a convex shape having an L-shaped cross section. The sensor arrangement flexible member locking portion 49b is formed as a set of two so that the end portions having an L-shaped cross section face each other.

The sensor-to-sensor connection line protection unit 49 has a flexible member insertion space 49b1 and a sensor-to-sensor connection line / flexible member arrangement space 49b2. The flexible member insertion space 49b1 is a space for inserting the sensor-to-sensor connection line 47 and the sensor arrangement flexible member 45 into the sensor-to-sensor connection line / flexible member arrangement space 49b2. The sensor-to-sensor connection line / flexible member arrangement space 49b2 is a space for arranging the sensor-to-sensor connection line 47 and the sensor arrangement flexible member 45. The sensor-to-sensor connection line / sensor-to-sensor connection line 47 arranged in the flexible member arrangement space 49b2 is protected by the sensor-to-sensor connection line covering portion 49a. As a result, it is possible to prevent the connection line 47 between the sensors from being damaged by an external force. The sensor arrangement flexible member 45 arranged in the sensor-to-sensor connection line / flexible member arrangement space 49b2 is fixed to the sensor-to-sensor connection line protection portion 49 by the sensor arrangement flexible member locking portion 49b.

Further, since the sensor-to-sensor connection line protection unit 49 is formed corresponding to each sensor-to-sensor connection line 47 connecting the sensor boards 431, the flexibility of the sensor arrangement flexible member 45 is not impaired.

In the object detection device 40 according to the fourth embodiment, the sensor-to-sensor connection line protection unit 49 is formed for each sensor-to-sensor connection line 47 connecting the sensor boards 431, while the object detection device 50 according to the present embodiment. Then, a plurality of sensor-to-sensor connection lines 47 are integrally covered. In the following, the same configurations as in the fourth embodiment will be designated by the same reference numerals, and detailed description thereof will be omitted.

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

The object detection sensor unit 51 includes a plurality of object detection sensor units 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 unit 59. There is. The sensor-to-sensor connection line protection portion 59 has a hollow cylindrical shape. The sensor-to-sensor connection line protection unit 59 includes a first housing 591, a second housing 592, and a hinge portion 593. The first housing 591 and the second housing 592 are rotated in the direction of the arrow R21 and the direction of the arrow R22 around the hinge portion 593, respectively, so that the object detection sensor portion 43 and the like are formed in the hollow cylindrical internal space. To place.

The first housing 591 and the second housing 592 each have a hollow semi-cylindrical shape obtained by dividing the hollow cylindrical shape along an axis. The first housing 591 and the second housing 592 are configured to be integrally engaged with each other at an end portion different from that of the hinge portion 593.

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

FIG. 22 shows a state in which the sensor-to-sensor connection line covering portion 591a is removed from the first housing 591 and the sensor-to-sensor connection line covering portion 592a is removed from the second housing 592. As is clear from FIGS. 21 and 22, the sensor-to-sensor connection line covering portions 591a and 592a are formed at positions that cover the sensor-to-sensor connection line 47 connecting the sensor substrates 431 (see FIG. 13). ..

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

The object detection sensor unit 43 is arranged in the internal space formed by the sensor-to-sensor connection line covering portion 591a and the inner peripheral portion 591c. Further, by engaging the sensor arrangement opening 591a1 with the object detection sensor unit 43, the position of the object detection sensor unit 43 with respect to the sensor-to-sensor connection line covering portion 591a is fixed. The above is the same for the second housing.

In this way, by using the hollow cylindrical sensor-to-sensor connection line protection unit 59, it is possible to prevent an external force from acting on the sensor-to-sensor connection line 47. That is, damage to the sensor-to-sensor connection line 47 can be prevented. Further, since the shape of the object detection sensor unit 51 can be fixed in the sensor-to-sensor connection line protection unit 59 before it is attached to the attachment target, it can be easily attached to the attachment target.

As shown in FIG. 24, in the sensor-to-sensor connection line protection unit 59, the distance L1 from the light emitting element 13a and the light receiving element 13c to the outer peripheral surface of the sensor-to-sensor connection line covering portion 591a is set in advance in the object detection sensor unit 43. The distance is set such that the set detection area R13 and the light receiving range R14 preset in the object detection sensor unit 43 do not interfere with 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 peripheral surface of the sensor-to-sensor connection line covering portion 591a is short. For example, if the thickness of the sensor-to-sensor connection line protection portion 59 is reduced. good. The same applies to the second housing 592.

In the object detection device 50 according to the fifth embodiment, the object detection sensor unit 43 having the unit arrangement unit 433 is arranged in the sensor-to-sensor connection line protection unit 59. On the other hand, in the object detection device 60 according to the present embodiment, the object detection sensor unit 63, which does not have the unit arrangement unit 433, is arranged in the sensor-to-sensor connection line protection unit 69. In the following, the same configurations as those in Examples 1 to 5 are designated by the same reference numerals, and detailed description thereof will be omitted.

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

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

The first housing 691 and the second housing 692 each have a shape obtained by dividing a hollow cylindrical shape along an axis. The first housing 691 and the second housing 692 are configured to be integrally engaged with each other at an end portion different from that of the hinge portion 593.

FIG. 26 shows an inter-sensor connection line protection unit 69 in a state where one end 691d of the first housing 691 and one end 692d of the second housing 692 are removed. The first housing 691 faces the sensor-to-sensor connection line covering portion 691a, the end portion 691b along the end face of the hollow cylinder shape, the inner peripheral portion 691c along the inner peripheral surface of the hollow cylinder shape, and the end portion 691b. It has an end 691d (not shown in FIG. 26, see FIG. 25). The end portion 691b and the inner peripheral portion 691c are integrally formed. Further, the first housing 691 is formed by fitting the sensor-to-sensor connection line covering portion 691a and the end portion 691d to the integrally formed end portion 691b and inner peripheral portion 691c.

The sensor-to-sensor connection line covering portion 691a does not obstruct the light projection of the detection light in the light projecting element 13a of the object detection sensor unit 63, and does not obstruct the reception of the reflected light in the light projecting opening 691a1 and the light receiving element 13c. Has a light receiving opening 691a2.

The object detection sensor unit 63 is arranged in an internal space formed by the sensor-to-sensor connection line covering portion 691a and the inner peripheral portion 691c.

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

Further, the adjacent sensor boards 631 are connected by a sensor-to-sensor connection line 67. The sensor-to-sensor connection line 67 is connected to the sensor communication circuit 13d of the object detection sensor unit 63, has a function of electrically connecting the adjacent object detection sensor unit 63, has flexibility, and is an object to be attached. The sensor board 631 which is an object also has a function of physically connecting adjacent objects.

As is clear from FIGS. 25 and 27, the sensor-to-sensor connection line covering portion 691a is formed at a position that covers the object detection sensor portion 63 (see FIG. 27) and also covers the sensor-to-sensor connection line 67. It is also formed at the position. The portion of the inter-sensor connection line covering portion 691a other than the position covering the object detection sensor portion 63 has a function of protecting the inter-sensor connection line 67. By making the surface of the sensor-to-sensor connection line covering unit 691a covering the object detection sensor unit 63 (see FIG. 27) parallel to the light emitting surface of the light projecting element 13a and the light receiving surface of the light receiving element 13c, the light projecting element 13a It is possible not to interfere with the projection of the detection light and the reception of the reflected light by the light receiving element 13c. The above is the same for the second housing.

As described above, by using the hollow cylindrical sensor-to-sensor connection line protection unit 69, it is possible to prevent an external force from acting on the sensor-to-sensor connection line 67. That is, damage to the sensor-to-sensor connection line 67 can be prevented. Further, in the sensor-to-sensor connection line protection unit 69, the shape of the object detection sensor unit 63 can be fixed in an annular shape before the object detection sensor unit 63 is attached to the attachment target (for example, an industrial robot). Can be easily installed.

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

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

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

The housing portion X13 has a first housing portion 131, a second housing portion 132, and a hinge portion 133. The first housing portion 131 and the second housing portion 132 rotate around the hinge portion 133 in the direction of arrow A21 and the direction of arrow A22, respectively.

The first housing portion 131 and the second housing portion 132 each have a hollow semi-cylindrical shape obtained by dividing the hollow cylindrical shape into two. The first housing portion 131 and the second housing portion 132 are configured to be integrally engaged with each other at an end portion different from that of the hinge portion 133.

The first housing portion 131 has an outer peripheral portion 131a, a light receiving / receiving opening forming end portion 131b, an end portion 131c located facing the light receiving / receiving opening forming end portion 131b, and an inner peripheral portion 131d. .. The end portion 131b, the end portion 131c, and the inner peripheral portion 131d for forming the light receiving and receiving openings are integrally formed. Further, the first housing portion 131 is formed by fitting the outer peripheral portion 131a to the integrally formed opening receiving / receiving opening forming end portions 131b, end portions 131c, and inner peripheral portion 131d. ..

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

The light receiving / receiving opening forming end portion 131b is formed as a ring-shaped lid that closes one end surface of the hollow cylindrical shape. The light receiving / receiving opening forming end 131b has a direction in which the object detection sensor unit X11 intersects the normal direction of the surface of the object to be installed, for example, when the object is installed on the arm of an industrial robot. It has an end face P131b with a normal direction N13. The light receiving and receiving opening forming end 131b has a plurality of light receiving and receiving openings R131a. The light receiving and receiving openings R131a are formed at predetermined intervals.

The end 131c is formed as an annular lid that closes the other end surface of the hollow cylinder. The end portion 131c is formed so as 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 as a thin cylindrical shape corresponding to the inner peripheral surface of the hollow cylindrical shape.

The above is the same for the second housing portion 132.

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

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

The axial light receiving unit X17 receives the detection light projected from the axial light projecting unit X15. The axial light receiving unit X17 receives the detection light by using, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, or the like. When a photodiode is used, an amplifier circuit or a filter circuit may be arranged.

The axial light emitting unit X15 and the axial light receiving unit X17 are respectively arranged on a predetermined substrate S. As for the substrate S, the substrate S at the end of the predetermined sensor communication line W is connected to the control unit X19 via the control unit connection line connector C using the control unit connection line (not shown).

The axial light projecting unit X15 and the axial light receiving unit X17 are alternately arranged inside the housing unit X13. Further, the axial projection unit X15 has a light emitting / receiving opening R131a, so that the detected light to be projected can be projected from the light emitting / receiving openings R131a and R132a of the housing portion X13 toward the outside of the housing portion X13. It is arranged according to the position of R132a. That is, the axial projection unit X15 projects the detection light along the normal direction N13 of the end surface P131b, that is, the axial direction of the housing portion X13. The axial light projection unit X15 acquires the light projection control information indicating the light projection timing from the control unit X19, and appropriately projects the detected light.

The axial light receiving portion X17 is arranged so as to be aligned with the positions of the light emitting and receiving openings R131a and R132a so that the detected light to be projected can be received through the light emitting and receiving openings R131a and R132a of the housing portion X13. That is, the axial light receiving portion X17 receives the detection light projected along the axial direction of the housing portion X13. The axial light receiving unit X17 transmits information as to whether or not the detection light is received to the control unit X19 as detection information. Further, the axial light receiving unit X17 acquires the light receiving control information indicating the light receiving timing of the detected light, and appropriately receives the detected light.

As a result, as shown in FIG. 28, the two object detection sensor units X11 are opposed to each other, and the detection light projected by the axial projection unit X15 of one object detection sensor unit X11 is detected by the other object. By arranging the axial light receiving unit X17 of the sensor unit X11 to receive light, an object can be detected in a 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, an object can be detected in a region along the arm. That is, it is possible to detect an object in a region closer to the arm.

Returning to FIG. 28, the control unit X19 receives the detection information from the object detection sensor unit X11. The control unit X19 determines whether or not an object exists in the detection area from the received detection information. Further, the control unit X19 transmits the light projection control information to the axial light projecting unit X15 and the light receiving control information to the axial light receiving unit X17, respectively.

The control unit X19 determines that some object exists when the axial light receiving unit X17 can no longer 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 described with reference to FIG. 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 other applications such as an operating system (OS) and an object detection program recorded in the memory 19b. The memory 19b provides a work area for the CPU 19a, and records and holds programs of other applications such as an operating system (OS) and an object detection program, and various data.

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

Second Usage Example As a usage example of the object detection device X10, FIG. 32 shows a state in which the object detection device X10 is arranged on the outer surface of the industrial robot. The industrial robot RBT is a robot having three movable axes. The industrial robot RBT has arms AM11 to AM15. A pair of object detection sensor units X11 of the object detection device X10 (see FIG. 28) are attached along the outer peripheral surfaces of the arms AM1 and AM3. The detection light projected by the axial light projecting unit X15 of one object detection sensor unit X11 is received by the axial light receiving unit X17 of the other object detection sensor unit X11. The mounting position of X11 has been adjusted. The pair of object detection sensor units X11 are connected to the control unit X19 (see FIG. 28). Further, the control unit X19 is connected to a power source (not shown) for operating the arms AM11 to AM15 of the industrial robot RBT. When installing the pair of object detection devices X11, by aligning the positions of the hinge portions 133, the positions of the respective axial projection units X15 and the axial light receiving units X17 can be aligned.

In this way, since the object detection sensor unit X11 can be easily attached to the surface of the object to be installed, it is possible to easily construct a safety system for urgently stopping the robot when an object such as a person is detected near the surface of the industrial robot. .. That is, the safety of the installation object, for example, an industrial robot can be easily constructed.

Further, since the plurality of axial light emitting parts X15 and the axial light receiving parts X17 can be integrally attached, they can be easily handled such as being carried.

Further, even if there is an obstacle between the arms AM1 to AM3 to which the object detection sensor unit X11 is attached, the obstacle can be avoided by adjusting the number of the object detection sensor units X11 to be attached. As described above, in the object detection device X10, the object detection sensor unit X11 can be freely attached regardless of the shape of the object to be attached.

In the object detection device X10 according to the seventh embodiment, the paired object detection sensor units X11 are arranged to face each other at predetermined intervals, and the detection light emitted by one object detection sensor unit X11 is used as the other object. An object was detected depending on whether or not the detection sensor unit X11 received light. On the other hand, in the object detection device X20 according to the present embodiment, the object is detected depending on whether or not the object detection sensor unit X21 receives the detection light projected by the object detection sensor unit X21. In the following, the same configurations as in the seventh embodiment will be designated by the same reference numerals, and detailed description thereof will be omitted.

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

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

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

The first housing portion 231 and the second housing portion 232 each have a hollow semi-cylindrical shape obtained by dividing the hollow cylindrical shape into two. The first housing portion 231 and the second housing portion 232 are configured to be integrally engaged with each other at an end portion different from that of the hinge portion 133.

The first housing portion 231 has an outer peripheral portion 131a, an opening receiving / receiving opening forming end portion 231b, an end portion 131c, and an inner peripheral portion 131d. The light receiving and receiving opening forming end portion 231b, the end portion 131c, and the inner peripheral portion 131d are integrally formed. Further, the first housing portion 231 is formed by fitting the outer peripheral portion 131a to the integrally formed aperture forming end portion 231b, end portion 131c, and inner peripheral portion 131d. ..

The light receiving / receiving opening forming end portion 231b is formed as a ring-shaped lid that closes one end surface of the hollow cylindrical shape. The light receiving / receiving opening forming end portion 231b is oriented in a direction in which the object detection sensor unit X21 intersects the normal direction of the surface of the installation target when the object detection sensor unit X21 is attached to an object to be installed, for example, an arm of an industrial robot. It has an end face P231b in the linear direction N13.

The light emitting / receiving aperture forming end portion 231b has a plurality of light emitting / receiving openings R231a and a plurality of light receiving / receiving openings R231b. One light emitting opening R231a and one light receiving opening R231b form a pair and are adjacent to each other. A pair of light emitting openings R231a and a light receiving opening R231b are formed at predetermined intervals. The above is the same for the second housing portion 232.

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

The internal structure of the object detection sensor unit X21 is shown in FIG. 35. FIG. 35 shows a state in which the outer peripheral portions 131a and 232 (not shown) a of the housing portion X23 are removed from the object detection sensor unit X21 shown in FIG. 34. The axial projection unit X15 projects a predetermined detection light, for example, near infrared rays. The axial light projecting unit X15 projects near infrared rays using, for example, a near infrared LED (Light Emitting Diode) or the like. The axial light projecting unit X15 projects the detection light into a predetermined range using a predetermined light projecting lens or the like.

The axial light receiving unit X17 receives the detection light projected from the axial light projecting unit X15. The axial light receiving unit X17 receives the detection light by using, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, or the like. When a photodiode is used, an amplifier circuit or a filter circuit may be arranged.

The axial light projecting unit X15 and the axial light receiving unit X17 are alternately arranged inside the housing unit X13. Further, the axial projection unit X15 has a light projection opening R231a, so that the detection light to be projected can be projected from the light projection openings R231a and R232a of the housing portion X23 toward the outside of the housing portion X23. It is arranged according to the position of R232a. That is, the axial projection unit X15 projects the detection light along the axial direction of the housing portion X23. The axial light projection unit X15 acquires the light projection control information indicating the light projection timing from the control unit X19, and appropriately projects the detected light.

The axial light receiving portion X17 is arranged in alignment with 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 portion 23. .. That is, the axial light receiving portion X17 is projected from the pair of axial light projecting portions X15 along the axial direction of the housing portion X23, reflected by the reflecting portion X200, and along the axial direction of the housing portion X23. Receives the reflected detection light. The axial light receiving unit X17 transmits information as to whether or not the detection light is received to the control unit X19 as detection information. Further, the axial light receiving unit X17 acquires the light receiving control information indicating the light receiving timing at which the paired axial light projecting unit X15 can receive the detected light projected, and appropriately receives the detected light.

Returning to FIG. 33, the control unit X19 receives the detection information from the object detection sensor unit X21. The control unit X19 determines whether or not an object exists in the detection area from the received detection information. Further, the control unit X19 sequentially transmits the projection control information for starting the projection to each axial projection unit X15. Further, the control unit X19 transmits the light receiving control information for starting light reception to the axial light emitting unit X17 paired with the axial light emitting unit X15 that transmitted the light emitting control information. The reflected light of the detection light projected by the X15 is transmitted so that it can be received.

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

The reflection unit X200 has the same configuration as the housing unit X23 of the object detection sensor unit X21. However, the reflecting portion X200 does not have the light emitting and receiving openings R231a and R232a and the light receiving openings R231b and R232b at the light emitting and receiving opening forming ends 231b and 232b, and has the same configuration as the ends 131c and 132c. There is. Further, the reflection unit X200 does not have an internal circuit such as an axial light emitting unit X15 and an axial light receiving unit X17 inside.

As shown in FIG. 33, the object detection sensor unit X21 and the reflection unit X200 reflect the detection light projected by the axial projection unit X15 of the object detection sensor unit X21 by the reflection unit X200, and the reflected detection light is reflected. Is attached so as to face each other so that the axial light receiving unit X17 of the object detection sensor unit X21 receives light, so that the object can be attached to the region along the axial direction from the object detection sensor unit X21 to the reflection unit X200. Can be detected. For example, by installing the object detection sensor unit X21 on the arm of an industrial robot, an object can be detected in a region along the arm. That is, it is possible to detect an object in a region closer to the arm.

Second Usage Example As a usage example of the object detection device X20, FIG. 36 shows a state in which the object detection device X20 is arranged on the outer surface of the industrial robot RBT. An object detection sensor unit X21 and a reflection unit X200 of an object detection device X20 (see FIG. 28) are attached along the outer peripheral surfaces of the arms AM11 and AM13. The mounting positions of the detection light projected by the axially projecting unit 15 of the object detection sensor unit X21 are adjusted so as to be reflected by the reflecting unit X200. The object detection sensor unit X21 is connected to the control unit X19 (see FIG. 33). Further, the control unit X19 is connected to a power source (not shown) for operating the arms AM11 to AM15 of the industrial robot RBT.

As described above, since the object detection sensor unit X21 can be easily attached to the surface of the object to be installed, it is possible to easily construct a safety system for urgently stopping the robot when an object such as a person is detected near the industrial robot. That is, the safety of the installation object, for example, an industrial robot can be easily constructed.

Further, since the plurality of axial light emitting parts X15 and the axial light receiving parts X17 can be integrally attached, they can be easily handled such as being carried.

Further, even if there is an obstacle between the arms AM1 to AM3 to which the object detection sensor unit X21 is attached, the obstacle can be avoided by adjusting the number of the object detection sensor unit X21 and the reflection unit X200 to be attached. As described above, in the object detection device X20, the object detection sensor unit X21 can be freely attached regardless of the shape of the object to be attached.

Further, in the object detection sensor unit X21, the positions of the light projected and received by the axial light emitting unit X15 and the axial light receiving unit X17 are adjusted within the range of use assumed in advance, so that the detected light is projected and received. Since adjustment is required, the object detection sensor unit X21 can be more easily attached to the object to be installed.

In the object detection device X20 according to the eighth embodiment described above, the object is detected along the axial direction of the object detection sensor unit X21. On the other hand, in the object detection device X30 according to the present embodiment, the object is detected not only along the axial direction but also in the radial direction from the axis. In the following, the same configurations as those of the seventh and eighth embodiments will be designated by the same reference numerals, and detailed description thereof will be omitted.

First Configuration The configuration of the object detection device X30 is the same as that of the eighth embodiment (see FIG. 33). The object detection device X30 includes an object detection sensor unit X31 instead of the object detection sensor unit X21, a control unit X19, and a reflection unit X200. The object detection sensor unit X31 reflects the detection light projected by itself in the axial direction by the reflection unit X200, and determines whether or not to receive the detection light reflected by the reflection unit X200 to determine the object. In addition to detecting, an object is detected by determining whether or not to receive the detection light projected by itself in the radial direction with respect to the axis.

The appearance of the object detection sensor unit X31 is shown in FIG. 37. The object detection sensor unit X31 includes a housing unit X33, an axial light projecting unit X15 (see FIG. 38), an axial light receiving unit X17 (see FIG. 38), a radial light projecting unit X35 (see FIG. 38), and radiation. It has a directional light receiving unit X37 (see FIG. 38). An axial light projecting unit X15, an axial light receiving unit X17, a radial light projecting unit X35, and a radial light receiving unit X37 are arranged inside the housing unit X33. The housing portion X33 has a thin hollow cylindrical shape.

The housing portion X33 has a first housing portion 331, a second housing portion 332, and a hinge portion 133. The first housing portion 331 and the second housing portion 332 rotate about the hinge portion 133 in the direction of arrow A101 and the direction of arrow A102, respectively.

The first housing portion 331 and the second housing portion 332 each have a hollow semi-cylindrical shape obtained by dividing the hollow cylindrical shape into two. The first housing portion 331 and the second housing portion 332 are configured to be integrally engaged with each other at an end portion different from that of the hinge portion 133.

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

The outer peripheral portion 331a is formed as a thin cylindrical shape corresponding to the outer peripheral surface of the hollow cylindrical shape. The outer peripheral portion 331a has a plurality of radial light projection openings R331a and a plurality of radial light receiving openings R331b. One radial light emitting opening R331a and one radial light receiving opening R331b are paired and formed adjacent to each other. A pair of radial light emitting openings R331a and a radial light receiving opening R331b are formed at predetermined intervals. The above is the same for the second housing portion 332.

The internal structure of the object detection sensor unit X31 is shown in FIG. 38. FIG. 38 shows a state in which the outer peripheral portions 331a and 332a (not shown) of the housing portion X33 are removed from the object detection sensor unit X31 shown in FIG. 37. The radial light projecting unit X35, like the axial light projecting unit X15, projects a predetermined detection light, for example, near infrared rays. The axial light projecting unit X15 projects near infrared rays using, for example, a near infrared LED (Light Emitting Diode) or the like. The radiation direction light projecting unit X35 projects the detection light into a predetermined range using a predetermined light projecting lens or the like.

The radiation direction light receiving unit X37 receives the reflected light of the detection light projected from the radiation direction light projecting unit X35, similarly to the radiation direction light receiving unit X17. The radiation direction light receiving unit X37 receives the detection light by using, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, or the like. When a photodiode is used, an amplifier circuit or a filter circuit may be arranged.

The paired radiation direction light emitting part X35 and the radiation direction light receiving part X37 are arranged inside the housing part X33 at predetermined intervals. Further, the radiation direction projection unit X35 can project the detected light to be emitted from the radiation direction projection openings R331a and R332a of the housing portion X33 toward the outside in the radiation direction with respect to the axis of the housing portion X33. , Arranged according to the positions of the radial light projection openings R331a and R332a. That is, the radiation direction light projecting unit X35 projects the detection light in the radiation direction with respect to the axis of the housing unit X33. The radiation direction light projecting unit X35 acquires the light projecting control information indicating the light projecting timing from the control unit X19, and appropriately projects the detected light.

The radiation direction light receiving unit X37 is a radiation direction light receiving opening so that the reflected light of the detection light projected from the radiation direction light emitting unit X35 can be received through the radiation direction light receiving openings R331b and R332b of the housing portion X33. It is arranged according to the positions of R331b and R332b. That is, the radiation direction light receiving unit X37 is projected from the pair of radiation direction light projection units X35 in the radiation direction with respect to the axis of the housing portion X33, and is reflected by the object along the radiation direction with respect to the axis of the housing portion X33. Receives the detected light. The radiation direction light receiving unit X37 transmits information as to whether or not the detection light is received to the control unit X19 as detection information. Further, the radiation direction light receiving unit X37 acquires light reception control information indicating the light reception timing capable of receiving the detection light projected by the paired radiation direction light projection unit X35, and appropriately receives the detection light.

The control unit X19 of the object detection device X30 receives the detection information from the object detection sensor unit X31. From the received detection information, the control unit X19 determines whether or not the object exists in the detection region along the axial direction of the object detection sensor unit X31, and the object is in the detection region in the radial direction with respect to the axis of the object detection sensor unit X31. Determine if it exists. Further, the control unit X19 sequentially transmits the projection control information for starting the projection to the respective axial projection units X15 and the radiation direction projection unit X35. Further, the control unit X19 transmits the light receiving control information for starting light reception to the axial light emitting unit X17 paired with the axial light emitting unit X15 that transmitted the light emitting control information. The reflected light of the detection light projected by the X15 is transmitted so that it can be received.

When the axial light receiving unit X17 does not receive the detection light, that is, the control unit X19 does not receive the reflected light of the detection light projected from the axial light projecting unit X15, the control unit X19 is near the mounting target. Judge that some object exists. Further, in the control unit X19, when the radiation direction light receiving unit X37 receives the detection light, that is, when the reflection light of the detection light projected from the radiation direction light projection unit X35 is received, some object exists in the radiation direction. Then judge.

The object detection device according to the present invention will be described by taking the 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 the industrial robot RBT as an installation target. The object detection device 100 is installed on a predetermined installation target object, and detects whether or not an object exists in the surroundings without erroneously detecting a detection target object such as an installation target object that does not need to be detected. ..

First Hardware Configuration The hardware configuration of the object detection device 100 will be described with reference to FIG. 44. The object detection device 100 includes an object detection sensor unit 110, a control unit 170, and a connection harness 190. The object detection sensor unit 110 is attached to the arm of the industrial robot RBT. The object detection sensor unit 110 is connected to the control unit 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 an installation target, based on the detection information acquired from the object detection sensor unit 110.

1. 1. Object detection sensor unit 110
The configuration of the object detection sensor unit 110 will be described with reference to 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 a state in which the component arranged in the internal space of the housing portion 119 (described later) is removed from the object detection sensor unit 110 shown in FIG.

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

(1) First object detection sensor unit 111
The configuration of the first object detection sensor unit 111 will be described with reference to FIG. 48. The object detection sensor unit 111 includes a light projecting element 111a, a light projecting lens 111b, a light receiving element 111c, a sensor communication interface 111d, a sensor control unit 111e, a control unit communication interface 111f, and an acceleration sensor 111g.

The light projecting element 111a projects a predetermined detection light, for example, near infrared rays. The light projecting lens 111b diffuses the detection light projected by the light projecting element 111a into a predetermined range (detection area R111). Regarding the light projecting lens 111b, by appropriately selecting the shape and characteristics of the lens, it is possible to prevent erroneous detection of an object to be arranged such as an industrial robot to which the object detection sensor unit 110 is arranged. You may adjust 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 reflected light from the object of the detection light projected by the light projecting element 111a. As the light receiving element 111c, for example, a phototransistor, a photodiode, a light receiving element having a built-in amplifier circuit, or the like can be used. When a photodiode is used, the amplifier circuit and the 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 unit 113 so that the first object detection sensor unit 111 and the second object detection sensor unit 113 can communicate with each other.

The sensor control unit 111e acquires sensor control information from the control unit 170, controls object detection by the light emitting 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 the movement information acquired from the acceleration sensor unit 111g to the control unit.

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

The acceleration sensor unit 111g has a 3-axis acceleration sensor. The 3-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 unit 113
The configuration of the second object detection sensor unit 113 will be described with reference to FIG. 49. The object detection sensor unit 113 includes a light projecting element 113a, a light projecting lens 113b, a light receiving element 113c, a sensor communication interface 113d, and a sensor control unit 113e. The light projecting element 113a, the light projecting lens 113b, the light receiving element 113c, the communication interface 113d for the sensor, and the sensor control unit 113e are the light projecting element 111a, the light emitting lens 111b, and the light receiving element of the first object detection sensor unit 111. Since it is the same as the 111c, the communication interface 111d for the sensor, and the sensor control unit 111e, detailed description thereof will be omitted.

(3) Connection line between sensors 117
As shown in FIG. 46, the sensor-to-sensor connection line 117 is provided between the adjacent first object detection sensor unit 111 and the second object detection sensor unit 113, and between the two adjacent second object detection sensor units 113. To connect. The sensor-to-sensor connection line 117 is connected to the sensor communication interface 111d of the first object detection sensor unit 111 and the sensor communication interface 113d of the second object detection sensor unit 113, and is adjacent to the first object detection sensor unit 111. The second object detection sensor unit 113 is electrically and physically connected.

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

The first housing portion 1191 and the second housing portion 1192 are semi-hollow formed by dividing the hollow cylindrical shape along the surface including the long shaft J119 of the hollow cylindrical shape and the rotating shaft J1193 of the hinge portion 1193, respectively. It has a cylindrical shape. The first housing portion 1191 and the second housing portion 1192 having a semi-hollow cylindrical shape are engaged with each other at an end portion different from the hinge portion 1193 to be integrated to form a hollow cylindrical shape.

The first housing portion 1191 is located facing the outer peripheral portion 1191a, the end portion 1191b along the end surface of the hollow cylinder shape, the inner peripheral portion 1191c along the inner peripheral surface of the hollow cylinder shape, and the end portion 1191b. It has an end 1191d. 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 to the outer peripheral portion 1191a, the end portion 1191b, and the inner peripheral portion 1191c formed integrally.

The outer peripheral portion 1191a does not interfere with the projection of the detection light of the light projecting element 113a of the second object detection sensor unit 113, and does not interfere with the reception of the reflected light of the light receiving element 113c of the second object detection sensor unit 113. The light emitting / receiving opening 1191a1 having a large size and shape is provided at a position corresponding to the light emitting / receiving element 113a and the light receiving element 113c of the second object detection sensor unit 113.

The above is the same for the second housing portion 1192. The outer peripheral portion 1192a (not shown) of the second housing portion 1192 is a first object detection sensor in addition to the positions corresponding to the light emitting element 113a and the light receiving element 113c of the second object detection sensor unit 113. 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 unit 111.

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

2. Control unit 170
The hardware configuration of the control unit 170 will be described with reference to FIG. 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 programs of other applications such as an operating system (OS) and a detection area adjustment program, and various data.

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

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

Detection area adjustment processing in the second control unit 170 The detection area adjustment processing performed by the CPU 170a of the control unit 170 based on the detection area adjustment program will be described by taking as an example the case where the object detection device 100 is arranged on the outer surface of the industrial robot. ..

1. 1. Object to be installed An industrial robot RBT as shown in FIG. 51 is set as an object to be installed to be arranged by 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 portion H1.

The arm AM1 is arranged on the base B1 and rotates about the rotation axis RJ1 set in the major axis direction of the arm AM1. The arm AM3 is connected to an adjacent arm AM1 and rotates with respect to the arm AM1 about a rotation axis RJ3 set at one end. The arm AM5 is connected to an adjacent arm AM3 and rotates with respect to the arm AM3 about a rotation axis RJ5 set at one end. The arm AM7 is connected to an adjacent arm AM5 and rotates with respect to the arm AM5 about a rotation axis RJ7 set at one end.

The 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. The six object detection sensor units 110 arranged on the arms AM3, AM5, and AM7 are connected to the control unit 170. Further, the control unit 170 is connected to a power mechanism (not shown) for operating the arms AM1 to AM7 of the industrial robot RBT. The control unit 170 controls the operation of the arms AM1 to AM7 by controlling the operation of the power mechanism.

Each object detection sensor unit 110 is arranged along the outer circumference of each arm. Since the object detection sensor unit 110 can be easily arranged on the outer surface of the device to be installed, it is possible to easily construct a safety system for urgently stopping the robot when an object such as a person is detected around the industrial robot. That is, the safety of the device to be installed, for example, an industrial robot can be easily constructed.

2. Initial setting information A predetermined initial setting value is set before performing the detection area adjustment process. 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 project upward from the upper surface. The arms AM1 to AM7 have a cylindrical shape along their respective major axes LJ1 to LJ7 (see FIG. 55). The long axes LJ1 to LJ7 of each arm exist on the Z axis in FIG. 51. The arm AM1 is connected to the arm AM1 so that the arm AM3 can rotate about the rotation axis RJ3 at an end portion different from the end portion connected to the base B1. 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 the 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, in the initial state, for example, as shown in FIG. 51, a coordinate axis having a Z axis in the vertical direction with the center of the bottom surface of the arm AM1 located at the lowest position as the origin O and an X axis and a Y axis in the bottom surface is set. Then, the arms AM1 to AM7 are set to be vertically linear, that is, the major axes LJ1 to LJ7 of the arms AM1 to AM7 are set to be linearly arranged along the Z axis.

In the initial state, the positions of the rotation center points C3 to C7 (C3 (0) to C7 (0)) on the set coordinate axes and the lengths between the rotation center points (L1, L3, ...) Are the initial setting information. As a part, 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 projecting element , the center angle α between the adjacent first object detection sensor unit 111 and the second object detection sensor unit 113, and the first object detection. The apex angle θ that specifies the shape of the detection area R111 of the sensor unit 111 and the detection area R113 of the second object detection sensor unit 113 as a cone is stored and held in the memory 170b as a part of the initial setting information.

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

After initializing the industrial robot RBT, the initial positions (P111_1 (0), P111_2 (0), ...) Of the first object detection sensor unit 111 of each object detection sensor unit 110 on the set coordinate axes are initially set. It is stored and held in the memory 170b as a part of the information.

3. 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 with reference to the flowcharts shown in FIGS. 52 to 57 and FIG. 53.

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

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

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

When the CPU 170a determines that the sensor information has been acquired from the first object detection sensor unit 111 and the second object detection sensor unit 113 of all the object detection sensor units 110 (S905), the first object detection having the movement information The sensor information regarding the sensor unit 111 is extracted (S907), and a shape estimation process for determining the shape of the industrial robot RBT at that time is performed (S909).

The shape estimation process will be described with reference to the flowchart shown in FIG. 53 and FIG. 55. Note that FIG. 55 shows the state of the industrial robot RBT after operating for a predetermined time. In the following, a plurality of existing components will be specified by adding the suffix "_n (n is a natural number)" in order from the one located at the bottom in the initial state. For example, the first object detection sensor unit 111 located second from the bottom in the initial state is referred to as the first object detection sensor unit 111_2. Unless otherwise specified, it is referred to as the first object detection sensor unit 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-1): see FIG. 55). P111_n (x): see FIG. 55) Calculate (S1003). The current position of the first object detection sensor unit 111_n (P111_n (x)) is a priori using the position of the first object detection sensor unit 111 in the initial state (P111_n (0): see FIG. 51). Can be calculated.

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

When the CPU 170a determines that the object detection sensor unit 110 is attached to the target arm (S1005), the target arm is changed from the current lower rotation center Cm (x) (m = 3, 5, 7). 1 The vector to the current position P111_n (x) of the object detection sensor unit 111_n starts from the current lower rotation center Cm (x), and the lower rotation center Cm (0) of the target arm in the initial state. Calculates the rotation angle r_n (x) by rotating the vector from the first object detection sensor unit 111_n to the position P111_ (0) around the rotation axis RJm passing through the current lower rotation center Cm. (S1007).

For example, for the 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 to the position P111_ (0) of the first object detection sensor unit 111_n in the initial state, starting from, is the current lower rotation center C3 (x). The rotation angle r_3 (x) that is rotated and matched around the rotation axis RJ3 passing through the above is calculated. Since the rotation center C3 does not move, the current rotation center position C3 (x) becomes the position C3 (0) of the rotation center C3 in the initial state (see FIG. 51).

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

The CPU 170a executes the processes of steps S100 to S1013 for all the arms (S1013). The CPU 170a calculates the current shape of the industrial robot RBT using the calculated radius of each arm (S1015).

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

The detection area adjustment information generation process will be described with reference to FIG. 54. From the position of the first object detection sensor unit 111 of each arm and the position of the long axis of each arm, the CPU 170a is a second object detection sensor unit other than the first object detection sensor unit 111 for each object detection sensor unit 110. The position of 113 is calculated (S1101). From the calculated position of the second object detection sensor unit 113 and the calculated shape of the industrial robot RBT, the CPU 170a has the first object detection sensor unit 111 and the second object detection sensor unit 113 of each object detection sensor unit 110. The detection region to be formed is calculated (S1103). As shown in FIG. 56, the detection areas radiate from the center of the object detection sensor unit 110 toward the positions of the first object detection sensor unit 111 and the second object detection sensor unit 113, that is, the industrial robot RBT. It is formed in the direction perpendicular to the surface of the robot.

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. 56, the object detection sensor units 110_2 and 110_5 attached to the arm AM3 and the arm AM7, which are located opposite to each other, are partially provided. It is determined that the detection region formed by the first object detection sensor unit 111 and / or the second object detection sensor unit 113 interferes with the other arm.

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

Returning to FIG. 55, when the CPU 170a determines that they interfere with each other, the CPU 170a generates detection area adjustment information for the first object detection sensor unit 111 or the second object detection sensor unit 113 that interfere with each other (S1107).

Here, the detection area adjustment information will be described. The detection area adjustment information is information for adjusting the light receiving standby period for receiving the reflected light in each of the light receiving elements of the first object detection sensor unit 111 and the second object detection sensor unit 113. By adjusting the light receiving standby period, it is possible to substantially limit the area where the detection light reaches, that is, the detection area. For example, if the light receiving standby period is shortened to a period of 30% of a predetermined period, it is possible to limit the detection area to a detection area close to the object to be attached and prevent the reflected light reflected by the interference between the arms from being effectively detected.

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

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

Here, the object detection start information will be described. The object detection start information is information for causing the first object detection sensor unit 111 and the second object detection sensor unit 113 of the object detection sensor unit 110 to start object detection. The first object detection sensor unit 111 and the second object detection sensor unit 113 that have acquired the object detection start information start object detection using their respective light projecting elements, light receiving elements, and the like. The object detection start information is generated in association with the sensor identification information for identifying the first object detection sensor unit 111 and the second object detection sensor unit 113 of each object detection sensor unit 110. Further, the first object detection sensor unit 111 and the second object detection sensor unit 113, which are determined to need to adjust the detection area, are also associated with the detection area adjustment information generated in step S1207.

When the predetermined time arrives (S915), the CPU 170a transmits the generated object detection start information to the first object detection sensor unit 111 and the second object detection sensor unit 113 of each object detection sensor unit 110, and the like, in steps S901 to S915. The process is repeated until the end of the operation.

In step S903, the CPU 170a acquires sensor information from the first object detection sensor unit 111 and the second object detection sensor unit 113 of each object detection sensor unit 110, and extracts and extracts the detection result information from the sensor information. When the detected detection result information indicates that an object has been detected, a stop signal for stopping the operation of the industrial robot RBT to be attached is transmitted to the industrial robot RBT.

4. Operation of the First Object Detection Sensor Unit 111 As shown in FIG. 57, the sensor control unit 111e of the first object detection sensor unit 111 of the object detection sensor unit 110 transmits the object detection start information via the communication interface 111f for the control unit. When it is acquired (S1301), it is determined whether or not 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, the sensor control unit 111e extracts the detection area adjustment information contained in the object detection start information (S1305), and the light receiving element 111c detects light based on the extracted detection area adjustment information. The light receiving standby period, which is the period for receiving the reflected light with respect to the light receiving light, is adjusted (S1307).

The sensor control unit 111e projects the detection light via the light projecting element 111a (S1309). The sensor control unit 111e monitors whether or not the reflected light is received via the light receiving element 111c. When the sensor control unit 111e determines that the reflected light has been received (S1311), the sensor control unit 111e generates detection result information indicating that the 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 the sensor identification information that identifies itself (S1319).

On the other hand, when the sensor control unit 111e determines that the predetermined light reception standby period has elapsed without receiving the reflected light after the detection light is projected in step S1309 (S1313), it indicates that the object has not been detected. The 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 the sensor identification information that identifies itself (S1319).

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

Further, when the sensor control unit 111e acquires the 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 Second Object Detection Sensor Unit 113 As shown in FIG. 57, the sensor control unit 113e of the second object detection sensor unit 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 or not 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, the sensor control unit 113e extracts the detection area adjustment information contained in the object detection start information (S1405), and the light receiving element 113c detects light based on the extracted detection area adjustment information. The light receiving standby period, which is the period for receiving the reflected light with respect to the light receiving light, is adjusted (S1407).

The sensor control unit 113e projects the detection light via the light projecting element 113a (S1409). The sensor control unit 113e monitors whether or not the reflected light is received via the light receiving element 113c. When the sensor control unit 113e determines that the reflected light has been received (S1411), the sensor control unit 113e generates detection result information indicating that the object has been detected (S1415). The sensor control unit 113e transmits the generated detection result information and the sensor identification information that identifies itself to the control unit 170 as sensor information (S1419).

On the other hand, when the sensor control unit 113e determines that the predetermined light reception standby period has elapsed without receiving the reflected light after the detection light is projected in step S1409 (S1413), it indicates that the object has not been detected. The 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 the sensor identification information that identifies itself (S1419).

Further, when 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. It is transmitted to the detection sensor unit 111 or the second object detection sensor unit 113 (S1421).

Further, when the sensor control unit 113e acquires the sensor information from the adjacent second object detection sensor unit 113 via the sensor communication interface 113d, the sensor control unit 113e obtains the sensor information from the adjacent second object detection sensor unit 113, and then the adjacent first object detection sensor via the control unit communication interface 111f. It is transmitted to the unit 111 or the second object detection sensor unit 113.

[Other Embodiments]
(1) Sensor-arranged flexible member 15: In the above-described first embodiment, the sensor-arranged flexible member 15 is formed of a rubber plate, but it has flexibility and deforms along the surface of the object to be installed. If it is a thing, it is not limited to the example. For example, it may be a fibrous sheet, a plastic that deforms flexibly, or the like. The same applies to the above-mentioned Examples 4 and 5.

Further, although the sensor placement flexible member 15 is said to have a band shape, it may have a rectangular shape, another polygonal shape, or the like as long as it has a size and a region in which a plurality of object detection sensor units 11 can be arranged. You may. The same applies to the above-mentioned Examples 4 and 5.

(2) Sensor-arranged flexible member 25: In the above-described second embodiment, the sensor-arranged flexible member 25 uses an intermediate flexible member 253 having an adjustable telescopic mechanism 253b, but is located between adjacent sensor-arranged members 251. The length is not limited to the example as long as it can be adjusted. For example, the belt 253a may be formed of a stretchable material, for example, a predetermined rubber material, without the stretching mechanism 253b. The same applies to the above-mentioned Examples 4 and 5.

(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 connecting direction are prepared, and by appropriately selecting and connecting them, the object detection sensor unit 13 It may be possible to adjust the arrangement position of. Since the length of the entire sensor arrangement flexible member 35 can be adjusted, it can be easily adapted to the object.

(4) Shape of detection region R13: In the above-mentioned Examples 1 to 3, it is assumed that a linear detection region R13 is formed by using a cylindrical lens as the floodlight lens 13b, but a desired detection region can be formed. Any type of floodlight lens 13b may be used as long as it is used. For example, as shown in FIG. 10, a light projecting lens 143b, which is a circular convex lens, may be used to form the circular detection region R143.

Further, the light projecting direction of the light projecting lens 143b may be adjusted. 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 unit 143 may be rotated in the direction of arrow a6 in the vertical and horizontal directions.

Further, the detection regions R143 may be formed in a plurality of directions as shown in FIG. 11A without forming the detection regions R143 in the same direction for all the object detection sensor units 143.

As for the object detection device 10 in the first embodiment, as shown in FIG. 11B, the object detection sensor unit 153 capable of rotating the light projecting element 13a and the light projecting lens 13b (see FIG. 2) is similarly used in a plurality of directions. The detection region R153 may be formed on the surface. 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 is the same for the above-mentioned Examples 4 and 5.

(5) Arrangement of the object detection sensor unit 13: In the above-described first to third embodiments, the object detection sensor unit 13 is arranged in a straight line, and the detection region R11 is formed on the sensor arrangement flexible member 15. , Matrix, and other regularities can be arranged, and are not limited to the examples as long as they can be arranged randomly without regularity to form a desired detection range. The same applies to the above-mentioned Examples 4 and 5.

Further, the arrangement of the object detection sensor unit 13 of the object detection device 10 in the first embodiment is not constant and may be changed as appropriate. For example, a plurality of mounting recesses are formed in the sensor placement flexible member 15, a desired mounting recess is selected, and the mounting convex portion of the object detection sensor unit 13 is engaged to arrange the object detection sensor unit 13. You may try to do it. Further, the rail may be arranged on the sensor arrangement flexible member 15 and engaged with the rail of the object detection sensor unit 13 at a desired position to arrange the object detection sensor unit 13. The same applies to Example 2 and Example 3.

(6) Intermediate flexible member 253: In the above-described second embodiment, the intermediate flexible member 253 is arranged separately from the connection harness 19, but if the object detection sensor unit 13 is cascade-connected, it is connected to the intermediate flexible member 253. A harness 19 may be integrally formed, and a stretchable connection harness (intermediate connection harness) having a telescopic mechanism may be used as an intermediate flexible member. The same applies to the above-mentioned Examples 4 and 5.

(7) Function of Object Detection Sensor Unit 13: In the above-described first to third embodiments, the object detection sensor unit 13 detects the existence of an object, but detects the distance and direction to the object. It may be a thing. By detecting the distance by the object detection sensor unit 13, it is possible to detect an object or a person who has invaded within an arbitrary set distance from the object to be arranged in which the object detection sensor unit 13 is arranged. As a result, the operation of the object to be arranged can be controlled based on the distance from the object to be arranged. The same applies to the above-mentioned Examples 4 and 5.

Further, the object detection sensor unit 13 detects the existence of an object by using a predetermined detection light, but if the existence of the object can be detected, other detection waves such as infrared rays and sound waves are used. You may. The same applies to the above-mentioned Examples 4 and 5.

(8) Configuration of Control Unit 17: In the above-described first to third embodiments, the operation of the control unit 17 is realized by using the CPU 17a, but an example is provided as long as the configuration can realize the operation of the control unit 17. Not limited to things. For example, a dedicated logic circuit may be designed and used. The same applies to the above-mentioned Examples 4 and 5.

(9) Connection of Object Detection Sensor Unit 13: In the above-described first to third embodiments, each object detection sensor unit 13 is connected to the control unit 17 in parallel, but the object detection sensor units 13 are cascaded to each other. It may be connected and the object detection sensor unit 13 at the end may be connected to the control unit 17.

Further, in the object detection device 10, each object detection sensor unit 11 and the control unit 17 are connected by a 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 above-mentioned Examples 4 and 5.

Further, in the object detection device 10, the object detection sensor unit 13 and the control unit 17 are connected by using the connection harness 19, but a plurality of object detection sensor units 13 are connected to one intermediate interface unit and the intermediate interface unit is connected. May be connected to the control unit 17, that is, the object detection sensor unit 13 and the control unit 17 may be connected via the intermediate interface unit. 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 above-mentioned Examples 4 and 5.

(10) Use of Light Filter: In the above-mentioned Examples 1 to 3, an optical filter may be further used to detect an object using only predetermined light. The same applies to the above-mentioned Examples 4 and 5.

(11) Sensor connection information: In the above-described first embodiment, the sensor connection information is stored and stored in the memory in advance, but the sensor connection information is acquired at the stage of using the object detection device 10. May be good. 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 performs sensor connection information. May be generated. Further, the connection position (for example, the 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 above-mentioned Examples 4 and 5.

(12) Separation of the light emitting element 13a and the light receiving element 13c: In the above-described fourth embodiment, the detection light projected by the light emitting element 13a is reflected inside the unit arrangement unit 433 and received by the light receiving element 13c. A partition wall for separating the detection light projected from the light projecting element 13a and the reflected light received by the light receiving element 13c may be arranged inside the unit arranging unit 433 so as not to be prevented.

Similarly, in the inter-sensor connection line protection unit 59 in the fifth embodiment and the inter-sensor connection line protection unit 69 in the sixth embodiment, the detection light projected from the light projecting element 13a and the light receiving element 13c receive light inside each of them. A partition wall that separates the reflected light may be arranged. The same applies to the sensor-to-sensor connection line protection unit 69 in the sixth embodiment.

(13) Number of divisions of the sensor-to-sensor connection line protection units 59 and 69: In the above-described fifth embodiment, the sensor-to-sensor connection line protection unit 59 is formed by two of the first housing 591 and the second housing 592. However, it may be formed by three or more housings. The same applies to the sensor-to-sensor connection line protection unit 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 above-described first embodiment, a pair of light emitting elements 13a and a light receiving element 13c are arranged, but a plurality of light emitting elements 13a and light receiving elements 13c are arranged. A pair of light emitting element 13a and light receiving element 13c may be arranged. For example, this can reduce the manufacturing cost. Further, the number of connection harnesses 19 for connecting the object detection sensor unit 13 and the control unit 17 can be reduced. The same applies to Examples 2 to 6. In the fourth to sixth embodiments, the number of connection lines between the sensors can be reduced.

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

Further, the light emission of the LED may be changed depending on the detection status of the object. For example, a multicolor light emitting LED and a light emission control circuit that controls the light emission color are used to emit blue light in a situation where an object is not detected, and in a situation where an object is detected, depending on the distance to the detected object. , Change from yellow to red.

Further, the brightness of the light emission may be changed according to the distance to the detected object. For example, by using a light emission control circuit that controls the current flowing through the LED, light is not emitted when an object is not detected, and when an object is detected, the brightness is darkened according to the distance to the detected object. Change from to bright state.

As a result, the detection state of the object can be easily known. In addition, it is possible to easily know the malfunction of the operation of the object detection sensor. The same applies to each object detection sensor unit of Examples 2 to 6.
(16) Shape of each housing portion: In the above-mentioned Examples 7 to 9, each housing portion has a hollow cylindrical shape, but it may have a shape that can be attached to the surface of a predetermined installation object. For example, it is not limited to the example. For example, it may have a linear shape or a hollow prism shape.

Further, the installation object to which each housing portion is attached does not have to have a cylindrical shape such as 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 so that the apex in the cross section is supported by each inner peripheral portion of each object detection sensor unit. Further, the object detection sensor unit may be attached to the installation object by arranging a predetermined spacer between the installation object and the inner peripheral portion of each object detection sensor unit.

(17) Aperture-forming ends 131b, 132b for light-emitting / light-receiving: In the above-mentioned Example 7, the aperture-forming ends 131b, 132b for light-emitting / light-receiving have an opening R131a for light-emitting so that detection light can be transmitted / received. However, as long as it can emit and receive the detection light, it is not limited to the example. For example, instead of forming the light emitting / receiving openings R131a at the projection / light receiving opening forming ends 131b and 132b, the detection light may be formed into a semitransparent ring shape capable of transmitting and receiving light. The same applies to Example 8 and Example 9.

Further, the axial projection unit X15 and the axial light receiving portion X17 are also arranged on the end faces P131b and P132b without forming the projection and light receiving openings R131a only on the light emitting and receiving opening forming ends 131b and 132b. An opening for light reception may be formed. The same applies to Example 8 and Example 9.

(18) Existence of Reflecting Unit X200: In the above-described 8th embodiment, the object detection sensor unit X21 has a reflecting unit X200 that reflects the detection light projected from the axial projection unit X15. The reflection unit X200 may not be used as in the object detection device X40 shown in 39. In this case, the control unit 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-mentioned Examples 7 to 9, the axial light projecting unit X15 can be rotated, and the axial light projecting unit X15 can adjust the direction in which the detected light is projected. It may be. The same applies to the axial light receiving unit X17.

(20) Arrangement of Axial Light Projecting Unit X15 and Axial Directional Light Receiver Unit X17: In the above-described Example 7, the axial light emitting unit X15 and the axial light receiving unit X17 are alternately arranged in the same object detection sensor unit X11. However, it is possible to arrange only the axial light emitting unit X15 on one of the paired object detection sensor units X11 and only the axial light receiving unit X17 on the other side.

(21) Arrangement of Radiation Direction Light Projecting Unit X35 and Radiation Direction Light Receiver Unit X37: In the above-mentioned Example 9, the radiation direction projection unit X35 and the radiation direction light receiving unit X37 are arranged in the object detection sensor unit X21 of Example 8. However, the radiation direction light emitting unit X35 and the radiation direction light receiving unit X37 may be arranged in the object detection sensor unit X11 of the seventh embodiment.

(22) Function of Object Detection Sensor Unit X21: In the above-mentioned Example 8, the object detection sensor unit X21 detects the existence of an object, but detects the distance and direction to the object. May be good. This makes it 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 above-mentioned Examples 7 to 9, the existence of an object is detected by using a predetermined detection light, but if the existence of an object can be detected, only infrared rays are used. Instead, other detection waves such as sound waves may be used.

(24) Configuration of Control Unit X19: In the above-described 7 to 9 embodiments, the operation of the control unit X19 is realized by using the CPU 19a, but an example is provided as long as the configuration can realize the operation of the control unit X19. Not limited to things. For example, a dedicated logic circuit may be designed and used.

(25) Connection of Object Detection Sensor Units: In the above-mentioned Examples 7 to 9, each object detection sensor unit is connected to the control unit X19 by using a predetermined connection line, but it should be connected wirelessly. It may be.

(26) Use of Light Filter: In the above-mentioned Examples 7 to 9, an optical filter may be further used to detect an object using only predetermined light.

(27) Separation of Axial Light Projection Unit X15 and Axial Light Receiver Unit X17: In the above-mentioned Examples 7 to 9, the detection light projected by the axial light projecting unit X15 is inside each housing. In order to prevent the light from being reflected and received by the axial light receiving unit X17, the detection light projected from the axial light projecting unit X15 and the reflected light received by the axial light receiving unit X17 are provided inside each housing. Separation partition walls may be arranged.

(28) Number of divisions of each housing portion: In the above-described 7th embodiment, the housing portion X13 is formed by two of the first housing portion 131 and the second housing portion 132, but three. It may be formed by the above-mentioned housing portion. The same applies to Examples 8 and 9.

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

Further, the light emission of the LED may be changed depending on the detection status of the object. For example, a multicolor light emitting LED and a light emission control circuit that controls the light emission color are used to emit blue light in a situation where an object is not detected, and in a situation where an object is detected, depending on the distance to the detected object. , Change from yellow to red.

Further, the brightness of the light emission may be changed according to the distance to the detected object. For example, by using a light emission control circuit that controls the current flowing through the LED, light is not emitted when an object is not detected, and when an object is detected, the brightness is darkened according to the distance to the detected object. Change from to bright state.

As a result, the detection state of the object can be easily known. In addition, it is possible to easily know the malfunction of the operation of the object detection sensor.

(30) Substrate S: In the object detection sensor unit according to the seventh embodiment described above, a plurality of substrates S are connected by a connection line W in the housing X13, but the axial projection unit X15 and the axial light receiving are received. As long as the unit X17 can be electrically connected, the present invention is not limited to the example. For example, even if an annular substrate that can be arranged in the housing X13 is formed, each axial floodlight portion X15 and an axial light receiving portion X17 are arranged, and electrically connected by wiring formed on the substrate. good. The same applies to the other examples.

(31) Stacked installation of object detection device X10: As shown in FIG. 40, the object detection device X11 according to the above-described 7 may be installed so as to be laminated on an object to be installed. In this case, the inner object detection device X11-S is arranged along the surface of the object to be installed like the object detection device X11 shown in FIG. 28, and the outer object detection device X11-L is its own inner circumference. 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 FIGS. 41a and 41b, the paired object detection device X11-S and the paired object detection device X11-L are arranged in a laminated manner, respectively, as shown in FIG. 41c. As described above, a plurality of layers of detection areas such as a detection area of the object detection device X11-S (solid line arrow) and a detection area of the object detection device X11-L (dotted line arrow) are formed according to the distance from the surface of the object to be installed. can. That is, the control operation for the installation object can be changed according to the distance from the surface of the installation object. 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 object can be stopped when the object is detected by the inner object detection device X11-S. When the object detection devices X11-S and X11-L are stacked and arranged, the hinge portions 133-S and 133 shown in FIG. 40 are arranged so that the hinge portion 133 (see FIG. 29) does not interfere with the stacking. Like −L, it may be formed at a position where it does not protrude from the outer peripheral portion 131a (see FIG. 29).

Further, as shown in FIGS. 42a and 42b, the object detection device X11-S inside FIG. 40 has an axial light emitting unit X15 and an axial light receiving unit X17 like the reflection unit X200 shown in FIG. 33. The height adjusting unit X500 may be used. As a result, as shown in FIG. 42c, the distance of the object detection device X11-L from the surface of the object to be installed can be freely adjusted.

Further, when arranging the paired object detection device X11, one is arranged along the surface of the object to be installed as shown in FIG. 28, and the other is arranged along the surface of the object to be installed, and the other is a height adjusting unit as shown in FIG. 42a. It may be installed on the X500. As a result, as shown in FIG. 43, the detection region can be formed so as to be inclined along the surface of the installation object. On the side where the object detection device X11-L is installed, the object can be detected at a position farther from the surface of the object to be installed than on the side where the object detection device X11-S is installed, so that the object can be detected at an earlier stage. Operation control of the installation object, for example, operation can be stopped earlier. The above is the same for other examples.

(32) Positioning of the paired object detection device: In the object detection device X11 according to the seventh embodiment described above, by aligning the position of the hinge portion 133, the paired object detection device X11, specifically, the axial direction The positions of the light projecting unit X15 and the axial light receiving unit X17 are aligned, but the above is not limited to the examples as long as both can be aligned. For example, a predetermined alignment mark may be arranged on the housing X13.
(33) Adjustment of detection area: In the above-described 10th embodiment, when the estimated shape of the mounting target and the estimated detection areas of the first object detection sensor unit 111 and the second object detection sensor unit 113 interfere with each other, Although it is assumed that the detection area adjustment information is generated, the case of generating the detection area adjustment information is not limited to the example. For example, as shown in FIG. 60, the detection area adjustment information is also generated when the estimated first object detection sensor unit 111, the second object detection sensor unit 113, and the detection area are generated toward the ground. You may.

In this case, in the arm AM3 and the arm AM5 located at the position facing the ground (see FIG. 60), as shown in FIG. It is determined that the detection area formed by the first object detection sensor unit 111 and / or the second object detection sensor unit 113 located within 45 degrees to the left and right of the bus terminal located at the lowest position in the arm interferes with the ground. .. The same determination is made for the other arm and the other object detection sensor unit 110.

Further, in the above-described 10th embodiment, when it is determined in the shape estimation of the industrial robot RBT to be attached that there are arms located opposite to each other, the detection area that interferes with the arms located facing each other is determined. Although it is assumed that the reduction is reduced to a predetermined range, the detection area is set to 0 (zero) for the first object detection sensor unit 111 and the second object detection sensor unit 113 that form the interference detection area, even if the reflected light is received. , It may not be determined that the object has been detected, that is, the received reflected light may be invalidated. As a result, regarding the second object detection sensor unit 113, it is necessary to adjust the detection area for each of the first object detection sensor unit 111 and the second object detection sensor unit 113 according to the estimated shape of the mounting target. Therefore, the processing load of the control unit 170 can be reduced. Even if the detection areas of the first object detection sensor unit 111 and the second object detection sensor unit 113 that form the interference detection area are set to 0 and the reception of reflected light is disabled, they are arranged in a ring shape with respect to the mounting target. In many cases, for example, a person or an object approaching from the outside can be detected by either the first object detection sensor unit 111 or the second object detection sensor unit 113.

Further, in the above-described 10th embodiment, the detection area is reduced to a predetermined range, but when it is determined by the shape estimation of the mounting target that there are arms located opposite to each other, it is calculated from the estimated shape. The detection area may be adjusted by using the distance between the arms. For example, when an object is detected at a distance shorter than the distance between arms, detection result information indicating that the object is detected is generated, and when an object is detected at a distance longer than the distance between objects, the object is detected. Generates detection result information to the effect that it has not been done.

(34) Estimating the detection area: In the above-described 10th embodiment, the shape of the attachment target and the detection areas of the first object detection sensor unit 111 and the second object detection sensor unit 113 are specifically estimated. The detection area adjustment information is generated after judging the interference between the two, but it is not limited to the example as long as the detection area adjustment information can be generated so as to prevent the detection of an unintended object. .. For example, as shown in FIG. 62, in the arms AM3 and AM7 located opposite to each other, the first object detection sensor unit 111 and / or located in a predetermined region F13 on the surface of the arm AM3 facing the arm AM7. Alternatively, the second object detection sensor unit 113 may generate detection area adjustment information. In this case, as shown in FIG. 63, a predetermined region F13 of the surface of the arm AM3 facing the arm AM7 may be determined by the central angle β of the arm AM3.

(35) Acceleration sensor unit: In the above-described 10th embodiment, it is assumed that the acceleration is detected and the movement information is generated by using the acceleration sensor unit 111g of three axes. However, if the movement information can be formed, it is exemplified. Not limited to those. For example, in addition to the 3-axis acceleration sensor, a 3-axis angular velocity sensor may be arranged. As a result, the shape of the industrial robot RBT can be estimated even if the arm is an industrial robot RBT that operates so as to rotate about a long axis, and the first object detection sensor unit 111 and the second object detection sensor can be estimated. The position of the unit 113 and each detection area can be estimated.

Further, in the above-described 10th embodiment, the acceleration sensor unit 111g is arranged in the first object detection sensor unit 111, but the acceleration sensor unit 111g may also be arranged in the second object detection sensor unit 113.

Further, in the above-described 10th embodiment, two object detection sensor units 110 are arranged in each arm, and each has a first object detection sensor unit 111. However, a plurality of object detection sensor units 110 are arranged in each arm. The acceleration sensor unit 111g may be arranged in a part of the object detection sensor unit 110, for example, any one of them.

(36) Movement information acquisition control: In the above-described 10th embodiment, the first object detection sensor unit 111 acquires the acceleration information after generating the ground detection result information (see FIG. 58), but the ground detection result information. The acceleration may be acquired and the movement information may be transmitted to the control unit 170 at an appropriate timing regardless of the generation of the motion information. As a result, the control unit 170 can follow the operating state of the industrial robot RBT to be attached in real time, and can realize high-speed processing.

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

Further, in the above-described 10th embodiment, the sensor control unit 111e of the first object detection sensor unit 111 controls the acquisition timing of the movement information from the acceleration sensor unit 111g, but the movement information acquisition timing can be controlled. If so, the present invention is not limited to the example. For example, the CPU 170a of the control unit 170 may control the acquisition timing of the movement information from the acceleration sensor unit 111g. As a result, the communication overhead generated between the control unit 170 and the first object detection sensor unit 111 can be reduced. The same applies to the second object detection sensor unit 113.

(37) First Object Detection Sensor Unit 111, Second Object Detection Sensor Unit 113: In the above-described 10th embodiment, the first object detection sensor unit 111 and the second object detection sensor unit 113 are formed on the respective substrates. , Although it is assumed that they are connected by a connection line between sensors, both may be arranged on the same substrate.

(38) Housing portion 119: In the above-described 10th embodiment, the housing portion 119 of the object detection sensor unit 110 has a hollow cylindrical shape, but the housing portion 119 may have a shape that can be attached to the attachment target. For example, it is not limited to the example. For example, it may have a hollow quadrangular prism shape. Further, the object detection sensor unit 110 does not have the housing portion 119, and the first object detection sensor unit 111 and the second object detection sensor unit 113 may be attached to the attachment target.

(39) Functions of First Object Detection Sensor Unit 111 and Second Object Detection Sensor Unit 113: In the above-described 10th embodiment, the first object detection sensor unit 111 and the second object detection sensor unit 113 indicate the presence of an object. Although it is supposed to be detected, it may be detected by detecting the distance or direction to the object. By detecting the distance by the object detection sensor unit 13, it is possible to detect an object or a person who has invaded within an arbitrary set distance from the mounting target. Thereby, the operation of the mounting target can be controlled based on the distance from the mounting target.

Further, the first object detection sensor unit 111 and the second object detection sensor unit 113 detect the existence of an object using predetermined detection light, but if the existence of the object can be detected, infrared rays are used. Other detection waves such as sound waves may be used.

(40) Configuration of Control Unit 170: In the above-described 10th embodiment, the operation of the control unit 170 is realized by using the CPU 170a, but the configuration is not limited to the example as long as the configuration 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 Unit 110: In the above-described 10th embodiment, each object detection sensor unit 110 is connected to the control unit 170 in parallel, but each object detection sensor unit 110 is cascade-connected to each other and ends. The object detection sensor unit 110 of the unit may be connected to the control unit 170.

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

Further, in the object detection device 100, the object detection sensor unit 110 and the control unit 170 are connected by using the connection harness 190, but a plurality of object detection sensor units 110 are connected to one intermediate interface unit, and the intermediate interface unit is connected. May be connected to the control unit 170, that is, the object detection sensor unit 110 and the control unit 170 may be connected via the intermediate interface unit.

(42) Use of Light Filter: In Example 10 described above, an light filter may be further used for the projection lens 111b to detect an object using only predetermined light.

(43) Number of divisions of the housing portion 119: In the above-described 10th embodiment, the housing portion 119 is formed by two of the first housing portion 1191 and the second housing portion 1192, but three. It may be formed by the above-mentioned housing.

(44) Configuration of Control Unit 170: In the above-described 10th embodiment, the control unit 170 is supposed to execute the detection area adjustment process by using the CPU 170a. However, if the control unit 170 executes the detection area adjustment process, it is exemplified. Not limited to For example, a logic circuit may be designed and the detection area adjustment process may be executed.

(45) Detection area adjustment process: In the above-described 10th embodiment, the flowcharts of FIGS. 52 to 54 are shown as the detection area adjustment process, but if the same process can be executed, the flowchart is limited to the example flowchart. Not done.

(46) Processing of the 1st Object Detection Sensor Unit 111 and the 2nd Object Detection Sensor Unit 113: In the above-described 10th embodiment, the processing of the 1st object detection sensor unit 111 and the 2nd object detection sensor unit 113 is performed. Although the flowcharts of FIGS. 58 and 59 are shown, the flowchart is not limited to the example flowchart as long as the same processing can be executed.

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 unit 13a Floodlight element 13b Floodlight lens 13c Light receiving element 13d Communication circuit for sensor 15 Sensor placement flexible member J15 Long axis 17 Control unit 17a CPU
17b Memory 17g Sensor control communication circuit 17h Motion control communication circuit 19 Connection harness R11 Detection area R13 Detection area 20 Object detection device 21 Object detection sensor unit 25 Sensor placement flexible member 251 Sensor placement member 253 Intermediate flexible member 253a Belt 253b Telescopic mechanism 30 Object detection device 31 Object detection sensor unit 35 Sensor placement flexible member 351 Unit flexible member 40 Object detection device 41 Object detection sensor unit 43 Object detection sensor part 431 Sensor board 433 Unit placement part 433a Unit protection housing part 433a1 For sensor board placement Internal space 433a2 Light projection opening 433a3 Light receiving opening 433a4 Sensor-to-sensor connection line opening 433a5 Connection harness opening 433b Sensor placement flexible member locking part 433b1 Flexible member insertion space 433b2 Flexible member placement space 45 Sensor placement flexible member 45T1 End 45T2 End 47 Sensor-to-sensor connection line 49 Sensor-to-sensor connection line Protection part 49a Sensor-to-sensor connection line Covering part 49b Sensor placement Flexible member locking part 49b1 Flexible member insertion space 49b2 Sensor-to-sensor connection line / flexible member placement space 50 Object detection device 51 Object Detection sensor unit 59 Inter-sensor connection line protection 591 1st housing 591a Inter-sensor connection line coating 591a1 Sensor placement opening 591b End 591c Inner circumference 591d End 592 Second housing 592a Inter-sensor connection line coating 592d End 593 Hing unit 60 Object detection device 61 Object detection sensor unit 63 Object detection sensor unit 631 Sensor board 65 Sensor placement flexible member 67 Inter-sensor connection line 69 Inter-sensor connection line Protection unit 691 First housing 691a Inter-sensor connection line coating Part 691a1 Light emitting opening 691a2 Light receiving opening 691b End 691c Inner circumference 691d End 692 Second housing 692d End L1 Distance 143 Object detection sensor 143b Floodlight lens R143 Detection area 153 Object detection sensor area R153 RBT Industrial Robot AM1 to AM7 Arm J1 to J13 Movable Rotating Joint B1 Base H1 Hand X10 Object Detection Device X11 Object Detection Sensor Unit X13 Housing Part 131 First Housing Part 131a Outer Peripheral Part 13 1b Aperture forming end for light emitting and receiving N13 Normal direction P131b End face R131a Aperture for light receiving and receiving 131c End 131d Inner circumference 132 Second housing part 133 Hing part X15 Axial light emitting part X17 Axial light receiving part X19 Control part 19a CPU
19b Memory 19g Sensor control communication circuit 19h Operation control communication circuit X20 Object detection device X21 Object detection sensor unit X23 Housing part 231 First housing part 231b Light emitting / receiving opening forming end P231b End surface R231a Light emitting opening R231a Light receiving opening R231b Light receiving opening 232 Second housing part X200 Reflecting part X30 Object detection device X31 Object detection sensor unit X33 Housing part 331 First housing part 331a Outer peripheral part R331a Radiation direction light emitting opening R331b Radiation direction light receiving Aperture 332 Second housing part X35 Radiation direction light emitting part X37 Radiation direction light receiving part X40 Object detection device X11-L Object detection device X11-S Object detection device 100 Object detection device 110 Object detection sensor unit 111 First object detection sensor unit 111a Floodlight element 111b Floodlight lens 111c Light receiving element 111d Sensor communication interface 111e Sensor control unit 111f Control unit communication interface 111g Acceleration sensor unit R111 Detection area 113 Second object detection sensor unit 113a Floodlight element 113b Floodlight lens 113c Light reception Element 113d Communication interface for sensor 113e Sensor control unit R113 Detection area 117 Connection line between sensors 119 Housing unit J119 Long axis 1191 First housing unit 1191a Outer peripheral part 1191a1 Light receiving and receiving opening 1191b End 1191c Inner circumference 1191d End 1192 2nd housing 1192a Outer circumference 1192a1 Light receiving and receiving opening 1192b End 1192c Inner circumference 1192d End 1193 Hinge J1193 Rotating shaft 170 Control 170a CPU
170b Memory 170g Sensor control communication circuit 170h Operation control communication circuit 190 Connection harness

Claims (28)

Object detection sensor that detects surrounding objects,
A flexible sensor arrangement member in which a plurality of the object detection sensor units are arranged and has flexibility.
A control unit that controls the operation of the object detection sensor unit,
A connection harness that directly or indirectly connects the object detection sensor unit and the control unit.
Object detection device with. In the object detection device according to claim 1,
The sensor arrangement flexible member is
Having the object detection sensor unit having a band shape and being linearly arranged along the long axis of the band shape.
An object detection device characterized by. In the object detection device according to claim 1,
The sensor arrangement flexible member is
A sensor arrangement member on which the object detection sensor unit is arranged,
An intermediate flexible member that connects between the sensor arranging members and has flexibility.
To have
An object detection device characterized by. In the object detection device according to claim 3,
The intermediate flexible member
Having a telescopic mechanism to adjust the length,
An object detection device characterized by. In the object detection device according to claim 1,
The sensor arrangement flexible member is
A plurality of unit flexible members in which the object detection sensor unit is arranged,
Have,
The unit flexible member is
Having a connecting mechanism that connects with other adjacent unit flexible members,
An object detection device characterized by. In any of the object detection devices according to claims 1 to 5.
The connection harness is
To directly connect each of the object detection sensor units to the control unit,
An object detection device characterized by. In any of the object detection devices according to claims 1 to 5.
The connection harness is
Cascade connection between the object detection sensor units,
An object detection device characterized by. Object detection sensor that detects surrounding objects,
A flexible sensor arrangement member in which a plurality of the object detection sensor units are arranged and has flexibility.
A control unit that controls the operation of the object detection sensor unit,
A connection harness that connects the object detection sensor unit and the control unit,
It is an object detection device that has
The sensor arrangement flexible member is
A sensor arrangement member on which the object detection sensor unit is arranged,
An intermediate connection harness that cascades between the object detection sensor units and has flexibility.
To have
An object detection device characterized by. In the object detection device according to claim 8.
The intermediate connection harness is
Having a telescopic mechanism to adjust the length,
An object detection device characterized by. In the object detection device according to claim 1,
The connection harness is
A connection line between sensors that connects adjacent object detection sensor units, and a connection line that directly connects the object detection sensor unit and the control unit.
Have,
Sensor-to-sensor connection line protection unit that protects by covering the sensor-to-sensor connection line,
Object detection device with. In the object detection device according to claim 10.
The sensor-to-sensor connection line protection unit
Arranged between adjacent object detection sensor units,
An object detection device characterized by. In the object detection device according to claim 10.
The sensor-to-sensor connection line protection unit
Having a ring structure,
An object detection device characterized by. In the object detection device according to claim 12,
The sensor-to-sensor connection line protection unit
Having a sensor opening for arranging the object detection sensor unit,
An object detection device characterized by. An object detection device installed on the surface of a predetermined installation object.
At least one of a light projecting unit that emits detection light in a direction intersecting the normal direction of the surface and a light receiving unit that receives the detection light from a direction intersecting the normal direction of the surface. On the other hand,
Object detection device with. In the object detection device according to claim 14, further
A housing portion in which the light emitting portion and / or the light receiving portion is located inside and has an annular structure.
Object detection device with. In the object detection device according to claim 15,
The housing is
An end face whose normal direction is a direction intersecting the normal direction of the surface,
Have,
The end face
An opening for projecting the detection light and / or an opening for receiving the detection light,
To have
An object detection device characterized by. In the object detection device according to any one of claims 14 to 16.
The light projecting unit
The detection light is projected onto the light receiving portion of another object detection device.
The light receiving part is
Receiving the detection light projected by the light projecting unit of another object detection device,
An object detection device characterized by. In the object detection device according to any one of claims 14 to 16.
It has the light emitting part and the light receiving part that are paired with each other.
The light receiving part is
Receiving the detection light projected by the pair of light projecting units,
An object detection device characterized by. In the object detection device according to claim 18.
A reflection surface located opposite to the end face, in which the detection light projected by the light projecting unit is reflected by the light receiving unit paired with the light projecting unit projecting the detection light. Reflective part with a surface,
To have
An object detection device characterized by. An object detection sensor unit that detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving the reflected light of the detection light, and uses the detection result as detection result information.
Movement information acquisition unit that acquires movement information indicating its own movement status,
A transmitter that transmits the detection result information and the position information,
A receiver that receives detection area adjustment information that adjusts the detection area,
When the detection area adjustment information is received, the detection area adjustment unit that adjusts the detection area by using the detection area adjustment information the next time the detection light is projected.
Housing part for mounting on the mounting target,
Object detection sensor unit,
as well as,
A receiver that receives the detection result information and the movement information,
A shape estimation unit that estimates the shape of the mounting target using the received movement information.
A detection area interference determination unit that estimates the detection area of the object detection sensor unit and determines whether or not the estimated detection area and the estimated shape of the mounting target interfere with each other.
A detection area adjustment information generation unit that generates detection area adjustment information for adjusting the detection area when it is determined that the estimated detection area and the estimated shape of the mounting target interfere with each other.
A detection area adjustment information transmitting unit 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 mounting target.
Object detection control device,
Object detection system with. An object detection sensor unit that detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving the reflected light of the detection light, and uses the detection result as detection result information.
Movement information acquisition unit that acquires movement information indicating its own movement status,
A transmitter that transmits the detection result information and the position information,
A receiver that receives detection area adjustment information that adjusts the detection area,
When the detection area adjustment information is received, the detection area adjustment unit that adjusts the detection area by using the detection area adjustment information the next time the detection light is projected.
Housing part for mounting on the mounting target,
Object detection sensor unit with. In the object detection sensor unit according to claim 21,
The detection area adjustment unit
To reduce or adjust the detection area to 0 (zero),
An object detection sensor unit characterized by. In the object detection sensor unit according to claim 21 or claim 22
The movement information acquisition unit
Being a 3-axis acceleration sensor,
An object detection sensor unit characterized by. In the object detection sensor unit according to claim 23,
The movement information acquisition unit further
Having a 3-axis angular velocity sensor,
An object detection device characterized by. An object detection sensor unit that detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving the reflected light of the detection light, and uses the detection result as detection result information.
Movement information acquisition unit that acquires movement information indicating its own movement status,
A transmitter that transmits the detection result information and the position information,
A receiver that receives detection area adjustment information that adjusts the detection area,
When the detection area adjustment information is received, the detection area adjustment unit that adjusts the detection area by using the detection area adjustment information the next time the detection light is projected.
Housing part for mounting on the mounting target,
An object detection control device that transmits the detection area adjustment information to an object detection sensor unit having the above.
A receiver that receives the detection result information and the movement information,
A shape estimation unit that estimates the shape of the mounting target using the received movement information.
A detection area interference determination unit that estimates the detection area of the object detection sensor unit and determines whether or not the estimated detection area and the estimated shape of the mounting target interfere with each other.
A detection area adjustment information generation unit that generates detection area adjustment information for adjusting the detection area when it is determined that the estimated detection area and the estimated shape of the mounting target interfere with each other.
A detection area adjustment information transmitting unit 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 mounting target.
Object detection control device with. In the object detection control device according to claim 25
The detection area adjustment information generation unit
Generating the detection area adjustment information that reduces or adjusts the detection area to 0 (zero).
An object detection control device characterized by. In the object detection control device according to claim 26,
The detection area adjustment information generation unit
To generate the detection area adjustment information that shortens the light receiving standby time during which the reflected light can be received by the object detection sensor unit of the object detection sensor unit.
An object detection control device characterized by. An object detection sensor unit that detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving the reflected light of the detection light, and uses the detection result as detection result information.
Movement information acquisition unit that acquires movement information indicating its own movement status,
A transmitter that transmits the detection result information and the position information,
A receiver that receives detection area adjustment information that adjusts the detection area,
When the detection area adjustment information is received, the detection area adjustment unit that adjusts the detection area by using the detection area adjustment information the next time the detection light is projected.
Housing part for mounting on the mounting target,
It is a detection area adjustment program that operates as an object detection control device that transmits the detection area adjustment information to an object detection sensor unit having the above.
The detection area adjustment program
The computer
A receiver that receives the detection result information and the movement information,
A shape estimation unit that estimates the shape of the mounting target using the received movement information.
A detection area interference determination unit that estimates the detection area of the object detection sensor unit and determines whether or not the estimated detection area and the estimated shape of the mounting target interfere with each other.
A detection area adjustment information generation unit that generates detection area adjustment information for adjusting the detection area when it is determined that the estimated detection area and the estimated shape of the mounting target interfere with each other.
A detection area adjustment information transmitting unit 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 mounting target.
Detection area adjustment program that operates as.

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