WO2023089953A1 - Dispositif de surveillance, dispositif de support de réglage, procédé de réglage de zone et procédé de support de réglage - Google Patents

Dispositif de surveillance, dispositif de support de réglage, procédé de réglage de zone et procédé de support de réglage Download PDF

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Publication number
WO2023089953A1
WO2023089953A1 PCT/JP2022/035533 JP2022035533W WO2023089953A1 WO 2023089953 A1 WO2023089953 A1 WO 2023089953A1 JP 2022035533 W JP2022035533 W JP 2022035533W WO 2023089953 A1 WO2023089953 A1 WO 2023089953A1
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WO
WIPO (PCT)
Prior art keywords
tag
area
information
monitoring
setting
Prior art date
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PCT/JP2022/035533
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English (en)
Japanese (ja)
Inventor
憲士朗 長坂
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パナソニックＩｐマネジメント株式会社
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Publication of WO2023089953A1 publication Critical patent/WO2023089953A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the present disclosure relates to a monitoring device, a setting support device, an area setting method, and a setting support method.
  • This safety scanner includes light projecting means for projecting detection light onto a detection area, light receiving means for receiving reflected light from an object within the detection area to generate a light reception signal, and based on the light reception signal.
  • a distance calculating means for calculating the distance to the object; a scanning means for scanning the detection light in the circumferential direction about the rotation axis; distance means; area designation information receiving means for receiving area designation information designating a protection area within the detection area from a setting support device; intrusion detection means for detecting an object; marker discrimination means for discriminating a marker movably arranged in the detection area; and distance measurement information of the marker as area generation information for determining the protection area and area creation information transmitting means for transmitting to the setting support device.
  • a PC Personal Computer
  • the setting of the protected area is assisted by a person holding the position of the marker and moving it. Therefore, when setting a monitoring area corresponding to a protected area using the safety scanner of Patent Document 1, the following situations are assumed.
  • the area setter who sets the monitoring area must hold a marker in the detection area when setting the monitoring area and move to the site where the protection area is set.
  • the monitoring area when the monitoring area is set, it is necessary to be on site at all times, and the time spent in the monitoring area tends to be longer. Therefore, the burden on the area setting person at the time of setting is large.
  • the present disclosure has been made in view of the above circumstances, and provides a monitoring device, a setting support device, an area setting method, and a setting support method that can reduce the burden on an area setter who sets a monitoring area.
  • One aspect of the present disclosure is a monitoring device for monitoring entry into a monitoring area, comprising: a receiving unit for receiving radio waves from an IC tag fixedly arranged in a detection area detectable by the monitoring device; a tag information detection unit for detecting, for each IC tag, tag position information indicating the position of the IC tag with respect to the monitoring device; a receiving unit for receiving area setting information for setting the monitoring area from the setting support apparatus; and setting the monitoring area based on the area setting information. and a control unit for setting.
  • One aspect of the present disclosure is a setting support device that supports setting of a monitoring area to be monitored by a monitoring device, for each IC tag fixedly arranged in a detection area detectable by the monitoring device, to the monitoring device a receiver for receiving tag detection information including tag position information indicating the position of the IC tag; and a position of each IC tag as a point on the outer circumference of the monitoring area based on the tag detection information for each IC tag. and a control unit that determines the monitoring area to be monitored.
  • One aspect of the present disclosure is an area setting method for setting a monitoring area, comprising the step of receiving radio waves from an IC tag fixedly arranged in a detection area detectable by a monitoring device that monitors entry into the monitoring area; a step of detecting, based on the radio wave, tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag; a step of outputting to a setting support device that supports setting of a monitoring area; a step of obtaining area setting information for setting the monitoring area from the setting support device; and a step of setting the monitoring area based on the area setting information. and a setting step.
  • One aspect of the present disclosure is a setting support method for assisting setting of a monitoring area to be monitored by a monitoring device, wherein for each IC tag fixedly arranged in a detection area detectable by the monitoring device, obtaining tag detection information including tag position information indicating the position of the IC tag; and determining the position of each IC tag as a point on the outer periphery of the monitoring area based on the tag detection information for each IC tag. and determining the monitoring area.
  • Schematic diagram showing a configuration example of a monitoring system according to a first embodiment Schematic diagram showing an example of the appearance of the monitoring device viewed from the side
  • Block diagram showing a configuration example of a monitoring device Block diagram showing a configuration example of a setting support device
  • Sequence diagram showing a first setting example of a monitoring area when introducing a production line Diagram for explaining the derivation of distance information considering the installation height of the monitoring device A diagram showing an example of tag detection information including tag ID, tag distance information, and tag angle information Flowchart showing an example of monitoring area determination processing in FIG.
  • Diagram showing an example of adding a line segment to the perimeter of the virtual detection area A diagram showing an example in which the type of closed region is determined
  • Sequence diagram showing a second setting example of a monitoring area when introducing a production line A diagram showing an example of tag detection information including tag ID and tag distance information
  • Flowchart showing an example of monitoring area determination processing in FIG. Flowchart showing an example of monitoring area determination processing in FIG. 14 (continuation of FIG.
  • FIG. 16A A diagram showing an example of an initial display in the second setting example A diagram showing an example of inter-tag distance information A diagram showing an example of determining a monitoring area in the second setting example A diagram showing that the position of each virtual tag belonging to a tag group is undefined
  • a diagram showing a robot device moving between multiple machine tools 3 is a flow chart showing a first example of simple setting of a monitoring area when a robot device is moved between a plurality of machine tools; Flowchart showing an example of monitoring area determination processing in FIG. An example of comparing tag detection information and area setting information for each machine tool is shown.
  • FIG. 11 is a sequence diagram showing a second example of simple setting of a monitoring area when a robot device is moved between a plurality of machine tools;
  • FIG. 1 is a schematic diagram showing a configuration example of a monitoring system 5 according to the first embodiment.
  • the monitoring system 5 includes a monitoring device 10 and a setting support device 20 .
  • the monitoring device 10 optically monitors the inside of the monitoring area MR.
  • the monitoring device 10 is installed, for example, in a factory and monitors whether work is being carried out safely.
  • the monitoring device 10 is a lidar (LiDAR) device, for example, an electro-optical-mechanical lidar device, but may be a lidar device of another type.
  • the monitoring device 10 monitors according to the set monitoring area MR.
  • the monitoring device 10 is placed at the monitoring site C1.
  • a monitoring device 10 and a robot device 30 are arranged at the monitoring site C1.
  • the monitoring device 10 is installed at the lower corner of the base 31 of the robot device 30, but it is not limited to this.
  • the monitoring device 10 may be installed above the base 31 of the robot device 30 and arranged near the robot arm 32 of the robot device 30 .
  • the robot device 30 may be fixed in position without moving, or may be movable and variable in position.
  • a machine tool 70 is installed at the monitoring site C1.
  • the machine tool 70 performs various operations (eg, cutting, drilling, grinding, or bending) on various materials (eg, metal, wood, or stone).
  • the robot device 30 is arranged in the vicinity of the machine tool 70 and uses the robot arm 32 to perform a predetermined work on the machine tool 70 to assist various machining.
  • One or a plurality of machine tools 70 may be installed at the monitoring site C1.
  • the robot device 30 may be movable between the multiple machine tools 70 . Further, the robot device 30 may be variable in position with respect to one machine tool 70 . Note that the positions of the machine tools 70 are fixed.
  • worker H1 and other objects may exist at monitoring site C1.
  • the worker H1 includes a tag installation person who installs the IC tag 50 for setting the monitoring area MR at the monitoring site C1.
  • the worker H1 has, for example, a supervisor who visually checks the monitoring site C1, checks the robot device 30 or the machine tool 70, or checks products manufactured by the robot device 30 or the machine tool 70. can be included.
  • Other objects may be objects or vehicles required for work in a factory, for example.
  • the IC tag 50 is installed around the machine tool 70, for example.
  • the IC tag 50 serves as an index for setting the monitoring area MR.
  • the IC tag 50 is installed in a detection area detectable by the monitoring device 10. be done.
  • the IC tag 50 may be, for example, a tag sticker as a sticker, or may be other than a sticker.
  • the IC tag 50 may be fixedly arranged at a predetermined position around the machine tool 70, or may be arranged at a different position by, for example, replacing the seal.
  • a plurality of IC tags 50 may be installed.
  • the IC tag 50 has a transmission section that oscillates radio waves and a storage section that stores identification information (tag ID) of the IC tag 50 and the like.
  • the IC tag 50 superimposes the identification information (tag ID) of the IC tag 50 on the radio signal and transmits it.
  • the IC tag 50 may be, for example, an RFID tag or an IC tag capable of Bluetooth (registered trademark) communication.
  • the setting support device 20 is a device that supports setting of the monitoring area MR.
  • the setting support device 20 is a PC (Personal Computer), a mobile terminal, a tablet terminal, or the like.
  • the setting support device 20 is operated by the user and can determine the monitoring area MR desired by the user.
  • the setting support device 20 can communicate with the monitoring device 10 by wire or wirelessly.
  • the monitoring device 10 and the setting support device 20 cooperate to set the monitoring area MR.
  • the monitoring area MR can be set based on, for example, the operable range of the robot device 30 (for example, the reachable range of the robot arm 32).
  • the robotic device 30 is an example of a hazard.
  • the monitoring area MR can include multiple types of monitoring areas.
  • the monitoring area MR includes, for example, a protection area MR1 and a caution area MR2, and may include other types of monitoring areas.
  • the protection area MR1 is an area to which entry is prohibited in order to protect it from the robot device 30 .
  • the caution area MR2 is an area that is recommended not to enter.
  • the protected area MR1 is formed to include part or all of the operable range of the robot device 30, for example.
  • the caution area MR2 is formed around the protection area MR1, for example, because the distance from the robot device 30 is relatively short. In this way, the monitoring area MR can be divided.
  • the monitoring device 10 monitors the inside of the monitoring area MR and detects whether or not an object such as the worker H1 exists within the monitoring area MR. When it is detected that an object exists in the monitoring area MR, the monitoring device 10 can output (alert output) warning information indicating that an object has entered the monitoring area.
  • the monitoring device 10 can operate as an area scanner (scanner device).
  • FIG. 2A is a schematic diagram showing an example of the appearance of the monitoring device 10 viewed from the side.
  • FIG. 2B is a schematic diagram showing an example of the appearance of the monitoring device 10 viewed from above.
  • the x direction is an arbitrary direction on the xy plane parallel to the installation plane P1 on which the monitoring device 10 is installed.
  • the y direction is the direction perpendicular to the x direction on the xy plane.
  • the z direction is the direction perpendicular to the xy plane.
  • the xy plane is, for example, parallel to the horizontal direction.
  • the z-direction is, for example, parallel to the direction of gravity.
  • the positive side in the z-direction is also described as top, and the negative side in the z-direction is also described as bottom. This directional definition is the same in other embodiments.
  • the monitoring device 10 has a lower housing 15 and an upper housing 16 .
  • the lower housing 15 has, for example, a rectangular parallelepiped shape (box shape), but may have other shapes.
  • the lower housing 15 does not have translucency and can be made of metal, for example.
  • the upper housing 16 has a circular shape when viewed from above, and has a shape that expands in diameter from the side closer to the installation surface P1 of the monitoring device 10 toward the side farther from the installation surface P1, but other shapes ( For example, it may have a rectangular parallelepiped shape).
  • the upper housing 16 can be made of resin, for example, and has a translucent window at least partially translucent.
  • the translucent window can transmit invisible light (for example, infrared light) from the inside to the outside and vice versa of the monitoring device 10, and may transmit visible light, for example. Further, when the entire upper housing 16 is translucent, the upper housing 16 may be a translucent colored or colorless cover.
  • FIG. 3 is a block diagram showing a configuration example of the monitoring device 10.
  • the monitoring device 10 includes an entry detection section 110 , an IC tag information processing section 120 , a storage section 130 , an input/output section 140 and a rotation mechanism section 150 . Also, the monitoring device 10 may include a rotation mechanism section 150 .
  • the entrance detection unit 110 includes a light projection unit 111, a light projection control unit 112, a light reception unit 113, a distance calculation unit 114, a distance measurement unit 115, and an entrance detection unit 116.
  • the entry detection unit 110 includes, for example, a processor, and has various functions as the control unit 160 by executing programs or various information stored in the storage unit 130 .
  • the processor may include an MPU (Micro Processing Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and the like.
  • Control unit 160 includes light projection control unit 112 , distance calculation unit 114 , distance measurement unit 115 , and entry detection unit 116 . Further, the control unit 160 controls, for example, an area setting operation for setting the monitoring area MR, an object detection operation, a rotation operation by the rotation mechanism unit 150, or the like.
  • the rotation mechanism unit 150 rotates the optical system (for example, mirrors and lenses not shown) along the xy plane around the rotation axis.
  • the rotation axis is, for example, an axis that passes through the center of a surface (for example, the bottom surface) along the xy plane of the monitoring device 10 and is parallel to the z-axis.
  • the optical system changes (scans) the light projecting direction of the light projecting unit 111 and the light receiving direction (detection direction) of the light receiving unit 113 along the xy plane by rotating the rotation mechanism unit 150 .
  • the optical system changes the detection direction of the target object 25 , which is the object to be detected by the monitoring device 10 , in the entire circumference or part of the entire circumference of the monitoring device 10 .
  • the optical system includes, for example, a light projecting mirror that reflects the light projected by the light projecting unit 111 toward the target object 25, a light receiving lens that receives detection light from the target object 25, and light that passes through the light receiving lens. and a light-receiving mirror that reflects the detection light toward the light-receiving unit 113 .
  • the rotation mechanism unit 150 may change the detection direction by rotating the light projecting unit 111 and the light receiving unit 113 along the xy plane together with or instead of the optical system.
  • the light projecting unit 111 includes a light emitting element such as a laser diode, and projects predetermined light.
  • the light projecting unit 111 may project at least invisible light (for example, infrared light) and visible light.
  • the light projected by the light projecting unit 111 may be reflected or scattered by, for example, an object to be detected.
  • a plurality of light projecting units 111 may be provided.
  • the light projection control section 112 controls the light projection section 111 .
  • the light projection control unit 112 adjusts the projection timing of the detection light based on the encoder signal (for example, pulse signal) of the rotary encoder.
  • the light projection control section 112 generates pulsed projection light at regular time intervals, for example, according to the rotation of the optical system of the rotation mechanism section 150 .
  • the light receiving unit 113 includes a light receiving element such as a photodiode and receives predetermined light.
  • the light receiving unit 113 may receive at least invisible light (for example, infrared light) or may receive visible light.
  • the light (received light) received by the light receiving unit 113 may include, for example, detection light that is reflected or scattered by the object 25 from the light projected by the light projecting unit 111 .
  • the light receiving unit 113 generates a light receiving signal from the received light.
  • the distance calculation unit 114 calculates the distance between the monitoring device 10 and the object 25 based on the received light signal from the light receiving unit 113, for example, according to the TOF (Time Of Flight) method.
  • TOF Time Of Flight
  • the time required for the projected light projected from the light projecting unit 111 to be reflected or scattered by an object, returned to the monitoring device 10, and received by the light receiving unit 113 as detection light is calculated.
  • a detection distance is calculated based on
  • the distance calculator 114 may time the light reception timing of the light reception signal based on the timing of the encoder signal of the rotary encoder.
  • the distance measurement unit 115 calculates distance measurement information corresponding to the distance (detection distance) calculated by the distance calculation unit 114 and the angle (detection angle) corresponding to the encoder signal at the time of light projection or light reception.
  • the two-dimensional position of the object 25 is specified by the ranging information.
  • the entry detection unit 116 detects entry into the monitoring area MR based on the set monitoring area MR and the distance measurement information of the distance measuring unit 115 . In this case, the entry detection unit 116 determines whether or not the object 25 exists within the monitoring area MR. The entry detection unit 116 detects the entry of the target object 25 into the monitoring area MR when the target object 25 is located within the monitoring area MR. The entry detection unit 116 detects that the object 25 has not entered the monitoring area MR when the object 25 is not located within the monitoring area MR.
  • the entry detection unit 116 sends an entry detection signal indicating that the entry of the object 25 has been detected to the input/output unit 140 when the entry of the object 25 into the monitoring area MR is detected.
  • the entry detection unit 116 may also detect entry into the protected area MR1 and send a protection detection signal indicating that entry into the protected area MR1 has been detected to the input/output unit 140 as an entry detection signal.
  • the entry detection unit 116 may detect entry into the caution area MR2 and send a warning detection signal indicating that entry into the caution area MR2 has been detected to the input/output unit 140 as an entry detection signal.
  • the IC tag information processing section 120 includes an IC tag detection section 121 , an area recognition section 122 and a data transmission section 123 .
  • the IC tag detection unit 121 receives radio signals from the IC tag 50 .
  • the IC tag detection unit 121 detects, for each IC tag 50, a tag ID that identifies the IC tag 50 and tag position information that indicates the position of the IC tag 50 with respect to the monitoring device 10 based on the received radio signal. do.
  • the tag position information includes tag distance information indicating the distance between the monitoring device 10 and the IC tag 50 .
  • the tag position information may include tag angle information indicating the angle of the IC tag 50 with respect to the monitoring device 10 along with the tag distance information.
  • the angle of the tag angle information may be the angle corresponding to the encoder signal, as in the case where the object 25 is detected by the entry detection unit 110 .
  • Information detected by the IC tag detection unit 121 is also referred to as tag detection information.
  • the tag detection information includes at least tag ID and tag position information.
  • the IC tag detection unit 121 may detect distance information based on, for example, the signal strength of the received radio signal (RSSI: (Received Signal Strength Indicator)).
  • the IC tag detection unit 121 may detect distance information and angle information by, for example, the communication boundary method.
  • the IC tag detection unit 121 may detect angle information according to, for example, AOA (Angle Of Arrival) or AOD (Angle Of Departure).
  • AOA Angle Of Arrival
  • AOD Angle Of Departure
  • the IC tag detection unit 121 is provided with two or more antennas for receiving radio signals, and based on the phase difference between the radio signals received by the plurality of antennas, the angle of the IC tag 50 that oscillated the radio signals is calculated. Information may be detected.
  • the area recognition unit 122 compares the tag ID of the IC tag 50 with the tag ID information in the area setting information held in the storage unit 130, and determines in which machine tool 70 the monitoring device 10 is located. to recognize
  • the data transmission unit 123 transmits data, information, signals, or the like detected by the IC tag detection unit 121 to the input/output unit 140 .
  • the data transmission unit 123 transmits tag detection information to the input/output unit 140, for example.
  • the storage unit 130 includes a primary storage device (for example, RAM (Random Access Memory) or ROM (Read Only Memory)).
  • the storage unit 130 may include a secondary storage device (eg, HDD (Hard Disk Drive) or SSD (Solid State Drive)) or a tertiary storage device (eg, optical disk, SD card).
  • Storage unit 130 may include other storage devices.
  • the storage unit 130 stores various data, information, programs, and the like.
  • the storage unit 130 may store area setting information for setting the monitoring area MR.
  • the area setting information indicates information on the form of the determined monitoring area (for example, the position, range, size, or shape with respect to the monitoring device 10) and for which machine tool 70 the monitoring area MR is determined. information (identification information of the machine tool 70), and the like.
  • the area setting information is acquired from the setting support device 20 via the input/output unit 140 .
  • the storage unit 130 may store a plurality of different area setting information corresponding to the monitoring area MR set for each machine tool 70 .
  • the storage unit 130 may store tag setting information.
  • the tag setting information is information about the IC tag 50, such as the communication method of the IC tag 50 (for example, RFID, Bluetooth (registered trademark), frequency to be used), the power supply method (for example, power is supplied to the IC tag 50 or not).
  • the tag setting information may be obtained from the external device 80 (for example, an external server) via the input/output unit 140, or may be stored in the storage unit 130 in advance.
  • the input/output unit 140 inputs/outputs data, information, signals, or the like to/from an external device 80 located outside the monitoring device 10 .
  • the external device 80 includes a PLC device (Programmable Logic Controller), the setting support device 20, or the like.
  • the input/output unit 140 has, for example, a communication unit, and may transmit and receive signals by wire or wirelessly.
  • the input/output unit 140 has, for example, an acoustic input unit (microphone) or an acoustic output unit (speaker), and may input/output signals by sound.
  • the input/output unit 140 acquires the entry detection signal from the entry detection unit 110, it outputs the entry detection signal to the PLC device.
  • the input/output unit 140 outputs tag detection information acquired from the IC tag information processing unit 120 to the setting support device 20, for example.
  • the input/output unit 140 inputs area setting information from the setting support device 20, for example.
  • the input/output unit 140 may output an alarm output signal including the alarm information.
  • the alarm output signal may be output to, for example, an external device 80 (such as a display, speaker, or other notification device) that can notify based on the alarm output signal.
  • an external device 80 such as a display, speaker, or other notification device
  • the safety of the worker H1 and the like can be ensured by the external device 80 that can notify based on the alarm output signal.
  • the PLC device instructs control of the operation of the robot device 30.
  • the PLC device Upon receiving the entry detection signal from the monitoring device 10, the PLC device transmits a signal (operation limitation instruction signal) to the robot device 30 to limit the movement of the robot device 30 based on the entry detection signal.
  • the robot device 30 limits the motion of the robot device 30 upon receiving the motion restriction instruction signal from the PLC device. Restricting the motion of the robotic device 30 may include stopping motion of the robotic device 30, reducing the range of motion of the robotic device 30, reducing the speed of motion, or otherwise limiting motion.
  • the monitoring device 10 can limit the movement of the danger source such as the robot device 30 when the worker H1 exists as the object 25 within the monitoring area MR, thereby ensuring the safety of the worker H1. can.
  • the PLC device stops the operation of the robot apparatus 30 when the operation restriction instruction signal is based on the protection detection signal, and stops the operation of the robot apparatus 30 when the operation restriction instruction signal is based on the caution detection signal. may be restricted.
  • FIG. 4 is a diagram showing a configuration example of the setting support device 20.
  • the setting support device 20 includes a control unit 210 , a communication unit 220 , a storage unit 230 , an operation unit 240 and a display unit 250 .
  • the control unit 210 implements various functions by executing programs held in the storage unit 230 .
  • the control unit 210 may include an MPU, CPU, DSP, GPU, and the like.
  • the control unit 210 comprehensively controls each unit of the setting support device 20 and performs various processes. For example, based on the tag detection information (at least tag position information) for each IC tag 50, the control unit 210 determines the monitoring area MR with the position of each IC tag 50 as a point on the outer circumference of the monitoring area MR.
  • the communication unit 220 communicates various data or information. Communication methods by the communication unit 220 include, for example, WAN (Wide Area Network), LAN (Local Area Network), power line communication, infrared communication, short-range wireless communication (e.g. Bluetooth (registered trademark) communication), and mobile communication for mobile phones. etc., may be included.
  • WAN Wide Area Network
  • LAN Local Area Network
  • power line communication infrared communication
  • short-range wireless communication e.g. Bluetooth (registered trademark) communication
  • mobile communication for mobile phones etc.
  • the storage unit 230 includes a primary storage device (for example, RAM or ROM).
  • the storage unit 230 may include a secondary storage device (eg, HDD or SSD) or a tertiary storage device (eg, optical disk, SD card).
  • Storage unit 230 may include other storage devices.
  • the storage unit 230 stores various data, information, programs, and the like.
  • the operation unit 240 may include a mouse, keyboard, touch pad, touch panel, microphone, or other input units.
  • the operation unit 240 receives input of various data or information.
  • the display section 250 may include a liquid crystal display section, an organic EL section, or other display sections.
  • the display unit 250 displays various data or information.
  • the production line is arranged at the monitoring site C1.
  • the introduction of the production line is, for example, the introduction of the machine tool 70 and the robot device 30 arranged with respect to the machine tool 70 .
  • the tag installer who installs the IC tag 50 goes to the monitoring site C1 and installs the IC tag 50 on the floor or the like.
  • IC tag 50 is installed within detection area DR by monitoring device 10 arranged corresponding to machine tool 70 .
  • the IC tag 50 is attached, for example, to a point (eg, vertex) on the outer circumference of the area to be monitored.
  • the IC tags 50 are installed at positions "A", "B", “C”, “D”, "E”, and "F" shown in FIG.
  • a first setting example is a setting example when tag angle information indicating the angle of the IC tag 50 is included in the tag detection information.
  • a second setting example is a setting example when the tag detection information does not include tag angle information indicating the angle of the IC tag 50 .
  • FIG. 5 is a sequence diagram showing a first setting example of the monitoring area MR when introducing the production line. At the start of FIG. 5, installation of the IC tag 50 at the monitoring site C1 described above has been completed.
  • the IC tag detection unit 121 receives radio signals from the IC tags 50 for each IC tag 50 (S11), and based on the radio signals, tag ID, tag distance information, and tag angle information. is detected (S12).
  • the tag distance information of the IC tag detection unit 121 may differ from the distance between the monitoring device 10 and the IC tag 50 along the horizontal direction, considering the installation height of the monitoring device 10 .
  • FIG. 6 is a diagram for explaining the derivation of distance information in consideration of the installation height of the monitoring device. As shown in FIG. 6, if the installation height h of the monitoring device 10 and the distance RA between the monitoring device 10 and the IC tag 50 obtained as the tag distance information are RA , the monitoring device 10 and the IC tag 50 along the horizontal direction is calculated as follows. This calculation is performed by the IC tag detection unit 121, for example.
  • FIG. 7 is a diagram showing an example of tag detection information including tag IDs, tag distance information, and tag angle information.
  • the labels shown in FIG. 7 correspond to tag IDs.
  • tag detection information is obtained for each IC tag 50 .
  • the input/output unit 140 acquires the tag detection information for each IC tag 50 from the data transmission unit 123, and outputs (for example, transmits) it to the setting support device 20 (S13).
  • the distance of the distance information included in the tag detection information may be the distance RA or the distance RA '. If the distance is RA , the setting support device 20 uses the distance RA ' between the monitoring device 10 and the IC tag 50 in the horizontal direction to determine the monitoring area MR, thereby determining the area on the plane. It is possible to improve the determination accuracy of the monitoring area MR.
  • the communication unit 220 receives (acquires) tag detection information for each IC tag 50 from the monitoring device 10 (S13).
  • the control unit 210 executes monitoring area determination processing for determining the monitoring area MR based on the acquired tag detection information for each IC tag 50 (S14). Details of the monitoring area determination process will be described later.
  • area setting information is generated.
  • the communication unit 220 transmits the area setting information to the monitoring device 10 (S15).
  • the input/output unit 140 acquires (receives) the area setting information, and the storage unit 130 holds the area setting information (S16).
  • the control unit 160 sets the monitoring area MR based on the area setting information (S17).
  • the entry detection unit 110 uses the projected light and the detected light to detect whether or not the object 25 enters the monitoring area MR (S18).
  • the input/output unit 140 receives the area setting information and stores it in the storage unit 130 as an example, but it is not limited to this.
  • the storage unit 130 as a removable storage medium may acquire and hold the area setting information generated by the setting support device 20 and import it into the monitoring device 10 .
  • the input/output unit 140 and the storage unit 130 can operate as an acquisition unit that acquires area setting information.
  • FIG. 8 is a flowchart showing an example of the monitoring area determination process shown in step S14 of FIG.
  • the control unit 210 acquires information on the detection area DR by the monitoring device 10 (S31).
  • the detection area DR may be stored in the storage unit 230 and obtained from the storage unit 230, may be received from the monitoring device 10 via the communication unit 220, or may be monitored via the communication unit 220. It may be obtained from a server other than the device 10 .
  • the detection area DR is formed, for example, in consideration of the installation position of the machine tool 70, the robot device 30, or the like.
  • the control unit 210 may acquire, for example, production line mapping information and detectable distance information using light detected by the monitoring device 10 via the communication unit 220 .
  • the production line mapping information includes the installation positions of the machine tool 70, the robot device 30, or the like. Then, the control unit 210 may calculate and acquire the detection area DR based on the mapping information and the information on the detectable distance.
  • the control unit 210 arranges the virtual monitoring device 10v, the virtual tag 50v, and the virtual detection area DRv on the virtual plane based on the tag detection information of each IC tag 50 and the information of the detection area DR. to display on the display unit 250 (S32).
  • the display of the virtual tag 50v also displays the tag ID.
  • a virtual monitoring device 10v corresponds to the monitoring device 10 at the monitoring site C1.
  • a virtual tag 50v corresponds to the IC tag 50 at the monitoring site C1.
  • the virtual detection area DRv corresponds to the detection area DR at the monitoring site C1.
  • the control unit 210 scales and adjusts each distance according to the size ratio between the monitoring site C1 and the virtual plane. Therefore, the control unit 210 maps the virtual monitoring device 10v, the virtual tag 50v, and the virtual detection area DRv on the virtual plane to determine the positional relationship among the monitoring device 10, the IC tag 50, and the detection area DR at the monitoring site C1. , the monitoring site C1 is reproduced on the virtual plane.
  • FIG. 9 is a diagram showing an example of a virtual monitoring device 10v, a virtual tag 50v, and a virtual detection area DRv mapped on a virtual plane. 'A', 'B', 'C', .
  • a range 70p corresponding to the machine tool 70 at the monitoring site C1 and a range 30p corresponding to the robot device 30 at the monitoring site C1 are also shown here for reference.
  • the machine tool 70 is fixedly installed at an absolute position
  • the robot device 30 is installed at a relative position to the machine tool 70 .
  • the virtual plane is the screen of the display unit 250, for example.
  • control unit 210 connects two user-desired virtual tags 50v among the plurality of virtual tags 50v with a line segment sb via the operation unit 240 (S33).
  • the connected line segment sb and the two virtual tags 50v at both ends thereof correspond to part of the perimeter of the monitored area MR.
  • the control unit 210 may repeatedly connect various two virtual tags 50v via the operation unit 240 .
  • the control unit 210 causes the display unit 250 to display the line segment sb.
  • FIG. 10 is a diagram showing an example in which arbitrary virtual tags 50v are connected by line segments sb.
  • two virtual tags 50v with tag IDs "A” and “B” are connected by line segment sb
  • two virtual tags 50v with tag IDs "B” and “C” are connected by line segment sb.
  • two virtual tags 50v with tag IDs "D” and “E” are connected by line segment sb
  • two virtual tags 50v with tag IDs "E” and “F” are connected by line segment sb.
  • a series of two or more virtual tags 50v connected in order (serially) by one or more line segments and this line segment are also collectively referred to as a tag group TG.
  • tag group TGA includes virtual tags 50v of "A", “B” and “C”
  • tag group TGB includes virtual tags 50v of "D", "E” and "F”.
  • control unit 210 may cause the display unit 250 to display a warning message. Thereby, the setting support device 20 can suppress omission of connection of the line segment sb to the virtual tag 50v.
  • the control unit 210 corrects the position (coordinate position) of each virtual tag 50v arranged in step S32 (S34).
  • the tag position information included in the tag detection information is indicated by the relative position with respect to the monitoring device 10.
  • the position information detected from the radio wave signal of the IC tag 50 at the monitoring site C1 may generally include some errors (for example, about ⁇ 10 cm for distance and about ⁇ 5 degrees for angle). As such, the relative positional relationship between the mapped virtual monitoring device 10v and each virtual tag 50v may be inaccurate.
  • the control unit 210 corrects the position of each virtual tag 50v by various calculation techniques such as the trilateration method.
  • FIG. 11 is a diagram for explaining the trilateration method.
  • the tag position information for each IC tag 50 includes tag distance information and tag angle information for each IC tag 50 .
  • the point Q in FIG. 11 be the position of the virtual monitoring device 10v
  • the points A and B be the positions of the virtual tags 50v of "A" and "B", for example.
  • the control unit 210 determines the length La between QA, the length Lb between QB, the length Lc between AB, the angle of QAC, QBA and the angle of AQB can all be calculated. Therefore, all of these length and angle information are known.
  • the angle of QAB is ⁇
  • the coordinates of point Q are (x Q ', y Q ')
  • the coordinates of point A are (x a ', 0)
  • the coordinates of point B are (x b ', 0 )
  • the angle between X and X' in the X'Y' coordinate system and the XY coordinate system is ⁇ , the following relationship holds.
  • the control unit 210 may derive the calculated position of each virtual tag 50v according to the trilateration method described above. Then, the control unit 210 adjusts the positions of the virtual tags 50v on the virtual plane so that the difference (positional deviation) between the arrangement position of each virtual tag 50v based on the tag position information and the calculated position of each virtual tag 50v becomes small. can be corrected. In this case, the control unit 210 may preferentially correct the distance of the virtual tag 50v with respect to the virtual monitoring device 10v, or may preferentially correct the angle of the virtual tag 50v with respect to the virtual monitoring device 10v.
  • the control unit 210 calculates the relative positional relationship of each virtual tag 50v based on each tag positional information, which is individual positional information for each IC tag 50, and calculates the relative positional relationship of each virtual tag 50v. At least one position of each virtual tag 50v may be corrected based on the positional relationship.
  • the control unit 210 determines for each tag group TG whether or not the tag group TG forms a closed area within the virtual detection area DRv (S35). For example, it may be determined whether or not the closed area CA is formed by the virtual tag 50v and the line segment sb included in the tag group TG and the outer peripheral line DRl of the virtual detection area DRv.
  • the closed area CA is, for example, formed in a ring shape by the virtual tag 50v and the line segment sb included in the tag group TG, and part of the outer peripheral line DRl of the virtual detection area DRv, and the starting point and the end point of a series of connecting lines are connected. This is the area where Also, the closed area CA may be formed by the virtual tag 50v and the line segment sb included in the tag group TG without including the outer peripheral line DRl of the virtual detection area DRv.
  • the control unit 210 adds the line segment sbl to generate the closed area CA (S36).
  • the control unit 210 moves a virtual tag 50v located at the end of a series of line segments sb of the tag group TG, which is not on the outer circumference of the virtual detection area DRv, to an arbitrary virtual tag 50v on the outer circumference of the virtual detection area DRv.
  • control unit 210 may add the line segment sbl with the shortest length from the virtual tag 50v to be added to the line segment with respect to the outer peripheral line DRl of the virtual detection area DRv.
  • the line segment sbl and the outer peripheral line DRl of the virtual detection area DRv are perpendicular to each other. In this manner, the control unit 210 performs boundary interpolation using the line segment sbl.
  • FIG. 12 is a diagram showing an example in which a line segment sbl is added to the perimeter of the virtual detection area DRv.
  • there are two tag groups TGA and TGB and the virtual tag 50v located at the end of the tag group TG and not on the outer circumference of the virtual detection area DRv is "C”.
  • a line segment sbl is added perpendicularly to the virtual detection area DRv from the virtual tag 50v of "C”
  • the tag group TGA is defined as the closed area CA.
  • a line segment sbl is added perpendicularly to the virtual detection area DRv from the virtual tag 50v of "F”
  • the tag group TGB is defined as the closed area CA.
  • the control unit 210 determines the type of closed area CA for each closed area CA (S37).
  • the control unit 210 may determine the type of the closed area CA via the operation unit 240, for example, or may determine the type of the closed area CA based on the position with respect to the virtual monitoring device 10v.
  • the type of closed area CA indicates the degree of monitoring for the monitoring area MR corresponding to the closed area, and includes, for example, protection and caution.
  • a protection closed area CA1 whose type is protection corresponds to the protection area MR1.
  • the caution closed area CA2 whose type is caution corresponds to the caution area MR2.
  • the control unit 210 determines the protection closed area CA1 and the caution closed area CA2 in order of proximity from the virtual monitoring device 10v.
  • FIG. 13 is a diagram showing an example in which the type of closed area CA is determined.
  • the control unit 210 determines the monitoring area MR based on the form (for example, position, range, size, or shape) of the closed area CA. For example, while maintaining the positional relationship between the virtual monitoring device 10v and the closed area CA, the closed area CA may be enlarged or reduced to determine the monitoring area MR.
  • the control section 210 may determine the type of the monitoring area MR based on the type of the closed area CA. In this case, the control unit 210 may set the monitoring area MR corresponding to the protection closed area CA1 as the protection area MR1, and the monitoring area MR corresponding to the caution closed area CA2 as the caution area MR2. Further, the control section 210 may specify the dimensions of the monitoring area MR at the monitoring site C1 via the operation section 240, for example.
  • control unit 210 may specify, for example, via the operation unit 240, identification information of the machine tool 70 around which the determined monitoring area MR is set.
  • the control unit 210 may be specified via the operation unit 240, for example, or may be specified using the identification information of the machine tool 70 included in the mapping information. In this manner, the control unit 210 may determine the monitoring area MR based on each closed area CA and the type of each closed area CA (S38).
  • the control unit 210 generates area setting information based on the determined monitoring area MR (S39).
  • the area setting information indicates the form of the determined monitoring area MR (for example, the position, range, size, or shape with respect to the monitoring device 10) and indicates which machine tool 70 the monitoring area MR is determined for. Information (identification information of machine tool 70), type of monitoring area MR, and the like are included.
  • the generated area setting information is transmitted to the monitoring device 10 in step S15 of FIG.
  • the control unit 210 may perform such monitoring area determination processing for each machine tool 70 .
  • the surroundings of the machine tools 70 at the monitoring site C ⁇ b>1 differ for each machine tool 70 .
  • the characteristics of the machine tools 70 also differ for each machine tool 70 . Therefore, a different monitoring area MR is set for each machine tool 70 . Therefore, the control unit 210 may determine the monitoring area MR for each machine tool 70 and notify the monitoring device 10 of it.
  • the monitoring device 10 can set the monitoring area MR using the IC tag 50 .
  • the monitoring device 10 can provide the setting support device 20 with tag detection information necessary for determining the monitoring area MR. Further, even when the setting support device 20 takes the lead in determining the monitoring area MR, the monitoring device 10 receives the area setting information from the setting support device 20 and easily determines the monitoring area MR based on the area setting information. Can be set.
  • the setting support device 20 can easily connect the virtual tag 50v as desired on the screen (on the virtual plane) based on the user's operation, and the form (for example, the position, range, size, or shape) desired by the user.
  • the monitoring area can be freely determined so that In addition, since the setting is performed using the UI such as the display unit 250 and the operation unit 240, the user can intuitively understand the monitoring area easily.
  • FIG. 14 is a sequence diagram showing a second setting example of the monitoring area MR when introducing the production line.
  • installation of the IC tag 50 at the monitoring site C1 described above has been completed.
  • at least one of the IC tags 50 is arranged on the outer circumference of the detection area DR, that is, on the outer circumference line DRl.
  • the same step numbers are assigned to the same processes as those shown in FIG. 5, and the description thereof will be omitted or simplified.
  • the IC tag detection unit 121 receives a radio signal from each IC tag 50 (S11A), and detects the tag ID and tag distance information based on the radio signal (S12A). ). Note that the IC tag detection unit 121 may calculate the distance R A ' between the monitoring device 10 and the IC tag 50 along the horizontal direction, as in the first setting example.
  • FIG. 15 is a diagram showing an example of tag detection information including tag IDs and tag distance information.
  • the labels shown in FIG. 15 correspond to tag IDs.
  • tag detection information is obtained for each IC tag 50 .
  • the input/output unit 140 acquires the tag detection information for each IC tag 50 from the data transmission unit 123, and outputs (for example, transmits) it to the setting support device 20 (S13A).
  • the distance in the tag distance information included in the tag detection information may be the distance RA or the distance RA '.
  • the communication unit 220 receives tag detection information for each IC tag 50 from the monitoring device 10 (S13A).
  • the control unit 210 executes monitoring area determination processing for determining the monitoring area MR based on the acquired tag detection information for each IC tag 50 (S14A). Details of the monitoring area determination process will be described later.
  • area setting information is generated.
  • the communication unit 220 transmits the area setting information to the monitoring device 10 (S15).
  • the input/output unit 140 acquires (receives) the area setting information, and the storage unit 130 holds the area setting information (S16).
  • the control unit 160 sets the monitoring area MR based on the area setting information (S17).
  • the entry detection unit 110 uses the projected light and the detected light to detect whether or not the object 25 enters the monitoring area MR (S18).
  • FIG. 16 is a flow chart showing an example of the monitoring area determination process shown in step S14 of FIG.
  • the same step numbers are assigned to the same processes as those shown in FIG. 8, and the description thereof will be omitted or simplified.
  • control unit 210 acquires information on the detection area DR by the monitoring device 10 (S31).
  • the control unit 210 arranges the virtual monitoring device 10v, the virtual tag 50v, and the virtual detection area DRv on the virtual plane based on the tag detection information of each IC tag 50 and the information of the detection area DR. to display on the display unit 250 (S32A).
  • the display of the virtual tag 50v also displays the tag ID.
  • tag detection information does not include tag angle information. Therefore, at this stage, the position of each virtual tag 50v with respect to the virtual monitoring device 10v is uncertain, and the display unit 250 does not place each IC tag 50 at a specific position.
  • the control unit 210 may roughly specify the arrangement position of the virtual tag IC on the virtual plane via the operation unit 240, for example.
  • the user who performs this designation operation knows the installation position of each IC tag 50 at the monitoring site C1 by the tag installation person, and operates the operation unit 240 so as to correspond to the installation position of each IC tag 50. Roughly designate the placement position of the virtual tag IC via the
  • step S32A the control unit 210 arranges at least one virtual tag 50v on the outer circumference of the virtual detection area DRv in response to the arrangement of at least one IC tag 50 on the outer circumference of the detection area DR.
  • FIG. 17 is a diagram showing an example of the initial display in the second setting example.
  • each virtual tag 50v is displayed at the edge of the screen displayed on the display unit 250.
  • the control unit 210 may roughly specify the placement position of the virtual tag IC by user operation via the operation unit 240 .
  • a display state similar to that of FIG. 9 described above is obtained.
  • the “A” virtual tag 50v and the “D” virtual tag 50v are arranged on the outer circumference of the virtual detection area DRv.
  • control unit 210 connects two user-desired virtual tags 50v among the plurality of virtual tags 50v with a line segment sb via the operation unit 240 (S33).
  • one or more tag groups TG are formed as in the first setting example.
  • the control unit 210 acquires inter-tag distance information, which is the distance between two adjacent IC tags 50 corresponding to both ends of the connected line segment sb (S33A). Since the inter-tag distance information is obtained for each line segment sb, one or more pieces of inter-tag distance information are obtained.
  • a first acquisition example and a second acquisition example are conceivable as a method for acquiring the inter-tag distance information. Note that the control unit 210 acquires not only tag-to-tag distance information between two IC tags 50 connected by a line segment, but also tag-to-tag distance information between two IC tags 50 that are not connected by a line segment. good too.
  • the first acquisition example of inter-tag distance information can be adopted when the distance between any two IC tags 50 can be measured (detected) at the monitoring site C1.
  • the IC tag 50 includes a passive IC tag 50 and a powered IC tag 50 .
  • the power supply type IC tag 50 is capable of radio signal communication (for example, Bluetooth (registered trademark) communication) with another IC tag 50 . Therefore, for example, the IC tag 50 of "A" communicates with the IC tag 50 of "B", and based on the radio signal from the IC tag 50 of "B", the IC tag 50 of "A” and the IC tag 50 of "B” communicate with each other. , and the information of the detected distance may be transmitted to the monitoring device 10 as inter-tag distance information.
  • radio signal communication for example, Bluetooth (registered trademark) communication
  • the input/output unit 140 acquires tag detection information including inter-tag distance information, and transmits the information to the setting support device 20 . Therefore, in the setting support device 20 , the control unit 210 may acquire the inter-tag distance information included in the tag detection information from the monitoring device 10 via the communication unit 220 .
  • inter-tag distance information can be acquired even if the distance between any two IC tags 50 cannot be detected.
  • the tag installer measures the distance between any two IC tags 50 using a measure or the like.
  • the user inputs this measurement information to the setting support device 20 as inter-tag distance information. That is, the setting support device 20 may acquire the inter-tag distance information when the control unit 210 receives a user operation via the operation unit 240 .
  • FIG. 18 is a diagram showing an example of inter-tag distance information.
  • "AB” indicates the tag IDs of two IC tags 50 corresponding to two virtual tags 50v connected by line segment sb
  • "L1" indicates the tag ID of "A”. It indicates that the distance between the IC tag 50 and the IC tag 50 of "B” is L1.
  • Such tag-to-tag distance information is obtained for each two IC tags 50 connected by a line segment sb.
  • the control unit 210 corrects the position (coordinate position) of each virtual tag 50v placed in step S32A (S34A).
  • the control unit 210 acquires tag distance information and inter-tag distance information based on the monitoring device 10 . Therefore, the control unit 210 can obtain the lengths of three sides of a triangle formed by the virtual monitoring device 10v and two virtual tags 50v connected by a line segment. Therefore, the control unit 210 can calculate each interior angle of the triangle. Therefore, the control unit 210 may correct the position (coordinate position) of each virtual tag 50v based on the derived lengths of the three sides and the three angles according to the trilateration method or the like.
  • the method of position correction by trilateration may be the same as in the first embodiment.
  • the control unit 210 virtualizes the arrangement position of the virtual tag 50v (also referred to as the reference virtual tag 50vf) (see FIG. 19) located at the end of the tag group TG and not on the outer circumference of the virtual detection area DRv. It is fixed on the plane (S34B). As a result, the distance and angle of the reference virtual tag 50vf with respect to the virtual monitoring device 10v are fixed.
  • the virtual tag 50v also referred to as the reference virtual tag 50vf
  • the control unit 210 determines the position of each virtual tag 50v included in the tag group TG based on the reference virtual tag 50vf and the tag distance information of each virtual tag 50v included in the tag group TG. Determine (S34C). As a result, even if the angle information is not included in the tag detection information, the placement position of each virtual tag 50v can be determined based on the placement position of the reference virtual tag 50vf.
  • FIG. 16B the control unit 210 performs the processing of steps S35 to S39 shown in FIG. Thereby, as shown in FIG. 19, a closed area CA similar to that in the first embodiment can be formed, and a monitoring area MR can be determined.
  • FIG. 19 is a diagram showing a determination example of the monitoring area MR in the second setting example.
  • the monitoring area determination process may be performed for each machine tool 70, and a different monitoring area MR may be set for each machine tool 70. Therefore, the control unit 210 may determine the monitoring area MR for each machine tool 70 and notify the monitoring device 10 of it.
  • FIG. 20 is a diagram showing that the position of each virtual tag 50v belonging to the tag group TG is uncertain.
  • the control unit 210 acquires the tag distance information and inter-tag distance information of each IC tag 50 corresponding to each virtual tag 50v. If the position of the reference virtual tag 50vf is not fixed, the control unit 210 only has information about the distance, so the position of each virtual tag 50v is determined based on the distance from the monitoring device 10 . In this case, since the angle is not fixed while maintaining the distance between the virtual monitoring device 10v and the virtual tag 50v, the virtual monitoring device 10v can be arranged at any position around the circle with the radius centered on the virtual monitoring device 10v. On the other hand, by fixing the position of the reference virtual tag 50vf, the control unit 210 can determine the positions of the other virtual tags 50v in the same tag group TG according to the positional relationship with the position of the reference virtual tag 50vf. be.
  • the position of the reference virtual tag 50vf is exemplified as being positioned on the outer circumference of the virtual detection area DRv, but it is not limited to this.
  • the reference virtual tag 50vf may be any position within the range of the virtual detection area DRv.
  • the virtual tag 50v of "B" or the virtual tag 50v of "E” in FIG. 19 may become the reference virtual tag 50vf and the position thereof may be fixed.
  • the setting support device 20 can determine the positions of the other virtual tags 50v in the same tag group TG based on the positional relationship with the position of the reference virtual tag 50vf.
  • the monitoring device 10 provides the setting support device 20 with the tag detection information that does not include the tag angle information. Information can be detected, and the burden on the IC tag information processing section 120 can be reduced.
  • the setting support device 20 can arrange each virtual tag 50v even if tag angle information is not included in the tag detection information.
  • the setting support device 20 can prevent the arrangement position of the virtual tag 50v arranged on the outer circumference of the virtual detection area DVr from being determined anywhere on a circle having a radius equal to the distance indicated by the distance information.
  • by setting one point on the outer circumference of the virtual detection area DVr it is possible to prevent the positions of the other virtual tags 50v connected by the line segment sb from becoming uncertain.
  • the monitoring device 10 holds area setting information for setting the monitoring area MR in the storage unit 130 when the production line is introduced. At an arbitrary timing after introduction of the production line, the monitoring device 10 can perform simple setting of the monitoring area MR using the area setting information held in the storage unit 130 .
  • FIG. 21 is a diagram showing that the robot device 30 moves between a plurality of machine tools 70. As shown in FIG.
  • the monitoring area determination process may be performed by the monitoring device 10 or by the setting support device 20 .
  • FIG. 22 is a flow chart showing a first example of simple setting of the monitoring area MR when the robot device 30 is moved between a plurality of machine tools 70.
  • FIG. 22 At the start of FIG. 22, installation of the IC tag 50 at the monitoring site C1 described above has been completed.
  • the storage unit 130 also holds area setting information for each machine tool 70 .
  • the monitoring device 10 performs the same processes as in steps S11 and S12A shown in FIG.
  • the IC tag detection unit 121 may calculate the distance R A ' between the monitoring device 10 and the IC tag 50 along the horizontal direction, as in the first setting example shown in FIG.
  • the control unit 160 executes monitoring area determination processing (S50).
  • the control unit 160 causes the storage unit 130 to hold the determined area setting information (S43).
  • the control unit 160 sets the monitoring area MR based on the area setting information (S44).
  • the entry detection unit 110 uses the projected light and the detected light to detect whether or not the object 25 enters the monitoring area MR (S45).
  • FIG. 23 is a flow chart showing an example of the monitoring area determination process shown in step S50.
  • the area recognition unit 122 acquires tag detection information including the tag ID and tag distance information from the IC tag information processing unit 120 (S51).
  • the area recognition unit 122 determines area setting information corresponding to one machine tool 70 based on the tag ID of each IC tag 50 included in the tag detection information (S52).
  • the area recognition unit 122 determines that any tag ID included in the acquired tag detection information and any tag ID included in the area setting information for each machine tool held in the storage unit 130 It may be determined whether or not they match.
  • the control unit 160 acquires from the storage unit 130 the area setting information including the tag ID determined to match. That is, in step S52, it can be said that the area recognition unit 122 specifies the surroundings of which machine tool 70 is to be monitored.
  • FIG. 24 is a diagram showing an example of comparing tag detection information I1 and area setting information I21 and I22 for each machine tool 70.
  • the tag detection information I1 has "A” to “F” as tag IDs.
  • the area setting information I21 has “A” to “F” as tag IDs.
  • the area setting information I22 has “G” to “L” as tag IDs. Therefore, the control unit 160 acquires from the storage unit 130 the area setting information I21 including “A” with the matching tag ID, for example.
  • the tag ID of the IC tag 50 installed around the machine tools 70 differs for each machine tool 70 so that it is possible to determine which machine tool 70 the IC tag 50 is installed around.
  • control unit 160 corrects the position (detection position) of each IC tag 50 detected (this time) based on the tag detection information (S53). This correction is the same as the position correction (for example, step S34A in FIG. 16) in the second setting example described above.
  • the control unit 160 may acquire inter-tag distance information and correct the detected position of each IC tag 50 according to the trilateration method based on the tag detection information and the inter-tag distance information.
  • FIG. 25 is an image diagram showing arrangement information P11 indicating the position of each IC tag 50 based on tag detection information I1 and arrangement information P21 indicating the position of each IC tag 50 based on selected area setting information I21. .
  • the position of each IC tag 50 is slightly different between the arrangement information P11 based on the tag detection information I1 and the arrangement information P21 based on the tag detection information I1.
  • the robot apparatus 30 moves from the machine tool 70A to the machine tool 70B and then returns to the machine tool 70A again, the robot apparatus 30 slightly deviates from the position installed on the machine tool 70A before the movement. This is due to the fact that the robot device 30 is installed at the position.
  • the control unit 160 calculates the positional deviation between the position (registered position) of each IC tag 50 based on the area setting information I21 and the detected position (detection position) of each IC tag 50 ( S54). As described above, the position of the robot device 30 with respect to the machine tool 70 may be slightly deviated. Also, the installation position of the IC tag 50 remains unchanged after installation. Therefore, the registered position and the detected position of each IC tag 50 are similarly displaced. Therefore, the control unit 160 should detect the positional deviation between the registered position and the detected position of at least one IC tag 50 .
  • the control unit 160 Based on the calculated positional deviation, the control unit 160 maintains the positional relationship of the shape of the monitoring area MR included in the area setting information I21, corrects the position of the monitoring area MR, and creates a new monitoring area MR. is determined (S55). That is, the control unit 160 determines the monitoring area MR corresponding to the detection position of each IC tag 50 by correcting the position of the monitoring area MR so that the registered position of each IC tag 50 moves in the direction of the detection position. do. In this case, for example, when the control unit 160 corrects the position of the monitoring area MR so that the registered position of each IC tag 50 matches the detection position, the detection position of each IC tag 50 is located on the outer periphery of the new monitoring area MR. will be placed. Note that the control unit 160 may correct the angle of the monitoring area MR instead of the position of the monitoring area MR or along with the position of the monitoring area MR.
  • FIG. 26 is a diagram showing an example of correcting the position of the monitoring area MR.
  • FIG. 26 shows that the arrangement information P21 is corrected to the arrangement information P31.
  • the placement information P21 is the same as the placement information P21 in FIG.
  • the placement information P31 indicates that the positions of the respective IC tags 50 and the monitoring area MR (protection area MR1 and caution area MR2) indicated in the placement information P21 have been moved by correction.
  • the monitoring device 10 can easily determine the monitoring area MR at the position of each IC tag 50 with respect to the monitoring device 10 detected this time.
  • the control unit 160 generates new area setting information based on the determined new monitoring area MR.
  • the generated new area setting information is held in storage unit 130 in step S43 of FIG.
  • the monitoring device 10 uses the tag detection information of the IC tag 50 detected this time and the area setting information for each machine tool 70 generated in the past. , the monitoring area MR suitable for the current position of the monitoring device 10 can be easily determined. In addition, since the monitoring device 10 performs specific monitoring area determination processing, the simple setting of the monitoring area MR can be completed with a single device. In addition, the monitoring device 10 can eliminate the need to perform all of the above-described first setting example or second setting example for setting a new monitoring area MR. In addition, since it is not necessary to move the monitoring device 10 accurately every time the monitoring site C1 moves the position of the monitoring device 10 with respect to the machine tool 70, the burden on the operator can be reduced.
  • the monitoring device 10 and the setting support device 20 cooperate to perform simple setting of the monitoring area MR by the setting support device 20 performing the monitoring area determination process.
  • FIG. 27 is a sequence diagram showing a second example of simple setting of the monitoring area MR when the robot device 30 is moved between a plurality of machine tools 70.
  • FIG. At the start of FIG. 22, installation of the IC tag 50 at the monitoring site C1 described above has been completed.
  • the storage unit 130 also holds area setting information for each machine tool 70 . Note that in FIG. 27, the same step numbers are given to the same processes as those shown in FIG. 22, and the description thereof will be omitted or simplified.
  • the monitoring device 10 performs the processing of steps S41 and S42 shown in FIG.
  • the input/output unit 140 transmits the obtained tag detection information for each IC tag 50 and area setting information for each machine tool 70 to the setting support device 20 (S61).
  • the communication unit 220 receives tag detection information for each IC tag 50 and area setting information for each machine tool 70 from the monitoring device 10 (S61). Then, control unit 210 executes monitoring area determination processing (S50A).
  • This monitoring area determination process differs from the monitoring area determination process shown in FIG. That is, not the control unit 160 of the monitoring device 10 but the control unit 210 of the setting support device 20 performs the monitoring area determination process. Since step S50, that is, steps S51 to S55 are the same except that the subject of action is different, detailed description will be omitted.
  • the communication unit 220 transmits new area setting information generated by the monitoring area determination process to the monitoring device 10 (S62). After that, the monitoring device 10 performs the processes of steps S43 to S45 shown in FIG.
  • the setting support device 20 uses the tag detection information of the IC tag 50 detected this time and the area setting information for each machine tool 70 generated in the past. , the monitoring area MR suitable for the current position of the monitoring device 10 can be easily determined. In addition, it is possible to eliminate the need for the monitoring device 10 to perform specific monitoring area determination processing, reduce the burden on the monitoring device 10, and support simple setting of the monitoring area MR.
  • the monitoring device 10 includes the IC tag information processing unit 120, but this is not the only option.
  • the monitoring system 5 may include an information processing device that is separate from the monitoring device 10 and that includes an IC tag information processing section 120 . In this case, it is sufficient that the monitoring device 10 and the information processing device are communicably connected and the monitoring device 10 can acquire various information obtained from the IC tag 50. 50 via the information processing device.
  • step S34 of FIG. 8 step S34 of FIG. 16, and step S53 of FIG. 23 may be omitted.
  • the simple setting of the monitoring area MR is not applied only when moving between a plurality of machine tools 70, but when there are a plurality of work positions for one machine tool 70, when moving each work position. is also applicable.
  • the tag detection information does not include the tag angle information, but as in the first setting example such as FIG. Applicable.
  • processors such as CPUs may be physically configured in any way. Moreover, if a programmable processor is used, the content of processing can be changed by changing the program, so that the degree of freedom in designing the processor can be increased.
  • the processor may be composed of one semiconductor chip, or physically composed of a plurality of semiconductor chips. When configured with a plurality of semiconductor chips, each control of the above embodiments may be realized by separate semiconductor chips. In this case, it can be considered that the plurality of semiconductor chips constitutes one processor.
  • the processor may be composed of a member (capacitor, etc.) having a function different from that of the semiconductor chip.
  • one semiconductor chip may be configured to implement the functions of the processor and other functions.
  • a plurality of processors may be composed of one semiconductor chip.
  • the monitoring device 10 of the above embodiment monitors entry into the monitoring area MR.
  • the monitoring device 10 includes a receiving unit (for example, an IC tag detection unit 121) that receives radio waves from the IC tags 50 that are fixedly arranged in the detection area DR that can be detected by the monitoring device 10, , a tag information detection unit (for example, an IC tag detection unit 121) that detects tag position information indicating the position of the IC tag 50 with respect to the monitoring device 10; and a receiving unit (for example, input/output unit 140) and a control unit 160 that sets the monitoring area MR based on the area setting information.
  • a receiving unit for example, an IC tag detection unit 121
  • a tag information detection unit for example, an IC tag detection unit 121
  • a receiving unit for example, input/output unit 140
  • a control unit 160 that sets the monitoring area MR based on the area setting information.
  • the monitoring device 10 can use the IC tag 50 to set the monitoring area MR.
  • the monitoring device 10 can easily acquire the tag position information, which is the reference point of the monitoring area MR, by using the fixedly arranged IC tag 50, for example, when setting the monitoring area MR, the area setting person can set the monitoring site C1. There is no need to move, and the burden on the area setter can be reduced.
  • the tag information detection unit may detect tag identification information that identifies the IC tag 50, and the tag detection information may include tag identification information. Further, tag distance information indicating the distance between the monitoring device 10 and the IC tag 50 may be included. Further, tag distance information indicating the distance between the monitoring device 10 and the IC tag 50 and tag angle information indicating the angle of the IC tag 50 with respect to the monitoring device 10 may be included. This makes it possible to provide the setting support device 20 with information necessary for setting the monitored area MR.
  • the monitoring device 10 may include a storage unit 130 .
  • the receiving unit may receive a plurality of area setting information corresponding to each of the plurality of machine tools 70 on which the monitoring device 10 is arranged.
  • the storage unit 130 may store a plurality of area setting information. Thereby, the monitoring device 10 can set a different monitoring area for each machine tool 70 .
  • control unit 160 detects that any tag identification information detected by the tag information detection unit matches any IC tag identification information included in the plurality of area setting information stored in the storage unit 130.
  • the area setting information including the identification information of the matching IC tag 50 may be acquired from the storage unit 130, and the monitoring area MR may be set based on the acquired area setting information.
  • the positions of the IC tags 50 arranged around each machine tool 70 are not changed.
  • the monitoring device 10 when the monitoring device 10 is arranged near the machine tool 70 to which the monitoring area MR was previously set, the monitoring device 10 can be easily selected by selecting the area setting information of the previous monitoring area MR. , the monitoring area MR can be reconfigured.
  • control unit 160 is set based on the tag position information for each IC tag 50 detected by the tag information detection unit and the tag position information for each IC tag 50 included in the acquired area setting information.
  • the monitor area MR may be corrected while maintaining the shape of the monitor area MR.
  • the monitoring device 10 compares and corrects the detected information (currently detected information) for each IC tag 50 and the registered information (past detected information) for the same IC tag 50, thereby obtaining, for example, detected information and registered information. Therefore, the monitoring device 10 can set the monitoring area MR more suitable for the position of each IC tag 50 with respect to the monitoring device 10 this time.
  • the monitoring device 10 also includes a light projecting unit 111 that projects light in each detection direction around the monitoring device 10 and a light receiving unit that receives detection light reflected or scattered by the object 25 . 113, a recognition unit (for example, a distance measuring unit 115) that recognizes the position of the object 25 based on the detected light, and if the object 25 is located within the monitoring area MR, the object 25 is positioned in the monitoring area MR. and an entry detection unit 110 that detects entry.
  • a light projecting unit 111 that projects light in each detection direction around the monitoring device 10 and a light receiving unit that receives detection light reflected or scattered by the object 25 .
  • a recognition unit for example, a distance measuring unit 115
  • an entry detection unit 110 that detects entry.
  • the monitoring device 10 can detect entry into the set monitoring area MR and ensure safety within the monitoring area MR.
  • the setting support device 20 of the above embodiment supports setting of the monitoring area MR monitored by the monitoring device 10 .
  • the setting support device 20 receives tag detection information including tag position information indicating the position of the IC tag 50 with respect to the monitoring device 10 for each IC tag 50 fixedly arranged in the detection area DR detectable by the monitoring device 10 ( a receiving unit (for example, the communication unit 220), and a control unit that determines the monitoring area MR with the position of each IC tag 50 as a point on the outer periphery of the monitoring area MR based on the tag detection information for each IC tag 50.
  • a receiving unit for example, the communication unit 220
  • the setting support device 20 can determine the monitoring area MR using the information of the IC tag 50 (for example, the tag position information) and support the setting of the monitoring area MR.
  • the setting support device 20 can easily acquire the tag position information, which is the reference point of the monitoring area MR, by using the fixedly arranged IC tag 50. There is no need to move, and the burden on the area setter can be reduced.
  • the setting support device 20 may include an operation unit 240 and a display unit 250 .
  • the tag detection information for each IC tag 50 may include tag identification information for identifying the IC tag 50 .
  • the control unit 210 may acquire information on the detection area DR that can be detected by the monitoring device 10 . Based on the information of the detection area DR and the tag detection information, the control unit 210 creates a virtual monitoring device 10v corresponding to the monitoring device 10, each virtual tag 50v corresponding to each IC tag 50, and a detection area DR.
  • the virtual detection area DRv may be arranged on the virtual plane and displayed on the display unit 250 .
  • the control unit 210 may connect at least two of the arranged virtual tags 50v with a line segment sb via the operation unit 240 .
  • the control unit 210 generates a closed area CA in which the line segment sb and each virtual tag 50v connected by the line segment sb is at least a part of the outer periphery of the closed area CA, and based on the closed area CA, the monitoring area MR may be determined.
  • the setting support device 20 can easily connect the virtual tag 50v as desired based on the user's operation on the screen so that the form (for example, position, range, size, or shape) desired by the user is obtained.
  • the monitoring area MR can be freely determined. Further, since the user determines the monitoring area MR using the UI such as the display unit 250 and the operation unit 240, it is easy for the user to intuitively understand the monitoring area MR.
  • the tag position information may include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50 and tag angle information indicating the angle of the IC tag 50 with respect to the monitoring device 10 .
  • the control unit 210 may arrange each virtual tag 50v based on the tag distance information and tag angle information for each IC tag 50, and determine the monitoring area MR based on the position of each virtual tag 50v.
  • the setting support device 20 can determine the arrangement position of each virtual tag 50v at one point by calculation, thereby reducing the burden on the user.
  • the tag position information may include tag distance information that indicates the distance between the monitoring device 10 and the IC tag 50 .
  • the control unit 210 may acquire tag-to-tag distance information indicating the distance between each of the plurality of virtual tags 50v connected by the line segment sb.
  • the control unit 210 may specify, via the operation unit 240, to place at least one virtual tag 50v out of the virtual tags 50v placed on the virtual plane on the outer circumference of the virtual detection area DRv.
  • the control unit 210 arranges each virtual tag 50v based on the tag distance information, the inter-tag distance information, and the position of the virtual tag 50v arranged on the outer circumference of the virtual detection area DRv, and each virtual tag 50v A monitoring area MR may be determined based on the location of the .
  • the setting support device 20 determines that the placement position of the virtual tag 50v placed on the outer circumference of the virtual detection area DRv corresponds to the distance indicated by the tag distance information of the IC tag 50 corresponding to this virtual tag 50v. It is possible to suppress the indeterminacy of any position on a circle with a radius of . In addition, the setting support device 20 determines that at least one point of the virtual tag 50v is determined on the outer circumference of the virtual detection area DVr, so that the positions of the other virtual tags 50v connected by the line segment sb become uncertain. can also be suppressed. Therefore, the setting support device 20 can place each virtual tag 50v on the virtual plane without acquiring the tag angle information, thereby reducing the burden on the user.
  • control unit 210 calculates the relative positional relationship of each virtual tag 50v based on the individual tag position information of each IC tag 50 included in the tag detection information, and calculates the relative position of each virtual tag 50v. Based on the relationship, at least one position of each virtual tag 50v may be corrected.
  • the setting support device 20 can detect the deviation of the relative positional relationship of each virtual tag 50v by various calculations such as the trilateration method.
  • the setting support device 20 corrects the arrangement position of each virtual tag 50v so as to reduce the deviation of the relative positional relationship, thereby determining the form of the monitoring area MR with higher accuracy.
  • the outer circumference of the closed area CA may include at least part of the outer circumference of the virtual detection area DRv.
  • the setting support device 20 can generate the closed area CA by also using the outer peripheral line DRl of the virtual detection area DRv, and can reduce the burden on the user who connects the line segments sb.
  • the control unit 210 A peripheral connection line segment (line segment sbl) that is a line segment sb that connects the virtual tag 50v corresponding to the part and not located on the periphery of the virtual detection area DRv and a point on the periphery of the virtual detection area DRv is added. may be used to generate the closed area CA.
  • the setting support device 20 can automatically add an outer peripheral connecting line segment from the virtual tag 50v at the end of the line segment sb even when the closed area CA is not formed only by the line segment sb generated by the user's operation. , the closed area CA can be generated. Therefore, the setting support device 20 can reduce the burden on the user connecting the line segment sb.
  • the monitoring area MR may include a plurality of monitoring areas MR1 and MR2 with different monitoring methods within the monitoring area MR.
  • the control unit 210 may determine a plurality of monitoring areas MR1 and MR2 with different monitoring methods based on the plurality of closed areas CA.
  • the setting support device 20 can generate a plurality of closed areas CA by connecting arbitrary virtual tags 50v with line segments sb by user operation.
  • the setting support device 20 can determine a plurality of closed areas CA as the monitoring areas MR according to the monitoring method, and can easily generate the monitoring areas MR of various monitoring methods.
  • the setting support device 20 may also include an output unit (for example, the communication unit 220) that outputs area setting information for setting the monitoring area MR determined by the control unit 210 to the monitoring device 10.
  • an output unit for example, the communication unit 220
  • the monitoring device 10 can set the monitoring area MR determined by the setting support device 20 and monitor the inside of the monitoring area MR.
  • the setting support device 20 takes the lead in determining the monitoring area MR, thereby reducing the processing load related to the setting of the monitoring area MR by the monitoring device 10 .
  • the present disclosure is useful for a monitoring device, a setting support device, an area setting method, a setting support method, etc. that can reduce the burden on an area setter who sets a monitoring area.
  • monitoring device 10v virtual monitoring device 20 setting support device 25 object 30 robot device 31 base 32 robot arm 50 IC tag 50v virtual tag 50vf reference virtual tags 70, 70A, 70B machine tool 80 external device 110 entry detection unit 111 light projection unit 112 Light projection control unit 113 Light receiving unit 114 Distance calculation unit 115 Distance measurement unit 116 Intrusion detection unit 120 IC tag information processing unit 121 IC tag detection unit 122 Area recognition unit 123 Data transmission unit 130 Storage unit 140 Input/output unit 150 Rotation mechanism unit 160 Control unit 210 Control unit 220 Communication unit 230 Storage unit 240 Operation unit 250 Display unit C1 Monitoring site CA Closed area CA1 Protective closed area CA2 Warning closed area DR Detection area DRv Virtual detection area H1 Worker I1 Tag detection information I21, I22 Area Setting information MR Monitoring area MR1 Protection area MR2 Warning areas P11, P21, P31 Layout information sb, sbl Line segments TG, TGA, TGB Tag group

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  • Engineering & Computer Science (AREA)
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  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
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Abstract

La présente divulgation concerne un dispositif de surveillance grâce auquel il est possible de réduire une charge de travail d'une personne chargée d'un réglage de zone qui règle une zone de surveillance.　La présente invention concerne un dispositif de surveillance ((10) par exemple un dispositif LiDAR) permettant de surveiller l'entrée dans une zone surveillée (MR), le dispositif de surveillance comprenant : une unité de réception (unité de détection d'étiquette CI (121)) permettant de recevoir des ondes radio provenant d'une étiquette CI (50) disposée à demeure dans une zone de détection (DR) dans laquelle une détection par le dispositif de surveillance (10) est possible ; une unité de détection d'informations d'étiquette (unité de détection d'étiquette CI (121)) permettant de détecter, en fonction des ondes radio, des informations de position d'étiquette indiquant une position de l'étiquette CI (50) par rapport au dispositif de surveillance (10), pour chaque étiquette CI (50) ; une unité de sortie (unité d'entrée/sortie (140)) permettant d'émettre en sortie des informations de détection d'étiquette comprenant les informations de position d'étiquette de chaque étiquette CI (50) jusqu'à un dispositif de support de réglage (20) ; une unité de réception (unité d'entrée/sortie (140)) permettant de recevoir, en provenance du dispositif de support de réglage (20), des informations de réglage de zone pour le réglage de la zone surveillée (MR) ; et une unité de commande (unité de commande (160)) permettant de régler la zone surveillée (MR) en fonction des informations de réglage de zone.
PCT/JP2022/035533 2021-11-17 2022-09-22 Dispositif de surveillance, dispositif de support de réglage, procédé de réglage de zone et procédé de support de réglage WO2023089953A1 (fr)

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JP2021187433A JP2023074442A (ja) 2021-11-17 2021-11-17 監視装置、設定支援装置、エリア設定方法、及び設定支援方法

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002374522A (ja) * 2001-06-14 2002-12-26 Matsushita Electric Works Ltd 監視システムのデータ設定方法及びそれを用いた監視システム
JP2007085826A (ja) * 2005-09-21 2007-04-05 Matsushita Electric Ind Co Ltd 物品探索システム、及び、物品探索プログラム
US20080042824A1 (en) * 2006-08-15 2008-02-21 Lawrence Kates System and method for intruder detection
JP2011205216A (ja) * 2010-03-24 2011-10-13 Denso Wave Inc 監視システム
JP2013073477A (ja) * 2011-09-28 2013-04-22 Secom Co Ltd 移動物体監視システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002374522A (ja) * 2001-06-14 2002-12-26 Matsushita Electric Works Ltd 監視システムのデータ設定方法及びそれを用いた監視システム
JP2007085826A (ja) * 2005-09-21 2007-04-05 Matsushita Electric Ind Co Ltd 物品探索システム、及び、物品探索プログラム
US20080042824A1 (en) * 2006-08-15 2008-02-21 Lawrence Kates System and method for intruder detection
JP2011205216A (ja) * 2010-03-24 2011-10-13 Denso Wave Inc 監視システム
JP2013073477A (ja) * 2011-09-28 2013-04-22 Secom Co Ltd 移動物体監視システム

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