Information providing apparatus

Abstract

To provide a technique that allows non-safety information to be provided with high accuracy.SOLUTION: An information providing apparatus includes information acquisition means for measuring a predetermined area and acquiring original information, information generation means capable of generating safety information and non-safety information based on the original information acquired by the information acquisition means, storage means for storing the non-safety information generated by the information generation means, communication means for transmitting the non-safety information stored in the storage means to an external device in response to a request from the external device, and information generation restriction means for restricting the processing of the information generation means so that the information generation means generates only a portion of the non-safety information that can be generated based on the original information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an information providing device. [Background technology]

[0002] It has been known that safety sensors such as multi-beam photoelectric sensors generate safety information based on original information (raw data) acquired by the safety sensor and transmit the information to a PLC. Furthermore, safety sensors may also have the function of generating information other than safety information (non-safety information) and transmitting it to a PLC, primarily for the purpose of improving convenience, such as by identifying the cause of a malfunction of the device. For example, Patent Document 1 discloses a safety device that transmits safety information and non-safety information to a PLC.

[0003] In recent years, the conditions for using safety sensors have changed, such as the expansion of the information acquisition area of ​​safety sensors and the installation of safety sensors on moving objects. As the conditions for using safety sensors change, the amount of raw information acquired by safety sensors and the amount of non-safety information generated by them are increasing. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2003 / 001749 Summary of the Invention [Problem to be solved by the invention]

[0005] As the volume of non-safety information generated by safety sensors increases, there is a growing need to utilize this information for non-safety purposes, such as for investigating the causes of equipment malfunctions. For example, an application such as patrolling an automated guided vehicle equipped with safety sensors to obtain a map of a factory interior is one example. However, as the volume of non-safety information increases, the computational cost of generating the non-safety information within the safety sensor increases. This poses a challenge: the time required for the safety sensor to generate the non-safety information for output after completing one information acquisition operation (hereinafter referred to as "delay time") increases. The non-safety information received by a PLC from a safety sensor requires a delay after completing one information acquisition operation. Therefore, the timing at which the safety sensor can actually send the non-safety information to the PLC may be after the completion of the subsequent information acquisition operation. In this case, the non-safety information received by the PLC is generated based on information acquired earlier than the information previously acquired by the sensor. Therefore, there is a risk that the PLC may receive duplicate non-safety information. Alternatively, there is a risk that the generation of non-safety information based on the original information acquired by the subsequent information acquisition operation will be completed before some of the non-safety information is received, which could result in a loss of accuracy in the non-safety information received by the PLC.

[0006] So far, we have taken the example of a safety sensor that provides information to a PLC. However, the above-mentioned issues arise with any information providing device that processes the acquired raw information to generate output non-safety information in response to a request from an external device.

[0007] An object of the present invention is to provide a technology that enables unsafety information to be provided with high accuracy. [Means for solving the problem]

[0008] The present disclosure provides an information acquisition means for measuring a predetermined area and acquiring original information, an information generation means capable of generating safety information and non-safety information based on the original information acquired by the information acquisition means, a storage means for storing the non-safety information generated by the information generation means, and a communication means for transmitting the non-safety information stored in the storage means to an external device in response to a request from the external device. and information generation limiting means for limiting the processing of the information generating means so that the information generating means generates only a portion of the non-safety information that can be generated based on the original information.

[0009] The information generation limiting means may limit the processing of the information generating means in response to an instruction from a device other than the external device.

[0010] The information generation limiting means may limit the processing of the information generating means in response to an instruction from the external device.

[0011] The information generation limiting means may limit the processing of the information generating means by selecting the non-safety information pattern having the non-safety information required by the user from a plurality of pre-set non-safety information patterns.

[0012] The plurality of non-safety information patterns may differ from one another in the amount of time required to generate the non-safety information.

[0013] Two storage means may be provided, and the generated non-safety information may be stored alternately in the two storage means, and while the non-safety information is being written to one of the storage means, it may be output from the other storage means.

[0014] The information providing device may be a sensor that measures the distance to an object by emitting electromagnetic waves and observing the reflected electromagnetic waves reflected by the object, and the original information may be information regarding the reflected electromagnetic waves, and the unsafe information may include information regarding the distance to the object.

[0015] The non-secure information may include a reflectance intensity of the object.

[0016] The process of acquiring the original information by the information acquisition means may be performed at regular time intervals, and the information generation restriction means may restrict the processing of the information generation means so that the non-safety information is generated between the time when the original information is acquired by the information acquisition means and the time when the next acquisition of the original information by the information acquisition means begins.

[0017] The present invention may be understood as an information providing device having at least some of the above means or functions, or as a communication system having this information providing device. The present invention may also be understood as a control method or setting method for an information providing device including at least some of the above processes, or as an information generation restriction method for generating non-safety information. Furthermore, the present invention may also be understood as a program for realizing such a method or a computer-readable recording medium on which the program is non-temporarily recorded. The above means and processes may be combined with each other to the greatest extent possible to constitute the present invention. [Effects of the Invention]

[0018] The present invention makes it possible to provide non-safety information with high accuracy. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing a communication system having an information providing device according to an application example. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a communication system having a laser scanner according to the embodiment. [Figure 3] FIG. 3 is a schematic diagram of a laser scanner according to an embodiment. [Figure 4] FIG. 4 is a functional block diagram of the laser scanner according to the embodiment. [Figure 5] FIG. 5 is a diagram showing processing times when the information generation limiting unit does not limit the processing of the information generating unit. [Figure 6] FIG. 6 is a diagram showing examples of a plurality of non-safety information patterns that require different times to generate the non-safety information. [Figure 7] FIG. 7 shows a setting screen on a personal computer that allows the user to select a non-safety information pattern. [Figure 8] FIG. 8 shows a setting screen on a personal computer on which the user can specify the measurement area and resolution. [Figure 9] FIG. 9 is a diagram (part 1) showing the processing time in a state in which the processing of the information generation unit is restricted by the information generation restriction unit. [Figure 10] FIG. 10 is a diagram (part 2) showing the processing time in a state in which the processing of the information generation unit is restricted by the information generation restriction unit. DETAILED DESCRIPTION OF THE INVENTION

[0020] <Application example> An application example of the present invention will be described with reference to FIG.

[0021] The communication system 1 in this application example includes an information providing device 10, an external device 11A that receives non-safety information, and a safety information receiving device 11B that receives safety information. The information providing device 10 is a device that has the function of generating (processing) information for output (referred to as "output information") including safety information and non-safety information based on original information acquired by the information providing device 10 by measuring a predetermined area, and providing the non-safety information of the output information to the external device 11A and the safety information to the safety information receiving device 11B. For example, the external device 11A periodically transmits a request signal to the information providing device 10 and receives the non-safety information from the information providing device 10. The safety information receiving device 11B receives the safety information from the information providing device 10.

[0022] Safety information is information for preventing industrial accidents and operating machines safely. For example, if a safe state cannot be confirmed, a stop signal to stop the machine or a deceleration signal to slow down the operation of the machine is sent to the control device as safety information. When the control device receives safety information such as a stop signal or a deceleration signal, it prevents industrial accidents by stopping the machine or slowing down the operation of the machine. If a safe state is confirmed, it sends a signal indicating a safe state to the control device as safety information. Non-safety information is information other than safety information that can be provided by the information providing device 10.

[0023] The information providing device 10 has, as its main functions, an information acquiring means 12, an information generating means 13, a non-safety information storing means 14, a non-safety information communicating means 15, an information generation restricting means 16, a safety information storing means 17, and a safety information communicating means 18. The information providing device 10 is connected to an external device 11A by the non-safety information communicating means 15, and is connected to a safety information receiving device 11B by the safety information communicating means 18.

[0024] The information acquiring means 12 has a function of performing information acquiring operations and periodically acquiring information. The information generating means 13 has a function of generating safety information and non-safety information based on the original information acquired by the information acquiring means 12. The non-safety information storing means 14 has a function of storing the non-safety information generated by the information generating means 13. The non-safety information communicating means 15 has a function of transmitting the non-safety information stored in the non-safety information storing means 14 to the external device 11A in response to a request from the external device 11A. The information generation restricting means 16 has a function of restricting the non-safety information generating process of the information generating means 13 so as to generate only a portion of the non-safety information that can be generated based on the original information acquired by the information generating means 13. The safety information storing means 17 has a function of storing the safety information generated by the information generating means 13. The safety information communicating means 18 has a function of transmitting the safety information to the safety information receiving device 11B.

[0025] "Original information" is information that can be acquired by the information providing device 10 and is the original information that serves as the basis for generating output information. "Output information" is information that can be generated based on the original information acquired by the information providing device 10 and is information to be provided to the external device 11A and the safety information receiving device 11B. For example, if the information providing device 10 is an optical distance measuring sensor such as a laser scanner, information regarding reflected electromagnetic waves measured by the distance measuring sensor corresponds to "original information," and non-safety information and safety information obtained by analyzing the reflected electromagnetic waves, including information such as the distance to an object and the reflection intensity of the object, corresponds to "output information." Note that the "information providing device 10" is not limited to distance measuring sensors, but can also be applied to various sensors such as a weight sensor that detects the weight of an object, or a monitoring device that periodically monitors whether equipment is operating normally.

[0026] The information providing device 10 cannot transmit the non-safety information to the external device 11A until after the information acquiring means 12 has completed one information acquisition operation and the information generating means 13 has generated the non-safety information based on the acquired original information and stored the non-safety information in the non-safety information storage means 14. Therefore, a delay of a delay time occurs between the completion of one information acquisition operation by the information acquiring means 12 and the time when the non-safety information can be transmitted. If the delay time is long, the timing when the non-safety information can actually be transmitted may be after the completion of the subsequent information acquisition operation. Therefore, there is a risk that the non-safety information received by the external device 11A will be non-safety information generated based on original information acquired earlier than the original information most recently acquired by the information providing device 10.

[0027] Here, the information providing device 10 according to this application example includes information generation limiting means 16. The information generation limiting means 16 limits the non-safety information generation process of the information generating means 13 so that only a portion of the non-safety information is generated, thereby shortening the delay time. At this time, the information generation limiting means 16 does not limit the safety information generation process. Therefore, the safety information is transmitted to the safety information receiving device 11B, and the information generation limiting means 16 does not interfere with the safe operation of the machine. Furthermore, the information generation limiting means 16 may limit the generation of the non-safety information so that it is completed between the acquisition of the original information and the start of an operation to acquire the subsequent original information. This ensures that the non-safety information received by the external device 11A has been generated based on the original information most recently acquired by the information providing device 10.

[0028] Furthermore, the external device 11A may not necessarily request all of the non-safety information that the information providing device 10 can generate, but may request only a portion of the non-safety information. However, because it is impossible to predict what information will be requested from the external device 11A, it has conventionally been common to generate all of the non-safety information that can be generated based on the original information. In other words, conventionally, there has been a problem in that resources are wasted to generate unnecessary non-safety information. In response to this, in the present system 1, the information generation limiting means 16 limits the non-safety information generation process of the information generating means 13, thereby reducing the wasteful consumption of resources and making it possible to allocate the freed-up resources to other functions.

[0029] <Embodiment> An embodiment of the present invention will be described with reference to FIG.

[0030] The communication system 1 in this embodiment is configured to include a safety laser scanner 20 (an example of the "information providing device" referred to in the present application) which is a type of sensor, a non-safety information control device 21 (an example of the "external device" referred to in the present application, an example of the "external device 11A" shown in FIG. 1) which receives non-safety information, and a safety information control device 22 (an example of the "safety information receiving device 11B" shown in FIG. 1) which receives safety information. The safety laser scanner 20 (hereinafter also simply referred to as "laser scanner" or "sensor") and the non-safety information control device 21 are connected by a field network such as EtherNet / IP or IO-Link. The laser scanner 20 and the safety information control device 22 are connected by hardwire or by a wireless connection to the non-safety information control device 21. are connected by EtherNet cables using different protocols. In this embodiment, the non-safety information control devices 21 and the safety information control devices 22 are each connected one by one to the laser scanner 20 as shown in Fig. 2, but multiple devices may be connected to the laser scanner 20. Also, multiple safety information control devices 22 may be connected to the laser scanner 20 by a combination of hard wires and EtherNet cables.

[0031] The laser scanner 20 is a device that has the function of generating (processing) output information containing non-safety information and safety information based on the measurement information it acquires, and providing the output information to the non-safety information control device 21 and the safety information control device 22. The non-safety information control device 21 is a device that periodically receives non-safety information of the measurement results from the laser scanner 20. The non-safety information control device 21 may be a general-purpose control device such as a PLC (Programmable Logic Controller), A dedicated device may be used. The safety information control device 22 is a device that receives safety information of the measurement results from the laser scanner 20. The safety information control device 22 may be a general-purpose control device such as a PLC, or a dedicated device. Also, one control device that includes the non-safety information control device 21 and the safety information control device 22 may be used. Even in this case, the control for receiving non-safety information and the control for receiving safety information are independent.

[0032] The laser scanner 20 is a safety sensor that complies with safety standards such as ISO13849-1, and is used for a variety of purposes, such as safety monitoring of industrial equipment in factories, and as the eyes of automatic guided vehicles and mobile robots.

[0033] FIG. 3 is a schematic diagram of the laser scanner 20. The laser scanner 20 generally has a structure in which a window 202 is provided on a scanner main body 201. The scanner main body 201 is provided with a light source, an optical system, a light receiving unit, a control circuit, an indicator light, and the like. The window 202 is made of a material that transmits laser light and is a member for protecting the optical system, such as a mirror. Electromagnetic waves (laser light) output from the light source are reflected by a mirror (scanning unit) that rotates at high speed inside the window 202 and irradiated onto an object. The laser scanner 20 according to this embodiment can measure the azimuth of approximately 270 degrees around the object. The reflected electromagnetic waves (reflected light) reflected by the object are guided to the light receiving unit via the optical system and subjected to photoelectric conversion. The dashed line in FIG. 3 indicates the measurement range of the laser light. In this embodiment, the voltage value after being guided to the light receiving unit and photoelectrically converted is taken as the amount of received light.

[0034] FIG. 4 is a functional block diagram of the laser scanner 20.

[0035] The laser scanner 20 has, as its main functions, a measurement unit 30 (an example of the "information acquisition means" as defined in the present application), an information generation unit 31 (an example of the "information generation means" as defined in the present application), a non-safety information storage unit 32 (an example of the "storage means" as defined in the present application), a non-safety information communication unit 33 (an example of the "communication means" as defined in the present application), an information generation restriction unit 34 (an example of the "information generation restriction means" as defined in the present application), a safety information storage unit 35, and a safety information communication unit 36.

[0036] The measurement unit 30 measures the direction within the measurement area (an example of the "predetermined area" in this application) and acquires measurement information (an example of the "original information" in this application) related to the reflected electromagnetic waves. The information generation unit 31 has a function of generating output information to be output based on the measurement information acquired by the measurement unit 30. The non-safety information storage unit 32 has a function of storing the non-safety information generated by the information generation unit 31, and two non-safety information storage units 32 are provided in the laser scanner 20. The non-safety information communication unit 33 has a function of transmitting the non-safety information stored in the non-safety information storage unit 32 to the non-safety information control device 21 in response to a request from the non-safety information control device 21. The information generation restriction unit 34 has a function of restricting the process of generating non-safety information by the information generation unit 31 so that the information generation unit 31 generates only a portion of the non-safety information that can be generated based on the measurement information. Safety The information storage unit 35 has a function of storing the safety information generated by the information generation unit 31, and one information storage unit 35 is provided in the laser scanner 20. The safety information communication unit 36 ​​has a function of transmitting the safety information generated by the information generation unit 31 to the safety information control device 22. In this embodiment, the safety information communication unit 36 ​​transmits the safety information stored in the safety information storage unit 35 to the safety information control device 22 in response to a request from the safety information control device 22.

[0037] The safety information communication unit 36 ​​may output safety information in response to a request from the safety information control device 22 (passive information output) or automatically output safety information to the safety information control device 22 (active information output). Either method may be employed. For example, the safety information generated by the information generation unit 31 may be continuously transmitted to the safety information control device 22 from the time the safety information is stored in the safety information storage unit 35 until subsequent safety information is stored in the safety information storage unit 35. The safety information may be a binary signal representing, for example, a "safe state" or a "state where safety has not been confirmed." The safety information may be output as a 1-bit digital signal of 0 / 1, or as an analog signal of, for example, 0V / 24V. Alternatively, multi-valued safety information may be output using a multi-bit digital signal. The non-safety information communication unit 33 and the safety information communication unit 36 ​​may be the same unit. In this case, the non-safety information and the safety information output from the same communication unit may be transmitted via a relay device such as a hub, with the non-safety information being transmitted to the non-safety information control device 21 and the safety information being transmitted to the safety information control device 22.

[0038] Details of information processing based on these functions are described below.

[0039] An example of processing by the laser scanner 20 will be described in detail with reference to Fig. 5. Fig. 5(A) is a diagram showing the processing time of the safety information. Fig. 5(B) is a diagram showing the processing time of the non-safety information in a state where the processing by the information generation limiting unit 34 is not limited by the information generation limiting unit 34.

[0040] The "Scan" bar in FIG. 5 indicates the time during which the measurement area is measured during one scan. The "Safety Information Generation Time" bar indicates the delay time for generating safety information by the information generation unit 31. The "Safety Information Storage Unit" bar indicates the time during which safety information is stored in the safety information storage unit 35 provided in the laser scanner 20. The "Non-Safety Information Generation Time" bar indicates the delay time for generating non-safety information by the information generation unit 31. The "Storage Unit 1" and "Storage Unit 2" bars indicate the time during which non-safety information is stored in the two non-safety information storage units 32 provided in the laser scanner 20. The numbers in FIG. 5 are sequential numbers assigned to explain the series of steps from scanning to outputting output information. For example, the time numbered "2" indicates the time required for the second scan, the delay time for generating output information based on the measurement information measured by the second scan, and the time during which the output information generated based on the measurement information measured by the second scan is stored in the safety information storage unit 35 or the non-safety information storage unit 32. The arrows attached to the "safety information control device" and the "non-safety information control device" indicate the timing at which a request for output information is received from the safety information control device 22 or the non-safety information control device 21. Below the arrows, signals T1, T2, T3, and T4 that request output information from the safety information control device 22 or the non-safety information control device 21 are shown. Furthermore, the numbers below the signals T1, T2, T3, and T4 that request output information from the safety information control device 22 or the non-safety information control device 21 indicate the measurement information used as a basis for generating the output information to be transmitted to the safety information control device 22 or the non-safety information control device 21. For example, referring to FIG. 5(A), the safety information transmitted by the laser scanner 20 to the safety information control device 22 at the timing at which a signal T1 requesting safety information is received from the safety information control device 22 is generated based on the measurement information acquired by the first scan. Note that the timing at which safety information is requested from the safety information control device 22 is an interval required for the devices controlled by the safety information control device 22 to operate safely, and is the interval at which non-safety information is requested from the non-safety information control device 21. The timing may be the same as or different from the timing of requesting the information.

[0041] The laser scanner 20 scans the measurement area using the measurement unit 30, measures a plurality of directions with the laser scanner 20 as the reference (center), and acquires measurement information.

[0042] A "scan" is a period in which the light source rotates once (360 degrees) using a known motor. In the laser scanner 20 according to this embodiment, the measurement area is from 0 degrees to 270 degrees in a single scan, and measurement information related to reflected electromagnetic waves is measured. In this embodiment, scanning the measurement area is referred to as a "front scan." Between 270 degrees and 360 degrees in a direction, internal processing other than measurement operations, including the generation of output information by the information generation unit 31, is performed. In this embodiment, scanning from 270 degrees to 360 degrees in a direction is referred to as a "back scan." Then, once scanning up to 360 degrees in a direction is completed, the next scan begins. Note that the measurement area is not limited to 0 degrees to 270 degrees.

[0043] After acquiring measurement information using the measurement unit 30, the laser scanner 20 generates safety information and unsafe information using the information generation unit 31 based on the measurement information measured by the measurement unit 30 for each direction (each angle). The unsafe information includes information on the distance to an object (closest reflector) for each direction and the reflection intensity of the laser light. For example, if the laser scanner 20 has a measurement area of ​​approximately 270 degrees and an angular resolution of approximately 0.4 degrees, output information for approximately 670 points can be obtained in one scan. In this embodiment, the reflection intensity refers to the value obtained by dividing the amount of light received by the laser scanner 20 by the maximum amount of light that the laser scanner 20 is expected to receive.

[0044] When the safety information is generated by the information generating unit 31, the safety information is stored in the safety information storage unit 35. The delay time for the safety information is short, and the safety information is stored in the safety information storage unit 35 immediately after the measurement operation is completed.

[0045] When the laser scanner 20 receives a signal requesting safety information from the safety information control device 22 , it transmits the safety information stored in the safety information storage unit 35 to the safety information control device 22 .

[0046] 5(A), at the time when the laser scanner 20 receives a signal T1 requesting safety information from the safety information control device 22, the safety information storage unit 35 stores safety information generated based on the measurement information acquired by the first scan. Therefore, the safety information transmitted by the laser scanner 20 to the safety information control device 22 is the safety information generated based on the measurement information acquired by the first scan. Similarly, at the time when the laser scanner 20 receives a signal T2 requesting safety information from the safety information control device 22, the safety information transmitted by the laser scanner 20 to the safety information control device 22 is the safety information generated based on the measurement information acquired by the second scan. At the time when the laser scanner 20 receives a signal T3 requesting safety information from the safety information control device 22, the safety information transmitted by the laser scanner 20 to the safety information control device 22 is the safety information generated based on the measurement information acquired by the third scan. At the time when the laser scanner 20 receives a signal T4 requesting safety information from the safety information control device 22, the safety information transmitted by the laser scanner 20 to the safety information control device 22 is the safety information generated based on the measurement information acquired by the fourth scan.

[0047] 5(A), the safety information generated by the information generating unit 31 is generated after the measurement operation by the measuring unit 30, and the safety information is generated during the time it takes for one scan to be completed. Therefore, the safety information received by the safety information control device 22 is generated based on the measurement information that the laser scanner 20 has just acquired.

[0048] Since the non-safety information has a larger amount of information than the safety information, the delay time of the non-safety information is longer than the delay time of the safety information, and the time from the measurement operation by the measurement unit 30 until one scan is completed is It may not be possible to complete the generation of all non-safety information that can be generated at any one time. The information processing of non-safety information will be described with reference to Fig. 5(B).

[0049] When the information generating unit 31 generates non-safety information, the non-safety information is stored in the non-safety information storage unit 32. Two non-safety information storage units 32 are provided, and the non-safety information generated by the information generating unit 31 is stored alternately in the two non-safety information storage units 32. Referring to FIG. 5(B), the non-safety information generated by the second scan is stored in storage unit 1 because the non-safety information generated by the first scan is stored in storage unit 2. The non-safety information generated by the third scan is stored in storage unit 2 because the non-safety information generated by the second scan is stored in storage unit 1.

[0050] When the laser scanner 20 receives a signal requesting non-safety information from the non-safety information control device 21, it transmits the latest non-safety information among the non-safety information stored in the two non-safety information storage units 32 to the non-safety information control device 21.

[0051] 5(B), at the timing when signal T1 requesting output information is received from non-safety information control device 21, storage unit 1 stores non-safety information generated based on measurement information acquired in the zeroth scan, and storage unit 2 stores non-safety information generated based on measurement information acquired in the first scan. Therefore, the non-safety information that laser scanner 20 transmits to non-safety information control device 21 when signal T1 requesting non-safety information is received from non-safety information control device 21 is non-safety information generated based on measurement information acquired in the first scan. The same applies when signal T2 requesting non-safety information is received from non-safety information control device 21. At the timing when signal T3 requesting non-safety information is received from non-safety information control device 21, storage unit 1 stores non-safety information generated based on measurement information acquired in the second scan, and storage unit 2 stores non-safety information generated based on measurement information acquired in the first scan. Therefore, when a signal T2 requesting output information is received from the non-safety information control device 21, the output information that the laser scanner 20 sends to the non-safety information control device 21 is non-safety information generated based on the measurement information obtained by the second scan.

[0052] 5(B), the non-safety information generated by the information generating unit 31 is generated after the measurement operation by the measuring unit 30, and continues to generate the non-safety information during the next scan. Moreover, by the time the non-safety information is stored in the non-safety information storage unit 32, the next measurement operation has been completed. Therefore, the non-safety information received by the non-safety information control device 21 is non-safety information generated based on measurement information acquired earlier than the measurement information acquired immediately before by the laser scanner 20.

[0053] Here, in the laser scanner 20 according to this embodiment, the information generation limiting unit 34 can limit the information generating unit 31 so that it generates only part of the non-safety information. By limiting the information generating unit 31 so that it generates only part of the non-safety information using the information generation limiting unit 34, it is possible to reduce delay time. Therefore, the output information received by the non-safety information control device 21 may be output information generated based on the measurement information most recently acquired by the laser scanner 20. The limit imposed by the information generation limiting unit 34 can be set by a device (for example, a personal computer used for setting) different from the non-safety information control device 21. In this case, the limit can be set during a setting mode in which communication with the non-safety information control device 21 is cut off and various settings of the laser scanner 20 are made.

[0054] The information generation limiting unit 34 limits only the processing of the information generating unit 31 to generate non-safety information, and does not limit the processing of generating safety information. Therefore, safety information is generated for each measurement operation and transmitted to the safety information control device 22. As a result, the information generation limiting unit 34 This does not interfere with the safe operation of the machine.

[0055] The information generation limiting unit 34 may limit the processing of the information generating unit 31 by allowing the user to select a non-safety information pattern having necessary output information from a plurality of pre-set non-safety information patterns that differ in the time required to generate non-safety information. By preparing in advance a non-safety information pattern having necessary non-safety information from the non-safety information patterns, the information generating unit 31 can be easily limited by the information generation limiting unit 34.

[0056] FIG. 6 shows examples of multiple non-safety information patterns that differ in the time required to generate the non-safety information. When the user specifies a pattern number shown in FIG. 6, the information generation unit 31 generates the non-safety information shown in the "Information to be generated" column corresponding to the pattern number. The "Other information" shown in FIG. 6 is non-safety information excluding distance information and the reflection intensity of the object, such as the time of scanning. The number in parentheses in the "Information to be generated" column is the number of pieces of non-safety information.

[0057] Pattern 1 is a pattern in which all unsafety information that can be generated by the information generation unit 31 is generated. Pattern 2 is a pattern in which unsafety information and other information are generated, which are half the number of pieces of distance information and object reflection intensity information that can be generated by the information generation unit 31. Pattern 3 is a pattern in which unsafety information is generated, which are half the number of pieces of distance information and object reflection intensity information that can be generated by the information generation unit 31. Pattern 4 is a pattern in which unsafety information and other information are generated, which are half the number of pieces of distance information that can be generated by the information generation unit 31. Pattern 5 is a pattern in which unsafety information and other information are generated, which are half the number of pieces of object reflection intensity information that can be generated by the information generation unit 31.

[0058] The number of unsafe information items can be reduced by limiting the measurement area of ​​the measurement information measured by the measurement unit 30, or by coarsening the resolution. For example, if the laser scanner 20 has a measurement area of ​​approximately 270 degrees and an angular resolution of approximately 0.4 degrees, the number of unsafe information items can be halved by generating unsafe information items based on measurement information measured in a measurement area of ​​10 degrees to 145 degrees. Also, the number of unsafe information items can be halved by setting the resolution to 0.8 degrees.

[0059] FIG. 7 is a diagram showing a setting computer screen on which a user selects an output information pattern. The user selects a pattern having the necessary non-safety information from the pattern candidates displayed on the setting computer screen. For example, FIG. 7 shows a state in which pattern 2 has been selected. Note that the setting computer screen is not limited to this display. For example, as shown in FIG. 7, the bar next to the selected pattern may be displayed in black, a check mark may be displayed next to the selected pattern, or only the pattern selected by selecting a pattern candidate from a pull-down menu may be displayed.

[0060] When the user selects a pattern, the delay time required to generate the non-safety information for the selected pattern may be calculated and displayed on the setting computer screen. Also, it may be displayed whether or not the generation will be completed within the time it takes for one scan to complete that delay time. This allows the user to select a pattern while checking the displayed delay time.

[0061] The selected pattern may be a combination of multiple patterns. In this case, the delay time required to generate the selected multiple patterns may be calculated and displayed on the setting screen of the personal computer. By checking the displayed delay time, the user can know the delay time required to generate a pattern containing the required information. In addition, it may be displayed whether the generation will be completed within the time it takes for one scan to complete, and a combination of patterns that will be generated within the time it takes for one scan to complete may be displayed in advance on the setting screen. This allows the user to select a combination of patterns that will be generated in the time it takes to complete one scan.

[0062] Furthermore, the information generation limiting unit 34 may limit the processing of the information generating unit 31 by allowing the user to specify a measurement area and resolution. By specifying a measurement area and resolution, the user can limit the information generating unit 31 to generate only the necessary non-safety information, thereby reducing the time it takes for the information generating unit 31 to generate non-safety information.

[0063] FIG. 8 shows a setting computer screen on which the user specifies the measurement area and resolution. The user specifies the measurement area and resolution on the setting computer screen. For example, the user selects a value from a pull-down menu displayed by selecting the black triangle in FIG. 8. This limits the processing of the information generation unit 31 to generate output information corresponding to the specified measurement area and resolution. Note that the setting computer screen is not limited to this display. For example, a screen on which the measurement area and resolution can be specified by directly inputting values ​​may also be used.

[0064] The user may limit the number of bits of the generated non-safety information instead of the resolution. For example, by reducing the number of bits, the amount of data of the generated non-safety information can be reduced, thereby shortening the delay time for the information generator 31 to generate the non-safety information.

[0065] Furthermore, the non-safety information control device 21 may limit the processing of the information generation unit 31. In this case, the non-safety information control device 21 transmits a request to the laser scanner 20 to limit the information generation unit 31 of the laser scanner 20. In response to the request from the non-safety information control device 21, the laser scanner 20 limits the processing of generating non-safety information by the information generation unit 31 and generates the non-safety information. Therefore, the information requested by the non-safety information control device 21 can be changed as needed, and only the necessary non-safety information can be output at any time.

[0066] Furthermore, the laser scanner 20 may be provided with a switching unit (not shown), such as a DIP switch, that can switch between restricting the generation process of non-safety information by the information generating unit 31 and not restricting the generation process of non-safety information by the information generating unit 31. By providing the switching unit in the laser scanner 20, it is possible to easily switch between restricting the generation process of non-safety information by the information generating unit 31 and not restricting the generation process of non-safety information without interrupting communication with the non-safety information control device 21.

[0067] FIG. 9 is a diagram showing the processing time in a state in which the information generation limiting unit 34 limits the generation process of unsafe information by the information generating unit 31. In FIG.

[0068] When the information generation limiting unit 34 limits the non-safety information generation process of the information generating unit 31, the delay time is shorter than when the non-safety information generation process of the information generating unit 31 is not limited. Therefore, the non-safety information stored in the storage units 1 and 2 is updated in a shorter time period than when the non-safety information generation process of the information generating unit 31 is not limited. Referring to FIG. 9 , the non-safety information transmitted by the laser scanner 20 to the non-safety information control device 21 upon receiving a signal T1 requesting non-safety information from the non-safety information control device 21 is non-safety information based on measurement information measured during the first scan. The non-safety information transmitted by the laser scanner 20 to the non-safety information control device 21 upon receiving a signal T2 requesting non-safety information from the non-safety information control device 21 is non-safety information based on measurement information measured during the second scan. The non-safety information transmitted by the laser scanner 20 to the non-safety information control device 21 upon receiving a signal T3 requesting non-safety information from the non-safety information control device 21 is non-safety information based on measurement information measured during the third scan. The non-safety information that the laser scanner 20 transmits to the non-safety information control device 21 when it receives a signal T4 requesting non-safety information from the non-safety information control device 21 is measured during the third scan. This is non-safety information based on measured information.

[0069] Furthermore, the information generation limiting unit 34 may limit the non-safety information generation process of the information generating unit 31 so that the non-safety information is generated within the time until one scan is completed. Referring to FIG. 9 , the non-safety information generated by the information generating unit 31 is generated after the measurement operation by the measurement unit 30, and the generation of the non-safety information continues during the next scan. Therefore, the non-safety information received by the non-safety information control device 21 may be non-safety information generated based on measurement information acquired earlier than the measurement information acquired immediately before by the laser scanner 20. By limiting the non-safety information generation process of the information generating unit 31 so that the non-safety information is generated within the time until one scan is completed, the non-safety information received by the non-safety information control device 21 can be generated based on the measurement information acquired immediately before by the laser scanner 20.

[0070] FIG. 10 is a diagram showing the processing time when the information generation limiting unit 34 limits the non-safety information generation process of the information generating unit 31 so that the non-safety information is generated within the time it takes to complete one scan.

[0071] In this case, the non-safety information generated by the information generating unit 31 starts to be generated after the measurement operation by the measuring unit 30 and can be generated in the time it takes for one scan to be completed. Therefore, the non-safety information storage unit 32 stores non-safety information generated based on the measurement information measured in the immediately preceding scan. Referring to FIG. 10 , the non-safety information transmitted by the laser scanner 20 to the non-safety information control device 21 upon receiving a signal T1 requesting non-safety information from the non-safety information control device 21 is non-safety information based on the measurement information measured during the first scan. The non-safety information transmitted by the laser scanner 20 to the non-safety information control device 21 upon receiving a signal T2 requesting non-safety information from the non-safety information control device 21 is non-safety information based on the measurement information measured during the second scan. The non-safety information transmitted by the laser scanner 20 to the non-safety information control device 21 upon receiving a signal T3 requesting non-safety information from the non-safety information control device 21 is non-safety information based on the measurement information measured during the third scan. The non-safety information that the laser scanner 20 transmits to the non-safety information control device 21 upon receiving a signal T4 requesting non-safety information from the non-safety information control device 21 is non-safety information based on the measurement information measured during the fourth scan. Therefore, it is guaranteed that the non-safety information received by the non-safety information control device 21 has been generated based on the measurement information that the laser scanner 20 has acquired immediately before.

[0072] Furthermore, the laser scanner 20 may be accelerated or decelerated during one scan so that the generation of the non-safety information is completed before one scan is completed. In the laser scanner 20 of this embodiment, the scanning speed is constant during one scan. However, by changing the front scan speed and / or the back scan speed during one scan, the generation of the non-safety information can be completed before one scan is completed. For example, the back scan speed may be slowed down to increase the time required for the back scan, so that the generation of the non-safety information is completed before one scan is completed.

[0073] In this case, the speed at which the measurement information is taken and the speed at which the unsafe information is generated may be displayed on the setting computer screen, allowing the user to set the front scan speed and back scan speed at which the generation of the unsafe information is completed before one scan is completed.

[0074] <Other> The above-described embodiment merely exemplifies the configuration of the present invention. There is no limitation to the specific form, and various modifications are possible within the scope of the technical concept. For example, the above embodiment is intended to shorten the delay time, but by limiting the generation process of non-safety information by the information generator 31 using the information generation limiter 34, it becomes possible to allocate resources that would have been used to generate all the non-safety information that can be generated to other functions, and it is also possible to improve the performance of other functions, such as subdividing measurement data.

[0075] Furthermore, in this embodiment, measurements by the measurement unit 30 are performed continuously during one scan, but measurement information may be acquired intermittently. When measurement information is acquired intermittently, the delay time can be reduced by the information generation limiting unit 34, so it is also possible to generate unsafe information based on the measurement information between multiple measurements performed during one scan.

[0076] <Appendix 1> an information acquisition means (12; 30) for measuring a predetermined area and acquiring original information; information generating means (13; 31) capable of generating safety information and non-safety information based on the original information acquired by the information acquiring means (12; 30); a storage means (14; 32) for storing the non-safety information generated by the information generation means (13; 31); a communication means (15; 33) for transmitting the non-safety information stored in the storage means (14; 32) to the external device (11A; 21) in response to a request from the external device (11A; 21); and an information generation limiting means (16; 34) for limiting the processing of the information generating means (13; 31) so that the information generating means (13; 31) generates only a part of the non-safety information that can be generated based on the original information. Information provision device (10;20).

[0077] <Appendix 2> The information generation limiting means (16; 34) limits the processing of the information generating means (13; 31) in response to an instruction from a device other than the external device (11A; 21). The information providing device (10; 20) according to appendix 1.

[0078] <Appendix 3> The information generation limiting means (16; 34) limits the processing of the information generating means (13; 31) in response to an instruction from the external device (11A; 21). The information providing device (10; 20) according to appendix 1.

[0079] <Appendix 4> The information generation limiting means (16; 34) limits the processing of the information generating means (13; 31) by selecting the non-safety information pattern having the non-safety information required by the user from a plurality of pre-set non-safety information patterns. An information providing device (10; 20) according to any one of appendices 1 to 3.

[0080] <Appendix 5> the plurality of non-safety information patterns differ from one another in the time required to generate the non-safety information; The information providing device (10; 20) according to appendix 4.

[0081] <Appendix 6> The storage means (14; 32) is provided in two pieces, The generated non-secure information is stored alternately in the two storage means (14; 32), While the non-secure information is being written to one of the storage means (14; 32), it is output from the other storage means (14; 32). An information providing device (10; 20) according to any one of appendices 1 to 5.

[0082] <Appendix 7> The information providing device (10; 20) is a sensor that measures the distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object, the original information is information about the reflected electromagnetic wave, the non-safety information includes information about a distance to the object; An information providing device (10; 20) according to any one of appendices 1 to 6.

[0083] <Appendix 8> the non-safety information includes a reflection intensity of the object; The information providing device (10; 20) according to appendix 7.

[0084] <Appendix 9> The process of acquiring the original information by the information acquisition means (12; 30) is performed at regular time intervals, The information generation limiting means (16; 34) limits the processing of the information generating means (13; 31) so that the non-safety information is generated between the time when the original information is acquired by the information acquiring means (12; 30) and the time when the next acquisition of the original information by the information acquiring means (12; 30) begins. An information providing device (10; 20) according to any one of appendices 1 to 8. [Explanation of symbols]

[0085] 1: Sensor system 10: Information provision device 11A: External equipment 11B: Safety information receiving device 12: Information acquisition means 13: Information generation means 14: Non-safety information storage means 15: Non-secure information communication means 16: Information generation restriction measures 17: Safety information storage means 18:Safety information communication means 20: Laser scanner 201:Scanner body 202: Window 21: Non-safety information control device 22: Safety information control device 30: Measuring part 31: Information generation section 32: Non-safety information storage section 33: Non-Safety Information and Communications Department 34: Information generation restriction unit 35: Safety information storage section 36: Safety Information and Communications Department

Claims

1. an information acquisition means for measuring a predetermined area and acquiring original information; an information generating means capable of generating safety information and non-safety information based on the original information acquired by the information acquiring means; a storage means for storing the non-safety information generated by the information generation means; a communication means for transmitting the non-safety information stored in the storage means to an external device in response to a request from the external device; and an information generation limiting means for limiting processing by the information generating means so that the information generating means generates only part of the non-safety information that can be generated based on the original information. Information provision device.

2. the information generation limiting means limits the processing of the information generating means in response to an instruction from a device other than the external device. The information providing device according to claim 1 .

3. the information generation limiting means limits the processing of the information generating means in response to an instruction from the external device. The information providing device according to claim 1 .

4. the information generation limiting means limits the processing of the information generating means by selecting the non-safety information pattern having the non-safety information required by the user from a plurality of pre-set non-safety information patterns. The information providing device according to any one of claims 1 to 3.

5. the plurality of non-safety information patterns differ from one another in the time required to generate the non-safety information; 5. The information providing device according to claim 4.

6. Two of the storage means are provided, The generated non-safety information is stored alternately in the two storage means; While the non-secure information is being written to one of the storage means, the non-secure information is output from the other storage means. The information providing device according to any one of claims 1 to 3.

7. the information providing device is a sensor that measures a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object, the original information is information about the reflected electromagnetic wave, the non-safety information includes information about a distance to the object; The information providing device according to any one of claims 1 to 3.

8. the non-safety information includes a reflection intensity of the object; The information providing device according to claim 7.

9. the process of acquiring the original information by the information acquisition means is performed at regular time intervals, the information generation limiting means limits the processing of the information generating means so that the non-safety information is generated during a period from after the information acquiring means acquires the original information until before the information acquiring means starts to acquire the next original information. The information providing device according to any one of claims 1 to 3.

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