Setting device, sensor, setting method, and program

Abstract

To reduce man hour of setting of a user.SOLUTION: A setting device for a sensor configured to perform a two-dimensional scan with light and detect a target object entering a predetermined area, includes: an area setting unit configured to assigns an ID to each of a plurality of detection areas for detecting entrance of the target and set a shape of the detection area; and an area set setting unit configured to set a plurality of detection area sets including at least one of the plurality of detection areas, and when a shared ID is assigned to the plurality of detection areas included in at least two of the plurality of detection area sets, the area set setting unit sets the plurality of detection area sets by using the plurality of detection areas to which the shared ID is assigned.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a setting device, a sensor, a setting method, and a program. [Background technology]

[0002] When humans work together with a hazard source such as a machine or a robot, a virtual detection area is set near the hazard source and a sensor is used to monitor whether an object has entered the detection area. Patent Document 1 describes a method for setting detection conditions for a sensor to detect the approach of an object to a machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-186946 Summary of the Invention [Problem to be solved by the invention]

[0004] In some cases, a detection area set having one or more detection areas is manually set. When multiple detection area sets are set, one or more detection areas must be set for each detection area set, and therefore the number of steps required for setting by the user increases depending on the number of detection area sets.

[0005] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to reduce the number of setting steps required by the user. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a setting device for a sensor that detects an object that has entered a predetermined area by two-dimensionally scanning light, the setting device including: an area setting unit that assigns an ID and sets a shape to each of a plurality of detection areas for detecting the intrusion of the object; and an area set setting unit that sets a plurality of detection area sets including at least one of the plurality of detection areas, wherein, if a shared ID is assigned to a plurality of detection areas included in at least two of the plurality of detection area sets, the area set setting unit sets the plurality of detection area sets using the plurality of detection areas assigned the shared ID. With the setting device, the plurality of detection area sets are set using the plurality of detection areas assigned the shared ID, thereby making it possible to reduce the user's setting labor.

[0007] The setting device includes a receiving unit that receives a request to modify the shape of at least one of the plurality of detection areas, and a modifying unit that modifies the shape of at least one of the plurality of detection areas, and when the receiving unit receives a request to modify the shape of one of the plurality of detection areas to which the shared ID is assigned, the modifying unit modifies the shapes of all of the plurality of detection areas to which the shared ID is assigned. Because the modifying unit modifies the shapes of all of the plurality of detection areas to which the shared ID is assigned, it is possible to reduce the number of steps required for setting by a user.

[0008] The setting device includes a display unit that displays, when the accepting unit accepts a request to modify the shape of one of the plurality of detection areas to which the shared ID is assigned, a confirmation screen for prompting the user whether or not to modify the shapes of all of the plurality of detection areas to which the shared ID is assigned. The user can confirm the confirmation screen and decide whether or not to modify the shapes of all of the plurality of detection areas to which the shared ID is assigned.

[0009] The setting device includes a display unit that displays the plurality of detection areas, the IDs assigned to each of the plurality of detection areas, and the plurality of detection area sets, and the display unit displays the plurality of detection areas in a linked state with the IDs assigned to each of the plurality of detection areas, allowing a user to understand the linked state of the plurality of detection areas and the IDs assigned to each of the plurality of detection areas.

[0010] The plurality of detection areas include a protection area, the area setting unit assigns the shared ID to the protection areas in at least two of the plurality of detection area sets, and the area set setting unit sets the at least two of the plurality of detection area sets using the protection areas assigned the shared ID. A protection area in one of the plurality of detection area sets can be shared with a protection area in another of the plurality of detection area sets.

[0011] The plurality of detection areas include a warning area, the area setting unit assigns the shared ID to the warning areas in at least two of the plurality of detection area sets, and the area set setting unit sets the at least two of the plurality of detection area sets using the warning areas assigned the shared ID. The warning area of ​​one of the plurality of detection area sets can be shared with the warning area of ​​another of the plurality of detection area sets.

[0012] The plurality of detection areas include a protection area and a warning area, the area setting unit assigns the shared ID to one of the protection areas and the other of the warning areas in at least two of the plurality of detection area sets, and the area set setting unit sets the at least two of the plurality of detection area sets using the protection area and the warning area assigned the shared ID. One of the plurality of detection area sets can be used in common with the other of the plurality of detection area sets.

[0013] According to one aspect of the present invention, a sensor having the setting device described above is provided. The present invention can also be understood as a setting method including at least a part of the above-described processing, a program for causing a computer included in the setting device to execute at least a part of the above-described processing, or a computer-readable recording medium on which such a program is non-temporarily recorded. It can also be understood as a setting system including at least a part of the above-described processing. The above configurations and processing can be combined with each other to constitute the present invention as long as no technical contradictions arise. [Effects of the Invention]

[0014] According to the present invention, the number of steps required for setting by the user can be reduced. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic diagram of the sensor system. [Figure 2] FIG. 2 is a diagram showing the configuration of the sensor. [Figure 3] FIG. 3 is a functional block diagram of the setting device. [Figure 4] FIG. 4 is a diagram illustrating an example of a detection area and a detection area set. [Figure 5] FIG. 5 is a diagram illustrating an example of a detection area and a detection area set. [Figure 6] FIG. 6 is a diagram illustrating an example of a detection area and a detection area set. [Figure 7] FIG. 7 is a flowchart illustrating an example of processing by the setting device. [Figure 8] FIG. 8 is a diagram showing an example of a screen for setting a detection area set. [Figure 9] FIG. 9 is a diagram showing an example of a screen for setting a detection area set. [Figure 10] FIG. 10 is a flowchart illustrating an example of processing by the setting device. [Figure 11]FIG. 11 is a diagram showing an example of a screen for correcting the detection area. [Figure 12] FIG. 12 is a diagram showing an example of a screen for correcting the detection area. [Figure 13] FIG. 13 is a diagram showing an example of a screen displayed on the display device. [Figure 14] FIG. 14 is a diagram showing an example of a screen displayed on the display device. DETAILED DESCRIPTION OF THE INVENTION

[0016] Application examples and embodiments will be described below with reference to the drawings. The application examples and embodiments described below are aspects of the present application and do not limit the scope of the rights of the present application.

[0017] <Application example> FIG. 1 is a schematic diagram of a sensor system (safety monitoring system). In the sensor system of FIG. 1, in an environment where a hazard source such as a mobile robot 1 and a worker (person) 100 cooperate with each other, for example, in a production site such as a factory, the movement of the worker 100 is grasped and the mobile robot 1 is controlled. The mobile robot 1 is, for example, a traveling device such as an autonomous mobile robot (AMR) or an automated guided vehicle (AGV). The robot 1 may be a transport device with a manipulator attached to a running device. A sensor 2 is installed at an arbitrary position on the mobile robot 1. In FIG. 1, the sensor 2 is installed at the front part of the mobile robot 1.

[0018] The sensor 2 is also called a safety laser scanner or laser scanner, and is a safety scanner that complies with safety standards. The sensor 2 scans light two-dimensionally to detect an object (target) that has entered a predetermined area. FIG. 2 is a diagram showing the configuration of the sensor 2. The sensor 2 has a window 201 and a top surface 202. The sensor 2 has a structure in which the window 201, which has an inverted truncated cone shape, is provided on a main body 210. The top surface 202 is provided on top of the window 201. The window 201 shown in FIG. 2 has a tapered shape that widens from one opening to the other opening, but is not limited to this shape, and the window 201 may also be cylindrical.

[0019] The window 201 is transparent or translucent (colored with a predetermined transmittance). The window 201 is made of a material that transmits laser light and is a member for protecting optical systems such as mirrors. The main body 210 is provided with a light source, an optical system, a light receiving unit, a control circuit, an indicator light, and the like. The sensor 2 can scan a predetermined range by reflecting the laser light output from the light source on a mirror that rotates at high speed inside the window 201. The light reflected by an object is guided to the light receiving unit via the optical system and undergoes photoelectric conversion. The dashed line in FIG. 2 indicates the scanning range of the laser light. In the configuration example shown in FIG. 2, a display 211 is provided on the outer surface of the main body 210. The display 211 displays information about the state of the sensor 2, information about warnings to the outside, and the like.

[0020] The sensor 2 can be connected to the setting device 3 via a wired or wireless connection. The setting device 3 performs predetermined settings on the sensor 2. The setting device 3 is also a controller (information processing device) that functions as a processing device and a display device (display). The setting device 3 may be configured as a dedicated device or a general-purpose computer. In this embodiment, the setting device 3 is configured by installing a setting tool (software program) for the sensor 2 on a general-purpose personal computer. In this case, the setting device 3 includes hardware resources such as a processor (CPU), memory, storage, a communication I / F, an input device, and a display device. The processing device functions described below are realized by expanding a program stored in the storage into memory and executing it with the processor. Examples of input devices include a keyboard, a mouse, and a touch panel. However, the configuration of the setting device 3 is not limited to this. For example, all or part of the functions may be configured using circuits such as ASICs or FPGAs, or all or part of the functions may be executed by a cloud server or other devices.

[0021] <Description of the embodiment> FIG. 3 is a functional block diagram of the setting device 3. The setting device 3 mainly includes an area setting unit 31, an area set setting unit 32, a reception unit (modification reception unit) 33, a modification unit 34, a display unit 35, and a storage unit 36. The area setting unit 31 assigns a unique ID (identification) to each of a plurality of detection areas for detecting the intrusion of an object and sets the shape of each of the detection areas. The detection area is a virtual two-dimensional region for detecting an object approaching the sensor 2, and is set to at least a portion of the periphery of the sensor 2. When the sensor 2 is installed on the mobile robot 1, the detection area is set to at least a portion of the periphery of the mobile robot 1. The area set setting unit 32 sets a plurality of detection area sets, each including at least one of the plurality of detection areas. The reception unit 33 receives input of setting information from a user. For example, the reception unit 33 receives modification of the shape of at least one of the plurality of detection areas. The modification unit 34 modifies the shape of at least one of the plurality of detection areas. The display unit 35 displays setting information (setting data) of the sensor 2. The storage unit 36 ​​stores the setting information of the sensor 2 and the like.

[0022] FIG. 4 is a diagram showing an example of a detection area and a detection area set. As shown in FIG. 4, a detection area is set in a portion of the periphery of the mobile robot 1. In FIG. 4, a protection area 11 as a detection area and a warning area 12 as a detection area are set in a predetermined area in front of the mobile robot 1. When an object (intrusion) is not present in the protection area 11, the mobile robot 1 is permitted to operate. For example, when no object is present in the protection area 11, the sensor 2 outputs a safety signal to the mobile robot 1 indicating permission to operate. When an object is detected in the warning area 12, a warning is issued. When an object intrudes into the warning area 12, the sensor 2 may issue a warning. The warning may be issued by light using a warning lamp. The warning may be issued by sound using a warning buzzer. When an object intrudes into the warning area 12, the sensor 2 may output a warning signal. A warning device may receive the warning signal from the sensor 2 and issue a warning. Furthermore, when an object is detected in the warning area 12, the speed of the mobile robot 1 may be reduced. For example, if an object is present in the warning area 12, the sensor 2 outputs a control signal to the mobile robot 1 to slow down the movement of the mobile robot 1.

[0023] The detection area set A1 in FIG. 4 is set, for example, when the mobile robot 1 moves straight at a normal speed. The detection area set A2 in FIG. 4 is set, for example, when the mobile robot 1 moves straight at a high speed. The protection area 11 and the warning area 12 are assigned IDs. The detection area set A1 includes the protection area 11 assigned ID001 and the warning area 12 assigned ID002. Hereinafter, the protection area 11 assigned ID001 will be referred to as the protection area 11 (ID001), and the warning area 12 assigned ID002 will be referred to as the warning area 12 (ID002). The detection area set A2 includes the protection area 11 assigned ID003 and the warning area 12 assigned ID004. Hereinafter, the protection area 11 assigned ID003 will be referred to as protection area 11 (ID003), and the warning area 12 assigned ID004 will be referred to as warning area 12 (ID004).

[0024] FIG. 5 is a diagram showing an example of detection areas and detection area sets. The detection area set A3 in FIG. 5 is set, for example, when the mobile robot 1 turns right. The detection area set A4 in FIG. 5 is set, for example, when the mobile robot 1 turns left. The detection area set A3 includes a protection area 11 assigned ID005 and a warning area 12 assigned ID006. The detection area set A4 includes a protection area 11 assigned ID007 and a warning area 12 assigned ID006. Hereinafter, the protection area 11 assigned ID005 will be referred to as the protection area 11 (ID005), the warning area 12 assigned ID006 will be referred to as the warning area 12 (ID006), and the protection area 11 assigned ID007 will be referred to as the protection area 11 (ID005). It is written as Guard Area 11 (ID007).

[0025] The warning area 12 (ID006) included in the detection area set A3 and the warning area 12 (ID006) included in the detection area set A4 have the same shape. That is, the warning area 12 (ID006) included in the detection area set A3 and the warning area 12 (ID006) included in the detection area set A4 have the same size (area) and are set at the same position relative to the installation position of the sensor 2 on the mobile robot 1. Therefore, the setting of the warning area 12 (ID006) included in the detection area set A3 and the setting of the warning area 12 (ID006) included in the detection area set A4 can be shared.

[0026] FIG. 6 is a diagram showing an example of detection areas and detection area sets. The detection area set A5 in FIG. 6 is set, for example, when the mobile robot 1 moves straight at a normal speed. The detection area set A6 in FIG. 6 is set, for example, when the mobile robot 1 moves straight at a high speed. The detection area set A5 includes a protection area 11 assigned ID008, a warning area 12 assigned ID009, and a warning area 12 assigned ID010. The detection area set A6 includes a protection area 11 assigned ID009, a warning area 12 assigned ID010, and a warning area 12 assigned ID011. Hereinafter, the protection area 11 assigned ID008 will be referred to as the protection area 11 (ID008), the warning area 12 assigned ID009 will be referred to as the warning area 12 (ID009), and the warning area 12 assigned ID010 will be referred to as the warning area 12 (ID010). Hereinafter, the protection area 11 assigned ID009 will be referred to as protection area 11 (ID009), the warning area 12 assigned ID010 will be referred to as warning area 12 (ID010), and the warning area 12 assigned ID011 will be referred to as warning area 12 (ID011).

[0027] The warning area 12 (ID009) included in the detection area set A5 and the protection area 11 (ID009) included in the detection area set A6 have the same shape. That is, the warning area 12 (ID009) included in the detection area set A5 and the protection area 11 (ID009) included in the detection area set A6 have the same size (area) and are set at the same position relative to the sensor 2. Therefore, the setting of the warning area 12 (ID009) included in the detection area set A5 and the setting of the protection area 11 (ID009) included in the detection area set A6 can be shared.

[0028] The warning area 12 (ID010) included in the detection area set A5 and the warning area 12 (ID010) included in the detection area set A6 have the same shape. That is, the warning area 12 (ID010) included in the detection area set A5 and the warning area 12 (ID010) included in the detection area set A6 have the same size (area) and are set in the same position relative to the sensor 2. Therefore, the setting of the warning area 12 (ID010) included in the detection area set A5 and the setting of the warning area 12 (ID010) included in the detection area set A6 can be shared.

[0029] For example, when detection area sets A1 to A6 are set in the sensor 2 installed in the mobile robot 1, the set detection area sets A1 to A6 are switched depending on the movement state of the mobile robot 1 or the situation around the mobile robot 1.

[0030] 7 is a flowchart showing an example of processing by the setting device 3. The following describes processing by the setting device 3 when setting (registering) the detection area set A3 and the detection area set A4 in the sensor 2. In step S101, the area set setting unit 32 registers the name of the detection area set A3 in the storage unit 36. Also in step S101, the area setting unit 31 assigns ID005 to the protection area 11 and ID006 to the warning area 12.

[0031] In step S102, the area set setting unit 32 sets (registers) the protection area 11 (ID005) and the warning area 12 (ID006) in the detection area set A3.

[0032] In step S103, the area setting unit 31 sets the shape of the protection area 11 (ID005). Also in step S103, the area setting unit 31 registers the set shape of the protection area 11 (ID005) in the storage unit .

[0033] In step S104, the area setting unit 31 sets the shape of the warning area 12 (ID006). Also in step S104, the area setting unit 31 registers the set shape of the warning area 12 (ID006) in the storage unit .

[0034] In step S105, the area set setting unit 32 registers the name of the detection area set A4 in the storage unit 36. Also in step S105, the area setting unit 31 assigns ID007 to the protection area 11.

[0035] In step S106, the area set configuration unit 32 sets (registers) the protection area 11 (ID007) and the warning area 12 (ID006) in the detection area set A4.

[0036] In step S107, the area setting unit 31 sets the shape of the protection area 11 (ID007). Since the area setting unit 31 uses the shape of the warning area 12 (ID006) set in step S104, setting the shape of the warning area 12 (ID006) can be omitted.

[0037] In step S108, the area set setting unit 32 sets the detection area set A3 and the detection area set A4 in the sensor 2.

[0038] A shared ID is assigned to the warning area 12 (ID006) in the detection area set A3 and the warning area 12 (ID006) in the detection area set A4. When multiple detection areas are assigned the same ID, the same ID assigned to the multiple detection areas is called a shared ID. A shared ID (ID006) is assigned to the warning area 12 included in the detection area set A3 and the warning area 12 included in the detection area set A4. The area set setting unit 32 sets the detection area sets A3 and A4 using the multiple warning areas 12 (the warning areas 12 in the detection area sets A3 and A4) to which the shared ID (ID006) is assigned. In this way, when shared IDs are assigned to multiple detection areas included in at least two of the multiple detection area sets, the area set setting unit 32 sets multiple detection area sets using the multiple detection areas to which the shared IDs are assigned. The area setting unit 31 omits the shape of the warning area 12 included in the detection area set A4 to which the shared ID (ID006) is assigned. In this way, the area setting unit 31 omits setting the shape of at least one of the plurality of detection areas to which a shared ID has been assigned.

[0039] In a conventional method of manually setting a detection area set, a detection area must be set for each detection area set, increasing the user's setup time depending on the number of detection area sets. According to the present embodiment, multiple detection area sets are set using multiple detection areas assigned with shared IDs, thereby reducing the user's setup time. For example, the setup of at least one of the multiple detection areas assigned with shared IDs is omitted, reducing the user's setup time. Furthermore, in a conventional method of manually setting a detection area set, the amount of data increases depending on the number of detection areas, which can strain resources such as memory. According to the present embodiment, multiple detection area sets are set using multiple detection areas assigned with shared IDs, thereby avoiding strain on resources such as memory.

[0040] The multiple detection areas may include a protection area 11. The area setting unit 31 may assign a shared ID to the protection areas 11 in at least two of the multiple detection area sets. In this case, the area set setting unit 32 sets at least two of the multiple detection area sets using the protection areas 11 assigned the shared ID. In this way, it is possible to share and use a protection area 11 in one of the multiple detection area sets with a protection area 11 in another of the multiple detection area sets.

[0041] The multiple detection areas may include a warning area 12. The area setting unit 31 may assign a shared ID to the warning areas 12 in at least two of the multiple detection area sets. In this case, the area set setting unit 32 sets at least two of the multiple detection area sets using the warning areas assigned the shared ID. In this way, it is possible to share and use the warning area 12 in one of the multiple detection area sets with the warning area 12 in another of the multiple detection area sets.

[0042] The multiple detection areas may include a protection area 11 and a warning area 12. The area setting unit 31 may assign a shared ID to one protection area 11 and the other warning area 12 in at least two of the multiple detection area sets. In this case, the area set setting unit 32 sets at least two of the multiple detection area sets using the protection area 11 and the warning area 12 assigned with the shared ID. In this way, it is possible to share and use the protection area 11 of one of the multiple detection area sets and the warning area 12 of the other of the multiple detection area sets.

[0043] FIG. 8 is a diagram showing an example of a screen used when setting a detection area set. The screen shown in FIG. 8 is displayed, for example, on the display unit 35. Here, a case where a detection area set A3 is set will be described. A rectangular box 301 in FIG. 8 displays the name of the detection area set A3 entered by the user. A rectangular box 311 in FIG. 8 displays the protection area 11 selected as the detection area. A rectangular box 321 in FIG. 8 displays the ID assigned to the protection area 11 displayed in the rectangular box 311. For example, if a user selects the protection area 11 as the detection area and assigns ID005 to the selected protection area 11, ID005 is displayed in the rectangular box 321. If the protection area 11 is to be shared, the user assigns an ID that is already in use to the protection area 11. If the protection area 11 is not to be shared, the user assigns an unused ID to the protection area 11.

[0044] Rectangular box 312 in FIG. 8 displays the warning area 12 selected as the detection area. Rectangular box 322 in FIG. 8 displays the ID assigned to the warning area 12 displayed in rectangular box 312. For example, if a user selects warning area 12 as the detection area and assigns ID006 to the selected warning area 12, ID006 is displayed in rectangular box 322. If the warning area 12 is to be shared, the user assigns an ID that is already in use to the warning area 12. If the warning area 12 is not to be shared, the user assigns an unused ID to the warning area 12. After assigning the IDs, the user sets the shape of the protection area 11 (ID005) and the shape of the warning area 12 (ID006).

[0045] Fig. 9 is a diagram showing an example of a screen when setting a detection area set. The screen shown in Fig. 9 is displayed on the display unit 35, for example. Here, a case where a detection area set A4 is set will be described. A rectangular box 401 in Fig. 9 displays the name of the detection area set A4 input by the user. A rectangular box 411 in Fig. 9 displays the protection area 11 selected as the detection area. A rectangular box 421 in Fig. 9 displays the name of the detection area set A4 input by the user. The ID assigned to the protection area 11 displayed in 11 is displayed. For example, if the user selects the protection area 11 as the detection area and assigns ID007 to the selected protection area 11, ID007 is displayed in the rectangular box 421.

[0046] The rectangular box 412 in FIG. 9 displays the warning area 12 selected as the detection area. The rectangular box 422 in FIG. 9 displays the ID assigned to the warning area 12 displayed in the rectangular box 412. For example, if the user selects the warning area 12 as the detection area and assigns ID006 to the selected warning area 12, ID006 is displayed in the rectangular box 422. After assigning the ID, the user sets the shape of the protection area 11 (ID007). Because the shape of the warning area 12 (ID006) has already been set, setting the shape of the warning area 12 (ID006) can be omitted.

[0047] 10 is a flowchart showing an example of processing by the setting device 3. The following describes the processing by the setting device 3 when modifying the warning area 12 (ID006) shared between the detection area set A3 and the detection area set A4. In step S201, the receiving unit 33 receives from the user an instruction to modify (change) the shape of the warning area 12 (ID006) of the detection area set A3.

[0048] In step S202, the modification unit 34 modifies (changes) the shape of the warning area 12 (ID006) in the detection area set A3. Because the warning area 12 (ID006) is shared between the detection area sets A3 and A4, when the shape of the warning area 12 (ID006) in the detection area set A3 is modified, the shape of the warning area 12 (ID006) in the detection area set A4 is also modified. A shared ID is assigned to the warning area 12 (ID006) in the detection area set A3 and the warning area 12 (ID006) in the detection area set A4. When a detection area (warning area 12) assigned a shared ID in a specific detection area set is modified, detection areas (warning areas 12) assigned a shared ID in other detection area sets are also modified at the same time.

[0049] When the receiving unit 33 receives from the user a request to modify the shape of at least one of the multiple detection areas, the modifying unit 34 modifies the shape of at least one of the multiple detection areas. When the receiving unit 33 receives from the user a request to modify the shape of one of the multiple detection areas to which a shared ID has been assigned, the modifying unit 34 modifies the shapes of all of the multiple detection areas to which the shared ID has been assigned. Because the modifying unit 34 modifies the shapes of all of the multiple detection areas to which the shared ID has been assigned, it is possible to reduce the user's setting man-hours.

[0050] Conventionally, there is a method of editing a set detection area by copying and pasting it into a new detection area set. However, with this conventional method, when modifying a common detection area, editing is required for each detection area set, and the user's setup time increases depending on the number of detection area sets. According to this embodiment, since editing for each detection area set is not required, the user's setup time can be reduced. Furthermore, with the conventional method, the amount of data increases depending on the number of detection areas, which can strain resources such as memory.

[0051] 11 and 12 are diagrams showing examples of screens when correcting a detection area. The screens shown in FIGS. 12 and 12 are displayed, for example, on the display unit 35. Below, a case will be described where the warning area 12 (ID006) shared between the detection area set A3 and the detection area set A4 is corrected. FIG. 11 shows the warning area 12 (ID006) before correction. FIG. 12 shows the warning area 12 (ID006) after correction. FIGS. 11 and 12 show a predetermined position P1. The predetermined position P1 may be the installation position of the sensor 2 on the mobile robot 1.

[0052] When the warning area 12 (ID006) is modified, a confirmation screen including a message indicating that the settings of other detection areas assigned shared IDs will also be modified is displayed on the display unit 35. When YES is selected, the modification of the warning area 12 (ID006) of the detection area set A3 is confirmed, and the warning area 12 (ID006) of the detection area set A4 is also modified. In other words, the modification of the shape of the detection area is simultaneously reflected in the warning area 12 (ID006) of the detection area set A3 and the warning area 12 (ID006) of the detection area set A4.

[0053] When the receiving unit 33 receives a request to modify the shape of one of the multiple detection areas to which a shared ID has been assigned, the display unit 35 displays a confirmation screen for prompting the user whether or not to modify the shapes of all of the multiple detection areas to which a shared ID has been assigned. The user can check the confirmation screen and decide whether or not to modify the shapes of all of the multiple detection areas to which a shared ID has been assigned.

[0054] 13 and 14 are diagrams showing examples of screens displayed on the display unit 35. In FIG. 13, the IDs of the detection areas included in each detection area set are displayed for each detection area set. In FIG. 14, the detection area set and the detection area are displayed for each ID. As shown in FIGS. 13 and 14, the detection area sets and detection areas associated with the IDs are displayed. The user can understand which IDs are associated with which detection area sets. The user can also understand which IDs are associated with which detection areas.

[0055] By visually checking the screen shown in Fig. 14, the user can understand the shared ID (ID006) assigned to the warning area 12 in the detection area set A3 and the warning area 12 in the detection area set A4. By visually checking the screen shown in Fig. 14, the user can understand the shared ID (ID009) assigned to the warning area 12 in the detection area set A5 and the protected area 11 in the detection area set A6. By visually checking the screen shown in Fig. 14, the user can understand the shared ID (ID010) assigned to the warning area 12 in the detection area set A5 and the warning area 12 in the detection area set A6.

[0056] The display unit 35 displays a plurality of detection areas, IDs assigned to each of the plurality of detection areas, and a plurality of detection area sets. The display unit 35 displays the plurality of detection areas in a linked state with the IDs assigned to each of the plurality of detection areas. The user can understand the linked state of the plurality of detection areas and the IDs assigned to each of the plurality of detection areas.

[0057] The detection area set may include one detection area. The detection area set may include one protection area 11. The area setting unit 31 may set one protection area 11 for one detection area set. The detection area set may include one warning area 12. The area setting unit 31 may set one warning area 12 for one detection area set.

[0058] Although the above example shows the case where the sensor 2 is installed on the mobile robot 1, the present invention is not limited to this example. The sensor 2 may be installed on a fixed hazard such as a fixed robot or manufacturing machine, or may be installed around the fixed hazard. When the sensor 2 is installed on or around the fixed hazard, the multiple detection area sets set on the sensor 2 may be switched depending on the operating state of the fixed hazard. Furthermore, when the sensor 2 is installed on or around the fixed hazard, the multiple detection area sets set on the sensor 2 may be switched depending on the situation around the fixed hazard and the time of day.

[0059] A plurality of sensors 2 may be used. The detection area set set for the sensor 2 installed for the second fixed hazard may be different from the detection area set set for the sensor 2 installed for the second fixed hazard. For example, detection area set A5 may be set for the sensor 2 installed for the first fixed hazard, and detection area set A6 may be set for the sensor 2 installed for the second fixed hazard. The detection area set set for the sensor 2 installed for the first fixed hazard may be the same as the detection area set set for the sensor 2 installed for the second fixed hazard. For example, detection area set A5 may be set for the sensor 2 installed for the first fixed hazard and the sensor 2 installed for the second fixed hazard. An ID used in setting a detection area set for a specific sensor 2 may be reused to set detection area sets for other sensors 2. For example, detection area sets may be set for multiple sensors 2 using a common ID among multiple sensors 2.

[0060] The sensor 2 and the setting device 3 may be integrated. For example, the sensor 2 may have the setting device 3. The sensor 2 may be configured by installing a setting tool in a processing device of the sensor 2. The display 211 of the sensor 2 may function as a display unit (display device).

[0061] The present invention can also be understood as a setting method or monitoring method including at least a part of the above processing, a program for causing a computer included in the setting device 3 to execute at least a part of the above processing, or a computer-readable recording medium on which such a program is non-temporarily recorded. It can also be understood as a setting system or monitoring system including at least a part of the above processing. The above configurations and processing can be combined with each other to constitute the present invention as long as no technical contradictions arise.

[0062] <Appendix 1> A setting device (3) for a sensor (2) that detects an object that has entered a predetermined area by two-dimensionally scanning light, an area setting unit (31) that assigns an ID and sets a shape to each of a plurality of detection areas for detecting the intrusion of the object; an area set setting unit (32) that sets a plurality of detection area sets including at least one of the plurality of detection areas; Equipped with When shared IDs are assigned to the plurality of detection areas included in at least two of the plurality of detection area sets, the area set setting unit (32) sets the plurality of detection area sets using the plurality of detection areas assigned the shared IDs. Setting device (3). <Appendix 2> a receiving unit (33) that receives a correction of the shape of at least one of the plurality of detection areas; a correction unit (34) that corrects the shape of at least one of the plurality of detection areas; Equipped with When the reception unit (33) receives a request to modify the shape of one of the plurality of detection areas to which the shared ID is assigned, the modification unit (34) modifies the shapes of all of the plurality of detection areas to which the shared ID is assigned. Attachment 1. The setting device (3). <Appendix 3> a display unit (35) that displays a confirmation screen prompting the user whether or not to modify the shapes of all of the plurality of detection areas assigned with the shared ID when the reception unit (33) receives a request to modify the shape of one of the plurality of detection areas assigned with the shared ID; The setting device (3) according to appendix 2. <Appendix 4> the plurality of detection areas, the IDs assigned to the respective detection areas, and A display unit (35) for displaying a plurality of detection area sets; The display unit (35) displays the plurality of detection areas in a state in which the plurality of detection areas are associated with the IDs assigned to the respective detection areas. Attachment 1 to any one of the setting device (3) to 3. <Appendix 5> The plurality of detection areas includes a protection area (11), the area setting unit (31) assigns the shared ID to the protection area (11) in at least two of the plurality of detection area sets; the area set setting unit (32) sets the at least two of the plurality of detection area sets using the protection area (11) to which the shared ID is assigned; 5. A setting device (3) according to any one of appendices 1 to 4. <Appendix 6> The plurality of detection areas includes a warning area (12), the area setting unit (31) assigns the shared ID to the warning area (12) in at least two of the plurality of detection area sets; the area set setting unit (32) sets the at least two of the plurality of detection area sets using the warning area (12) to which the shared ID is assigned; 6. A setting device (3) according to any one of appendices 1 to 5. <Appendix 7> The plurality of detection areas include a protection area (11) and a warning area (12), the area setting unit (31) assigns the shared ID to one of the protection areas (11) and the other of the warning areas (12) in at least two of the plurality of detection area sets; the area set setting unit (32) sets the at least two of the plurality of detection area sets using the protection area (11) and the warning area (12) to which the shared ID is assigned; 7. A setting device (3) according to any one of appendices 1 to 6. <Appendix 8> A sensor (2) having a setting device (3) according to any one of appendices 1 to 7. <Appendix 9> A setting method for a sensor (2) that detects an object that has entered a predetermined area by two-dimensionally scanning light, comprising: an area setting step of assigning an ID and setting a shape to each of a plurality of detection areas for detecting intrusion of the object; an area set setting step of setting a plurality of detection area sets including at least one of the plurality of detection areas; and the area set setting step includes, when shared IDs are assigned to the plurality of detection areas included in at least two of the plurality of detection area sets, setting the plurality of detection area sets using the plurality of detection areas assigned the shared IDs; How to set it up. <Appendix 10> A setting device (3) of a sensor (2) that scans light two-dimensionally to detect an object that has entered a predetermined area is provided with a computer. an area setting step of assigning an ID and setting a shape to each of a plurality of detection areas for detecting intrusion of the object; a detection area set setting step of setting a plurality of detection area sets including at least one of the plurality of detection areas; Execute the area set setting step includes, when shared IDs are assigned to the plurality of detection areas included in at least two of the plurality of detection area sets, setting the plurality of detection area sets using the plurality of detection areas assigned the shared IDs; program. [Explanation of symbols]

[0063] 1: Mobile robot 2: Sensor 3: Setting device 11: Protected Area 12: Warning Area 31: Area setting section 32: Area set setting section 33: Reception 34: Correction section 35: Display section 36: Storage section

Claims

1. A setting device for a sensor that detects an object that has entered a predetermined area by two-dimensionally scanning light, an area setting unit that assigns an ID to each of a plurality of detection areas for detecting the intrusion of an object and sets a shape for each of the detection areas; an area set setting unit that sets a plurality of detection area sets including at least one of the plurality of detection areas; Equipped with When shared IDs are assigned to the plurality of detection areas included in at least two of the plurality of detection area sets, the area set setting unit sets the plurality of detection area sets using the plurality of detection areas assigned the shared IDs. Setting device.

2. a receiving unit that receives a correction of the shape of at least one of the plurality of detection areas; a correction unit that corrects the shape of at least one of the plurality of detection areas; Equipped with when the reception unit receives a request to modify a shape of one of the plurality of detection areas to which the shared ID is assigned, the modification unit modifies the shapes of all of the plurality of detection areas to which the shared ID is assigned. The setting device according to claim 1 .

3. a display unit that displays, when the reception unit receives a request to modify the shape of one of the plurality of detection areas to which the shared ID is assigned, a confirmation screen for prompting the user to determine whether or not to modify the shapes of all of the plurality of detection areas to which the shared ID is assigned. The setting device according to claim 2 .

4. a display unit that displays the plurality of detection areas, the IDs assigned to the respective detection areas, and the plurality of detection area sets; the display unit displays the plurality of detection areas in a state in which the plurality of detection areas are associated with the IDs assigned to the respective detection areas. The setting device according to claim 1 .

5. the plurality of detection areas includes a protection area; the area setting unit assigns the shared ID to the protection area in at least two of the plurality of detection area sets; the area set setting unit sets the at least two of the plurality of detection area sets using the protection area assigned the shared ID; The setting device according to claim 1 .

6. the plurality of detection areas includes a warning area, the area setting unit assigns the shared ID to the warning area in at least two of the plurality of detection area sets; the area set setting unit sets the at least two of the plurality of detection area sets using the warning area to which the shared ID is assigned. The setting device according to claim 1 .

7. the plurality of detection areas include a protection area and a warning area; the area setting unit assigns the shared ID to one of the protection areas and the other of the warning areas in at least two of the plurality of detection area sets, the area set setting unit sets the at least two of the plurality of detection area sets using the protection area and the warning area to which the shared ID is assigned. The setting device according to claim 1 .

8. A sensor comprising a setting device according to any one of claims 1 to 7.

9. A method for setting a sensor that detects an object that has entered a predetermined area by two-dimensionally scanning light, comprising: an area setting step of assigning an ID and setting a shape to each of a plurality of detection areas for detecting the intrusion of the object; an area set setting step of setting a plurality of detection area sets including at least one of the plurality of detection areas; and the area set setting step includes, when shared IDs are assigned to the plurality of detection areas included in at least two of the plurality of detection area sets, setting the plurality of detection area sets using the plurality of detection areas assigned the shared IDs; How to set it up.

10. A setting device for a sensor that detects an object that has entered a predetermined area by two-dimensionally scanning light includes a computer, an area setting step of assigning an ID and setting a shape to each of a plurality of detection areas for detecting the intrusion of the object; an area set setting step of setting a plurality of detection area sets including at least one of the plurality of detection areas; Execute the area set setting step includes, when shared IDs are assigned to the plurality of detection areas included in at least two of the plurality of detection area sets, setting the plurality of detection area sets using the plurality of detection areas assigned the shared IDs; program.

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