Setting device, sensor, setting method, and program

Abstract

To provide a technique that can display information that a user desires to view to address the problem that although an amount of information output from a sensor is increasing, the information that the user desires to view differs between users.SOLUTION: A setting device for a sensor that measures a distance to an object by two- dimensionally scanning light at a first angular interval includes: a distance map generation unit that generates a distance map with respect to the light that is scanned, based on a measured distance to the object and using a plurality of beams sampled at a second angular interval; a display control unit that updates the distance map displayed on a display unit in a predetermined display cycle; a reception unit that receives an instruction of a user; and a setting unit that sets the second angular interval and the predetermined display cycle in accordance with the instruction of the user received by the reception unit.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 recent years, the resolution of sensors has increased, and the frequency of updating data output from sensors has also increased. As a result, the amount of information output from sensors has also increased. When the angular resolution or display cycle is high, it takes time to draw, and users need time to obtain the information they want to see. Furthermore, when the angular resolution or display cycle is high, the burden of display processing increases. Although the amount of information output from sensors has increased, the information that each user wants to see varies.

[0005] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technique that can display information that a user wants to see. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a setting device for a sensor that measures the distance to an object by two-dimensionally scanning light at a first angular interval, the setting device including: a distance map generator that generates a distance map based on the measured distance to the object using a plurality of beams of the scanned light sampled at a second angular interval; a display controller that updates the distance map displayed on a display unit at a predetermined display cycle; a reception unit that receives a user's instruction; and a setting unit that sets at least one of the second angular interval and the predetermined display cycle in response to the user's instruction. With the setting device, at least one of the second angular interval and the predetermined display cycle is set in response to the user's instruction, so that the distance map that the user wants to see can be displayed on the display unit.

[0007] The receiving unit receives an instruction to change the setting of at least one of the second angular interval and the predetermined display cycle from the user, and the setting unit changes the setting of at least one of the second angular interval and the predetermined display cycle in accordance with the change instruction received by the receiving unit. According to the setting device, the setting of at least one of the second angular interval and the predetermined display cycle is changed in accordance with the change instruction, so that the distance map that the user wants to see can be displayed on the display unit.

[0008] The distance map is expressed by a line segment connecting two measurement points measured by adjacent beams among the sampled beams, and thus the distance map expressed by the line segment connecting two measurement points can be displayed on a display unit.

[0009] The reception unit selects whether to display or not display the line segment according to the types of the plurality of beams. The display control unit switches between displaying and hiding the line segment on the display unit based on the selection of displaying or hiding the line segment. By switching between displaying and hiding the line segment on the display unit, only the line segment that the user wants to see can be displayed on the display unit.

[0010] The setting device includes a determination unit that determines whether or not there is an abnormal beam among the plurality of beams, and the distance map is represented by a first line segment connecting two measurement points measured by adjacent beams other than the abnormal beam among the plurality of beams, and a second line segment connecting a measurement point measured by the abnormal beam among the plurality of beams and a measurement point measured by a beam among the plurality of beams adjacent to the abnormal beam, the first line segment and the second line segment having different colors. A user can reliably know that an abnormal beam has occurred by visually checking the distance map displayed on the display unit.

[0011] The receiving unit receives a selection of whether to display or hide the second line segment, and the display control unit switches between displaying and hiding the second line segment on the display unit based on the selection of whether to display or hide the second line segment. By switching between displaying and hiding the second line segment on the display unit, it is possible to display the second line segment on the display unit or not display the second line segment on the display unit.

[0012] The setting device includes a storage unit that stores display settings related to the distance map displayed on the display unit, and the display control unit displays the distance map on the display unit based on the display settings stored in the storage unit after restarting the setting tool. This allows the user to check the distance map based on the display settings stored in the storage unit after restarting the setting tool.

[0013] The display control unit simultaneously displays the distance map and a detection area setting screen for detecting the intrusion of the object on the display unit, allowing a user to view the detection area setting screen while checking the distance map.

[0014] The setting device includes an area setting unit that sets a detection area for detecting the intrusion of the object, and the detection area is set independently of the second angular interval and the predetermined display period, so that the setting of the second angular interval and the predetermined display period does not affect the setting of the detection area.

[0015] 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]

[0016] According to the present invention, it is possible to display information that the user wants to see. [Brief explanation of the drawings]

[0017] [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 an explanatory diagram of a method for drawing a distance map. [Figure 5] FIG. 5 is a diagram illustrating an example of the distance map. [Figure 6] FIG. 6 is a diagram illustrating an example of the distance map. [Figure 7] FIG. 7 is a diagram illustrating an example of the distance map. [Figure 8] FIG. 8 is a diagram showing an example of a setting screen for the second angle interval and the predetermined display cycle. DETAILED DESCRIPTION OF THE INVENTION

[0018] 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.

[0019] <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.

[0020] 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 is a measurement sensor that measures the distance to an object by scanning light two-dimensionally at a first angular interval. The first angular interval is, for example, but not limited to, 0.1 degrees. 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 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.

[0021] 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.

[0022] The sensor 2 can be connected to a setting device (monitoring device) 3 by wire or wirelessly. The setting device 3 monitors the measurement state of the sensor 2 and 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 with 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 personal computer. In this case, the setting device 3 is equipped with hardware resources such as a processor (CPU), memory, storage, communication I / F, input device, and display device, and the function of the processing device described below is realized by expanding a program stored in the storage into memory and executing it with the processor. Examples of input devices include a keyboard, mouse, and touch panel. Note that the configuration of the setting device 3 is not limited to this. For example, all or part of the functions may be configured with circuits such as ASIC or FPGA, or Alternatively, all or part of the functionality may be performed by a cloud server or other device.

[0023] <Description of the embodiment> FIG. 3 is a functional block diagram of the setting device 3. The setting device 3 mainly includes a distance map generator 31, a display controller 32, a setting unit 33, a determination unit 34, a reception unit 35, an area setting unit 36, a display unit 37, and a storage unit 38. The distance map generator 31 generates a distance map based on the distance to an object measured using multiple beams sampled at a second angular interval for the light scanned by the sensor 2. The display controller 32 displays the distance map on the display unit 37 and updates the distance map displayed on the display unit 37 at a predetermined display period (display interval). The setting unit 33 sets at least one of the second angular interval and the predetermined display period in response to a user instruction received by the reception unit 35. The setting unit 33 stores the set second angular interval and the predetermined display period in the storage unit 38. The determination unit 34 determines whether or not there is an abnormal beam among the multiple beams. The reception unit 35 functions as a user interface for receiving various instructions from the user. The area setting unit 36 ​​sets a detection area for detecting the intrusion of an object. The display unit 37 displays various information and data. The storage unit 38 stores various information and data.

[0024] The sensor 2 may send all of the beam information obtained by scanning light two-dimensionally at a first angular interval to the setting device 3. The sensor 2 may thin out the beam information obtained by scanning light two-dimensionally at the first angular interval based on a second angular interval, and then send the thinned beam information to the setting device 3. The sensor 2 may thin out the beam information obtained by scanning light two-dimensionally at the first angular interval based on a predetermined display period, and then send the thinned beam information to the setting device 3.

[0025] FIG. 4 is an explanatory diagram of a method for drawing a distance map. As shown in FIG. 4, a protection area 300 is set as a detection area (safety area). The detection area is a virtual two-dimensional region for detecting an object approaching the sensor 2, and is set in at least a part of the periphery of the sensor 2. If no object (intrusion) is present within the protection area 300, the mobile robot 1 is permitted to operate. For example, if no object is present within the protection area 300, the sensor 2 outputs a safety signal to the mobile robot 1 permitting operation. The protection area 300 is set by the area setting unit 36. In FIG. 4, a part of an object 400 has invaded the protection area 300, and the entirety of an object 401 has invaded the protection area 300.

[0026] The distance map is generated based on the distances to the object measured using multiple beams sampled at second angular intervals for the light scanned by sensor 2. The distance map shown in Fig. 4 is represented by line segments connecting two measurement points measured using adjacent beams among the sampled multiple beams.

[0027] Beams B1 to B8 are irradiated onto object 400. The measurement point measured by beam B1 (hereinafter also referred to as the first measurement point) and the measurement point measured by beam B2 (hereinafter also referred to as the second measurement point) are connected by line segment L1. The measurement point measured by beam B2 and the measurement point measured by beam B3 (hereinafter also referred to as the third measurement point) are connected by line segment L2. The measurement point measured by beam B3 and the measurement point measured by beam B4 (hereinafter also referred to as the fourth measurement point) are connected by line segment L3. The measurement point measured by beam B4 and the measurement point measured by beam B5 (hereinafter also referred to as the fifth measurement point) are connected by line segment L4. The measurement point measured by beam B5 and the measurement point measured by beam B6 (hereinafter also referred to as the sixth measurement point) are connected by line segment L5. The measurement point measured by beam B6 and the measurement point measured by beam B7 (hereinafter also referred to as the seventh measurement point) are connected by line segment L6. The measurement point measured by beam B7 and the measurement point measured by beam B8 (hereinafter also referred to as the eighth measurement point) are connected by line segment L6. They are connected by line segment L7.

[0028] When two measurement points measured by adjacent beams among the multiple beams are present within the protection area 300, the line segment connecting the two measurement points is drawn in a first color (e.g., red) on the distance map. As shown in FIG. 4, the first to sixth measurement points are present within the protection area 300, so line segments L1 to L5 are drawn in a first color (e.g., red) on the distance map. When two measurement points measured by adjacent beams among the multiple beams are not present within the protection area 300, the line segment connecting the two measurement points is drawn in a second color (e.g., green) on the distance map. As shown in FIG. 4, the seventh and eighth measurement points are not present within the protection area 300, so line segment L7 is drawn in a second color (e.g., green) on the distance map.

[0029] 4, when the sixth measurement point exists within the protection area 300 but the seventh measurement point does not exist within the protection area 300, the color of the line segment L6 is determined based on the seventh measurement point that is farther away from the sensor 2. Therefore, on the distance map, the line segment L6 is drawn in a second color (e.g., green).

[0030] Beams B9 to B15 are irradiated onto object 401. The measurement point measured by beam B9 (hereinafter also referred to as the ninth measurement point) and the measurement point measured by beam B10 (hereinafter also referred to as the tenth measurement point) are connected by line segment L8. The measurement point measured by beam B10 and the measurement point measured by beam B11 (hereinafter also referred to as the eleventh measurement point) are connected by line segment L9. The measurement point measured by beam B11 and the measurement point measured by beam B12 (hereinafter also referred to as the twelfth measurement point) are connected by line segment L10. The measurement point measured by beam B12 and the measurement point measured by beam B13 (hereinafter also referred to as the thirteenth measurement point) are connected by line segment L11. The measurement point measured by beam B13 and the measurement point measured by beam B14 (hereinafter also referred to as the 14th measurement point) are connected by line segment L12. The measurement point measured by beam B14 and the measurement point measured by beam B15 (hereinafter also referred to as the 15th measurement point) are connected by line segment L13.

[0031] As shown in FIG. 4, the 9th to 11th measurement points and the 13th to 15th measurement points are located within the protection area 300, and therefore, on the distance map, line segments L8, L9, L12, and L13 are drawn in a first color (e.g., red). Beam B12 is an invalid beam. An invalid beam is a beam whose measurement points are forcibly determined to be located within the protection area 300 due to the influence of uncorrectable noise. However, since the distance of an invalid beam is treated as infinite, the measurement points of the invalid beam are considered to be located outside the protection area 300. The determination unit 34 determines whether or not there is an invalid beam for multiple beams. An invalid beam is an example of an abnormal beam.

[0032] When one or both of two measurement points measured by adjacent beams among the multiple beams are measured by an inactive beam, the line segment connecting the two measurement points is drawn in a third color (e.g., yellow) on the distance map. As shown in FIG. 4, one (the 12th measurement point) of two measurement points (the 11th and 12th measurement points) measured by adjacent beams among the multiple beams is measured by an inactive beam. Therefore, on the distance map, the line segment L10 connecting the 11th measurement point and the 12th measurement point is drawn in a third color (e.g., yellow). As shown in FIG. 4, one (the 12th measurement point) of two measurement points (the 12th and 13th measurement points) measured by adjacent beams among the multiple beams is measured by an inactive beam. Therefore, on the distance map, the line segment L11 connecting the 12th measurement point and the 13th measurement point is drawn in a third color (e.g., yellow).

[0033] Furthermore, if one or both of two measurement points measured by adjacent beams among the multiple beams are measured by an unstable beam, the line segment connecting the two measurement points is drawn in a fourth color (e.g., blue) on the distance map. An unstable beam is a beam in which the effects of noise have been corrected. The determination unit 34 determines whether or not there is an unstable beam among the multiple beams. An unstable beam is an example of an abnormal beam.

[0034] The above describes the case where beam B12 is an ineffective beam. However, when beam B12 is an unstable beam, line segments L11 and L12 are drawn on the distance map as follows. A case will be described where one (the 12th measurement point) of two measurement points (the 11th and 12th measurement points) measured by adjacent beams among multiple beams is measured by an unstable beam. In this case, the line segment L11 connecting the 11th measurement point and the 12th measurement point is drawn in a fourth color (e.g., blue) on the distance map. A case will be described where one (the 12th measurement point) of two measurement points (the 12th measurement point and the 13th measurement point) measured by adjacent beams among multiple beams is measured by an unstable beam. In this case, the line segment L11 connecting the 12th measurement point and the 13th measurement point is drawn in a fourth color (e.g., blue) on the distance map.

[0035] As shown in FIG. 4, the distance map is represented by a line segment connecting two measurement points measured by adjacent beams other than the anomalous beam among the multiple beams, and a line segment connecting a measurement point measured by the anomalous beam among the multiple beams and a measurement point measured by a beam adjacent to the anomalous beam among the multiple beams. The color of the line segment connecting two measurement points measured by adjacent beams other than the anomalous beam among the multiple beams is different from the color of the line segment connecting a measurement point measured by the anomalous beam among the multiple beams and a measurement point measured by a beam adjacent to the anomalous beam among the multiple beams. The line segment connecting two measurement points measured by adjacent beams other than the anomalous beam among the multiple beams is an example of the first line segment. The line segment connecting a measurement point measured by the anomalous beam among the multiple beams and a measurement point measured by a beam adjacent to the anomalous beam among the multiple beams is an example of the second line segment. Hereinafter, the line segment connecting a measurement point measured by the anomalous beam among the multiple beams and a measurement point measured by a beam adjacent to the anomalous beam among the multiple beams is referred to as a line segment caused by an anomalous beam.

[0036] In the example shown in Fig. 4, the distance map displayed on display unit 37 is represented by at least line segments L1 to L13. Fig. 5 is a diagram showing an example of a distance map represented by line segments L1 to L13. When the distance map shown in Fig. 5 is displayed on display unit 37, distance information may be displayed on display unit 37 together with the distance map. In the distance map, line segments L1 to L5, L8, L9, L12, and L13 are drawn in a first color (e.g., red), line segments L6 and L7 are drawn in a second color (e.g., green), and line segments L10 and L11 are drawn in a third color (e.g., yellow).

[0037] For example, even if one of the beams is an ineffective beam, the line segments caused by the ineffective beam are reliably drawn on the distance map. Since the line segments L10 and L11 are drawn in a third color (e.g., yellow) on the distance map, the user can reliably recognize that an ineffective beam has occurred by visually checking the distance map displayed on the display unit 37.

[0038] In FIG. 4, a protection area 300 is set, but this is not limiting and a warning area may also be set. The warning area is set by the area setting unit 36. For example, if the first to sixth measurement points exist within the warning area, the line segments L1 to L5 are drawn in a fifth color (for example, orange) on the distance map. If an object is detected within the warning area, a warning is issued. If an object enters the warning area, 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. If an object enters the warning area, the sensor 2 outputs a warning signal. The warning device may receive a warning signal from the sensor 2 and issue a warning. Furthermore, when an object is detected within the warning area, the speed of the movement of the mobile robot 1 may be slowed down. For example, when an object is present within the warning area, the sensor 2 outputs a control signal to the mobile robot 1 to slow down the movement of the mobile robot 1. The colors of the lines in the distance map may be light blue to indicate a state in which no intrusion has been detected within the maximum detection distance, and yellow-green to indicate the edge of the detection range.

[0039] The distance map generator 31 generates a distance map based on the distance to an object measured using multiple beams sampled at a second angular interval for the light scanned by the sensor 2. The second angular interval is, for example, but not limited to, 0.1 degrees or more and 10 degrees or less. The second angular interval can be changed in 0.1 degree increments. When the second angular interval is large, the distance between two measurement points measured using adjacent beams among the multiple beams becomes long. When the second angular interval is small, the distance between two measurement points measured using adjacent beams among the multiple beams becomes short.

[0040] The display control unit 32 displays the distance map on the display unit 37 and updates the distance map displayed on the display unit 37 at a predetermined display cycle. By displaying the distance map on the display unit 37, the user can understand the measurement status of the sensor 2. The predetermined display cycle is, for example, not limited to, 10 msec or more and 3000 msec or less. The predetermined display cycle can also be changed in 1 msec increments. If the predetermined display cycle is small, the update cycle of the distance map displayed on the display unit 37 becomes small. If the update cycle of the distance map displayed on the display unit 37 is small, the number of updates of the distance map per unit time becomes large. If the predetermined display cycle is large, the update cycle of the distance map displayed on the display unit 37 becomes large. If the update cycle of the distance map displayed on the display unit 37 is large, the number of updates of the distance map per unit time becomes small.

[0041] A case where the second angular interval is small and the predetermined display period is small (the update cycle is small) will be described. FIG. 6 is a diagram showing an example of a distance map. FIG. 6 shows an example of a distance map generated when the second angular interval is small and the predetermined display period is small. The distance map in FIG. 6 is expressed by line segments connecting measurement points measured by multiple beams output from sensor 2. It is expected that the distance map generated when the second angular interval is small and the predetermined display period is small will be used in the applications shown in (1A) to (1C) below. (1A) Check for the presence of external light disturbances or noise, and predict the cause before the system stops. (1B) Identify the locations where ambient light and noise are occurring as a preventative measure. (1C) Monitoring the exact shape of an object.

[0042] When the second angle interval is small and the predetermined display period is small, there is a high possibility that a line segment due to an anomalous beam will be included in the distance map. By reducing the second angle interval and the predetermined display period, it is possible to accurately detect the presence or absence of an anomalous beam. This allows the user to check the presence or absence of disturbance light or noise. Furthermore, by reducing the second angle interval and the predetermined display period, it is possible to accurately detect the position of the anomalous beam. This allows the user to identify the location of disturbance light or noise. When the second angle interval is small and the predetermined display period is small, the distance map accurately reflects the shape of the object. This allows the user to monitor the accurate shape of the object.

[0043] A case will be described where the second angle interval is large and the predetermined display period is large (the update cycle is large). FIG. 7 is a diagram showing an example of a distance map. In FIG. 7, An example of a distance map generated when the second angular interval is large and the predetermined display period is large is shown in Figure 1. The distance map generated when the second angular interval is large and the predetermined display period is large is expected to be used in the applications shown in (2A) and (2B) below. (2A) Reduce the processing load of the configuration tool. (2B) To grasp the rough shape of the object, reduce the possibility of noise signals being drawn.

[0044] When the second angle interval is small and the predetermined display cycle is small, the processing load on the setting tool is large. On the other hand, when the second angle interval is large and the predetermined display cycle is large, the processing load on the setting tool is small. By increasing the second angle interval and the predetermined display cycle, the processing load on the setting tool can be reduced.

[0045] In the distance map of FIG. 6, the line segment L21 connecting the measurement points measured with the ineffective beam is present within the range surrounded by the dotted line DL1. On the other hand, in the distance map of FIG. 7, the line segment connecting the measurement points measured with the ineffective beam is not present within the range surrounded by the dotted line DL2. When the second angle interval is large and the predetermined display period is long, the line segment caused by the abnormal beam is unlikely to be included in the distance map. By increasing the second angle interval and the predetermined display period, the ineffective beam is filtered out in the distance map of FIG. 7, and the line segment caused by the ineffective beam is not included in the distance map of FIG. 7. Note that the ineffective beam may be filtered using other filtering methods. The user may select one of multiple filtering methods.

[0046] When the second angle interval is large and the predetermined display period is large, the distance map reflects the rough shape of the object. By increasing the second angle interval and the predetermined display period, the user can grasp the rough shape of the object.

[0047] The following describes a case where the second angle interval is small and the predetermined display period is large (the update cycle is large).The distance map generated when the second angle interval is small and the predetermined display period is large is expected to be used for the purpose shown in (3A) below. (3A) Reduce the processing load of the configuration tool while monitoring the exact shape of the object.

[0048] When the predetermined display period is large, the processing load of the setting tool is small. By increasing the predetermined display period, the processing load of the setting tool is reduced. When the second angle interval is small, the distance map reflects the exact shape of the object. Therefore, the user can monitor the exact shape of the object.

[0049] For example, when checking whether ambient light or noise is occurring, the user inputs an instruction to the receiving unit 35 to reduce the second angular interval and the predetermined display period. In response to the user's instruction received by the receiving unit 35, the setting unit 33 sets the second angular interval and the predetermined display period so that the second angular interval and the predetermined display period are reduced. A first threshold value for the second angular interval and a second threshold value for the predetermined display period may be set. The user may input an instruction to the receiving unit 35 to reduce the second angular interval to a value smaller than the first threshold value and the predetermined display period to a value smaller than the second threshold value. In response to the user's instruction received by the receiving unit 35, the setting unit 33 may set the second angular interval and the predetermined display period so that the second angular interval is smaller than the first threshold value and the predetermined display period is smaller than the second threshold value.

[0050] For example, the user may increase the second angle interval to reduce the likelihood of noise signals being drawn. The user may input an instruction to the receiving unit 35 to make the second angular interval larger than the first threshold value and the predetermined display period larger, in accordance with the user's instruction received by the receiving unit 35. The setting unit 33 sets the second angular interval and the predetermined display period so that the second angular interval is larger and the predetermined display period is larger, in accordance with the user's instruction received by the receiving unit 35. The setting unit 33 may set the second angular interval and the predetermined display period so that the second angular interval is larger than the first threshold value and the predetermined display period is larger than the second threshold value, in accordance with the user's instruction received by the receiving unit 35.

[0051] For example, when a user wishes to reduce the processing load of the setting tool while monitoring the accurate shape of an object, the user inputs an instruction to the receiving unit 35 to reduce the second angular interval and increase the predetermined display period. In response to the user's instruction received by the receiving unit 35, the setting unit 33 sets the second angular interval and the predetermined display period so that the second angular interval is smaller and the predetermined display period is larger. The user may input an instruction to the receiving unit 35 to reduce the second angular interval to a first threshold value and increase the predetermined display period to a second threshold value. In response to the user's instruction received by the receiving unit 35, the setting unit 33 may set the second angular interval and the predetermined display period so that the second angular interval is smaller than the first threshold value and the predetermined display period is larger than the second threshold value.

[0052] The user may input an instruction to reduce the second angular interval to the receiving unit 35. The setting unit 33 sets the second angular interval so that the second angular interval is reduced in accordance with the user instruction received by the receiving unit 35. In this case, the setting unit 33 may set the predetermined display period so that the predetermined display period is reduced, or may set the predetermined display period so that the predetermined display period is increased. Furthermore, the setting unit 33 may set the predetermined display period so that the predetermined display period is a first default value. The first default value is an arbitrary value and may be a minimum value, a maximum value, or an intermediate value.

[0053] The user may input an instruction to increase the second angular interval to the receiving unit 35. The setting unit 33 sets the second angular interval so that the second angular interval is increased in accordance with the user's instruction received by the receiving unit 35. In this case, the setting unit 33 may set the predetermined display period so that the predetermined display period is decreased, or may set the predetermined display period so that the predetermined display period is increased. Furthermore, the setting unit 33 may set the predetermined display period so that the predetermined display period is the first default value.

[0054] The user may input an instruction to reduce the predetermined display period to the receiving unit 35. The setting unit 33 sets the predetermined display period so as to reduce the predetermined display period in accordance with the user instruction received by the receiving unit 35. In this case, the setting unit 33 may set the second angle interval so as to reduce the second angle interval, or may set the second angle interval so as to increase the second angle interval. Furthermore, the setting unit 33 may set the second angle interval so as to be a second default value. The second default value is an arbitrary value and may be a minimum value, a maximum value, or an intermediate value.

[0055] The user may input an instruction to increase the predetermined display period to the receiving unit 35. The setting unit 33 sets the predetermined display period so as to increase the predetermined display period in accordance with the user instruction received by the receiving unit 35. In this case, the setting unit 33 may set the second angle interval so as to decrease the second angle interval, or may set the second angle interval so as to increase the second angle interval. Furthermore, the setting unit 33 may set the second angle interval so as to become a second default value. The second default value is an arbitrary value and may be a minimum value, a maximum value, or an intermediate value.

[0056] According to the setting device 3, at least one of the second angle interval and the predetermined display cycle is set in response to an instruction from the user, so that the distance map that the user wants to see can be displayed on the display unit 37. In this way, according to the setting device 3, it is possible to display the information that the user wants to see.

[0057] Fig. 8 is a diagram showing an example of a screen (setting screen) for setting the second angle interval and the predetermined display cycle. The second angle interval input by the user is displayed in a rectangular box 501 in Fig. 8. The predetermined display cycle input by the user is displayed in a rectangular box 502 in Fig. 8.

[0058] A case will be described where the second angle interval and the predetermined display cycle set by the setting unit 33 are in a first setting state. The first setting state is a state where the second angle interval is small and the predetermined display cycle is small.

[0059] For example, in the first setting state, if the user wants to reduce the possibility of a noise signal being drawn, the user inputs a change instruction to the receiving unit 35 to increase the second angular interval and the predetermined display period. In response to the user's change instruction, the setting unit 33 changes the settings of the second angular interval and the predetermined display period so that the second angular interval is increased and the predetermined display period is increased. The user may input a change instruction to the receiving unit 35 to increase the second angular interval to a first threshold value and the predetermined display period to a second threshold value. In response to the user's change instruction, the setting unit 33 may change the settings of the second angular interval and the predetermined display period so that the second angular interval is increased to a first threshold value and the predetermined display period is increased to a second threshold value.

[0060] For example, in the first setting state, if the user wishes to reduce the processing load of the setting tool while monitoring the exact shape of the object, the user inputs a change instruction to the receiving unit 35 to increase the predetermined display period. The setting unit 33 changes the setting of the predetermined display period so that the predetermined display period is increased in response to the user's change instruction. The user may input a change instruction to the receiving unit 35 to increase the predetermined display period to a value greater than the second threshold. The setting unit 33 may change the setting of the predetermined display period so that the predetermined display period is increased in response to the user's change instruction.

[0061] A case will be described where the second angle interval and the predetermined display cycle set by the setting unit 33 are in a second setting state. The second setting state is a state where the second angle interval is large and the predetermined display cycle is large.

[0062] For example, in the second setting state, when the user checks whether ambient light or noise is occurring, the user inputs a change instruction to the receiving unit 35 to reduce the second angular interval and the predetermined display period. In response to the user's change instruction, the setting unit 33 changes the settings of the second angular interval and the predetermined display period so that the second angular interval and the predetermined display period become smaller. The user may input a change instruction to the receiving unit 35 to reduce the second angular interval to a first threshold value and the predetermined display period to a second threshold value. In response to the user's change instruction, the setting unit 33 may change the settings of the second angular interval and the predetermined display period so that the second angular interval is smaller than the first threshold value and the predetermined display period is smaller than the second threshold value.

[0063] For example, in the second setting state, if the user wants to reduce the processing load of the setting tool while monitoring the exact shape of the object, the user inputs a change instruction to reduce the second angle interval to the receiving unit 35. In response to the user's instruction received by the receiving unit 35, the setting unit 33 changes the setting of the second angle interval so that the second angle interval becomes smaller. Alternatively, the user may input a change instruction to make the second angular interval smaller than the first threshold value to the receiving unit 35. The setting unit 33 may change the setting of the second angular interval in response to the change instruction from the user so that the second angular interval becomes smaller than the first threshold value.

[0064] A case will be described where the second angle interval and the predetermined display cycle set by the setting unit 33 are in a third setting state. The third setting state is a state where the second angle interval is small and the predetermined display cycle is large.

[0065] For example, in the third setting state, when the user checks whether ambient light or noise is occurring, the user inputs a change instruction to the receiving unit 35 to shorten the predetermined display period. In response to the user's change instruction, the setting unit 33 changes the setting of the predetermined display period so that the predetermined display period becomes shorter. The user may input a change instruction to the receiving unit 35 to shorten the predetermined display period to a value smaller than the second threshold value. In response to the user's change instruction, the setting unit 33 may change the setting of the predetermined display period so that the predetermined display period becomes smaller than the second threshold value.

[0066] For example, in the third setting state, if the user wants to reduce the possibility of a noise signal being drawn, the user inputs a change instruction to the receiving unit 35 to increase the second angle interval. In response to the user's change instruction, the setting unit 33 changes the setting of the second angle interval so that the second angle interval is increased. The user may input a change instruction to the receiving unit 35 to increase the second angle interval so that the second angle interval is greater than the first threshold. In response to the user's change instruction, the setting unit 33 may change the setting of the second angle interval so that the second angle interval is greater than the first threshold.

[0067] The receiving unit 35 receives an instruction to change the setting of at least one of the second angular interval and the predetermined display cycle from the user. The setting unit 33 changes the setting of at least one of the second angular interval and the predetermined display cycle in accordance with the change instruction received by the receiving unit 35. According to the setting device 3, the setting of at least one of the second angular interval and the predetermined display cycle is changed in accordance with the instruction from the user, so that the distance map that the user wants to see can be displayed on the display unit 37. In this way, according to the setting device 3, it is possible to display the information that the user wants to see.

[0068] Setting and changing the second angular interval and the predetermined display cycle does not affect the setting of the first angular interval for the sensor 2. The display state of the distance map on the display unit 37 is determined according to the settings of the second angular interval and the predetermined display cycle, but the setting of the first angular interval for the sensor 2 is not affected, and the setting of the first angular interval for the sensor 2 is not changed. Changing the setting of at least one of the second angular interval and the predetermined display cycle affects the display state of the distance map on the display unit 37, but does not affect the setting of the first angular interval for the sensor 2, and the setting of the first angular interval for the sensor 2 is not changed. Therefore, setting the second angular interval and the predetermined display cycle or changing the settings of the second angular interval and the predetermined display cycle does not affect the object detection process in the sensor 2, and does not affect the safety control in the sensor 2.

[0069] The reception unit 35 receives a selection of whether to display or hide line segments according to the types of multiple beams. The display control unit 32 switches between displaying and hiding line segments on the display unit 37 based on the selection of whether to display or hide line segments. By switching between displaying and hiding line segments on the display unit 37, it is possible to display only the line segments that the user wants to see on the display unit 37. For example, the user inputs an instruction (selection) to display line segments caused by anomalous beams into the reception unit 35. In this case, the display control unit 32 displays line segments caused by anomalous beams on the display unit 37. Therefore, the distance map displayed on the display unit 37 includes line segments caused by anomalous beams. For example, the user inputs an instruction (selection) to hide line segments caused by anomalous beams into the reception unit 35. In this case, the display control unit 32 does not display line segments caused by anomalous beams on the display unit 37. Therefore, the distance map displayed on the display unit 37 does not include line segments caused by anomalous beams. Display By switching between displaying and hiding the line segments caused by the anomalous beam in the display control unit 37, the line segments caused by the anomalous beam can be displayed on the display unit or not displayed on the display unit 37. By selecting to display the line segments caused by the anomalous beam, the user can check whether or not disturbance light or noise is occurring. By selecting to hide the line segments caused by the anomalous beam, the user can monitor the shape of the object more accurately. The display control unit 32 may complement the hidden line segments (line segments caused by the anomalous beam) with other line segments and display the distance map on the display unit 37. Alternatively, the distance map generation unit 31 may generate a distance map by complementing the hidden line segments with other line segments, and the display control unit 32 may display the distance map on the display unit 37. The other line segments may be estimated based on a line segment (first line segment) connecting two measurement points measured using adjacent beams other than the anomalous beam among the multiple beams.

[0070] The storage unit 38 stores display settings related to the distance map displayed on the display unit 37. The display settings related to the distance map may include a second angle interval and a predetermined display cycle set by the setting unit 33. The display settings related to the distance map may also include settings of the second angle interval and the predetermined display cycle changed by the setting unit 33. The display settings related to the distance map may include a setting for displaying or hiding line segments caused by anomalous beams. After restarting the setting tool, the display control unit 32 may display the distance map on the display unit 37 based on the display settings stored in the storage unit 38. This allows the user to check the distance map based on the display settings stored in the storage unit 38 after restarting the setting tool. After restarting the setting tool, the user can perform work in the state before restarting the setting tool.

[0071] The display control unit 32 may simultaneously display a distance map and a detection area setting screen on the display unit 37. Examples of the detection area setting screen include a screen for setting the shape of the detection area, and a screen for setting an area set having one or more detection areas. By simultaneously displaying the distance map and the detection area setting screen on the display unit 37, the user can visually confirm the detection area setting screen while checking the distance map. For example, the user can set the shape of the detection area or set the area set while understanding the measurement status of the sensor 2.

[0072] The detection area is set independently of the second angular interval and the predetermined display cycle. Therefore, setting and changing the second angular interval and the predetermined display cycle do not affect the setting of the detection area. The display state of the distance map on the display unit 37 is determined according to the settings of the second angular interval and the predetermined display cycle, but the setting of the detection area is not changed. If the setting of at least one of the second angular interval and the predetermined display cycle is changed, the display state of the distance map on the display unit 37 is affected, but the setting of the detection area is not affected and the setting of the detection area is not changed.

[0073] Although the above example shows a 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. Multiple sensors 2 may be used. The setting information set for the sensor 2 installed on the first fixed hazard and the setting information set for the sensor 2 installed on the second fixed hazard may be the same or different.

[0074] 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).

[0075] The present invention can also be understood as a setting method or monitoring method including at least a part of the above-described processing, a program for causing a computer 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 or monitoring system including at least a part of the above-described processing. The above configurations and processing can be combined to constitute the present invention as long as no technical contradictions arise.

[0076] <Appendix 1> A setting device (3) for a sensor (2) that measures a distance to an object by two-dimensionally scanning light at first angular intervals, a distance map generator (31) that generates a distance map based on the distance to the object measured using a plurality of beams sampled at second angular intervals for the scanned light; a display control unit (32) that updates the distance map displayed on a display unit (38) at a predetermined display cycle; a reception unit (35) that receives instructions from a user; a setting unit (33) that sets at least one of the second angle interval and the predetermined display cycle in accordance with the user's instruction received by the receiving unit (35); A setting device (3) comprising: <Appendix 2> the receiving unit (35) receives an instruction to change the setting of at least one of the second angle interval and the predetermined display cycle from the user; the setting unit (33) changes the setting of at least one of the second angle interval and the predetermined display cycle in response to the change instruction received by the receiving unit (35). Attachment 1. The setting device (3). <Appendix 3> the distance map is expressed by a line segment connecting two measurement points measured by adjacent beams among the sampled beams; Attachment 1 or 2. The setting device (3). <Appendix 4> the reception unit (35) receives a selection of whether to display or not display the line segment according to the types of the plurality of beams, the display control unit (32) switches between displaying and hiding the line segment on the display unit (38) based on the selection of displaying or hiding the line segment; The setting device (3) according to appendix 3. <Appendix 5> a determination unit (34) that determines whether or not there is an abnormal beam among the plurality of beams, the distance map is expressed by a first line segment connecting two measurement points measured by adjacent beams other than the abnormal beam among the plurality of beams, and a second line segment connecting a measurement point measured by the abnormal beam among the plurality of beams and a measurement point measured by a beam among the plurality of beams adjacent to the abnormal beam, The first line segment and the second line segment have different colors. 5. A setting device (3) according to any one of appendices 1 to 4. <Appendix 6> the reception unit (35) receives a selection of whether to display or hide the second line segment, the display control unit (32) switches between displaying and hiding the second line segment on the display unit (38) based on the selection of displaying or hiding the second line segment. The setting device (3) according to appendix 5. <Appendix 7> a storage unit (39) that stores display settings related to the distance map displayed on the display unit (38), After restarting the setting tool, the display control unit (32) displays the distance map on the display unit (38) based on the display settings stored in the storage unit (39). 7. A setting device (3) according to any one of appendices 1 to 6. <Appendix 8> The display control unit (32) simultaneously displays the distance map and a setting screen for a detection area for detecting the intrusion of the object on the display unit (38). 8. The setting device (3) according to any one of appendices 1 to 7. <Appendix 9> an area setting unit (36) that sets a detection area for detecting the intrusion of the object; the detection area is set independently of the second angle interval and the predetermined display period. 9. A setting device (3) according to any one of appendices 1 to 8. <Appendix 10> A sensor (2) having a setting device (3) according to any one of appendices 1 to 9. <Appendix 11> A setting method for a sensor (2) that measures a distance to an object by two-dimensionally scanning light at first angular intervals, comprising: a distance map generating step of generating a distance map based on the distances to the object measured using a plurality of beams sampled at second angular intervals for the scanned light; a display control step of updating the distance map displayed on a display unit (38) at a predetermined display cycle; a receiving step of receiving a user instruction; a setting step of setting at least one of the second angle interval and the predetermined display cycle in accordance with the instruction of the user received in the receiving step; A setting method having: <Appendix 12> A setting device (3) for a sensor (2) that measures a distance to an object by two-dimensionally scanning light at first angular intervals includes a computer, a distance map generating step of generating a distance map based on the distances to the object measured using a plurality of beams sampled at second angular intervals for the scanned light; a display control step of updating the distance map displayed on a display unit (38) at a predetermined display cycle; a receiving step of receiving a user instruction; a setting step of setting at least one of the second angle interval and the predetermined display cycle in accordance with the instruction of the user received in the receiving step; A program to execute. [Explanation of symbols]

[0077] 1: Mobile robot 2: Sensor 3: Setting device 31: Distance map generation unit 32: Display control unit 33: Setting section 34: Judgment section 35: Reception 36: Area setting section 37: Display section 38: Storage section

Claims

1. A setting device for a sensor that measures a distance to an object by two-dimensionally scanning light at first angular intervals, comprising: a distance map generator that generates a distance map based on the distance to the object measured using a plurality of beams sampled at second angular intervals for the scanned light; a display control unit that updates the distance map displayed on a display unit at a predetermined display cycle; a reception unit that receives instructions from a user; a setting unit that sets at least one of the second angle interval and the predetermined display cycle in response to an instruction from the user received by the receiving unit; A setting device comprising:

2. the receiving unit receives, from the user, an instruction to change the setting of at least one of the second angle interval and the predetermined display cycle; the setting unit changes a setting of at least one of the second angle interval and the predetermined display cycle in response to the change instruction received by the receiving unit. The setting device according to claim 1 .

3. the distance map is expressed by a line segment connecting two measurement points measured by adjacent beams among the sampled beams; The setting device according to claim 1 .

4. the reception unit receives a selection of whether to display or not display the line segment according to the types of the plurality of beams; the display control unit switches between displaying and hiding the line segment on the display unit based on a selection of displaying or hiding the line segment. The setting device according to claim 3 .

5. a determination unit that determines whether or not there is an abnormal beam among the plurality of beams, the distance map is expressed by a first line segment connecting two measurement points measured by adjacent beams other than the abnormal beam among the plurality of beams, and a second line segment connecting a measurement point measured by the abnormal beam among the plurality of beams and a measurement point measured by a beam among the plurality of beams adjacent to the abnormal beam, The first line segment and the second line segment have different colors. The setting device according to claim 1 .

6. the reception unit receives a selection of whether to display or hide the second line segment; the display control unit switches between displaying and hiding the second line segment on the display unit based on a selection of displaying and hiding the second line segment. The setting device according to claim 5 .

7. a storage unit that stores display settings related to the distance map displayed on the display unit; the display control unit, after restarting the setting tool, displays the distance map on the display unit based on the display setting stored in the storage unit. The setting device according to any one of claims 1 to 6.

8. the display control unit simultaneously displays the distance map and a setting screen for a detection area for detecting the intrusion of the object on the display unit. The setting device according to any one of claims 1 to 6.

9. an area setting unit that sets a detection area for detecting the intrusion of the object; the detection area is set independently of the second angle interval and the predetermined display period; The setting device according to any one of claims 1 to 6.

10. A sensor comprising a setting device according to any one of claims 1 to 6.

11. A method for setting a sensor that measures a distance to an object by two-dimensionally scanning light at first angular intervals, comprising: a distance map generating step of generating a distance map based on the distances to the object measured using a plurality of beams sampled at second angular intervals for the scanned light; a display control step of updating the distance map displayed on a display unit at a predetermined display cycle; a receiving step of receiving a user instruction; a setting step of setting at least one of the second angle interval and the predetermined display cycle in accordance with the instruction of the user received in the receiving step; A setting method having:

12. A setting device for a sensor that measures a distance to an object by two-dimensionally scanning light at first angular intervals includes: a distance map generating step of generating a distance map based on the distances to the object measured using a plurality of beams sampled at second angular intervals for the scanned light; a display control step of updating the distance map displayed on a display unit at a predetermined display cycle; a receiving step of receiving a user instruction; a setting step of setting at least one of the second angle interval and the predetermined display cycle in accordance with the instruction of the user received in the receiving step; A program to execute.

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