Intrusion detection device and intrusion detection method

Abstract

An entry detection device (1) comprises: a scanning detection unit that detects reflection light, from an object, of projection light (L1-L6), while performing scanning with the projection light (L1-L6); and a control unit. The control unit: detects the position of a to-be-monitored object (arm part (303)) on the basis of the detection result of the scanning detection unit; sets, on the outer side of the position of the to-be-monitored object, an exclusion area (A11) having a predetermined width for which entry detection is excluded; sets, on the outer side of the exclusion area (A11), a monitor area (A12) having a predetermined width; and detects entry of a body (person (500)) to the monitor area (A12) on the basis of the detection result of the scanning detection unit.

Description

[Technical field]

[0001] The present invention relates to an intrusion detection device and an intrusion detection method for detecting the intrusion of an object, such as a person, into a monitored area. [Background technology]

[0002] An intrusion detection device that detects the intrusion of objects such as humans into a monitored area is used, for example, in automated facilities using industrial robots and the like. For example, a laser light is scanned from above toward the area around the industrial robot, and the approach of a human to the industrial robot is detected based on the detection result of the reflected light. The area in which the approach of a human is monitored is set in advance by an administrator. The administrator sets the monitored area to a range up to a predetermined distance from the operating position of the industrial robot. When the intrusion detection device detects that a human has intruded into the monitored area, it transmits information to the industrial robot informing the same. In response to this, the operation of the industrial robot is controlled to be gentler, or the operation of the industrial robot is stopped.

[0003] The following Patent Document 1 describes a method for setting a monitoring area for monitoring the intrusion of people, etc. In this setting method, four markers arranged to specify the monitoring area are detected by a safety scanner. Then, an area having the detection positions of the four markers as its four corners is set as the monitoring area. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-151569 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the above setting method, when an industrial robot moves in the monitored area, this movement may be erroneously detected as a human intrusion. Patent Document 1 does not mention the erroneous detection of the industrial robot's movement as a human intrusion or how to avoid this, and only discloses a method for setting a monitored area using markers.

[0006] In view of the above problems, an object of the present invention is to provide an intrusion detection device and an intrusion detection method that are capable of detecting the intrusion of an object, such as a person, into a monitored area with higher accuracy through simple control. [Means for solving the problem]

[0007] A first aspect of the present invention relates to an intrusion detection device. The intrusion detection device according to this aspect includes a scanning detection unit that scans projected light and detects reflected light of the projected light from an object, and a control unit. The control unit detects the position of a monitored object based on a detection result of the scanning detection unit, sets an exclusion area of ​​a predetermined width outside the position of the monitored object in which intrusion detection is excluded, sets a monitoring area of ​​a predetermined width outside the exclusion area, and detects intrusion of an object into the monitoring area based on the detection result of the scanning detection unit.

[0008] According to the intrusion detection device of this aspect, an exclusion area of ​​a predetermined width that excludes intrusion detection is set outside the monitored object. Therefore, even if the monitored object moves slightly during actual operation, this movement is prevented from being erroneously detected as an intrusion of an object. In addition, since the exclusion area is set by detecting the position of the monitored object based on the detection result of the scanning detection unit, the exclusion area can be set appropriately around the monitored object, and there is no need to provide a separate means for setting the exclusion area and perform a predetermined control.

[0009] In this way, the intrusion detection device according to this aspect can accurately detect the intrusion of an object, such as a person, into a monitored area through simple control.

[0010] A second aspect of the present invention relates to an intrusion detection method for detecting an intrusion of an object into a monitoring area set around a monitored object, the intrusion detection method according to this aspect detects reflected light of the projected light from an object while scanning the object, detects a position of the monitored object based on a detection result of the reflected light, sets an exclusion area of ​​a predetermined width outside the position of the monitored object for excluding intrusion detection, sets a monitoring area of ​​a predetermined width outside the exclusion area, and detects intrusion of an object into the monitoring area based on the detection result of the reflected light.

[0011] According to the intrusion detection method of this aspect, like the first aspect, the intrusion of an object such as a person into a monitored area can be accurately detected through simple control. Effect of the Invention

[0012] As described above, according to the present invention, it is possible to provide an intrusion detection device and an intrusion detection method that are capable of detecting the intrusion of an object, such as a person, into a monitored area with higher accuracy through simple control.

[0013] The effects and significance of the present invention will become clearer from the following description of the embodiment. However, the embodiment described below is merely an example of how the present invention can be put into practice, and the present invention is not limited to the embodiment described below. [Brief description of the drawings]

[0014] [Figure 1] Fig. 1(a) is an exploded perspective view showing the configuration of an intrusion detection device according to an embodiment, Fig. 1(b) is a perspective view showing the configuration of the intrusion detection device with an optical unit installed. [Diagram 2] FIG. 2 is a perspective view showing the configuration of an optical system arranged in each optical unit according to the embodiment. [Diagram 3] FIG. 3 is a diagram showing a projection state of the projection light when the intrusion detection device according to the embodiment is installed on a ceiling or the like. [Figure 4]FIG. 4 is a circuit block diagram showing the configuration of a circuit section of the intrusion detection device according to the embodiment. [Diagram 5] Fig. 5(a) is a side view showing a usage form of the intrusion detection device according to the embodiment, and Fig. 5(b) is a diagram showing scanning trajectories of six projected lights on a plane including the upper surface of the arm part according to the embodiment. [Figure 6] Fig. 6(a) is a flowchart showing a process for setting a monitoring area according to the embodiment, and Fig. 6(b) is a diagram showing a subroutine of a process for detecting the position of a monitoring target according to the embodiment. [Figure 7] 7(a) and (b) are a side view and a top view, respectively, showing an example of setting an exclusion region according to an embodiment. [Figure 8] 8(a) and (b) are a side view and a top view, respectively, showing an example of setting a monitoring area according to an embodiment. [Figure 9] FIG. 9 is a flowchart showing a process for setting an exclusion area and a monitor area according to a modified example. [Figure 10] 10(a) and 10(b) are top views showing examples of setting exclusion areas and monitor areas according to the modified example.

[0015] However, the drawings are for illustrative purposes only and are not intended to limit the scope of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. For convenience, each drawing is labeled with mutually orthogonal X, Y, and Z axes. The positive direction of the Z axis is the height direction of the intrusion detection device 1.

[0017] Fig. 1(a) is an exploded perspective view showing the configuration of the intrusion detection device 1. Fig. 1(b) is a perspective view showing the configuration of the intrusion detection device 1 with an optical unit 30 installed.

[0018] As shown in FIG. 1(a), the intrusion detection device 1 includes a cylindrical fixed part 10 and a cylindrical rotating part 20. The rotating part 20 is supported by the fixed part 10 via a bearing mechanism so as to be rotatable about a rotation axis R10. The rotating part 20 is also connected to a drive shaft of a motor 216 (see FIG. 4) disposed on the fixed part 10. When the motor 216 is driven, the rotating part 20 rotates about the rotation axis R10. The rotation axis R10 is determined by the drive shaft of the motor 216. The rotation axis R10 is parallel to the Z axis.

[0019] The rotating section 20 is composed of a cylindrical base member 21 and a disk-shaped support member 22. A cylindrical support shaft 21b is integrally formed at the center of the base member 21. The support member 22 is installed on the lower surface of the support shaft 21b, and further, an optical unit 30 is installed on the lower surface of the support member 22. The support member 22 supports six optical units 30. For convenience, only one optical unit 30 installed on the support member 22 is shown in FIG. 1(a).

[0020] The base member 21 has six mounting surfaces 21a formed at equal intervals (60° intervals) along the circumferential direction of the rotation axis R10. The mounting surfaces 21a are inclined with respect to a plane (XY plane) perpendicular to the rotation axis R10. The sides (directions away from the rotation axis R10) and the bottom (negative Z-axis direction) of the mounting surfaces 21a are open. The inclination angles of the six mounting surfaces 21a are different from one another.

[0021] Six circular holes 22a are formed at equal intervals (at 60° intervals) in the support member 22 along the circumferential direction centered on the rotation axis R10. The holes 22a penetrate the support member 22 from top to bottom. The support member 22 is installed on the lower surface of the spindle 21b so that the six holes 22a face the six installation surfaces 21a of the base member 21, respectively.

[0022] The optical unit 30 includes a structure 31 and a mirror 32. The structure 31 includes a holding member 31a and a circuit board 31b. The holding member 31a holds the optical system included in the structure 31. The circuit board 31b is placed on the lower surface of the holding member 31a. The upper surface of the holding member 31a is open. The structure 31 emits laser light in an upward direction (positive direction of the Z axis) and receives laser light from above. The optical system held by the structure 31 will be described later with reference to FIG. 2.

[0023] The structures 31 are installed at positions corresponding to the six holes 22a on the lower surface of the support member 22. As a result, the six optical units 30 are arranged at equal intervals (60° intervals) along the circumferential direction of the rotation axis R10. Note that the optical units 30 do not necessarily have to be arranged at equal intervals in the circumferential direction.

[0024] The mirror 32 of the optical unit 30 is mounted on the mounting surface 21a of the base member 21. The mirror 32 is a plate-like member with a reflecting surface 32a formed on its lower surface. The mirror 32 has a uniform thickness. Therefore, when the mirror 32 is mounted on the mounting surface 21a, the reflecting surface of the mirror 32 is inclined with respect to a plane perpendicular to the rotation axis R10 at the same inclination angle as the inclination angle of the mounting surface 21a.

[0025] Mirrors 32 are installed on each of the six installation surfaces 21a, and further, six structures 31 are installed on the lower surface of the support member 22. As a result, the six optical units 30 are installed on the rotating section 20, as shown in FIG. 1(b). Furthermore, a circuit board 40 is installed on the support shaft 21b so as to be positioned below the structures 31. In this way, the structure of FIG. 1(b) is constructed. Thereafter, a cylindrical transparent cover with an open top is installed on the fixed section 10 so as to house the six optical units 30 and the rotating section 20 inside. This completes the assembly of the intrusion detection device 1.

[0026] While the rotating part 20 rotates about the rotation axis R10, the optical unit 30 projects a laser light (projected light), causing the projected light to rotate about the rotation axis R10 and scan the surroundings of the intrusion detection device 1 with the projected light. At this time, the reflected light of the projected light reflected by an object present within the scanning range travels back toward the optical unit 30 and is received and detected by the optical unit 30. In other words, the rotating part 20 and the optical unit 30 constitute a scanning detection part 2 that detects the reflected light of the projected light from an object while scanning the projected light.

[0027] FIG. 2 is a perspective view showing the configuration of an optical system arranged in each optical unit 30. As shown in FIG.

[0028] The optical unit 30 includes a projection optical system for projecting projection light and a light receiving optical system for receiving reflected light. The projection optical system includes a laser light source 101, a collimator lens 102, and a mirror 32. The light receiving optical system includes the mirror 32, a condenser lens 103, a filter 104, and a photodetector 105.

[0029] The laser light source 101 emits a laser light (projection light) of a predetermined wavelength. The emission optical axis of the laser light source 101 is parallel to the Z axis. The collimator lens 102 converges the projection light emitted from the laser light source 101 to become substantially parallel light. The collimator lens 102 is formed of, for example, an aspheric lens. The projection light collimated by the collimator lens 102 is incident on the mirror 32. The projection light incident on the mirror 32 is reflected by the mirror 32 in a direction away from the rotation axis R10. Thereafter, the projection light passes through the above-mentioned cover and is projected onto the target area.

[0030] When an object is present in the target area, the projection light projected onto the target area is reflected by the object. The reflected light of the laser light reflected by the object passes through the cover and is incident on the mirror 32. The reflected light is then reflected in the negative direction of the Z axis by the mirror 32. The condenser lens 103 converges the reflected light reflected by the mirror 32.

[0031] The reflected light then enters filter 104. Filter 104 is configured to transmit light in the wavelength band of the projection light emitted from laser light source 101 and block light in other wavelength bands. The reflected light that has transmitted filter 104 is guided to photodetector 105. Photodetector 105 receives the reflected light and outputs a detection signal according to the amount of received light. Photodetector 105 is, for example, an avalanche photodiode.

[0032] The condenser lens 103 has a notch 103a formed therein to pass the laser light transmitted through the collimator lens 102. The notch 103a is formed outside the center of the condenser lens 103. By providing the notch 103a in the condenser lens 103 in this manner, the optical axis A1 of the projection optical system and the optical axis A2 of the light receiving optical system can be brought closer to each other, and the laser light emitted from the laser light source 101 can be made incident on the mirror 32 with almost no interference with the condenser lens 103.

[0033] The projection light incident on the mirror 32 is reflected in a direction according to the inclination angle of the reflecting surface 32a of the mirror 32 with respect to the XY plane. As described above, the intrusion detection device 1 includes six optical units 30 (see FIG. 1(b)), and the inclination angles of the mirrors 32 of the optical units 30 with respect to the plane perpendicular to the rotation axis R10 of the installation surface 21a on which the mirrors 32 are installed are different from each other. Therefore, the inclination angles of the reflecting surfaces 32a of the six mirrors 32 arranged in the six optical units 30 are also different from each other. Therefore, the projection light reflected by each mirror 32 is projected in a direction at a different angle from each other with respect to the plane perpendicular to the rotation axis R10, i.e., the horizontal plane.

[0034] FIG. 3 is a diagram showing a state in which light is projected when the intrusion detection device 1 is installed on a ceiling or the like.

[0035] Here, the intrusion detection device 1 is installed at a position at a height H0 from the ground GR. The rotation axis R10 is parallel to the vertical direction. As described above, the projection lights L1 to L6 reflected by the six mirrors 32 are projected in directions at different angles relative to the horizontal plane. In FIG. 3, the optical axes of the six projection lights L1 to L6 are indicated by dashed dotted lines. Moreover, the projection angles θ1 to θ6 of the projection lights L1 to L6 are defined by angles relative to the rotation axis R10.

[0036] As the rotating part 20 rotates while the projection light is projected from each optical unit 30, an umbrella-shaped scanning surface is formed around the rotation axis R10 by the projection light from each optical unit 30. The apex angle of each scanning surface is different from each other. The apex angle of each scanning surface is determined by the tilt angle of the mirror 32 of each optical unit 30. The space between the umbrella-shaped scanning surface with diameter d1 on which the outermost projection light L1 is scanned and the umbrella-shaped scanning surface with diameter d2 on which the innermost projection light L6 is scanned is the range in which the intrusion detection device 1 can monitor the intrusion of an object.

[0037] Fig. 4 is a circuit block diagram showing the configuration of the circuit section of the intrusion detection device 1. For convenience, Fig. 4 shows only two of the six optical units 30 arranged on the rotating section 20. The circuit sections of the remaining four optical units 30 have the same configuration.

[0038] The intrusion detection device 1 has a circuit configuration including a control unit 201, a drive circuit 202, a processing circuit 203, a non-contact power supply unit 204, a power supply circuit 205, a non-contact communication unit 206, a control unit 211, a non-contact power supply unit 212, a power supply circuit 213, a non-contact communication unit 214, a communication unit 215, and a motor 216.

[0039] The control unit 201, the drive circuit 202, the processing circuit 203, the non-contact power supply unit 204, the power supply circuit 205, and the non-contact communication unit 206 are arranged on a circuit board on the rotating unit 20 side. The control unit 211, the non-contact power supply unit 212, the power supply circuit 213, the non-contact communication unit 214, the communication unit 215, and the motor 216 are arranged on a circuit board on the fixed unit 10 side.

[0040] Each part of the fixed part 10 is supplied with power from an external power source via a power circuit 213. The power supplied from the power circuit 213 to the non-contact power supply unit 212 is supplied to the non-contact power supply unit 204 in accordance with the rotation of the rotating part 20. The supplied power is supplied to the power circuit 205 via the non-contact power supply unit 204. Each part of the rotating part 20 is supplied with power from the non-contact power supply unit 204 via the power circuit 205.

[0041] The control units 201 and 211 each include an arithmetic processing circuit and a memory, and are configured, for example, by an FPGA or an MPU. The control unit 201 controls each part of the rotating unit 20 according to a predetermined program stored in the memory, and the control unit 211 controls each part of the fixed unit 10 according to a predetermined program stored in the memory. The control units 201 and 211 are connected to each other so as to be able to communicate with each other via non-contact communication units 206 and 214.

[0042] The control unit 211 is communicatively connected to the external device 300 and the external terminal 400 via the communication unit 215. The external device 300 is, for example, an industrial robot or a machine tool. The control unit 211 drives each part of the fixed unit 10 in response to a command from the external device 300, and transmits a drive instruction to the control unit 201 via the non-contact communication units 206 and 214. The control unit 201 controls each part of the rotating unit 20 in response to the drive instruction from the control unit 211, and monitors the intrusion of an object into a monitoring area set around the external device 300. The control unit 201 then transmits a command to the control unit on the fixed unit 10 side via the non-contact communication units 206 and 214. 211 The object intrusion monitoring results are transmitted to the

[0043] A driving circuit 202 and a processing circuit 203 are provided in each of the six optical units 30. The driving circuit 202 drives the laser light source 101 under control of the control unit 201. The processing circuit 203 performs processing such as amplification and noise removal on the detection signal input from the photodetector 105, and outputs the result to the control unit 201.

[0044] In the monitoring operation, the control unit 211 on the fixed unit 10 side controls the motor 216 to rotate the rotating unit 20 at a predetermined rotation speed. In parallel with this, the control unit 201 on the rotating unit 20 side controls the six drive circuits 202 to emit laser light (projection light) from the laser light source 101 for each predetermined rotation angle. As a result, the projection light L1 to L6 scan the umbrella-shaped scanning surface shown in FIG. 3.

[0045] The control unit 201 determines whether or not an object exists in the projection direction of each projection light based on the detection signal output from the photodetector 105 of each optical unit 30. The control unit 201 also measures the distance to an object existing in each projection direction based on the time difference (time of flight) between the timing at which the projection light is projected and the timing at which the reflected light from the projection direction is received. Then, the control unit 201 monitors whether or not an object has entered the monitoring area based on these detection results.

[0046] When detecting that an object has entered the monitoring area, the control unit 201 transmits information notifying the same to the control unit 211 on the fixed unit 10 side via the non-contact communication units 206 and 214. This information is transmitted from the control unit 211 to the external device 300. As a result, the external device 300 performs emergency control such as stopping the operation.

[0047] FIG. 5(a) is a side view showing a usage pattern of the intrusion detection device 1. FIG.

[0048] In the usage form of FIG. 5(a), an industrial robot is illustrated as an example of the external device 300. The external device 300 includes a base 301, a rotating shaft 302, an arm 303, and a working unit 304. The base 301 is placed on the ground GR. The working unit 304 moves up and down to perform a predetermined task on an object. The arm 303 is rotated by the rotating shaft 302, so that the position of the working unit 304 can be changed. In this usage form, the position of the arm 303 does not change significantly during actual work.

[0049] The intrusion detection device 1 is installed at a position almost directly above the external device 300. The intrusion detection device 1 is installed, for example, on a ceiling or beams of a facility. As described above, the six optical units 30 project the projection light while the rotating part 20 rotates, thereby scanning the external device 300 and its surroundings. Fig. 5(b) shows the scanning trajectories of the six projection lights on a plane including the upper surface of the arm part 303.

[0050] The arm unit 303 has a rectangular parallelepiped shape with its upper surface parallel to a horizontal plane. Here, the arm unit 303 is the monitored object. As shown in FIG. 5(b), a marker M1 extending radially from the rotation axis 302 is disposed on the upper surface of the arm unit 303. The marker M1 has a reflectance different from that of the upper surface of the arm unit 303, which is the monitored object. For example, the reflectance of the marker M1 is significantly higher than the reflectance of the upper surface of the arm unit 303. In this case, the marker M1 reflects light with high reflectance and has the effect of scattering the reflected light.

[0051] The marker M1 is placed on the upper surface of the arm section 303, for example, by attaching a tape or the like having high reflectivity and light scattering properties to the upper surface of the arm section 303. However, the method of placing the marker M1 is not limited to this, and for example, the marker M1 may be placed on the upper surface of the arm section 303 by applying a highly reflective paint, such as white paint, in a line on the upper surface of the arm section 303.

[0052] When the marker M1 is positioned in this manner, it extends linearly at a position of height H1 on the upper surface of the arm portion 303. For this reason, as shown in Fig. 5(b), the positions where the projected lights L1 to L6 cross the marker M1 (positions of the black circles in Fig. 5(b)) are aligned linearly on the horizontal plane at height H1. Here, the marker M1 is positioned so that the outermost projected light L1 does not cross the marker M1, and the five projected lights L2 to L6 inside the projected light L1 cross the marker M1.

[0053] Next, a method for setting a monitoring area for monitoring the intrusion of an object will be described.

[0054] In this embodiment, an exclusion area in which intrusion of an object is not detected is set outside the arm unit 303, which is the monitored object, and a monitoring area in which intrusion of an object is monitored is set outside this exclusion area.

[0055] Prior to setting the monitoring area, the administrator uses the external terminal 400 in Fig. 4 to register a setting value for the horizontal width of an exclusion area centered on the position of the monitored object (arm unit 303), and further registers a setting value for the height of the exclusion area. The horizontal width of the exclusion area can be set arbitrarily, for example, in the longitudinal and lateral directions of the monitored object (arm unit 303). Alternatively, the horizontal width of the exclusion area may be set centered on the position of the marker M1.

[0056] Furthermore, the administrator registers a setting value for the horizontal width of the monitoring area allocated outside the exclusion area, and further registers a setting value for the height of the monitoring area, using the external terminal 400. In this case as well, the width of the monitoring area in the horizontal direction can be arbitrarily set, for example, in the longitudinal and lateral directions of the monitored object (arm unit 303) or marker M1.

[0057] The setting values ​​of the exclusion area and monitoring area registered in this manner are transmitted to the control unit 211 on the fixed unit 10 side via the communication unit 215 in Fig. 4, and further transmitted to the control unit 201 on the rotating unit 20 side via the non-contact communication units 206, 214. The control unit 201 on the rotating unit 20 side holds the received setting values ​​in an internal memory.

[0058] Thereafter, the administrator operates the external terminal 400 to input an instruction to set the monitoring area. The input setting instruction is transmitted to the control unit 211 on the fixed unit 10 side via the communication unit 215, and is further transmitted to the control unit 201 on the rotating unit 20 side via the non-contact communication units 206 and 214. In response to this, the intrusion detection device 1 executes a process of setting the monitoring area.

[0059] Fig. 6(a) is a flow chart showing a process for setting a monitoring area, and Fig. 6(b) is a diagram showing a subroutine for a process for detecting the position of a monitoring target.

[0060] When the control unit 211 on the fixed unit 10 side receives a setting instruction from the external terminal 400, it controls the motor 216 to rotate the rotating unit 20 at a predetermined rotation speed. In this state, the control unit 201 on the rotating unit 20 side executes the process of FIG. 6(a).

[0061] 6(a), when the control unit 201 receives a setting instruction from the control unit 211 on the fixed unit 10 side (S11: YES), it causes each optical unit 30 to project a projection light and detects the position of the monitored object (S12). Here, as described above, the position of the marker M1 is detected as the position of the monitored object.

[0062] 6(b), in the process of step S12, the control unit 201 first extracts a group of detection points arranged in a line (S21). Here, the detection points refer to positions corresponding to the distance to an object detected based on reflected light.

[0063] As described above, the control unit 201 measures the distance to the object from the time difference between the projection timing of the projected light L1 to L6 and the reception timing of the reflected light. From each projection direction of the projected light L1 to L6 and the distance measured in each projection direction, the position of the object existing in each projection direction, i.e., the above-mentioned detection point, is acquired. The control unit 201 associates each acquired detection point with the value of the detection signal of the photodetector 105 indicating the received light intensity of the reflected light from the detection point. In this way, the control unit 201 acquires the spatial distribution of the detection points acquired from all the projected light L1 to L6 while the rotating unit 20 rotates once, together with the value of the detection signal of the reflected light associated with each detection point.

[0064] The control unit 201 extracts a detection point group that is substantially aligned at a constant height from the spatial distribution of the acquired detection points (S21). Furthermore, the control unit 201 sets the detection point group with the highest detection signal value (intensity of reflected light) among the extracted detection point groups as the target detection point group corresponding to the marker M1 (S22). The comparison of the detection signal values ​​between the detection point groups in step S22 is performed, for example, by comparing the average values ​​of the detection signal values ​​associated with the detection points included in each detection point group between the detection point groups.

[0065] As shown in FIG. 5(b), the positions (positions of the black circles) where the projected light L1 to L6 cross the marker M1 are aligned in a straight line on the horizontal plane at height H1. Furthermore, if the reflectance of the marker M1 is set significantly higher than other parts as described above, the intensity of the reflected light from each of these positions is higher than the intensity of the reflected light from other parts. Therefore, when the object detection point group is set by the processes of steps S21 and S22 as described above, there is an extremely high probability that the set object detection point group corresponds to the positions of the black circles in FIG. 5(b). Therefore, the position of the object detection point group can be accurately acquired as the position of the marker M1.

[0066] Next, the control unit 201 identifies a line (projected light L1 to L6) that has no detection point in the arrangement direction of the target detection point group (S23). In the configuration of FIG. 5(b), the projected light L1 does not cross the marker M1, so in step S23, the projected light L1 (the optical unit 30 that emits the projected light L1) is identified. Then, the control unit 201 sets a detection point detected by the projected light L2, which is one point inside the projected light L1 identified in step S23, among the target detection point group, as the outer boundary of the marker M1, and detects the position of the monitored object (arm unit 303) based on this boundary (S24).

[0067] In step S24, the position (upper surface area) of the monitored object (arm unit 303) can be specified based on the positional relationship between the boundary of marker M1 previously set by the administrator and the upper surface area of ​​the monitored object (arm unit 303). In this case, the administrator registers in advance the positional relationship between the area of ​​marker M1 and the upper surface area of ​​the monitored object (arm unit 303) (such as the width and length of both areas and the size of the gap between the boundaries) when registering the setting values ​​of the above-mentioned exclusion area and monitoring area. Based on this information, the control unit 201 detects the position (upper surface area) of the monitored object (arm unit 303) from a detection point corresponding to the outer boundary of marker M1.

[0068] Returning to Fig. 6(a), the control unit 201 sets an exclusion area of ​​a predetermined width and height outside the monitored object from the position of the monitored object (arm unit 303) thus detected (S13), and further sets a monitoring area of ​​a predetermined width and height outside the set exclusion area (S14). The width and height of the exclusion area and the width and height of the monitoring area are set based on the setting values ​​registered in advance by the administrator, as described above. In this way, the control unit 201 ends the processing of Fig. 6(a).

[0069] 7(a) and (b) are a side view and a top view, respectively, showing an example of setting the exclusion area A11.

[0070] 7(a) and (b), the exclusion area A11 is set outside the arm unit 303, which is the monitored object, with a width and height according to the setting values ​​registered by the administrator. Here, the height of the exclusion area A11 is set to a height from the ground GR to a position slightly above the upper surface of the arm unit 303. Also, the horizontal width of the exclusion area A11 is set so that the base side of the arm unit 303 is wider in the longitudinal direction of the arm unit 303 than the tip side.

[0071] 8(a) and 8(b) are a side view and a top view, respectively, showing an example of setting the monitoring area A12.

[0072] 8(a) and (b), the monitoring area A12 is set outside the exclusion area A11 with a width and height according to the setting values ​​registered by the administrator. Here, the height of the monitoring area A12 is set to be the same as the height of the exclusion area A11. Also, the horizontal width of the monitoring area A12 is set so that the tip side of the arm part 303 is wider than the base side.

[0073] During the monitoring operation, whether or not an object has entered the monitoring area A12 is monitored based on the detection result of the reflected light of the projected lights L1 to L6. That is, during the monitoring operation, the control unit 201 acquires the detection point based on the detection result of the reflected light in the same manner as described above. Then, when there is a change in the detection point in the monitoring area A12, the control unit 201 determines that an object has entered the monitoring area A12, and transmits notification information indicating this to the external device 300 via the control unit 211 on the fixed unit 10 side. For example, as shown in FIG. 8(a), in response to the foot of the person 500 entering the monitoring area A12, the control unit 201 transmits notification information. As a result, the operation of the external device 300 is stopped, or the operation of the working unit 304 is controlled to be slower.

[0074] The monitoring area A12 may be set in a plurality of stages in a direction moving away from the exclusion area A11 in the horizontal direction. In this case, the intrusion of an object is detected in order from the outermost monitoring area. The control unit 201 transmits notification information to the external device 300 together with information specifying the monitoring area in which the intrusion was detected, every time the control unit 201 detects the intrusion of an object into each monitoring area. The external device 300 may cause the operation of the external device 300 to differ depending on which monitoring area the object has intruded into. For example, the external device 300 may control the operation of the working unit 304 to be gradually gentler as the object advances to the inner monitoring area, and may stop the operation of the working unit 304 in response to the object intrusion into the innermost monitoring area. In this case, the width and height of each monitoring area may be set in advance by the administrator.

[0075] <Effects of the embodiment> As described above, according to the above embodiment, the following effects are achieved.

[0076] As shown in FIG. 6(a), the control unit 201 detects reflected light of the projected light from an object while scanning the projected light, detects the position of the monitored object based on the detection result of the reflected light (S12), sets an exclusion area A11 of a predetermined width outside the position of the monitored object to exclude intrusion detection (S13), sets a monitoring area A12 of a predetermined width outside the exclusion area A11 (S14), and detects the intrusion of an object into the monitoring area A12 based on the detection result of the reflected light.

[0077] As a result, as shown in FIG. 7(a) to FIG. 8(b), an exclusion area A11 of a predetermined width that excludes intrusion detection is set outside the monitored object (arm unit 303). Therefore, even if the monitored object moves slightly during actual operation, this movement is prevented from being erroneously detected as an intrusion of an object. In addition, since the exclusion area A11 is set by detecting the position of the monitored object based on the detection result of the scanning detection unit 2, the exclusion area A11 can be set appropriately around the monitored object, and there is no need to provide a separate means for setting the exclusion area A11 and perform a predetermined control. In this way, according to this embodiment, the intrusion of an object such as a person into the monitored area A12 can be accurately detected by simple control.

[0078] As shown in Fig. 5(b), a marker M1 is placed on the outer surface of the monitored object that is scanned by the projected light, and the control unit 201 detects the position of the monitored object by detecting the marker M1 from the detection result of the scanning detection unit 2 through the process of Fig. 6(b). In this way, by using the marker M1 to detect the position of the monitored object, the position of the monitored object can be detected smoothly and accurately, and as a result, the exclusion area A11 and monitoring area A12 can be set appropriately.

[0079] Here, the marker M1 has a reflectance different from that of the upper surface of the monitored object (arm unit 303), and the control unit 201 detects the marker M1 based on the intensity of the reflected light detected by the scanning detection unit 2 in step S22 of Fig. 6(b). This allows the marker M1 to be detected more accurately. Therefore, the exclusion area A11 and the monitoring area A12 can be set more appropriately based on the detection result of the marker M1.

[0080] As described above, in the process of FIG. 6(b), the control unit 201 measures the distance to the object based on the time difference between the projection timing of the projected light and the reception timing of the reflected light, and acquires the distance position (target detection point group) at which the monitored object is detected as the position of the monitored object. This identifies the position of the monitored object in three-dimensional space. Therefore, the exclusion area A11 and the monitoring area A12 can be smoothly set in the three-dimensional space.

[0081] As shown in Fig. 6(a), the control unit 201 sets the heights of the exclusion area A11 and the monitoring area A12 based on the distance position of the monitored object (steps S13 and S14). This makes it possible to smoothly set the exclusion area A11 and the monitoring area A12 that expand in the height direction based on the distance position of the monitored object, as shown in Fig. 8(a).

[0082] <Example of change> The configuration of the intrusion detection device 1 can be modified in various ways in addition to the configuration shown in the above embodiment.

[0083] For example, Figs. 6(a), (b) and Fig. 7 (a)~Figure 8 (b) shows a method for setting the exclusion area A11 and monitoring area A12 when the object to be monitored (arm unit 303) does not move significantly during actual operation, but when the object to be monitored (arm unit 303) moves significantly during actual operation, the exclusion area A11 is set outside the movement range of the object to be monitored (arm unit 303), and the monitoring area A12 is set outside that.

[0084] FIG. 9 is a flowchart showing the process of setting the exclusion area A11 and the monitoring area A12 in this case.

[0085] The process in Fig. 9 is performed in a state where the external device 300 drives the monitored object (arm unit 303) in the same process as during actual operation. When the administrator operates the external terminal 400 to input a setting instruction, the setting instruction is transmitted to the external device 300, and the monitored object (arm unit 303) is repeatedly driven in the same process as during actual operation. When the external device 300 starts driving the monitored object (arm unit 303), it transmits the setting instruction to the control unit 211 of the fixed unit 10.

[0086] When the control unit 211 on the fixed unit 10 side receives the setting instruction from the external terminal 400, it controls the motor 216 to rotate the rotating unit 20 at a predetermined rotation speed. After rotating the rotating unit 20, the control unit 211 transmits the setting instruction to the control unit 201 of the rotating unit 20. In response to this, the control unit 201 on the rotating unit 20 side executes the process of FIG. 9.

[0087] When the control unit 201 receives a setting instruction from the control unit 211 on the fixed unit 10 side (S31: YES), it causes each optical unit 30 to project projection light to detect the position of the monitored object (S32). As in the above embodiment, this detection detects the position of the monitored object by detecting the position of the marker M1. The process of detecting the position of the monitored object is the same as in FIG. 6(b). The control unit 201 stores the detected position of the monitored object in an internal memory (S33).

[0088] The control unit 201 repeatedly detects the position of the monitored object and stores the detected position (S32, S33) until a predetermined time has elapsed (S34: NO). The predetermined time in step S34 is set to be slightly longer than the period during which one process of the monitored object (arm unit 303) is executed during actual operation. As a result, each moving position of the monitored object (arm unit 303) that moves while one process of the monitored object (arm unit 303) is executed is stored in the control unit 201.

[0089] After that, when the predetermined time has elapsed (S34: YES), the control unit 201 time The control unit 201 identifies the movement range of the monitored object (arm unit 303) from all the detection positions detected in (S35). Then, the control unit 201 sets an exclusion area A11 of a predetermined width and a predetermined height outside the identified movement range (S36), and further sets a monitoring area A12 of a predetermined width and a predetermined height outside the set exclusion area A11 (S37). The width and height of the exclusion area A11 and the width and height of the monitoring area A12 are set based on the setting values ​​registered in advance by the administrator, as in the above embodiment. In this case, the administrator registers the exclusion area A11 with the movement range as the center.

[0090] In this way, the control unit 201 ends the process of Fig. 9. At this time, the control unit 201 transmits notification information of the setting completion to the control unit 211 on the fixed unit 10 side. In response to this, the control unit 211 stops the rotation of the rotating unit 20, and further transmits notification information of the setting completion to the external device 300. As a result, the external device 300 stops the operation of the arm unit 303.

[0091] 10(a) and 10(b) are top views showing examples of setting the exclusion area A11 and the monitoring area A12, respectively.

[0092] As shown in FIG. 10(a), the exclusion area A11 is set outside the moving range of the arm unit 303, which is the monitored object, with a width and height according to the set values ​​registered by the administrator. Here, the shape of the exclusion area A11 in plan view is set to a rectangle with rounded corners. As shown in FIG. 10(b), the monitoring area A12 is set outside the exclusion area A11 with a width and height according to the set values ​​registered by the administrator. Here, the shape of the monitoring area A12 in plan view is also set to a rectangle with rounded corners. The heights of the exclusion area A11 and the monitoring area A12 are set, for example, to a height from the ground GR to a position slightly above the upper surface of the arm unit 303, as in the above embodiment.

[0093] According to the process of FIG. 9, as illustrated in FIGS. 10(a) and 10(b), an exclusion area A11 is set outside the movement range of the monitored object (arm unit 303), so that even if the monitored object (arm unit 303) moves significantly as in FIGS. 10(a) and 10(b), this movement is prevented from being erroneously detected as an intrusion of an object. In addition, since the exclusion area A11 is set by detecting the movement range of the monitored object based on the detection result of the scanning detection unit 2, the exclusion area A11 can be set appropriately around the movement range of the monitored object, and there is no need to provide a separate means for setting the exclusion area A11 and perform a predetermined control. Thus, according to the process of FIG. 9, even if the monitored object (arm unit 303) moves significantly, the intrusion of an object such as a person into the monitoring area A12 can be accurately detected by simple control.

[0094] In the above embodiment, the process of setting the exclusion area A11 and the monitoring area A12 and the process of detecting an intrusion of an object into the monitoring area A12 are performed by the control unit 201 on the rotating unit 20 side, but these processes may be performed by the control unit 211 on the fixed unit 10 side. In this case, in each process, the control unit 201 on the rotating unit 20 side transmits information indicating the distance position (detection point) of the object in the three-dimensional space and the intensity of the reflected light from each distance position (detection signal value of the photodetector 105) to the control unit 211 on the fixed unit 10 side as needed. Based on the received information, the control unit 211 on the fixed unit 10 side executes the process of setting the exclusion area A11 and the monitoring area A12 and the process of detecting an intrusion of an object into the monitoring area A12, similar to the above embodiment.

[0095] Also, the process of setting the exclusion area A11 and the monitoring area A12 and the process of detecting an object intrusion into the monitoring area A12 may be performed in the external device 300 or the external terminal 400. In this case, in each process, the control unit 201 on the rotating unit 20 side transmits information indicating the distance position (detection point) of the object in the three-dimensional space and the intensity of the reflected light from each distance position (detection signal value of the photodetector 105) to the external device 300 or the external terminal 400 via the control unit 211 on the fixed unit 10 side as needed. Based on the received information, the control unit of the external device 300 or the external terminal 400 executes the process of setting the exclusion area A11 and the monitoring area A12 and the process of detecting an object intrusion into the monitoring area A12, as in the above embodiment. In this case, a system in which the external device 300 or the external terminal 400 is added to the intrusion detection device 1 shown in the above embodiment corresponds to the "intrusion detection device" described in the claims.

[0096] In addition, in the above embodiment, the position of the monitored object is detected using the marker M1, but the position of the monitored object may be detected without using the marker M1. For example, a set of detection points that match the height of the monitored object registered in advance and are close to adjacent detection points may be detected as a set corresponding to the position of the monitored object.

[0097] In addition, in the above embodiment, the intrusion detection device 1 is installed so that the rotation axis R10 is parallel to the vertical direction, but the intrusion detection device 1 may be installed so that the rotation axis R10 is inclined with respect to the vertical direction. Also, the monitored object is not limited to the arm unit 303 of the industrial robot, and may be another operating part of another type of device.

[0098] In addition, in the above embodiment, the mirrors 32 are installed at different inclination angles so that the angles of the projection directions of the projection light projected from each optical unit 30 are different from each other, but the method of making the angles of the projection light projected from each optical unit 30 different from each other is not limited to this.

[0099] For example, the mirror 32 may be omitted from each of the six optical units 30, and the six structures 31 may be radially arranged so that they have different inclination angles with respect to the rotation axis R10. Also, in the above embodiment, the mirror 32 may be omitted, and instead, the installation surface 21a (see FIG. 1(a)) may be mirror-finished so that the reflectance of the installation surface 21a is increased. Also, in the above embodiment, the optical unit 30 includes one mirror 32, but may include two or more mirrors. In this case, the angle of the projection light reflected by the multiple mirrors and projected onto the scanning area with respect to the rotation axis R10 may be adjusted by the angle of any one of the multiple mirrors.

[0100] Furthermore, the configuration of the optical system of the optical unit 30 is not limited to the configuration shown in the above embodiment. For example, the notch 103a may be omitted from the condenser lens 103, and the projection optical system and the light receiving optical system may be separated from each other so that the optical axis A1 of the projection optical system does not overlap with the condenser lens 103.

[0101] In the above embodiment, six optical units 30 are installed along the circumferential direction of the rotation axis R10, but the number of optical units 30 to be installed is not limited to six and may be another number. In this case as well, the inclination angles of the mirrors 32 included in each optical unit 30 are set to be different from each other, and the angles of the projected light reflected by each mirror 32 are set to be different acute angles from each other.

[0102] In the above embodiment, the six projected lights L1 to L6 rotate to scan a predetermined target space, but the method of scanning the target space is not limited. stomach. For example, the target space may be scanned by rotating a single projected light about a rotation axis and changing the angle of the projected light for each rotation. Also, the projected light does not necessarily have to be rotated, and the target space may be scanned with the projected light by repeating linear scanning over multiple lines while changing the line.

[0103] In the above embodiment, the motor 216 is used as a drive unit for rotating the rotating unit 20, but instead of the motor 216, a coil and a magnet may be disposed in the fixed unit 10 and the rotating unit 20, respectively, to rotate the rotating unit 20 relative to the fixed unit 10. Also, a gear may be provided over the entire outer circumferential surface of the rotating unit 20, and a gear mounted on the drive shaft of a motor mounted on the fixed unit 10 may be engaged with this gear to rotate the rotating unit 20 relative to the fixed unit 10.

[0104] In addition, the embodiments of the present invention can be modified in various ways as appropriate within the scope of the technical ideas set forth in the claims. [Explanation of symbols]

[0105] 1. Intrusion detection device 2. Scanning detector 201 Control section 303 Arm section (monitoring object) A11 Exclusion area A12 Monitoring area M1 Marker

Claims

1. a scanning detection unit that scans the projection light and detects reflected light of the projection light from an object; A control unit, The control unit is Detecting the position of the monitored object based on the detection result of the scanning detection unit; setting an exclusion area of ​​a predetermined width outside the position of the monitored object to exclude intrusion detection; A monitoring area having a predetermined width is set outside the exclusion area, detecting an intrusion of an object into the monitoring area based on a detection result of the scanning detection unit; 1. An intrusion detection device comprising:

2. 2. The intrusion detection device according to claim 1, A marker is disposed on the outer surface of the monitored object that is scanned by the projected light, the control unit detects the position of the monitored object by detecting the marker from the detection result of the scanning detection unit.

1. An intrusion detection device comprising:

3. 3. The intrusion detection device according to claim 2, the marker has a reflectance different from that of the outer surface of the monitored object; The control unit detects the marker based on the intensity of the reflected light detected by the scanning detection unit.

1. An intrusion detection device comprising:

4. 4. The intrusion detection device according to claim 1, the control unit measures a distance to an object based on a time difference between a projection timing of the projection light and a reception timing of the reflected light, and acquires a distance position at which the monitored object is detected as a position of the monitored object.

1. An intrusion detection device comprising:

5. 5. The intrusion detection device according to claim 4, The control unit sets heights of the exclusion area and the monitoring area based on a distance position of the monitoring object.

1. An intrusion detection device comprising:

6. 6. The intrusion detection device according to claim 1, the control unit continuously and repeatedly executes detection of the monitored object to identify a movement range of the monitored object, and sets the exclusion area outside the identified movement range.

1. An intrusion detection device comprising:

7. 1. An intrusion detection method for detecting an object entering a monitoring area set around a monitoring object, comprising: Detecting reflected light of the projected light from an object while scanning the projected light; Detecting the position of the monitored object based on the detection result of the reflected light; setting an exclusion area of ​​a predetermined width outside the position of the monitored object to exclude intrusion detection; A monitoring area having a predetermined width is set outside the exclusion area, detecting an intrusion of an object into the monitoring area based on a detection result of the reflected light; 13. A method for detecting an intrusion, comprising:

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