Monitoring device, setting support device, area setting method, and setting support method

Abstract

To provide a monitoring device that can reduce a burden on an area setting person setting a monitoring area.SOLUTION: A monitoring device 10 for monitoring entry into a monitoring area, comprises: a receiving unit that receives radio waves from an IC tag fixedly arranged in a detection area detectable by the monitoring device; a tag information detecting unit that detects tag position information indicative of a position of the IC tag with respect to the monitoring device for each tag on the basis of the radio waves; an output unit that outputs tag detection information including the tag position information for each IC tag to a setting support device supporting setting the monitoring area; a receiving unit that receives area setting information for setting the monitoring area, from the setting support device; and a control unit that sets the monitoring area on the basis of the area setting information.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a monitoring device, a setting support device, an area setting method, and a setting support method.

Background Art

[0002] Conventionally, a safety scanner that grasps the correspondence between a ranging position on a scan plane and the real space is known (see Patent Document 1). This safety scanner includes a light projecting means for projecting detection light onto a detection area, a light receiving means for receiving reflected light from an object in the detection area and generating a light receiving signal, a distance calculation means for obtaining the distance to the object based on the light receiving signal, a scanning means for scanning the detection light in the circumferential direction around a rotation axis, a ranging means for obtaining ranging information corresponding to the distance and the scanning angle of the detection light, an area designation information receiving means for receiving area designation information for designating a protection area in the detection area from a setting support device, an intrusion detection means for detecting an intruder in the protection area based on the ranging information and the area designation information, a marker discrimination means for discriminating a marker movably disposed in the detection area, and an area generation information transmission means for transmitting the ranging information of the marker to the setting support device as area generation information for determining the protection area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the safety scanner of Patent Document 1, a PC (Personal Computer) as a setting support device is connected to the safety scan via a communication cable. Also, a person moves while holding the position of the marker to assist in setting the protection area. Therefore, when setting a monitoring area corresponding to the protection area using the safety scanner of Patent Document 1, the following situations are assumed.

[0005] Specifically, the area setter who sets the monitoring area needs to move in the site where the protection area is set while holding the marker in the detection area when setting the monitoring area. Also, it is necessary to always be present at the site when setting the monitoring area, and the staying time in the monitoring area tends to be long. Therefore, the burden on the area setter during setting is large.

[0006] The present disclosure has been made in view of the above circumstances, and provides a monitoring device, a setting support device, an area setting method, and a setting support method capable of reducing the burden on the area setter who sets the monitoring area.

Means for Solving the Problem

[0007] One aspect of the present disclosure is a monitoring device that monitors entry into a monitoring area, including a receiving unit that receives radio waves from an IC tag fixedly arranged in a detection area detectable by the monitoring device, a tag information detection unit that detects tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag based on the radio waves, an output unit that outputs tag detection information including the tag position information for each IC tag to a setting support device that supports setting of the monitoring area, a receiving unit that receives area setting information for setting the monitoring area from the setting support device, and a control unit that sets the monitoring area based on the area setting information.

[0008] One aspect of the present disclosure is a setting support device that supports setting a monitoring area to be monitored by a monitoring device. For each IC tag fixedly arranged in a detection area detectable by the monitoring device, a receiving unit that receives tag detection information including tag position information indicating the position of the IC tag with respect to the monitoring device, and a control unit that determines the monitoring area with the position of each IC tag as a point on the outer periphery of the monitoring area based on the tag detection information for each IC tag.

[0009] One aspect of the present disclosure is an area setting method for setting a monitoring area, including the steps of receiving radio waves from an IC tag fixedly arranged in a detection area detectable by a monitoring device that monitors entry into the monitoring area, detecting, based on the radio waves, tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag, outputting tag detection information including the tag position information for each IC tag to a setting support device that supports setting the monitoring area, obtaining area setting information for setting the monitoring area from the setting support device, and setting the monitoring area based on the area setting information.

[0010] One aspect of the present disclosure is a setting support method for supporting setting a monitoring area to be monitored by a monitoring device, including the steps of obtaining tag detection information including tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag fixedly arranged in a detection area detectable by the monitoring device, and determining the monitoring area with the position of each IC tag as a point on the outer periphery of the monitoring area based on the tag detection information for each IC tag.

Advantages of the Invention

[0011] According to the present disclosure, the burden on the area setter for setting the monitoring area can be reduced.

Brief Description of the Drawings

[0012]

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Mode for Carrying Out the Invention

[0013] Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, a more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and descriptions of substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0014] <Overview of the Monitoring System> FIG. 1 is a schematic diagram showing a configuration example of a monitoring system 5 in the first embodiment. The monitoring system 5 includes a monitoring device 10 and a setting support device 20.

[0015] The monitoring device 10 optically monitors the inside of the monitoring area MR. The monitoring device 10 is, for example, arranged inside a factory and monitors whether safe work is being carried out. The monitoring device 10 is a LiDAR device, for example an electro-optical-mechanical LiDAR device, but other types of LiDAR devices may also be used. The monitoring device 10 monitors according to the set monitoring area MR.

[0016] The monitoring device 10 is arranged at the monitoring site C1. At the monitoring site C1, for example, the monitoring device 10 and the robot device 30 are arranged. In FIG. 1, the monitoring device 10 is installed at the corner below the base 31 of the robot device 30, but it is not limited to this. For example, the monitoring device 10 may be installed above the base 31 of the robot device 30 and arranged in the vicinity of the robot arm 32 of the robot device 30. The robot device 30 may be arranged with a fixed position without moving, or may be movable and have a variable arrangement position.

[0017] Also, a machine tool 70 is installed at the monitoring site C1. The machine tool 70 performs various processes (such as cutting, drilling, grinding, or bending) on various materials (such as metal, wood, or stone). The robot device 30 is arranged in the vicinity of the machine tool 70 and performs a predetermined operation on the machine tool 70 using the robot arm 32 to assist with various processes. One or a plurality of machine tools 70 may be installed at the monitoring site C1. When a plurality of machine tools 70 are installed, the robot device 30 may be movable between the plurality of machine tools 70. Also, the position of the robot device 30 with respect to one machine tool 70 may be variable. Note that the positions of the machine tools 70 are each fixed.

[0018] In addition, workers H1 and other objects may exist at the monitoring site C1. The workers H1 include tag installers who install the IC tag 50 for setting the monitoring area MR at the monitoring site C1. Also, the workers H1 may include, for example, monitors who visually check the monitoring site C1, check the robot device 30 or the machine tool 70, or check the products manufactured by the robot device 30 or the machine tool 70. Other objects may be, for example, objects and vehicles necessary for operations in the factory.

[0019] The IC tag 50 is installed, for example, around the machine tool 70. The IC tag 50 serves as an indicator for setting the monitoring area MR. The IC tag 50 is installed, for example, within a detection area detectable by the monitoring device 10 when the monitoring device 10 is installed on the robot device 30 and the robot device 30 is installed at a predetermined position relative to the machine tool 70. The IC tag 50 may be, for example, a tag seal as a sticker, or may be other than a seal. The IC tag 50 may be fixedly arranged at a predetermined position around the machine tool 70, or may be arranged at different positions, for example, by replacing the sticker. A plurality of IC tags 50 may be installed. The IC tag 50 has a transmission unit that oscillates radio waves and a storage unit that stores the identification information (tag ID) of the IC tag 50 and the like. The IC tag 50 superimposes and transmits the identification information (tag ID) of the IC tag 50 on the radio wave signal. The IC tag 50 may be, for example, an RFID tag or an IC tag capable of Bluetooth (registered trademark) communication.

[0020] The setting support device 20 is a device that supports the setting of the monitoring area MR. The setting support device 20 is a PC (Personal Computer), a mobile terminal, a tablet terminal, or the like. The setting support device 20 is operated by a user and can determine the monitoring area MR desired by the user. The setting support device 20 can communicate with the monitoring device 10 by wire or wirelessly.

[0021] The monitoring device 10 and the setting support device 20 cooperate to set the monitoring area MR. For example, when the operator H1 approaches the robot device 30, danger may occur to the operator H1 due to the operation of the robot device 30. Therefore, for example, based on the operable range of the robot device 30 (for example, the range that the robot arm 32 can reach), the monitoring area MR can be set. The robot device 30 is an example of a danger source.

[0022] The monitoring area MR may include a plurality of types of monitoring areas. The monitoring area MR includes, for example, a protection area MR1 and a warning area MR2, and may also include other types of monitoring areas. The protection area MR1 is an area where entry is prohibited to protect from the robot device 30. The warning area MR2 is an area where it is recommended not to enter. For example, the protection area MR1 is formed to include a part or all of the operable range of the robot device 30. The warning area MR2 is formed around the protection area MR1, for example, because the distance from the robot device 30 is relatively close. In this way, the monitoring area MR can be set in a divided manner.

[0023] The monitoring device 10 monitors the inside of the monitoring area MR and detects whether an object such as the operator H1 exists in the monitoring area MR. When it is detected that an object exists in the monitoring area MR, the monitoring device 10 can output warning information (alarm output) indicating that an object has entered the monitoring area. The monitoring device 10 can operate as an area scanner (scanner device).

[0024] <Configuration of the monitoring device> FIG. 2A is a schematic view showing an external appearance example of the monitoring device 10 as viewed from the side. FIG. 2B is a schematic view showing an external appearance example of the monitoring device 10 as viewed from above.

[0025] In this embodiment, the x-direction, y-direction, and z-direction are defined. The x-direction is an arbitrary direction in the xy-plane parallel to the installation surface P1 on which the monitoring device 10 is installed. The y-direction is a direction perpendicular to the x-direction in the xy-plane. The z-direction is a direction perpendicular to the xy-plane. The xy-plane is parallel to the horizontal direction, for example. The z-direction is parallel to the direction of gravity, for example. The positive side of the z-direction is also described as "up", and the negative side of the z-direction is also described as "down". The definition of this direction is the same in other embodiments.

[0026] The monitoring device 10 includes a lower housing 15 and an upper housing 16. The lower housing 15 has, for example, a rectangular parallelepiped shape (box shape), but may have other shapes. The lower housing 15 may be made of metal and does not have light transmissivity, for example. The upper housing 16 has a circular shape when viewed from above and has a shape that expands in diameter from the side closer to the installation surface P1 of the monitoring device 10 toward the side farther from the installation surface P1, but may have other shapes (for example, a rectangular parallelepiped shape). The upper housing 16 can be made of resin, for example, and has a light transmissive window having light transmissivity at least in part. The light transmissive window can transmit invisible light (for example, infrared light) from the inside to the outside and from the outside to the inside of the monitoring device 10, and may also transmit visible light. Further, when the entire upper housing 16 has light transmissivity, the upper housing 16 may be a colored or colorless cover having light transmissivity.

[0027] FIG. 3 is a block diagram showing a configuration example of the monitoring device 10. The monitoring device 10 includes an entry detection unit 110, an IC tag information processing unit 120, a storage unit 130, an input / output unit 140, and a rotation mechanism unit 150. Further, the monitoring device 10 may include the rotation mechanism unit 150.

[0028] The entry detection unit 110 includes a light projection unit 111, a light projection control unit 112, a light reception unit 113, a distance calculation unit 114, a distance measurement unit 115, and an entry detection unit 116. The entry detection unit 110 includes, for example, a processor and has various functions as the control unit 160 by executing a program held in the storage unit 130 or executing various information. The processor may include an MPU (Micro Processing Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), etc. The control unit 160 includes the light projection control unit 112, the distance calculation unit 114, the distance measurement unit 115, and the entry detection unit 116. Further, the control unit 160 controls, for example, an area setting operation for setting the monitoring area MR, an object detection operation, or a rotation operation by the rotation mechanism unit 150.

[0029] The rotation mechanism unit 150 rotates an optical system (for example, a mirror and a lens not shown in the figure) along the xy plane around the rotation axis. The rotation axis is, for example, an axis passing through the center in the plane along the xy plane (for example, the bottom surface) of the monitoring device 10 and parallel to the z axis. The optical system changes (scans) the light projection direction by the light projection unit 111 and the light reception direction (detection direction) by the light reception unit 113 along the xy plane due to the rotation of the rotation mechanism unit 150. That is, the optical system changes the detection direction of the object 25, which is the detection target by the monitoring device 10, over the entire circumference or a part of the entire circumference around the monitoring device 10. The optical system may include, for example, a light projection mirror that reflects the light projection light projected by the light projection unit 111 toward the object 25, a light reception lens that receives the detection light from the object 25, and a light reception mirror that reflects the detection light transmitted through the light reception lens toward the light reception unit 113. Note that the rotation mechanism unit 150 may be able to freely change the detection direction by rotating the light projection unit 111 and the light reception unit 113 along the xy plane together with or instead of the optical system.

[0030] The light projection unit 111 includes a light emitting element such as a laser diode and projects predetermined light. The light projection unit 111 projects at least invisible light (for example, infrared light) and may project visible light. The light (projected light) projected by the light projection unit 111 can be reflected or scattered by, for example, an object to be detected. A plurality of light projection units 111 may be provided.

[0031] The light projection control unit 112 controls the light projection unit 111. The light projection control unit 112 adjusts the light projection timing of the detection light based on an encoder signal (for example, a pulse signal) of a rotary encoder. The light projection control unit 112 generates pulsed projected light at regular time intervals, for example, in response to the rotation of the optical system of the rotation mechanism unit 150.

[0032] The light receiving unit 113 includes a light receiving element such as a photodiode and receives predetermined light. The light receiving unit 113 may receive at least invisible light (for example, infrared light) or may receive visible light. The light (received light) received by the light receiving unit 113 may include, for example, the detection light in which the projected light projected by the light projection unit 111 is reflected or scattered by the object 25. The light receiving unit 113 generates a received signal from the received light.

[0033] The distance calculation unit 114 calculates the distance between the monitoring device 10 and the object 25 based on the received signal from the light receiving unit 113, for example, according to the TOF (Time Of Flight) method. In the TOF method, the time from when the projected light projected from the light projection unit 111 is reflected or scattered by the object and returns to the monitoring device 10 and is received as detection light by the light receiving unit 113 is calculated, and the detection distance is calculated based on this time. In this case, the distance calculation unit 114 may measure the reception timing of the received signal based on the timing of the encoder signal of the rotary encoder.

[0034] The distance measurement unit 115 calculates distance measurement information corresponding to the distance (detection distance) calculated by the distance calculation unit 114 and the angle (detection angle) corresponding to the encoder signal at the time of light projection or light reception. The two-dimensional position of the object 25 is specified by the distance measurement information.

[0035] The entry detection unit 116 detects entry into the monitoring area MR based on the set monitoring area MR and the distance measurement information of the distance measurement unit 115. In this case, the entry detection unit 116 determines whether or not the object 25 is located within the monitoring area MR. When the object 25 is located within the monitoring area MR, the entry detection unit 116 detects the entry of the object 25 into the monitoring area MR. When the object 25 is not located within the monitoring area MR, the entry detection unit 116 detects that the object 25 has not entered the monitoring area MR.

[0036] When the entry detection unit 116 detects the entry of the object 25 into the monitoring area MR, the entry detection unit 116 sends an entry detection signal indicating that the entry of the object 25 has been detected to the input / output unit 140. Further, when the entry detection unit 116 detects entry into the protection area MR1, the entry detection unit 116 may send a protection detection signal indicating that entry into the protection area MR1 has been detected to the input / output unit 140 as an entry detection signal. When the entry detection unit 116 detects entry into the warning area MR2, the entry detection unit 116 may send a warning detection signal indicating that entry into the warning area MR2 has been detected to the input / output unit 140 as an entry detection signal.

[0037] The IC tag information processing unit 120 has a configuration including an IC tag detection unit 121, an area recognition unit 122, and a data transmission unit 123.

[0038] The IC tag detection unit 121 receives a radio wave signal from the IC tag 50. Based on the received radio wave signal, the IC tag detection unit 121 detects, for each IC tag 50, a tag ID for identifying the IC tag 50 and tag position information indicating the position of the IC tag 50 relative to the monitoring device 10. The tag position information includes tag distance information indicating the distance between the monitoring device 10 and the IC tag 50. The tag position information may include tag angle information indicating the angle of the IC tag 50 relative to the monitoring device 10 together with the tag distance information. The angle of the tag angle information may be an angle corresponding to the encoder signal, similar to the case where the object 25 is detected by the entry detection unit 110. The information detected by the IC tag detection unit 121 is also referred to as tag detection information. The tag detection information includes at least the tag ID and the tag position information.

[0039] The IC tag detection unit 121 may detect distance information, for example, based on the signal strength (RSSI: (Received Signal Strength Indicator)) of the received radio wave signal. The IC tag detection unit 121 may detect distance information and angle information, for example, by the communication boundary method. Also, the IC tag detection unit 121 may detect angle information, for example, according to AOA (Angle Of Arrival) or AOD (Angle Of Departure). In this case, for example, the IC tag detection unit 121 includes two or more antennas for receiving radio wave signals, and may detect the angle information of the IC tag 50 that oscillates the radio wave signal based on the phase difference of the radio wave signals received by the plurality of antennas.

[0040] The area recognition unit 122 compares the tag ID of the IC tag 50 with the tag ID information in the area setting information held in the storage unit 130 to recognize at which location of the machine tool 70 the monitoring device 10 is arranged.

[0041] The data transmission unit 123 sends the data, information, or signals detected by the IC tag detection unit 121 to the input / output unit 140. The data transmission unit 123 sends, for example, tag detection information to the input / output unit 140.

[0042] The storage unit 130 includes a primary storage device (for example, RAM (Random Access Memory) or ROM (Read Only Memory)). The storage unit 130 may include a secondary storage device (for example, HDD (Hard Disk Drive) or SSD (Solid State Drive)) or a tertiary storage device (for example, optical disk, SD card). The storage unit 130 may include other storage devices. The storage unit 130 stores various data, information, or programs, etc.

[0043] The storage unit 130 may store area setting information for setting the monitoring area MR. The area setting information includes information on the form of the determined monitoring area (for example, the position, range, size, or shape with respect to the monitoring device 10), information indicating which machine tool 70 the determined monitoring area MR is for (identification information of the machine tool 70), and the like. The area setting information is acquired from the setting support device 20 via the input / output unit 140. The storage unit 130 may store a plurality of different area setting information corresponding to the monitoring area MR set for each machine tool 70.

[0044] The storage unit 130 may store tag setting information. The tag setting information is information regarding the IC tag 50 and may include, for example, the communication method of the IC tag 50 (for example, RFID, Bluetooth (registered trademark), frequency used), and the power supply method (for example, with or without power supply to the IC tag 50). The tag setting information may be acquired from an external device 80 (for example, an external server) via the input / output unit 140, or may be pre-stored in the storage unit 130.

[0045] The input / output unit 140 inputs and outputs data, information, signals, etc. to and from an external device 80 outside the monitoring device 10. The external device 80 includes a PLC device (Programmable Logic Controller) or a setting support device 20, etc. The input / output unit 140 may have, for example, a communication unit and transmit and receive signals by wire or wirelessly. The input / output unit 140 may have, for example, an acoustic input unit (microphone) or an acoustic output unit (speaker) and input and output signals by sound.

[0046] When the input / output unit 140 acquires an entry detection signal from the entry detection unit 110, for example, it outputs the entry detection signal to the PLC device. When the input / output unit 140 acquires tag detection information obtained from the IC tag information processing unit 120, for example, it outputs the tag detection information to the setting support device 20. The input / output unit 140 inputs area setting information from the setting support device 20, for example.

[0047] Further, when the input / output unit 140 acquires an entry detection signal from the entry detection unit 110, it may output an alarm output signal including warning information. The alarm output signal may be output, for example, to an external device 80 (such as a display, a speaker, or other notification devices) that can be notified based on the alarm output signal. By having the notifiable external device 80 notify based on the alarm output signal, the safety of the operator H1 and the like can be ensured.

[0048] The PLC device instructs the control of the operation of the robot device 30. When the PLC device receives an entry detection signal from the monitoring device 10, it transmits a signal (operation restriction instruction signal) for restricting the operation of the robot device 30 to the robot device 30 based on the entry detection signal. When the robot device 30 receives the operation restriction instruction signal from the PLC device, it restricts the operation of the robot device 30. The restriction of the operation of the robot device 30 may include stopping the operation of the robot device 30, reducing the operable range of the robot device 30, reducing the operation speed, or other restrictions on the operation. In this way, when the operator H1 exists as the object 25 within the monitoring area MR, the monitoring device 10 can restrict the operation of a hazard source such as the robot device 30 and ensure the safety of the operator H1. Further, when the operation restriction instruction signal is based on the protection detection signal, the PLC device may stop the operation of the robot device 30, and when the operation restriction instruction signal is based on the warning detection signal, the PLC device may restrict the operation of the robot device 30 other than stopping it.

[0049] <Configuration of the Setting Support Device> FIG. 4 is a diagram showing a configuration example of the setting support device 20. The setting support device 20 includes a control unit 210, a communication unit 220, a storage unit 230, an operation unit 240, and a display unit 250.

[0050] The control unit 210 realizes various functions by executing the programs held in the storage unit 230. The control unit 210 may include an MPU, a CPU, a DSP, a GPU, etc. The control unit 210 comprehensively controls each part of the setting support device 20 and performs various processes. For example, the control unit 210 determines the monitoring area MR with the position of each IC tag 50 being a point on the outer periphery of the monitoring area MR based on the tag detection information (at least tag position information) for each IC tag 50.

[0051] The communication unit 220 communicates various data, information, etc. The communication method by the communication unit 220 may include communication methods such as WAN (Wide Area Network), LAN (Local Area Network), power line communication, infrared communication, short-range wireless communication (e.g., Bluetooth (registered trademark) communication), mobile communication for mobile phones, etc.

[0052] The storage unit 230 includes a primary storage device (e.g., RAM or ROM). The storage unit 230 may include a secondary storage device (e.g., HDD or SSD) and a tertiary storage device (e.g., optical disk, SD card). The storage unit 230 may include other storage devices. The storage unit 230 stores various data, information, programs, etc.

[0053] The operation unit 240 may include a mouse, a keyboard, a touch pad, a touch panel, a microphone, or other input parts. The operation unit 240 receives the input of various data, information, etc. The display unit 250 may include a liquid crystal display unit, an organic EL unit, or other display units. The display unit 250 displays various data, information, etc.

[0054] <Operation of the Monitoring System> Next, an operation example of the monitoring system 5 will be described.

[0055] First, an example of setting the monitoring area MR at the time of introducing the production line will be described. The production line is arranged at the monitoring site C1. At the time of introducing the production line, for example, it is the time of introducing the machine tool 70 or the robot device 30 arranged with respect to the machine tool 70.

[0056] The tag installer who installs the IC tag 50 goes to the monitoring site C1 and installs the IC tag 50 on the floor surface or the like. The IC tag 50 is installed within the range of the detection area DR by the monitoring device 10 arranged corresponding to the machine tool 70. The IC tag 50 is attached, for example, to a point (for example, a vertex) on the outer periphery of the area to be monitored. For example, the IC tag 50 is installed at the positions of "A", "B", "C", "D", "E", and "F" shown in FIG. 1.

[0057] Here, two setting examples of the monitoring area MR at the time of introducing the production line will be described. The first setting example is a setting example when the tag detection information includes tag angle information indicating the angle of the IC tag 50. The second setting example is a setting example when the tag detection information does not include tag angle information indicating the angle of the IC tag 50.

[0058] FIG. 5 is a sequence diagram showing the first setting example of the monitoring area MR at the time of introducing the production line. At the start of FIG. 5, the installation of the IC tag 50 at the monitoring site C1 described above is completed.

[0059] First, the monitoring device 10 receives a radio wave signal from the IC tag 50 for each IC tag 50 by the IC tag detection unit 121 (S11), and based on the radio wave signal, detects the tag ID, tag distance information, and tag angle information (S12).

[0060] Note that when taking into account the installation height of the monitoring device 10, the tag distance information may be different from the distance between the monitoring device 10 and the IC tag 50 along the horizontal direction. FIG. 6 is a diagram for explaining the derivation of the distance information taking into account the installation height of the monitoring device. As shown in FIG. 6, the installation height h of the monitoring device 10 and the distance R between the monitoring device 10 and the IC tag 50 obtained as tag distance information A assuming that A the distance R' between the monitoring device 10 and the IC tag 50 along the horizontal direction is calculated as follows. This calculation is performed, for example, by the IC tag detection unit 121.

[0061]

Number

[0062] FIG. 7 is a diagram showing an example of tag detection information including a tag ID, tag distance information, and tag angle information. The label shown in FIG. 7 corresponds to the tag ID. As shown in FIG. 7, the tag detection information is obtained for each IC tag 50.

[0063] The input / output unit 140 acquires (for example, transmits) the tag detection information for each IC tag 50 from the data transmission unit 123 and outputs it to the setting support device 20 (S13). The distance of the distance information included in the tag detection information is the distance R A or the distance R A ’. The distance R A in the case of, the setting support device 20 can improve the determination accuracy of the monitoring area MR as a region on the plane by using the distance R A ’ between the monitoring device 10 along the horizontal direction and the IC tag 50 for the determination of the monitoring area MR.

[0064] In the setting support device 20, the communication unit 220 receives (acquires) the tag detection information for each IC tag 50 from the monitoring device 10 (S13). The control unit 210 executes a monitoring area determination process for determining the monitoring area MR based on the acquired tag detection information for each IC tag 50 (S14). Details of the monitoring area determination process will be described later. In the monitoring area determination process, area setting information is generated. The communication unit 220 transmits the area setting information to the monitoring device 10 (S15).

[0065] In the monitoring device 10, the input / output unit 140 acquires (receives) the area setting information, and the storage unit 130 holds the area setting information (S16). The control unit 160 sets the monitoring area MR based on the area setting information (S17). The entry detection unit 110 uses the projected light and the detection light to detect the presence or absence of entry of the object 25 in the monitoring area MR (S18).

[0066] In step S16, it was exemplified that the input / output unit 140 receives the area setting information and holds it in the storage unit 130. However, the present invention is not limited to this. For example, the storage unit 130 as a removable storage medium may acquire and hold the area setting information generated by the setting support device 20 and incorporate it into the monitoring device 10. In this way, the input / output unit 140 and the storage unit 130 can operate as an acquisition unit that acquires the area setting information.

[0067] FIG. 8 is a flowchart showing an example of the monitoring area determination process shown in step S14 of FIG. 5.

[0068] First, the control unit 210 acquires information on the detection area DR by the monitoring device 10 (S31). The detection area DR may be stored in the storage unit 230, for example, and acquired from the storage unit 230, or may be received from the monitoring device 10 via the communication unit 220, or may be acquired from a server other than the monitoring device 10 via the communication unit 220. The detection area DR is formed, for example, taking into account the installation positions of the machine tool 70 or the robot device 30. Further, the control unit 210 may acquire, for example, the mapping information of the production line and the information on the detectable distance using the detection light by the monitoring device 10 via the communication unit 220. The mapping information of the production line includes the installation positions of the machine tool 70 or the robot device 30. Then, the control unit 210 may calculate and acquire the detection area DR based on the mapping information and the information on the detectable distance.

[0069] Based on the tag detection information of each IC tag 50 and the information of the detection area DR, the control unit 210 arranges a virtual monitoring device 10v, a virtual tag 50v, and a virtual detection area DRv on the virtual plane and causes them to be displayed on the display unit 250 (S32). In the display of the virtual tag 50v, the tag ID is also displayed. The virtual monitoring device 10v corresponds to the monitoring device 10 at the monitoring site C1. The virtual tag 50v corresponds to the IC tag 50 at the monitoring site C1. The virtual detection area DRv corresponds to the detection area DR at the monitoring site C1. That is, based on the position of the virtual monitoring device 10v, the distance from the monitoring device 10 and the angle with respect to the monitoring device 10 are taken into account, and the virtual tag 50v and the virtual detection area DRv are mapped. Therefore, the control unit 210 scales and adjusts each distance according to the ratio of the sizes of the monitoring site C1 and the virtual plane. Therefore, the control unit 210 reproduces the monitoring site C1 on the virtual plane by mapping the positional relationship among the monitoring device 10, the IC tag 50, and the detection area DR at the monitoring site C1 to the virtual monitoring device 10v, the virtual tag 50v, and the virtual detection area DRv on the virtual plane.

[0070] FIG. 9 is a diagram showing an example of a virtual monitoring device 10v, a virtual tag 50v, and a virtual detection area DRv mapped on a virtual plane. "A", "B", "C",... shown at the position of the virtual tag 50v indicate the tag ID. Also, in FIG. 9, the range 70p corresponding to the machine tool 70 at the monitoring site C1 and the range 30p corresponding to the robot device 30 at the monitoring site C1 are also shown here for reference. Note that in the monitoring site C1, the machine tool 70 is fixedly installed at an absolute position, and the robot device 30 is installed at a relative position with respect to the machine tool 70. The virtual plane is, for example, the screen of the display unit 250.

[0071] Returning to FIG. 8, the control unit 210 connects two virtual tags 50v desired by the user among the plurality of virtual tags 50v via the operation unit 240 with a line segment sb (S33). The connected line segment sb and the two virtual tags 50v at both ends thereof will correspond to a part of the outer periphery of the monitoring area MR. The control unit 210 may repeatedly perform the connection of various two virtual tags 50v via the operation unit 240. The control unit 210 causes the line segment sb to be displayed on the display unit 250.

[0072] FIG. 10 is a diagram showing an example in which arbitrary virtual tags 50v are connected by a line segment sb. In FIG. 10, two virtual tags 50v with tag IDs “A” and “B” are connected by a line segment sb, and two virtual tags 50v with tag IDs “B” and “C” are connected by a line segment sb. Similarly, two virtual tags 50v with tag IDs “D” and “E” are connected by a line segment sb, and two virtual tags 50v with tag IDs “E” and “F” are connected by a line segment sb. In the present embodiment, a series of two or more virtual tags 50v connected in order (in series) by one or more line segments and this line segment are collectively referred to as a tag group TG. In FIG. 10, the tag group TGA includes the virtual tags 50v of “A”, “B”, and “C”, and the tag group TGB includes the virtual tags 50v of “D”, “E”, and “F”.

[0073] Note that, after the process of step S33, if there are virtual tags 50v that are not connected by the line segment sb, the control unit 210 may cause a warning message to be displayed on the display unit 250. Thereby, the setting support device 20 can suppress the connection omission of the line segment sb with respect to the virtual tag 50v.

[0074] Returning to FIG. 8, the control unit 210 corrects the positions (coordinate positions) of the respective virtual tags 50v arranged in step S32 (S34). The tag position information obtained and included in the tag detection information is indicated by the relative position with respect to the monitoring device 10. Also, the position information detected from the radio wave signal of the IC tag 50 at the monitoring site C1 may generally include some errors (for example, about ±10 cm for distance and about ±5 degrees for angle). Therefore, the relative positional relationships of the mapped virtual monitoring device 10v and each virtual tag 50v may be inaccurate. In contrast, the control unit 210 corrects the positions of the respective virtual tags 50v by various calculation methods such as trilateration.

[0075] FIG. 11 is a diagram for explaining trilateration.

[0076] In the first setting example shown in FIG. 11, the tag position information for each IC tag 50 includes the tag distance information and the tag angle information for each IC tag 50. Let the point Q in FIG. 11 be the position of the virtual monitoring device 10v, and the points A and B be the positions of the virtual tags 50v of, for example, "A" and "B". In this case, the control unit 210 can calculate all of the length La between QA, the length Lb between QB, the length Lc between AB, the angle of QAC, the angle of QBA, and the angle of AQB based on the tag distance information and the tag angle information for each IC tag 50. Therefore, all of this length and angle information becomes known. In FIG. 11, let the angle of QAB be θ, the coordinates of point Q be (x Q ’, y Q ’), the coordinates of point A be (x a ’, 0), the coordinates of point B be (x b ’, 0), and let the angle formed by X and X’ in the X’Y’ coordinate system and the XY coordinate system be φ. Then, the following relationship holds.

[0077]

Equation

[0078] The control unit 210 may derive the calculated positions of the virtual tags 50v according to the above trilateration method. Then, the control unit 210 may correct the positions of the virtual tags 50v on the virtual plane so that the difference (position deviation) between the arranged positions of the virtual tags 50v based on the tag position information and the calculated positions of the virtual tags 50v becomes small. In this case, the control unit 210 may preferentially correct the distance of the virtual tag 50v with respect to the virtual monitoring device 10v, or may preferentially correct the angle of the virtual tag 50v with respect to the virtual monitoring device 10v. For example, when the virtual monitoring device 10v, the virtual tag 50v of "A", and the virtual tag 50v of "B" form a triangle, the control unit 210 may correct the position of the virtual tag 50v of "B" based on the position of the virtual monitoring device 10v and the virtual tag 50v of "A". In this way, the control unit 210 calculates the relative positional relationship of the virtual tags 50v based on the respective tag position information, which is the individual position information for each IC tag 50, and may correct at least one position of the virtual tags 50v based on the relative positional relationship of the virtual tags 50v.

[0079] Returning to FIG. 8, the control unit 210 determines whether or not the tag group TG forms a closed area within the virtual detection area DRv for each tag group TG (S35). For example, it may be determined whether or not a closed area CA is formed by the virtual tag 50v and the line segment sb included in the tag group TG and the outer peripheral line DRl of the virtual detection area DR. The closed area CA is, for example, an area in which the virtual tag 50v included in the tag group TG, the line segment sb, and a part of the outer peripheral line DRl of the virtual detection area DR are formed in a ring shape, and the start point and the end point of a series of connection lines are connected. Further, the closed area CA may be formed by the virtual tag 50v included in the tag group TG and the line segment sb without including the outer peripheral line DRl of the virtual detection area DR.

[0080] When a closed area is not formed by the virtual tag 50v and the line segment sb of the tag group TG, the control unit 210 adds the line segment sbl to generate the closed area CA (S36). The control unit 210 adds the line segment sbl from a virtual tag 50v that is located at the end of a series of line segments sb of the tag group TG and is not on the outer periphery of the virtual detection area DRv, toward an arbitrary point on the outer periphery of the virtual detection area DRv. That is, the line segment sbl is an outer periphery connection line segment that connects to the outer periphery of the virtual detection area DRv. In this case, the control unit 210 may add the line segment sbl with the shortest length from the virtual tag 50v that is the target of line segment addition, to the outer periphery line DRl of the virtual detection area DRv. In this case, the line segment sbl and the outer periphery line DRl of the virtual detection area DRv are perpendicular. In this way, the control unit 210 performs boundary interpolation with the line segment sbl.

[0081] FIG. 12 is a diagram showing an example in which the line segment sbl is added to the outer periphery of the virtual detection area DRv. In FIG. 12, there are two tag groups TGA and TGB, and the virtual tags 50v that are located at the ends of the tag group TG and are not on the outer periphery of the virtual detection area DRv are the virtual tag 50v of "C" and the virtual tag of "F". In FIG. 12, the line segment sbl is added perpendicularly to the virtual detection area DRv from the virtual tag 50v of "C", and the tag group TGA is set as the closed area CA. Also, the line segment sbl is added perpendicularly to the virtual detection area DRv from the virtual tag 50v of "F", and the tag group TGB is set as the closed area CA.

[0082] Returning to FIG. 8, the control unit 210 determines the type of the closed region CA for each closed region CA (S37). The control unit 210 may determine the type of the closed region CA via, for example, the operation unit 240, or may determine the type of the closed region CA based on the position with respect to the virtual monitoring device 10v. The type of the closed region CA indicates the degree of monitoring for the monitoring area MR corresponding to the closed region, and includes, for example, protection and vigilance. The protection closed region CA1 whose type is protection corresponds to the protection area MR1. The protection closed region CA2 whose type is protection corresponds to the protection area MR2. The control unit 210 determines, for example, the protection closed region CA1 and the warning closed region CA2 in the order from the closest to the virtual monitoring device 10v. FIG. 13 is a diagram showing an example in which the type of the closed region CA is determined.

[0083] The control unit 210 determines the monitoring area MR based on the form of the closed region CA (for example, position, range, size, or shape). For example, while maintaining the positional relationship between the virtual monitoring device 10v and the closed region CA, the closed region CA may be expanded or contracted to determine the monitoring area MR. The control unit 210 may determine the type of the monitoring area MR based on the type of the closed region CA. In this case, the control unit 210 may set the monitoring area MR corresponding to the protection closed region CA1 as the protection area MR1 and the monitoring area MR corresponding to the warning closed region CA2 as the warning area MR2. Further, the control unit 210 may specify the dimension of the monitoring area MR at the monitoring site C1 via, for example, the operation unit 240. Further, the control unit 210 may specify the identification information of the machine tool 70 in which the determined monitoring area MR is set around it via, for example, the operation unit 240. The control unit 210 may specify via, for example, the operation unit 240, or may specify using the identification information of the machine tool 70 included in the mapping information. In this way, the control unit 210 may determine the monitoring area MR based on each closed region CA and the type of each closed region CA (S38).

[0084] Based on the determined monitoring area MR, the control unit 210 generates area setting information (S39). The area setting information includes information on the form of the determined monitoring area MR (e.g., position, range, size, or shape relative to the monitoring device 10), information indicating which machine tool 70 the determined monitoring area MR is for (identification information of the machine tool 70), the type of the monitoring area MR, and so on. The generated area setting information is transmitted to the monitoring device 10 in step S15 of FIG. 5.

[0085] The control unit 210 may perform such monitoring area determination processing for each machine tool 70. The surroundings of the machine tool 70 at the monitoring site C1 are different for each machine tool 70. Also, the characteristics of the machine tool 70 are different for each machine tool 70. Therefore, different monitoring areas MR are set for each machine tool 70. Thus, the control unit 210 may determine the monitoring area MR for each machine tool 70 and notify the monitoring device 10.

[0086] According to such a first setting example of the monitoring area MR, the monitoring device 10 can set the monitoring area MR using the IC tag 50. Also, the monitoring device 10 can provide the tag detection information necessary for the determination of the monitoring area MR to the setting support device 20. Also, even when the setting support device 20 determines the monitoring area MR mainly, the monitoring device 10 can receive the provision of the area setting information from the setting support device 20 and easily set the monitoring area MR based on the area setting information.

[0087] Also, the setting support device 20 can freely determine the monitoring area so that the virtual tag 50v is connected as desired based on a user operation easily on the screen (virtual plane) to have the form (e.g., position, range, size, or shape) desired by the user. Also, since it is set using a UI such as the display unit 250 and the operation unit 240, the user can also easily understand the monitoring area intuitively.

[0088] FIG. 14 is a sequence diagram showing a second setting example of the monitoring area MR at the time of introduction of the production line. At the start of FIG. 14, the installation of the IC tag 50 at the monitoring site C1 described above is completed. In the second setting example, at least one of the IC tags 50 is arranged on the outer periphery of the detection area DR, that is, on the outer peripheral line DRl. In FIG. 14, for the processes similar to those shown in FIG. 5, the same step numbers are assigned, and the description thereof is omitted or simplified.

[0089] First, the monitoring device 10 causes the IC tag detection unit 121 to receive a radio wave signal from each IC tag 50 (S11A), and based on the radio wave signal, detects the tag ID and the tag distance information (S12A). Note that the IC tag detection unit 121 may calculate the distance R A ' between the monitoring device 10 and the IC tag 50 along the horizontal direction, similar to the first setting example.

[0090] FIG. 15 is a diagram showing an example of tag detection information including the tag ID and the tag distance information. The label shown in FIG. 15 corresponds to the tag ID. As shown in FIG. 15, the tag detection information is obtained for each IC tag 50.

[0091] The input / output unit 140 acquires the tag detection information for each IC tag 50 from the data transmission unit 123 and outputs (for example, transmits) it to the setting support device 20 (S13A). Similar to the first setting example, the distance of the tag distance information included in the tag detection information may be the distance R A or the distance R A '.

[0092] The setting support device 20 causes the communication unit 220 to receive the tag detection information for each IC tag 50 from the monitoring device 10 (S13A). The control unit 210 executes a monitoring area determination process for determining the monitoring area MR based on the acquired tag detection information for each IC tag 50 (S14A). Details of the monitoring area determination process will be described later. In the monitoring area determination process, area setting information is generated. The communication unit 220 transmits the area setting information to the monitoring device 10 (S15).

[0093] In the monitoring device 10, the input / output unit 140 acquires (receives) the area setting information, and the storage unit 130 holds the area setting information (S16). The control unit 160 sets the monitoring area MR based on the area setting information (S17). The entry detection unit 110 uses the projected light and the detection light to detect the presence or absence of entry of the object 25 within the monitoring area MR (S18).

[0094] FIG. 16 is a flowchart showing an example of the monitoring area determination process shown in step S14 of FIG. 14. In FIG. 16, for the processes similar to those shown in FIG. 8, the same step numbers are assigned, and the descriptions thereof are omitted or simplified.

[0095] First, the control unit 210 acquires the information of the detection area DR by the monitoring device 10 (S31).

[0096] Based on the tag detection information of each IC tag 50 and the information of the detection area DR, the control unit 210 arranges the virtual monitoring device 10v, the virtual tag 50v, and the virtual detection area DRv on the virtual plane and causes them to be displayed on the display unit 250 (S32A). In the display of the virtual tag 50v, the tag ID is also displayed. Here, the tag detection information does not include the tag angle information. Therefore, at this stage, the positions of the respective virtual tags 50v with respect to the virtual monitoring device 10v are indefinite, and the display unit 250 does not arrange each IC tag 50 at a specific position. In step S32A, the control unit 210 may roughly specify the arrangement position of the virtual tag IC on the virtual plane, for example, via the operation unit 240. For example, the user who performs this designation operation knows the installation positions of the respective IC tags 50 at the monitoring site C1 by the tag installer, and roughly designates the arrangement position of the virtual tag IC via the operation unit 240 so as to correspond to the installation positions of the respective IC tags 50.

[0097] In step S32A, the control unit 210 arranges at least one virtual tag 50v on the outer periphery of the virtual detection area DVr in response to at least one IC tag 50 being arranged on the outer periphery of the detection area DR.

[0098] FIG. 17 is a diagram showing an example of the initial display in the second setting example. In FIG. 17, each virtual tag 50v is displayed at the end of the screen displayed on the display unit 250. From this display state, the control unit 210 may roughly specify the arrangement position of the virtual tag IC by a user operation via the operation unit 240. As a result, the same display state as that of FIG. 9 described above is obtained. In this case, the virtual tag 50v of "A" and the virtual tag 50v of "D" are arranged on the outer periphery of the virtual area DVr.

[0099] Returning to FIG. 16, the control unit 210 connects two virtual tags 50v desired by the user among the plurality of virtual tags 50v via the operation unit 240 with a line segment sb (S33). As a result, one or more tag groups TG are formed in the same manner as in the first setting example.

[0100] The control unit 210 acquires tag distance information, which is the distance between two adjacent IC tags 50 corresponding to both ends of the connected line segment sb (S33A). Since the tag distance information is obtained for each line segment sb, one or more pieces of tag distance information can be obtained. Here, as the method for obtaining the tag distance information, a first acquisition example and a second acquisition example are conceivable. Note that the control unit 210 may acquire not only the tag distance information between two IC tags 50 connected by a line segment but also the tag distance information between two IC tags 50 not connected by a line segment.

[0101] The first acquisition example of the tag - to - tag distance information can be adopted when, at the monitoring site C1, the distance between any two IC tags 50 can be measured (detected). For example, there are two types of IC tags 50: a passive IC tag 50 and an active IC tag 50. The active IC tag 50 can communicate radio - wave signals (e.g., Bluetooth (registered trademark) communication) with other IC tags 50. Therefore, for example, an IC tag 50 of "A" communicates with an IC tag 50 of "B", detects the distance between the IC tag 50 of "A" and the IC tag 50 of "B" based on the radio - wave signal from the IC tag 50 of "B", and transmits the detected distance information to the monitoring device 10 as the tag - to - tag distance information. The input / output unit 140 acquires the tag detection information including the tag - to - tag distance information and transmits it to the setting support device 20. Thus, the setting support device 20 may have the control unit 210 acquire the tag - to - tag distance information included in the tag detection information from the monitoring device 10 via the communication unit 220.

[0102] The second acquisition example of the tag - to - tag distance information can acquire the tag - to - tag distance information even when the distance between any two IC tags 50 cannot be detected. For example, when installing the IC tags 50, the tag installer measures the distance between any two IC tags 50 using a measuring tool or the like. The user inputs this measurement information as the tag - to - tag distance information to the setting support device 20. That is, the setting support device 20 may have the control unit 210 acquire the tag - to - tag distance information by receiving a user operation via the operation unit 240.

[0103] FIG. 18 is a diagram showing an example of the tag - to - tag distance information. In FIG. 18, for example, "A - B" indicates the tag IDs of two IC tags 50 corresponding to two virtual tags 50v connected by a line segment sb, and "L1" indicates that the distance between the IC tag 50 of "A" and the IC tag 50 of "B" is L1. Such tag - to - tag distance information is acquired for every two IC tags 50 connected by a line segment sb.

[0104] Returning to FIG. 16, the control unit 210 corrects the positions (coordinate positions) of the respective virtual tags 50v arranged in step S32A (S34A). The control unit 210 acquires tag distance information and inter-tag distance information with respect to the monitoring device 10 as a reference. Therefore, the control unit 210 can acquire the lengths of the three sides of a triangle formed by the virtual monitoring device 10v and two virtual tags 50v connected by a line segment. Thus, the control unit 210 can calculate each interior angle of the triangle. Thus, the control unit 210 may correct the positions (coordinate positions) of the respective virtual tags 50v based on the lengths of the three sides and the three angles derived according to the trilateration method or the like. The method of position correction by the trilateration method may be the same as that of the first embodiment.

[0105] For each tag group TG, the control unit 210 fixes, on the virtual plane, the arrangement position of a virtual tag 50v (also referred to as a reference virtual tag 50vr) that is located at the end of the tag group TG and is not on the outer periphery of the virtual detection area DRv (see FIG. 19) (S34B). Thereby, the distance and angle of the reference virtual tag 50vr with respect to the virtual monitoring device 10v are fixed.

[0106] For each tag group TG, the control unit 210 determines the positions of the respective virtual tags 50v included in the tag group TG based on the reference virtual tag 50vr and the tag distance information of each virtual tag 50v included in the tag group TG (S34C). Thereby, even when the tag detection information does not include angle information, the arrangement positions of the respective virtual tags 50v can be determined with reference to the arrangement position of the reference virtual tag 50vf.

[0107] Proceeding to FIG. 16B, the control unit 210 performs the processes of steps S35 to S39 shown in FIG. 8. Thereby, as shown in FIG. 19, a closed area CA similar to that of the first embodiment can be formed, and the monitoring area MR can be determined. FIG. 19 is a diagram showing a determination example of the monitoring area MR in the second setting example.

[0108] Similar to the first embodiment, the monitoring area determination process may be performed for each machine tool 70, and different monitoring areas MR may be set for each machine tool 70. Therefore, the control unit 210 may determine the monitoring area MR for each machine tool 70 and notify the monitoring device 10.

[0109] Here, consider the reason for fixing the position of the reference virtual tag 50vf. FIG. 20 is a diagram showing that the positions of the virtual tags 50v belonging to the tag group TG are indefinite.

[0110] The control unit 210 acquires the tag distance information and the inter-tag distance information of each IC tag 50 corresponding to each virtual tag 50v. If the position of the reference virtual tag TG is not fixed, since the control unit 210 only grasps the information regarding the distance, the positions of the virtual tags 50v are determined based on the distance from the monitoring device 10. In this case, since the angle is not determined while maintaining the distance between the virtual monitoring device 10v and the virtual tag 50v, it can be arranged at any position on the circumference of a circle with the virtual monitoring device 10v as the center O. On the other hand, by fixing the position of the reference virtual tag 50vf, the control unit 210 can determine the positions of the other virtual tags 50v in the same tag group TG based on the positional relationship with the position of the reference virtual tag 50vf.

[0111] Here, it is exemplified that the position of the reference virtual tag 50vf is located on the outer periphery of the virtual detection area DRv, but it is not limited thereto. For example, the reference virtual tag 50vf may be at an arbitrary position within the range of the virtual detection area DRv. For example, the virtual tag 50v at "B" or the virtual tag 50v at "E" in FIG. 19 etc. may be the reference virtual tag 50vf and its position may be fixed. Even in this case, the setting support device 20 can determine the positions of the other virtual tags 50v in the same tag group TG based on the positional relationship with the position of the reference virtual tag 50vf.

[0112] According to the second setting example of such a monitoring area MR, since the monitoring device 10 provides the setting support device 20 with tag detection information that does not include tag angle information, it is only necessary to detect the minimum amount of information required for determining the monitoring area MR, and the burden on the IC tag information processing unit 120 can be reduced.

[0113] In addition, even if the tag detection information does not include tag angle information, the setting support device 20 can arrange each virtual tag 50v. Further, the setting support device 20 can suppress the situation where the arrangement position of the virtual tag 50v arranged on the outer periphery of the virtual detection area DVr is not determined anywhere on the circle with the distance indicated by the distance information as the radius. Further, by determining one point on the outer periphery of the virtual detection area DVr, it is also possible to suppress the situation where the positions of the other virtual tags 50v connected by the line segment sb become indeterminate.

[0114] <Simple setting of monitoring area> Next, the simple setting of the monitoring area MR will be described.

[0115] When introducing the production line, the monitoring device 10 holds area setting information for setting the monitoring area MR in the storage unit 130. At an arbitrary timing after the introduction of the production line, the monitoring device 10 can perform a simple setting of the monitoring area MR using the area setting information held in the storage unit 130.

[0116] Here, as an example, the simple setting of the monitoring area MR when the robot device 30 moves and is used between a plurality of machine tools 70 included in the production line will be mainly described. FIG. 21 is a diagram showing that the robot device 30 moves between a plurality of machine tools 70.

[0117] When performing the simple setting of the monitoring area MR, the monitoring area determination process may be executed by the monitoring device 10 or by the setting support device 20.

[0118] First, the case where the monitoring device 10 performs a simple setting of the monitoring area MR including the monitoring area determination process will be described.

[0119] FIG. 22 is a flowchart showing a first example of a simple setting of the monitoring area MR during the movement of the robot device 30 among a plurality of machine tools 70. At the start of FIG. 22, the installation of the IC tag 50 at the monitoring site C1 described above has been completed. Further, the storage unit 130 holds area setting information for each machine tool 70.

[0120] First, in steps S41 and S42, the monitoring device 10 performs the same processing as steps S11 and S12A shown in FIG. 14. Note that the IC tag detection unit 121 may calculate the distance R A ’ between the monitoring device 10 and the IC tag 50 along the horizontal direction, in the same manner as the first setting example shown in FIG. 5. The control unit 160 executes a monitoring area determination process (S50).

[0121] The control unit 160 causes the storage unit 130 to hold the determined area setting information (S43). The control unit 160 sets the monitoring area MR based on the area setting information (S44). The entry detection unit 110 uses the projected light and the detection light to detect the presence or absence of the entry of the object 25 into the monitoring area MR (S45).

[0122] FIG. 23 is a flowchart showing an example of the monitoring area determination process shown in step S50.

[0123] First, the area recognition unit 122 acquires tag detection information including the tag ID and the tag distance information from the IC tag information processing unit 120 (S51). The area recognition unit 122 determines the area setting information corresponding to one machine tool 70 based on the tag ID of each IC tag 50 included in the tag detection information (S52). In this case, the area recognition unit 122 may determine whether any tag ID included in the acquired tag detection information matches any tag ID included in the area setting information for each machine tool held in the storage unit 130. The control unit 160 acquires the area setting information including the tag ID determined to match from the storage unit 130. That is, in step S52, it can be said that the area recognition unit 122 specifies around which machine tool 70 the monitoring target is located.

[0124] FIG. 24 is a diagram showing an example of comparing tag detection information I1 with area setting information I21 and I22 for each machine tool 70. The tag detection information I1 has "A" to "F" as tag IDs. The area setting information I21 has "A" to "F" as tag IDs. The area setting information I22 has "G" to "L" as tag IDs. Therefore, the control unit 160 acquires, for example, the area setting information I21 including "A" with a matching tag ID from the storage unit 130. Note that the tag IDs of the IC tags 50 installed around the machine tool 70 are different for each machine tool 70 so as to be able to determine around which machine tool 70 they are installed.

[0125] Returning to FIG. 23, the control unit 160 corrects the position (detection position) of each detected IC tag 50 based on the tag detection information (in this time) (S53). This correction is the same as the position correction in the second setting example described above (for example, step S34A in FIG. 16). For example, the control unit 160 may acquire tag distance information and correct the detection position of each IC tag 50 according to the trilateration method based on the tag detection information and the tag distance information.

[0126] FIG. 25 is an image diagram showing arrangement information P1 indicating the positions of the respective IC tags 50 based on the tag detection information I1 and arrangement information P21 indicating the positions of the respective IC tags 50 based on the selected area setting information I21. As shown in FIG. 24, the arrangement information P1 based on the tag detection information I1 and the arrangement information P21 based on the tag detection information I21 are slightly different in the positions of the respective IC tags 50. This is caused by, for example, when the robot device 30 moves from the position of the machine tool 70A to the position of the machine tool 70B and then returns to the position of the machine tool 70A again, the robot device 30 being installed at a position slightly deviated from the position where it was installed on the machine tool 70A before the movement.

[0127] Returning to FIG. 23, the control unit 160 calculates the positional deviation between the position (registration position) of each IC tag 50 based on the area setting information I21 and the position (detection position) of each detected IC tag 50 (S54). As described above, the position of the robot device 30 relative to the machine tool 70 may deviate slightly. Also, the installation position of the IC tag 50 is unchanged after installation. Therefore, the registered position and the detected position of each IC tag 50 are similarly displaced. Therefore, the control unit 160 only needs to detect the positional deviation between the registered position and the detected position of at least one IC tag 50.

[0128] Based on the calculated positional deviation, the control unit 160 corrects the position of the monitoring area MR by maintaining the positional relationship of the shape of the monitoring area MR included in the area setting information I21, thereby determining a new monitoring area MR (S55). That is, the control unit 160 corrects the position of the monitoring area MR so that the registered position of each IC tag 50 moves in the direction of the detected position, thereby determining the monitoring area MR corresponding to the detected position of each IC tag 50. In this case, when the control unit 160 corrects the position of the monitoring area MR so that, for example, the registered position of each IC tag 50 coincides with the detected position, the detected positions of each IC tag 50 are arranged on the outer peripheral portion of the new monitoring area MR. Note that the control unit 160 may correct the angle of the monitoring area MR instead of or together with the position of the monitoring area MR.

[0129] FIG. 26 is a diagram showing an example of correcting the position of the monitoring area MR. FIG. 26 shows that the arrangement information P21 is corrected to the arrangement information P31. The arrangement information P21 is the same as the arrangement information P21 in FIG. 25. The arrangement information P31 shows that the positions of each IC tag 50 and the monitoring area MR (the protection area MR1 and the warning area MR2) shown in the arrangement information P21 have moved due to the correction. Thereby, the monitoring device 10 can easily determine the monitoring area MR at the position of each IC tag 50 with respect to the monitoring device 10 detected this time.

[0130] Based on the determined new monitoring area MR, the control unit 160 generates new area setting information. The generated new area setting information is held in the storage unit 130 in step S43 of FIG. 22.

[0131] According to such a simple setting of the monitoring area MR, the monitoring device 10 can easily determine a monitoring area MR suitable for the current position of the monitoring device 10 by using the tag detection information of the currently detected IC tag 50 and the area setting information for each machine tool 70 generated in the past. In addition, by having the monitoring device 10 perform the specific monitoring area determination process, the simple setting of the monitoring area MR can be completed with one device. Further, the monitoring device 10 can be made unnecessary to perform all the processes such as the first setting example or the second setting example described above for the setting of the new monitoring area MR. Also, since it is not necessary to accurately move the monitoring site C1 every time the position of the monitoring device 10 is moved with respect to the machine tool 70, the burden on the operator can be reduced.

[0132] Next, the setting support device 20 performs the monitoring area determination process, and the cooperation between the monitoring device 10 and the setting support device 20 for the simple setting of the monitoring area MR will be described.

[0133] FIG. 27 is a sequence diagram showing a second example of the simple setting of the monitoring area MR when the robot device 30 moves between a plurality of machine tools 70. At the start of FIG. 22, the installation of the IC tag 50 at the above-described monitoring site C1 is completed. In addition, the area setting information for each machine tool 70 is held in the storage unit 130. In FIG. 27, the same process as the process shown in FIG. 22 is given the same step number, and the description thereof is omitted or simplified.

[0134] First, the monitoring device 10 performs the processes of steps S41 and S42 shown in FIG. 22. The input / output unit 140 transmits the obtained tag detection information for each IC tag 50 and the area setting information for each machine tool 70 to the setting support device 20 (S61).

[0135] In the setting support device 20, the communication unit 220 receives, from the monitoring device 10, tag detection information for each IC tag 50 and area setting information for each machine tool 70 (S61). Then, the control unit 210 executes a monitoring area determination process (S50A). When this monitoring area determination process is compared with the monitoring area determination process shown in FIG. 23, the operating entity of each process is different. That is, the control unit 210 of the setting support device 20, rather than the control unit 160 of the monitoring device 10, performs the monitoring area determination process. Since it is the same as steps S50, that is, steps S51 to S55, except that the operating entity is different, detailed description is omitted.

[0136] The communication unit 220 transmits the new area setting information generated by the monitoring area determination process to the monitoring device 10 (S62). Thereafter, the monitoring device 10 performs the processes of steps S43 to S45 shown in FIG. 22.

[0137] According to such simple setting of the monitoring area MR, the setting support device 20 can easily determine a monitoring area MR suitable for the current position of the monitoring device 10 by using the tag detection information of the currently detected IC tag 50 and the area setting information for each machine tool 70 generated in the past. In addition, it is possible to eliminate the need for the monitoring device 10 to perform a specific monitoring area determination process, reduce the burden on the monitoring device 10, and support the simple setting of the monitoring area MR.

[0138] As described above, various embodiments have been described with reference to the drawings. Needless to say, the present invention is not limited to such examples. It is obvious that those skilled in the art can conceive of various modification examples or correction examples within the scope described in the claims, and it is naturally understood that they also belong to the technical scope of the present invention. Also, within the scope not departing from the gist of the invention, the components in the above embodiments may be arbitrarily combined.

[0139] In the above embodiment, it has been described that the monitoring device 10 includes the IC tag information processing unit 120, but the present invention is not limited to this. The monitoring system 5 may include an information processing device that is separate from the monitoring device 10 and includes the IC tag information processing unit 120. In this case, it is only necessary that the monitoring device 10 and the information processing device are communicably connected, and the monitoring device 10 can acquire various information obtained from the IC tag 50, and it is only necessary that various information to the IC tag 50 can be transmitted from the monitoring device 10 to the IC tag 50 via the information processing device.

[0140] In the above embodiment, the correction of the coordinate position has been exemplified, but the present invention is not limited to this. For example, the processes in step S34 of FIG. 8, step S34 of FIG. 16, and step S53 of FIG. 23 may be omitted.

[0141] The simple setting of the monitoring area MR is not only applicable when moving between a plurality of machine tools 70, but also applicable when moving to each of a plurality of working positions for one machine tool 70. Further, in the operation example of FIG. 22 and the like, it has been exemplified that the tag detection information does not include the tag angle information. However, similar to the first setting example of FIG. 8 and the like, it is also applicable when the tag detection information includes the tag angle.

[0142] In the above embodiment, the processor such as the CPU may be physically configured in any manner. Further, if a programmable processor is used, the processing content can be changed by changing the program, so the degree of freedom in the design of the processor can be increased. The processor may be composed of one semiconductor chip, or may be physically composed of a plurality of semiconductor chips. When composed of a plurality of semiconductor chips, each control of the above embodiment may be realized by a separate semiconductor chip. In this case, it can be considered that one processor is composed of these plurality of semiconductor chips. Further, the processor may be composed of a member (such as a capacitor) having a function different from that of the semiconductor chip. Further, one semiconductor chip may be configured to realize the functions of the processor and other functions. Further, a plurality of processors may be composed of one semiconductor chip.

[0143] In the claims, the specification, and the drawings, the execution order of each process such as operations, procedures, steps, and stages in the apparatuses, systems, programs, and methods shown is not explicitly indicated as "earlier than" or "preceding" etc. in particular. Unless the output of a previous process is used in a subsequent process, it can be realized in any order. Regarding the operation flows in the claims, the specification, and the drawings, even if terms such as "first," "next," etc. are used for convenience in the description, it does not mean that it is essential to implement in this order.

[0144] As described above, the monitoring device 10 of the above embodiment monitors entry into the monitoring area MR. The monitoring device 10 includes a receiving unit (for example, the IC tag detection unit 121) that receives radio waves from an IC tag 50 fixedly arranged in a detection area DR detectable by the monitoring device 10, a tag information detection unit (for example, the IC tag detection unit 121) that detects tag position information indicating the position of the IC tag 50 with respect to the monitoring device 10 for each IC tag 50 based on the radio waves, an output unit (for example, the input / output unit 140) that outputs tag detection information including the tag position information for each IC tag 50 to a setting support device 20 that supports the setting of the monitoring area MR, a receiving unit (for example, the input / output unit 140) that receives (acquires) area setting information for setting the monitoring area MR from the setting support device 20, and a control unit 160 that sets the monitoring area MR based on the area setting information.

[0145] Thereby, the monitoring device 10 can set the monitoring area MR using the IC tag 50. Further, since the monitoring device 10 can easily acquire the tag position information that serves as a reference point for the monitoring area MR using the fixedly arranged IC tag 50, for example, it is not necessary for the area setter to move to the monitoring site C1 when setting the monitoring area MR, and the burden on the area setter can be reduced.

[0146] Further, the tag information detection unit may detect tag identification information for identifying the IC tag 50, and the tag detection information may include the tag identification information. Further, it may include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50. Further, it may include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50 and tag angle information indicating the angle of the IC tag 50 with respect to the monitoring device 10. Thereby, the information necessary for setting the monitoring area MR can be provided to the setting support device 20.

[0147] Further, the monitoring device 10 may include a storage unit 130. The receiving unit may receive a plurality of area setting information corresponding to each of the plurality of machine tools 70 where the monitoring device 10 is disposed. The storage unit 130 may store the plurality of area setting information. Thereby, the monitoring device 10 can set different monitoring areas for each machine tool 70.

[0148] Further, when any tag identification information detected by the tag information detection unit matches any identification information of the IC tag included in the plurality of area setting information stored in the storage unit 130, the control unit 160 may obtain, from the storage unit 130, the area setting information including the identification information of the matching IC tag 50, and may set the monitoring area MR based on the obtained area setting information.

[0149] For each machine tool 70, the positions of the IC tags 50 arranged around are not changed. In this case, when the monitoring device 10 is arranged near the machine tool 70 where the monitoring area MR was previously set, the monitoring device 10 can easily re-set the monitoring area MR by selecting the area setting information of the previous monitoring area MR.

[0150] Further, the control unit 160 may correct the monitoring area MR while maintaining the shape of the set monitoring area MR based on the tag position information for each IC tag 50 detected by the tag information detection unit and the tag position information for each IC tag 50 included in the obtained area setting information.

[0151] As a result, the monitoring device 10 can suppress, for example, a displacement between the detection information (current detection information) for each IC tag 50 and the registration information (past detection information) for the same IC tag 50 by comparing and correcting them. Therefore, the monitoring device 10 can set a monitoring area MR that is more suitable for the position of each IC tag 50 with respect to the current monitoring device 10.

[0152] Further, the monitoring device 10 may include a light projecting unit 111 that projects light to be projected in each detection direction around the monitoring device 10, a light receiving unit 113 that receives detection light reflected or scattered by the object 25 from the projected light, a recognition unit (for example, a distance measuring unit 115) that recognizes the position of the object 25 based on the detection light, and an entry detection unit 110 that detects the entry of the object 25 into the monitoring area MR when the object 25 is located within the monitoring area MR.

[0153] As a result, the monitoring device 10 can detect entry into the set monitoring area MR and ensure safety within the monitoring area MR.

[0154] The setting support device 20 of the above embodiment supports the setting of the monitoring area MR monitored by the monitoring device 10. The setting support device 20 includes a receiving unit (for example, a communication unit 220) that receives (acquires) tag detection information including tag position information indicating the position of the IC tag 50 with respect to the monitoring device 10 for each IC tag 50 fixedly arranged in the detection area DR detectable by the monitoring device 10, and a control unit 210 that determines the monitoring area MR with the position of each IC tag 50 as a point on the outer periphery of the monitoring area MR based on the tag detection information for each IC tag 50.

[0155] As a result, the setting support device 20 can determine the monitoring area MR using the information of the IC tag 50 (for example, tag position information) and support the setting of the monitoring area MR. Since the setting support device 20 can easily acquire the tag position information serving as a reference point for the monitoring area MR using the fixedly arranged IC tag 50, for example, it is not necessary for the area setter to move around the monitoring site C1 when setting the monitoring area MR, and the burden on the area setter can be reduced.

[0156] Further, the setting support device 20 may include an operation unit 240 and a display unit 250. The tag detection information for each IC tag 50 may include tag identification information for identifying the IC tag 50. The control unit 210 may acquire information on the detection area MR that can be detected by the monitoring device 10. Based on the information on the detection area DR and the tag detection information, the control unit 210 may arrange a virtual monitoring device 10v corresponding to the monitoring device 10, virtual tags 50v corresponding to the respective IC tags 50, and a virtual detection area DRv corresponding to the detection area DR on a virtual plane and display them on the display unit 250. The control unit 210 may connect at least two of the arranged virtual tags 50v with a line segment sb via the operation unit 240. The control unit 210 may generate a closed area CA having the line segment sb and the virtual tags 50v connected by the line segment sb as at least a part of the outer periphery of the closed area CA, and determine the monitoring area MR based on the closed area CA.

[0157] Thereby, the setting support device 20 can freely determine the monitoring area MR so that the virtual tags 50v are connected as desired based on a user operation easily on the screen and the monitoring area MR has a form (for example, position, range, size, or shape) desired by the user. Further, since the user determines the monitoring area MR using a UI such as the display unit 250 and the operation unit 240, it is easy to intuitively understand the monitoring area MR.

[0158] Also, the tag position information may include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50 and tag angle information indicating the angle of the IC tag 50 with respect to the monitoring device 10. The control unit 210 may arrange each virtual tag 50v based on the tag distance information and the tag angle information for each IC tag 50, and determine the monitoring area MR based on the positions of the virtual tags 50v.

[0159] Thereby, the setting support device 20 can determine the arrangement position of each virtual tag 50v to a single point by calculation by using the tag angle information and the tag distance information, and can reduce the burden on the user.

[0160] Further, the tag position information may include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50. The control unit 210 may acquire tag - to - tag distance information indicating the distance between each of the plurality of virtual tags 50v connected by the line segment sb. The control unit 210 may, via the operation unit 240, specify that at least one of the virtual tags 50v arranged on the virtual plane be arranged on the outer periphery of the virtual detection area DRv. The control unit 210 may arrange each virtual tag 50v based on the tag distance information, the tag - to - tag distance information, and the position of the virtual tag 50v arranged on the outer periphery of the virtual detection area DRv, and may determine the monitoring area MR based on the positions of each virtual tag 50v.

[0161] Thereby, the setting support device 20 can suppress the situation where it is not determined at which position on the circle with the length corresponding to the distance indicated by the tag distance information of the IC tag 50 corresponding to the virtual tag 50v arranged on the outer periphery of the virtual detection area DRv is located. Also, the setting support device 20 can suppress the situation where the positions of the other virtual tags 50v connected by the line segment sb become indeterminate due to at least one point of the virtual tags 50v being determined on the outer periphery of the virtual detection area DVr. Therefore, the setting support device 20 can arrange each virtual tag 50v on the virtual plane without acquiring the tag angle information, and can reduce the burden on the user.

[0162] Also, the control unit 210 may calculate the relative positional relationship of each virtual tag 50v based on the individual tag position information of each IC tag 50 included in the tag detection information, and may correct at least one position of each virtual tag 50v based on the relative positional relationship of each virtual tag 50v.

[0163] Thereby, the setting support device 20 can detect a deviation in the relative positional relationship of each virtual tag 50v by various calculations such as triangulation. The setting support device 20 can determine the form of the monitoring area MR with higher accuracy by correcting the arrangement positions of each virtual tag 50v so as to reduce this deviation in the relative positional relationship.

[0164] Further, the outer periphery of the closed area CA may include at least a part of the outer periphery of the virtual detection area DRv. Thereby, the setting support device 20 can generate the closed area CA by also using the outer peripheral line DRl of the virtual detection area DRv, and can reduce the burden on the user for connecting the line segment sb.

[0165] Further, when the closed area CA is not formed by the line segment sb, the virtual tag 50v connected by the line segment sb, and at least a part of the outer periphery of the virtual detection area DRv, the control unit 210 corresponds to the end of the line segment sb and is not located on the outer periphery of the virtual detection area DRv. An outer peripheral connection line segment (line segment sbl) that is a line segment sb connecting the virtual tag 50v and a point on the outer periphery of the virtual detection area DRv may be added to generate the closed area CA.

[0166] Thereby, even when the closed area CA is not formed only by the line segment sb generated by the user operation, the setting support device 20 can generate the closed area CA by automatically adding the outer peripheral connection line segment from the virtual tag 50v at the end of the line segment sb. Therefore, the setting support device 20 can reduce the burden on the user for connecting the line segment sb.

[0167] Further, the monitoring area MR may include a plurality of monitoring areas MR1 and MR2 with different monitoring methods within the monitoring area MR. When a plurality of closed areas CA are formed, the control unit 210 may determine a plurality of monitoring areas MR1 and MR2 with different monitoring methods based on the plurality of closed areas CA.

[0168] Thereby, the setting support device 20 can generate a plurality of closed areas CA by connecting arbitrary virtual tags 50v with a line segment sb by a user operation. Further, the setting support device 20 can be determined as a monitoring area MR according to the monitoring method for a plurality of closed areas CA, and can easily generate monitoring areas MR with various monitoring methods.

[0169] Further, the setting support device 20 may include an output unit (for example, the communication unit 220) that outputs area setting information for setting the monitoring area MR determined by the control unit 210 to the monitoring device 10.

[0170] Accordingly, the monitoring device 10 sets the monitoring area MR determined by the setting support device 20 and can monitor the inside of the monitoring area MR. Further, the setting support device 20 takes the lead in determining the monitoring area MR, thereby reducing the processing load related to the setting of the monitoring area MR by the monitoring device 10. [Supplementary Note] [Item 1] A monitoring device for monitoring entry into a monitoring area, comprising: a receiving unit that receives radio waves from an IC tag fixedly arranged in a detection area detectable by the monitoring device; a tag information detection unit that detects tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag based on the radio waves; an output unit that outputs tag detection information including the tag position information for each IC tag to a setting support device that supports setting of the monitoring area; a receiving unit that receives area setting information for setting the monitoring area from the setting support device; a control unit that sets the monitoring area based on the area setting information; A monitoring device comprising the above. [Item 2] The tag information detection unit detects tag identification information for identifying the IC tag, The tag detection information includes the tag identification information, The monitoring device according to Item 1. [Item 3] The tag position information includes tag distance information indicating the distance between the monitoring device and the IC tag, or includes tag distance information indicating the distance between the monitoring device and the IC tag and tag angle information indicating the angle of the IC tag with respect to the monitoring device, The monitoring device according to Item 1 or 2. [Item 4] further comprising a storage unit, The receiving unit receives a plurality of area setting information corresponding to each of a plurality of machine tools where the monitoring device is arranged, The storage unit stores the plurality of area setting information, The monitoring device according to Item 2 or 3. [Item 5] The control unit when any tag identification information detected by the tag information detection unit matches any IC tag identification information included in the plurality of area setting information stored in the storage unit, acquires the area setting information including the matching IC tag identification information from the storage unit, sets the monitoring area based on the acquired area setting information, The monitoring device according to Item 4. [Item 6] The control unit corrects the monitoring area while maintaining the shape of the set monitoring area based on the tag position information for each IC tag detected by the tag information detection unit and the tag position information for each IC tag included in the acquired area setting information. The monitoring device according to item 5. ​[Item 7] A light projecting unit that projects projection light in each detection direction around the monitoring device. A light receiving unit that receives detection light in which the projection light is reflected or scattered by an object. A recognition unit that recognizes the position of the object based on the detection light. When the object is located within the monitoring area, the monitoring device further includes an entry detection unit that detects entry of the object into the monitoring area. The monitoring device according to any one of items 1 to 6. [Item 8] A setting support device that supports setting of a monitoring area monitored by a monitoring device, A receiving unit that receives tag detection information including tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag fixedly arranged in a detection area detectable by the monitoring device. A control unit that determines the monitoring area with the positions of the respective IC tags being points on the outer periphery of the monitoring area based on the tag detection information for each IC tag. A setting support device comprising the above. [Item 9] The setting support device further includes an operation unit and a display unit, The tag detection information for each IC tag includes tag identification information for identifying the IC tag, The control unit acquires information on a detection area detectable by the monitoring device, arranges a virtual monitoring device corresponding to the monitoring device, virtual tags corresponding to the respective IC tags, and a virtual detection area corresponding to the detection area on a virtual plane based on the detection area information and the tag detection information, and displays the arrangement on the display unit, connects at least two of the plurality of arranged virtual tags with line segments via the operation unit, generates a closed area having the line segments and the respective virtual tags connected by the line segments as at least a part of the outer periphery of the closed area, determines the monitoring area based on the closed area. The setting support device according to item 8. [Item 10] The tag position information includes tag distance information indicating the distance between the monitoring device and the IC tag and tag angle information indicating the angle of the IC tag with respect to the monitoring device. The control unit arranges each virtual tag based on the tag distance information and the tag angle information for each IC tag. The control unit determines the monitoring area based on the positions of the respective virtual tags. The setting support device according to item 9. [Item 11] The tag position information includes tag distance information indicating the distance between the monitoring device and the IC tag. The control unit acquires tag-to-tag distance information indicating the distance between each of the plurality of virtual tags connected by the line segment, designates, via the operation unit, at least one of the virtual tags arranged on the virtual plane to be arranged on the outer periphery of the virtual detection area, arranges each virtual tag based on the tag distance information, the tag-to-tag distance information, and the position of the virtual tag arranged on the outer periphery of the virtual detection area, determines the monitoring area based on the positions of the respective virtual tags. The setting support device according to item 9. [Item 12] The control unit calculates the relative positional relationship of each virtual tag based on the individual tag position information of each IC tag included in the tag detection information, corrects at least one position of each virtual tag based on the relative positional relationship of each virtual tag. The setting support device according to any one of items 9 to 11. [Item 13] The outer periphery of the closed area includes at least a part of the outer periphery of the virtual detection area. The setting support device according to any one of items 9 to 12. [Item 14] When the closed area is not formed by the line segment, the virtual tag corresponding to the end of the line segment and not located on the outer periphery of the virtual detection area, and a point on the outer periphery of the virtual detection area, the control unit adds an outer peripheral connection line segment that is a line segment connecting them to generate the closed area. The setting support device according to item 13. [Item 15] The monitoring area includes a plurality of monitoring areas with different monitoring methods within the monitoring region. When a plurality of the closed areas are formed, the control unit determines a plurality of monitoring areas with different monitoring methods based on the plurality of closed areas. The setting support device according to any one of items 9 to 14. [Item 16] further includes an output unit that outputs area setting information for setting the monitoring area determined by the control unit to the monitoring device. The setting support device according to any one of items 8 to 15. [Item 17] An area setting method for setting a monitoring area, comprising: receiving a radio wave from an IC tag fixedly arranged in a detection area detectable by a monitoring device that monitors entry into the monitoring area. Based on the radio wave, for each of the IC tags, detecting tag position information indicating the position of the IC tag with respect to the monitoring device; Outputting tag detection information including the tag position information for each of the IC tags to a setting support device that supports setting of the monitoring area; Obtaining area setting information for setting the monitoring area from the setting support device; Setting the monitoring area based on the area setting information; An area setting method having the above steps. [Item 18] A setting support method for supporting setting of a monitoring area monitored by a monitoring device, comprising: For each IC tag fixedly arranged in a detection area detectable by the monitoring device, obtaining tag detection information including tag position information indicating the position of the IC tag with respect to the monitoring device; Based on the tag detection information for each of the IC tags, determining the monitoring area with the position of each IC tag as a point on the outer periphery of the monitoring area; A setting support method having the above steps.

Industrial Applicability

[0171] The present disclosure is useful for a monitoring device, a setting support device, an area setting method, a setting support method, etc., which can reduce the burden on an area setter who sets a monitoring area.

Description of Reference Numerals

[0172] 10 Monitoring device 10v Virtual monitoring device 20 Setting support device 25 Object 30 Robot device 31 Base 32 Robot arm 50 IC tags 50v Virtual tag 50vf Reference virtual tag 70, 70A, 70B Machine tools 80 External device 110 Intrusion detection unit 111 Light projection unit 112 Light projection control unit 113 Light reception unit 114 Distance calculation unit 115 Distance measurement unit 116 Intrusion detection unit 120 IC tag information processing unit 121 IC tag detection unit 122 Area recognition unit 123 Data transmission unit 130 Memory unit 140 Input / output unit 150 Rotation mechanism unit 160 Control unit 210 Control unit 220 Communication unit 230 Memory unit 240 Operation unit 250 Display unit C1 Monitoring site CA Closed area CA1 Protective closed area CA2 Warning closed area DR Detection area DRv Virtual detection area H1 Operator I1 Tag detection information I21, I22 Area setting information MR Monitoring area MR1 Protective area MR2 Warning area P1, P21, P31 Arrangement information sb, sbl Line segment TG, TGA, TGB Tag group

Claims

1. A monitoring device for monitoring entry into a monitoring area, comprising: a receiving unit that receives radio waves from an IC tag fixedly arranged in a detection area detectable by the monitoring device; a tag information detection unit that detects tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag based on the radio waves; an output unit that outputs tag detection information including the tag position information for each IC tag to a setting support device that supports setting of the monitoring area; a receiving unit that receives area setting information for setting the monitoring area from the setting support device; a control unit that sets the monitoring area based on the area setting information; A monitoring device comprising the above.

2. The tag information detection unit detects tag identification information for identifying the IC tag, The tag detection information includes the tag identification information, The monitoring device according to Claim 1.

3. The tag position information includes tag distance information indicating the distance between the monitoring device and the IC tag, or includes tag distance information indicating the distance between the monitoring device and the IC tag and tag angle information indicating the angle of the IC tag with respect to the monitoring device, The monitoring device according to Claim 1 or 2.

4. Further comprising a storage unit, The receiving unit receives a plurality of area setting information corresponding to each of a plurality of machine tools where the monitoring device is arranged, The storage unit stores the plurality of area setting information, The monitoring device according to Claim 2.

5. The control unit When any tag identification information detected by the tag information detection unit matches any identification information of an IC tag included in the plurality of area setting information stored in the storage unit, acquires the area setting information including the matching identification information of the IC tag from the storage unit, Sets the monitoring area based on the acquired area setting information, The monitoring device according to Claim 4.

6. The control unit corrects the monitoring area while maintaining the shape of the set monitoring area based on the tag position information for each IC tag detected by the tag information detection unit and the tag position information for each IC tag included in the acquired area setting information, The monitoring device according to Claim 5.

7. A light projecting unit that projects projection light in each detection direction around the monitoring device; A light receiving unit that receives detection light obtained by reflecting or scattering the projection light by an object; A recognition unit that recognizes the position of the object based on the detection light; When the object is located within the monitoring area, it further includes an entry detection unit that detects the entry of the object into the monitoring area. The monitoring device according to claim 1.

8. A setting support device that supports the setting of a monitoring area monitored by a monitoring device, A receiving unit that receives tag detection information including tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag fixedly arranged in a detection area detectable by the monitoring device; A control unit that determines the monitoring area with the positions of the respective IC tags as points on the outer periphery of the monitoring area based on the tag detection information for each IC tag; A setting support device comprising the above.

9. It further includes an operation unit and a display unit, The tag detection information for each IC tag includes tag identification information for identifying the IC tag, The control unit, Obtains information on a detection area detectable by the monitoring device, Based on the information on the detection area and the tag detection information, a virtual monitoring device corresponding to the monitoring device, each virtual tag corresponding to each IC tag, and a virtual detection area corresponding to the detection area are arranged on a virtual plane and displayed on the display unit, Via the operation unit, at least two of the plurality of arranged virtual tags are connected by a line segment, The line segment and each virtual tag connected by the line segment are used to generate a closed area that is at least a part of the outer periphery of the closed area, Based on the closed area, the monitoring area is determined. The setting support device according to claim 8.

10. The tag position information includes tag distance information indicating the distance between the monitoring device and the IC tag and tag angle information indicating the angle of the IC tag with respect to the monitoring device, The control unit arranges each virtual tag based on the tag distance information and the tag angle information for each IC tag, Based on the positions of the respective virtual tags, the monitoring area is determined. The setting support device according to claim 9.

11. The tag position information includes tag distance information indicating the distance between the monitoring device and the IC tag, The control unit, Obtains tag interval distance information indicating the distance between each of the plurality of virtual tags connected by the line segment, Via the operation unit, at least one of the virtual tags arranged on the virtual plane is designated to be arranged on the outer periphery of the virtual detection area. Based on the tag distance information, the inter-tag distance information, and the positions of the virtual tags arranged on the outer periphery of the virtual detection area, each virtual tag is arranged. Based on the positions of the respective virtual tags, the monitoring area is determined. The setting support device according to claim 9.

12. The control unit Based on the individual tag position information of each IC tag included in the tag detection information, the relative positional relationship of each virtual tag is calculated. Based on the relative positional relationship of each virtual tag, at least one position of each virtual tag is corrected. The setting support device according to claim 9.

13. The outer periphery of the closed area includes at least a part of the outer periphery of the virtual detection area. The setting support device according to claim 9.

14. When the closed area is not formed by the line segment, the virtual tag corresponding to the end of the line segment and not located on the outer periphery of the virtual detection area, and a point on the outer periphery of the virtual detection area, the control unit adds an outer periphery connection line segment, which is a line segment connecting them, to generate the closed area. The setting support device according to claim 13.

15. The monitoring area includes a plurality of monitoring areas with different monitoring methods within the monitoring region. When a plurality of the closed areas are formed, the control unit determines a plurality of monitoring areas with different monitoring methods based on the plurality of closed areas. The setting support device according to claim 9.

16. The setting support device further includes an output unit that outputs area setting information for setting the monitoring area determined by the control unit to the monitoring device. The setting support device according to claim 8.

17. An area setting method for setting a monitoring area, comprising: Receiving a radio wave from an IC tag fixedly arranged in a detection area detectable by a monitoring device that monitors entry into the monitoring area; Based on the radio wave, detecting tag position information indicating the position of the IC tag with respect to the monitoring device for each IC tag; Outputting tag detection information including the tag position information for each IC tag to a setting support device that supports the setting of the monitoring area; Obtaining area setting information for setting the monitoring area from the setting support device; Setting the monitoring area based on the area setting information. An area setting method having the above steps.

18. A setting support method for assisting in setting a monitoring area to be monitored by a monitoring device, for each IC tag fixedly arranged in a detectable area detectable by the monitoring device, obtaining tag detection information including tag position information indicating the position of the IC tag with respect to the monitoring device; determining the monitoring area with the position of each IC tag as a point on the outer periphery of the monitoring area based on the tag detection information for each IC tag; A setting support method having the above steps.

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