Scanner device and area setting method

Abstract

To provide a scanner device that can reduce a burden of an area setting person setting a monitoring area.SOLUTION: A scanner device, which sets a monitoring area MR, comprises: an acquisition unit that acquires an area setting request signal for setting the monitoring area from a remote control device; a light projection unit that projects projection light to each detection direction around the scanner device; a light reception unit that receives light including detection light having the projection light reflected or scattered by an object, and generates a light reception signal; a recognition unit that recognizes each position, in each detection direction, of a movable area setting person setting the monitoring area on the basis of the light reception signal; and an area setting unit that, in response to the acquisition of the area setting request signal by the acquisition unit, sets the monitoring area on the basis of each position in each detection direction of the area setting person recognized by the recognition unit.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a scanner device and an area setting method. [Background technology]

[0002] A safety scanner that grasps the correspondence between a distance measurement position on a scan plane and real space has been known (see Patent Document 1). This safety scanner includes a light projecting means that projects detection light onto a detection area, a light receiving means that receives light reflected from an object within the detection area and generates a light reception signal, a distance calculating means that calculates the distance to the object based on the light reception signal, a scanning means that scans the detection light in a circumferential direction around a rotation axis, a distance measuring means that calculates distance measurement information corresponding to the distance and the scanning angle of the detection light, an area designation information receiving means that receives area designation information that designates a protection area within the detection area from a setting support device, an intrusion detection means that detects an intruder within the protection area based on the distance measurement information and the area designation information, a marker discrimination means that discriminates movably arranged markers within the detection area, and an area generation information transmitting means that transmits the distance measurement 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] Japanese Patent Application Laid-Open No. 2017-151569 Summary of the Invention [Problem to be solved by the invention]

[0004] In the safety scanner of Patent Document 1, a personal computer (PC) serving as a setting support device is connected to the safety scanner via a communication cable. Setting of the protected area is supported by a person moving around holding the marker position. Therefore, when setting a monitoring area corresponding to a protected area using the safety scanner of Patent Document 1, the following situations are anticipated:

[0005] Specifically, the person who sets the monitoring area must carry a marker in the detection area when setting the monitoring area and move around the site where the protection area is to be set. The area setter must also set the monitoring area and check whether detection is possible in the set monitoring area while moving between the site where the monitoring area is to be set and the PC. Therefore, the area setter must visit the site where the area is to be set at least twice, which places a heavy burden on the area setter and takes time to finalize the monitoring area.

[0006] The present disclosure has been made in consideration of the above circumstances, and provides a scanner device and an area setting method that can reduce the burden on an area setter who sets a monitoring area. [Means for solving the problem]

[0007] One aspect of the present disclosure is a scanner device that sets a surveillance area, comprising: an acquisition unit that acquires an area setting request signal for setting the surveillance area from a remote control device; a light projection unit that projects a projection light in each detection direction around the scanner device; a light reception unit that receives light including detection light that is reflected or scattered by an object from the projection light and generates a light reception signal; a recognition unit that recognizes each position in each detection direction of a movable area setter that sets the surveillance area based on the light reception signal; and an area setting unit that sets the surveillance area based on each position in each detection direction of the area setter recognized by the recognition unit in response to acquisition of the area setting request signal by the acquisition unit, and a rotation mechanism that rotates the detection direction around a rotation axis, wherein the recognition unit recognizes the angle of rotation by the rotation mechanism and the distance from the scanner device to the location of the area setter based on the light reception signal, and the area setter sets the surveillance area based on the angle and distance recognized by the recognition unit, the acquisition unit includes the light receiving unit, and the light receiving unit receives the detection light and the area setting request signal at different times, and the recognition unit recognizes the angle of the location of the area setter based on the time position at which the area setting request signal is received, and recognizes the distance to the location of the area setter based on the recognized angle and the detection light. It is a scanner device.

[0008] One aspect of the present disclosure is an area setting method for setting a surveillance area, comprising the steps of: acquiring an area setting request signal for setting the surveillance area from a remote control device; projecting a projected light in each detection direction around a scanner device for setting the surveillance area; receiving light including detection light reflected or scattered by an object from the projected light and generating a light reception signal; recognizing, based on the light reception signal, each position in each detection direction of a movable area setter who sets the surveillance area; and setting the surveillance area based on the recognized positions in each detection direction of the area setter in response to acquiring the area setting request signal, the step of recognizing each position of the area setter in each detection direction includes a step of recognizing, based on the light reception signal, an angle of rotation by a rotation mechanism that rotates the detection direction around a rotation axis, and a distance from the scanner device to a position where the area setter is located; the step of setting the surveillance area includes a step of setting the surveillance area based on the angle and the distance recognized in the step of recognizing each position of the area setter in each detection direction; the step of acquiring the area setting request signal includes a step of generating the light reception signal, and the step of generating the light reception signal includes a step of receiving the detection light and the area setting request signal at different times; and the step of recognizing each position of the area setter in each detection direction includes a step of recognizing the angle of the position where the area setter is located, based on a time position at which the area setting request signal was received, and a step of recognizing the distance to the position where the area setter is located, based on the recognized angle and the detection light. This is an area setting method. [Effects of the Invention]

[0009] According to the present disclosure, the burden on an area setter who sets a monitoring area can be reduced. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of the configuration of a monitoring system according to a first embodiment; [Figure 2A] Schematic diagram showing an example of the appearance of a monitoring device as seen from the side [Figure 2B] Schematic diagram showing an example of the appearance of a monitoring device seen from above [Figure 3] FIG. 1 is a block diagram illustrating an example of the configuration of a monitoring device according to a first embodiment. [Figure 4] FIG. 1 is a block diagram illustrating an example of the functional configuration of a control unit according to a first embodiment. [Figure 5] FIG. 1 is a block diagram illustrating an example of the configuration of a remote control device according to a first embodiment. [Figure 6] FIG. 10 is a diagram showing an example of signals transmitted and received between a monitoring device and a remote control device in the first embodiment. [Figure 7A] FIG. 1 is a sequence diagram illustrating an example of the operation of a monitoring system according to a first embodiment. [Figure 7B] FIG. 10 is a sequence diagram illustrating a modified example of the operation of the monitoring system according to the first embodiment. [Figure 8] FIG. 10 is a diagram illustrating an example of a threshold table. [Figure 9] A diagram showing a first example of signal output when an area is set by a monitoring system. [Figure 10] A diagram showing a second example of signal output when an area is set by the monitoring system. [Figure 11] FIG. 1 is a diagram showing an example of a spatial light-receiving range of a monitoring device; [Figure 12] FIG. 10 is a diagram showing a first example of determining a monitoring area. [Figure 13] FIG. 10 is a diagram showing a second example of determining a monitoring area. [Figure 14] Timing chart showing an example of optical alarm output [Figure 15] FIG. 10 is a schematic diagram illustrating a configuration example of a monitoring system according to a second embodiment. [Figure 16] FIG. 10 is a block diagram illustrating an example of the configuration of a monitoring device according to a second embodiment. [Figure 17] FIG. 10 is a block diagram showing an example of the functional configuration of a control unit in a second embodiment. [Figure 18] FIG. 10 is a block diagram showing a configuration example of a remote control device according to a second embodiment. [Figure 19] FIG. 10 is a diagram showing an example of signals transmitted and received between a monitoring device and a remote control device in the second embodiment. [Figure 20] FIG. 10 is a sequence diagram illustrating an example of the operation of the monitoring system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters or descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description 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.

[0012] <Overview of the monitoring system> 1 is a schematic diagram showing an example of the configuration of a monitoring system 5 according to the first embodiment. The monitoring system 5 includes a monitoring device 10 and a remote control device 20.

[0013] The monitoring device 10 optically monitors the monitoring area MR. The monitoring device 10 is placed, for example, in a factory and monitors whether work is being done safely. The monitoring device 10 is a lidar (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.

[0014] The monitoring device 10 is placed in a monitored environment. For example, the monitoring device 10 and the robot device 30 are placed in the monitored environment. In FIG. 1, the robot device 30 is placed on a base, and the monitoring device 10 is placed near the robot device 30 on the base, but this is not limited to this. In addition, workers and other objects may be present in the monitored environment. The workers include an area setter H1 who sets a monitored area MR using the monitoring device 10. In addition, the workers may include, for example, a supervisor who visually checks the monitored environment, checks the robot device 30, or checks products manufactured by the robot device 30. Other objects may be, for example, objects or vehicles required for work in a factory.

[0015] The remote control device 20 is capable of remote control for setting the monitoring area MR, and is, for example, a remote control device such as a mobile terminal device. The remote control device 20 is held, for example, by an area setter H1. The remote control device 20 assists in setting the monitoring area MR in response to input operations made by the area setter H1 to the remote control device 20. The remote control device 20 communicates various information via wired or wireless communication with, for example, a monitoring device 10 located in a remote location.

[0016] The monitoring device 10 and the remote control device 20 cooperate to set a monitoring area MR. For example, if a worker approaches the robotic device 30, the worker may be in danger due to the operation of the robotic device 30. Therefore, the monitoring area MR may be set based on, for example, the operable range of the robotic device 30 (for example, the range that a robot arm or the like can reach).

[0017] The monitoring device 10 monitors the monitoring area MR and detects whether an object such as a worker is present within the monitoring area MR. If the presence of an object is detected within the monitoring area MR, the monitoring device 10 can output warning information (alarm output) indicating the presence of an object that has entered the monitoring area. Therefore, the monitoring device 10 can operate as an area scanner (scanner device) with an alarm output function.

[0018] <Configuration of monitoring device> Fig. 2A is a schematic diagram showing an example of the external appearance of the monitoring device 10 as seen from the side, and Fig. 2B is a schematic diagram showing an example of the external appearance of the monitoring device 10 as seen from above.

[0019] In this embodiment, the x direction, y direction, and z direction are defined. The x direction is any direction in the xy plane parallel to the installation surface S1 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, for example, parallel to the horizontal direction. The z direction is, for example, parallel to the direction of gravity. The positive side of the z direction is also referred to as "up," and the negative side of the z direction is also referred to as "down." This definition of directions is similar in other embodiments.

[0020] The monitoring device 10 has a lower housing 15 and an upper housing 16. The lower housing 15 has, for example, a rectangular parallelepiped (box-like) shape, but may have other shapes. The lower housing 15 may be made of, for example, a metal without transparency. 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 S1 of the monitoring device 10 to the side farther from the installation surface S1, but may have other shapes (for example, a rectangular parallelepiped). The upper housing 16 may be made of, for example, a resin, and at least a portion of the upper housing 16 has a transparent window that is transparent. The transparent window may transmit, for example, invisible light (for example, infrared light) from the inside to the outside of the monitoring device 10 and from the outside to the inside, and may also transmit visible light. Furthermore, if the entire upper housing 16 is transparent, the upper housing 16 may be a transparent colored or colorless cover.

[0021] 3 is a block diagram showing an example configuration of the monitoring device 10. The monitoring device 10 includes a control unit 110, a storage unit 120, a rotation mechanism unit 130, a light projecting unit 140, a light receiving unit 150, a signal separating unit 160, an angle detecting unit 170, a data input unit 180, and a data output unit 190.

[0022] The control unit 110 is configured with, for example, a processor, and realizes various functions by executing programs stored in the storage unit 120. The processor may include an MPU (Micro Processing Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), etc. The control unit 110 controls the operations of each unit of the monitoring device 10 and performs various processes. For example, the control unit 110 controls an area setting operation for setting a monitoring area MR, an object detection operation, or a rotation operation by the rotation mechanism unit 130.

[0023] The storage unit 120 includes a primary storage device (e.g., a random access memory (RAM) or a read-only memory (ROM)). The storage unit 120 may include a secondary storage device (e.g., a hard disk drive (HDD) or a solid state drive (SSD)) or a tertiary storage device (e.g., an optical disk or an SD card). The storage unit 120 may include other storage devices. The storage unit 120 stores various data, information, programs, etc. For example, the storage unit 120 may store information about the monitoring area MR (e.g., information about the position, size, or shape of the monitoring area MR), information about the visible light irradiated onto the monitoring area MR (e.g., information about the irradiation mode and wavelength), information about the invisible light irradiated within the monitoring area MR (e.g., information about the irradiation mode and wavelength), etc. The irradiation mode of the invisible light or visible light may include the irradiation interval, the frequency of the irradiated light, the irradiation pattern, etc. The storage unit 120 also holds a threshold value table T1, which will be described later.

[0024] The rotation mechanism 130 rotates the optical system (e.g., a mirror and a lens, not shown) around a rotation axis along the xy plane. The rotation axis is, for example, an axis that passes through the center of a surface (e.g., a bottom surface) of the monitoring device 10 along the xy plane and is parallel to the z axis. By rotating the rotation mechanism 130, the optical system changes (scans) the light projection direction of the light projecting unit 140 and the light reception direction (detection direction) of the light receiving unit 150 along the xy plane. In other words, the optical system changes the object detection direction of the monitoring device 10 over the entire circumference or a portion of the entire circumference of the monitoring device 10. Note that the rotation mechanism 130 may rotate the light projecting unit 140 and the light receiving unit 150 along the xy plane together with or instead of the optical system, thereby freely changing the detection direction.

[0025] The light projecting unit 140 includes a light emitting element such as a laser diode and projects a predetermined light. The light projecting unit 140 projects at least invisible light (for example, infrared light) and may project visible light. The light projecting unit 140 may be able to change the wavelength of light that it can project. For example, the wavelength of light that the light projecting unit 140 can project may be predetermined, and the wavelength of light to be projected may be selected and determined from a plurality of wavelengths. Furthermore, the light projecting unit 140 may be able to project light of any wavelength. The light projected by the light projecting unit 140 (projected light) may be reflected or scattered by, for example, an object to be detected. A plurality of light projecting units 140 may be provided.

[0026] The light projecting unit 140 may project light for distance measurement based on a distance measurement synchronization signal from a distance measurement light emission synchronization unit 114 (see FIG. 4) described later. The light projecting unit 140 may project an alarm output signal based on an alarm output synchronization signal (see FIG. 4) from an alarm output light emission synchronization unit 115 (see FIG. 4) described later. The light projecting unit 140 may also project various optical signals.

[0027] The light receiving unit 150 includes a light receiving element such as a photodiode and receives predetermined light. The light receiving unit 150 receives at least invisible light (e.g., infrared light) and may also receive visible light. The light receiving unit 150 is capable of changing the wavelength of light it can receive. For example, the wavelength of light it can receive may be predetermined, and the wavelength of light to be received may be selected from multiple wavelengths. The light receiving unit 150 may also be capable of receiving any wavelength of light. The light received by the light receiving unit 150 (received light) may include, for example, detection light that is generated by projecting light projected by the light projecting unit 140 and reflected or scattered by a detection target object. The light receiving unit 150 may also receive various optical signals, or may receive light in which an arbitrary optical signal is superimposed on detection light. The light receiving unit 150 generates a received light signal from the received light. Therefore, the received light signal may include detected light, various optical signals, or a composite optical signal thereof.

[0028] The signal separator 160 is, for example, a beam splitter, and separates the received light signal into multiple signal components. The multiple signal components include, for example, a distance detection signal and an area setting request signal, which will be described later. The distance detection signal is a signal for detecting the distance between the monitoring device 10 and the detected position of an object, and includes, for example, a detection light signal. The detected position of an object is the position where the projected light is reflected or scattered by the object. This detected position is, for example, the position of the remote control device 20, which may be the position of the area setter H1 holding the remote control device 20. The area setting request signal is a trigger signal for setting the monitoring area MR. The area setting request signal is passed to the control unit 110 as a data rewrite request signal. The data rewrite request signal is a signal that requests rewriting of threshold data defining the monitoring area MR. Rewriting the threshold data may include, for example, saving new threshold data in the threshold table T1 or changing existing threshold data. It should be noted that the signal separator 160 does not need to separate the received light signal when the received light signal contains one signal component (for example, the signal of the detected light).

[0029] The angle detection unit 170 detects the detection direction (detection angle) of the monitoring device 10. Specifically, the angle detection unit 170 detects the rotation angle of the rotation mechanism unit 130 as a physical change amount based on an encoder signal (e.g., an encoder pulse) generated by the monitoring device 10. The detection angle is indicated, for example, as an angle relative to a predetermined reference direction of the monitoring device 10, and may indicate, for example, the direction of irradiation of light projected from the light projecting unit 140 and the direction of reception of light (e.g., detection light) by the light receiving unit 150 relative to the predetermined direction (detection direction). For example, the center direction of the detection range in which the monitoring device 10 can detect an object is the detection direction. The rotation mechanism unit 130 rotates at an arbitrary speed along the xy plane. The rotation speed may be constant or variable. As the monitoring device 10 rotates, a predetermined position around the monitoring device 10 can be periodically detected. If the rotation speed is constant, this predetermined position can be detected at a constant period.

[0030] The data input unit 180 inputs various data, information, signals, etc. The data input unit 180 may have, for example, a wireless communication unit, and the wireless communication unit may receive the data via radio waves or the like. The data input unit 180 may have, for example, an audio input unit (microphone), and the audio input unit may receive the data via audio. The data input unit 180 may have, for example, an ultrasonic receiving unit, and the ultrasonic receiving unit may receive the data via ultrasonic waves. Note that optical input is performed by receiving light with the light receiving unit 150. The data input unit 180 may input, for example, an area setting request signal for setting the monitoring area MR from the remote control device 20. The area setting request signal may be passed to the control unit 110 as a data rewrite request signal.

[0031] The data output unit 190 outputs various data, information, signals, etc. The data output unit 190 may have, for example, a wireless communication unit, which may output by transmitting via radio waves, etc. The data output unit 190 may have, for example, an acoustic output unit (speaker), which may output by sound. The data output unit 190 may have, for example, an ultrasonic transmission unit, which may output by ultrasonic waves. Note that optical output is performed by projecting light by the light projector 140.

[0032] For example, when an object is detected within the monitoring area MR, that is, when an object detection signal is acquired from the comparison / determination unit 113 (see FIG. 4), which will be described later, the data output unit 190 may output an alarm output signal including warning information. The alarm output signal may be output to, for example, the remote control device 20, the area setter H1, or the monitor.

[0033] Furthermore, when the data output unit 190 acquires an object detection signal, it transmits the object detection signal to a PLC (Programmable Logic Controller) device. The PLC device instructs the robot device 30 to control its operation. When the PLC device receives the object detection signal from the monitoring device 10, it transmits a signal (operation restriction instruction signal) to the robot device 30 to restrict the operation of the robot device 30 based on the object 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. Restrictions on 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 operating speed, or restricting other operations. In this way, when the area setter H1 or a monitor, etc., is present within the monitoring area MR, the monitoring device 10 can restrict the operation of hazardous sources such as the robot device 30, thereby ensuring the safety of workers.

[0034] FIG. 4 is a block diagram showing an example of the functional configuration of the control unit 110. As shown in FIG. The control unit 110 includes a distance calculation unit 111, a data rewriting unit 112, a comparison / determination unit 113, a distance measurement light emission synchronization unit 114, and an alarm output light emission synchronization unit 115 as functional units for realizing various functions.

[0035] The distance calculation unit 111 calculates the distance (detection distance) between the monitoring device 10 and the detection position of the object based on the distance detection signal, for example, by a TOF (Time Of Flight) method. In the TOF method, the time it takes for the projected light projected from the light projecting unit 140 to be reflected or scattered by the object, return to the monitoring device 10, and be received as detection light by the light receiving unit 150 is calculated, and the detection distance is calculated based on this time.

[0036] The data rewrite unit 112 acquires angle-distance data and a data rewrite request signal. The angle-distance data includes the detected angle detected by the angle detection unit 170 and the detected distance obtained by the distance calculation unit 111. The data rewrite request signal is acquired from the signal separation unit 160 or the data input unit 180. The data rewrite unit 112 may determine the monitoring area MR based on the data rewrite request signal and angle-distance data. In this case, the data rewrite unit 112 determines the overall position, size, shape, etc. of the monitoring area MR and derives angles and distances indicating each point that defines the periphery (outer edge, outer periphery) of the determined monitoring area MR. The data rewrite unit 112 writes the derived angles and distances as threshold data to the threshold table T1 stored in the storage unit 120. For example, the data rewrite unit 112 may add each derived angle and distance to the threshold table T1 as a point that constitutes the periphery of the monitoring area MR and store it as new threshold data. Furthermore, the data rewriting unit 112 may update the threshold data stored in the threshold table T1 with the derived angle and distance, and store the updated data.

[0037] The comparison and determination unit 113 determines whether an object is present within the monitoring area MR based on the threshold data stored in the threshold table T1 and the angle distance data acquired when the monitoring mode is set. In this case, the comparison and determination unit 113 acquires the threshold data stored in the threshold table T1 and recognizes the set monitoring area MR. The comparison and determination unit 113 recognizes the detected position of the object based on the detected angle and detected distance included in the angle distance data acquired when the monitoring mode is set. The comparison and determination unit 113 determines whether the detected position of the object is included within the monitoring area MR. If the comparison and determination unit 113 detects the presence of an object within the monitoring area MR, it sends an object detection signal to the alarm output / light emission synchronization unit 115 and the data output unit 190.

[0038] The distance measurement light emission synchronization unit 114 acquires the detection angle from the angle detection unit 170. The distance measurement light emission synchronization unit 114 synchronizes the detection angle, i.e., the light projection direction for distance measurement (for object detection) by the light projection unit 140, with the timing of light projection for distance measurement by the light projection unit 140. The distance measurement light emission synchronization unit 114 sends a distance measurement synchronization signal for performing this synchronization to the light projection unit 140. The distance measurement may be, for example, measurement of the distance to an area setter H1 who sets the monitoring area MR, or measurement of the distance to an object within the set monitoring area MR.

[0039] The alarm output light emission synchronization unit 115 acquires the detected angle from the angle detection unit 170. When the alarm output light emission synchronization unit 115 acquires the object detection signal from the comparison / determination unit 113, it synchronizes the detected angle, i.e., the light projection direction for alarm output by the light projection unit 140, with the light projection timing for alarm output by the light projection unit 140. The alarm output light emission synchronization unit 115 sends an alarm output synchronization signal for performing this synchronization to the light projection unit 140. The alarm output may be the output of warning information that notifies an object (for example, a worker (for example, the area setter H1 or a monitor)) within the monitoring area MR of danger.

[0040] The control unit 110 may also recognize whether the detected object is a person (e.g., a worker). In this case, the control unit 110 may recognize whether the detected object is a person based on the shape of the detected object. For example, information on the range of the horizontal distance between a person's two legs in normal times (e.g., the distance when both legs are spread) (also referred to as a leg pattern) and the range of the vertical (gravity direction) length of the person's arms in normal times (e.g., the length when the arms are raised) (also referred to as an arm pattern) is stored in the storage unit 120 as matching information for identifying a person. The matching information may include other information for identifying a person. The control unit 110 may compare the detected object with the matching information to determine whether the detected object is a person. For example, if the degree of match between the detected object and the matching information is equal to or greater than a predetermined threshold, the control unit 110 may determine that the detected object is a person, i.e., a worker. If the degree of match between the detected object and the matching information is less than the predetermined threshold, the control unit 110 may determine that the detected object is not a person, i.e., a worker.

[0041] The control unit 110 also sets the operation mode of the monitoring system 5. The operation modes of the monitoring system 5 include a monitoring mode for detecting objects and an area setting mode for setting a monitoring area. In the monitoring mode, optical signals for object detection are transmitted and received, but area setting signals are also transmitted and received. In the monitoring mode, an alarm is output when an object is detected. In the area setting mode, optical signals for object detection are transmitted and received, and area setting signals are also transmitted and received. In the area setting mode, an alarm is not output when an object is detected. The control unit 110 may set the operation mode to the area setting mode while an area setting request signal is being acquired. The control unit 110 may set the operation mode to the monitoring mode while an area setting request signal is not being acquired. In switching from the monitoring mode to the area setting mode, when the control unit 110 receives an area setting request signal from the remote control device 20, the control unit 110 may transition from a main routine of a flow corresponding to the monitoring mode to a subroutine corresponding to the area setting mode for a certain period of time as an interrupt routine triggered by the setting request signal. The control unit 110 may set the operation mode (for example, area setting mode, monitoring mode) via an operation unit (not shown) provided in the monitoring device 10, without depending on a signal from the remote control device 20.

[0042] Furthermore, the control unit 110 may control the rotation speed of the rotation mechanism unit 130 to be constant or may change it. For example, in the area setting mode, the setting accuracy of the monitoring area MR can be adjusted by changing the rotation speed of the rotation mechanism unit 130. For example, by slowing down this rotation speed, the monitoring device 10 can increase the angular resolution when setting the area and improve the setting accuracy of the monitoring area MR. Furthermore, the control unit 110 may control the rotation speed of the rotation mechanism unit 130 to be faster when the monitoring mode is set than when the area setting mode is set. In this case, the monitoring device 10 can quickly detect objects in the monitoring area MR.

[0043] 5 is a block diagram showing an example configuration of remote control device 20. Remote control device 20 includes a light receiving unit 210, a display unit 220, an operation unit 230, a light projecting unit 240, a control unit 250, a data input unit 260, and a data output unit 270. Remote control device 20 may also include data output unit 270.

[0044] The light receiving unit 210 includes a light receiving element and receives predetermined light. The light receiving unit 210 receives at least invisible light (e.g., infrared light) and may also receive visible light. The light receiving unit 210 is capable of changing the wavelength of light that it can receive. For example, the wavelength of light that the light receiving unit 210 can receive may be predetermined, and the wavelength of light to be received may be selected from a plurality of wavelengths. The light receiving unit 210 may also be capable of receiving any wavelength of light. The light received by the light receiving unit 210 (received light) may include, for example, projected light and an alarm output signal from the monitoring device 10. The light receiving unit 210 generates a received light signal from the received light.

[0045] The display unit 220 displays various information. The display unit 220 may be, for example, a liquid crystal display or an organic EL display, or may simply be an LED that emits light. For example, when an alarm output signal is input via the light receiving unit 210 or the data input unit 260, the display unit 220 may display various information based on the warning information included in the alarm output signal. The displayed information may include, for example, information indicating that an object (e.g., the area setter H1 or the monitor) has been detected, and the detected position of the object (detection angle, detection position). This allows, for example, the area setter H1 or the monitor to know that they are located within the monitoring area MR.

[0046] The operation unit 230 may include various buttons, keys, switches, a touch panel, a microphone, or other input devices. The operation unit 14 accepts input of various data and information. For example, upon detecting the pressing of a switch serving as the operation unit 230, the control unit 250 may output an area setting request signal to the monitoring device 10 via the light projecting unit 240 or the data output unit 270.

[0047] The light projecting unit 240 includes a light emitting element and projects a predetermined light. The light projecting unit 240 projects at least invisible light (for example, infrared light), and may also project visible light. The light projecting unit 240 may be able to change the wavelength of light that it can project. For example, the wavelength of light that the light projecting unit 240 can project may be predetermined, and the wavelength of light to be projected may be selected from a plurality of wavelengths. The light projecting unit 240 may also be able to project any wavelength of light. The light projected by the light projecting unit 240 (projected light) is output, for example, toward the monitoring device 10. The light projecting unit 240 may also project an area setting request signal.

[0048] The control unit 250 is configured with, for example, a processor, and realizes various functions by executing programs stored in a storage unit (not shown). The processor may include an MPU (Micro Processing Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), etc. The control unit 250 controls the operation of each unit of the remote control device 20 and performs various processes.

[0049] The data input unit 260 inputs various data, information, signals, etc. The data input unit 260 may have, for example, a wireless communication unit, and the wireless communication unit may receive the data by radio waves or the like. The data input unit 260 may have, for example, an acoustic input unit (microphone), and the acoustic input unit may receive the data by acoustics. The data input unit 260 may have, for example, an ultrasonic receiving unit, and the ultrasonic receiving unit may receive the data by ultrasonic waves. Note that optical input is performed by receiving light by the light receiving unit 210. The data input unit 260 may receive, for example, an alarm output signal from the monitoring device 10.

[0050] The data output unit 270 outputs various data, information, signals, etc. The data output unit 270 may have, for example, a wireless communication unit, and the wireless communication unit may output by transmitting via radio waves, etc. The data output unit 270 may have, for example, an acoustic output unit (speaker), and the acoustic output unit may output by sound. The data output unit 270 may have, for example, an ultrasonic transmission unit, and the ultrasonic transmission unit may output by ultrasonic waves. Note that optical output is performed by projecting light by the light projecting unit 240. The data output unit 270 may output, for example, an area setting request signal.

[0051] FIG. 6 is a diagram showing an example of signals transmitted and received between the monitoring device and the remote control device.

[0052] As shown in Fig. 6, for example, a monitoring light (projected light) for object detection and an alarm output signal are sent from the monitoring device 10 to the remote control device 20. The alarm output signal may be optically projected or may be output by a method other than the optical method. Also, for example, a monitoring light (detection light) corresponding to the projected light and an area setting request signal are sent from the remote control device 20 to the monitoring device 10. The area setting request signal may be optically projected or may be output by a method other than the optical method.

[0053] <Operation of the monitoring system> Next, an example of the operation of the monitoring system 5 will be described. FIG. 7A is a sequence diagram showing an example of the operation of the monitoring system 5.

[0054] The area setter H1 can move around the periphery of the monitoring device 10. When the area setter H1 is located within the detection area, the control unit 110 can detect the area setter H1. A monitoring area MR is set within the detection area.

[0055] First, the area setter H1 holds the remote control device 20 and moves it to any one reference position rp for setting the monitoring area MR. The one reference position rp is, for example, a position that is at an angle A1 (e.g., 100 degrees) relative to the monitoring device 10 and a distance A2 (e.g., 2000 mm) from the monitoring device 10.

[0056] In the monitoring device 10, the light-projecting unit 140 starts projecting a light for object detection at an arbitrary timing, and the light-receiving unit 150 starts receiving a detection light corresponding to the projected light (S11). The projection of the light-projecting light and the reception of the detection light continue in both the area setting mode and the monitoring mode.

[0057] It is assumed that the remote control device 20 has not received an area setting operation for setting a monitoring area MR from the area setter H1 via the operation unit 230. The area setting operation may be, for example, the area setter H1 pressing a switch. In this case, even if the remote control device 20 detects projected light via the light receiving unit 210, it does not output an area setting request signal. On the other hand, it is assumed that the control unit 250 has received an area setting operation via the operation unit 230 (S12). In this case, when the control unit 250 detects projected light via the light receiving unit 210, it outputs an area setting request signal via the light projecting unit 240 or the data output unit 270 in accordance with the projected light (S13). The transmission of the area setting request signal may continue while the area setting operation is continuing.

[0058] When the control unit 110 of the monitoring device 10 receives an area setting signal via the light receiving unit 150 or the data input unit 180, the control unit 110 changes the operation mode to the area setting mode (S14). In this case, the control unit 110 may display information indicating that the area setting mode has been set via a display device (not shown) included in the monitoring device 10 or an external display device (not shown). When the area setting mode is set, the control unit 110 derives the detection distance and detection angle for the reference position rp (S15) and stores them as threshold data in a threshold table T1 (S16). The threshold table T1 stores distance thresholds for each angle as threshold data. For example, a distance threshold of 2000 mm for 100 degrees is registered. The distance threshold for each angle indicates a set distance for each angle corresponding to the distance from the monitoring device 10 to the periphery of the monitoring area MR.

[0059] As the area setter H1 moves within the detection area, a different detection angle and detection distance for the reference position rp may be derived. If a detection angle and detection distance different from those derived in step S15 (Yes in S17), the control unit 110 stores threshold data based on this detection angle and detection distance in the threshold table T1. As the area setter H1 continues to move within the detection area, the control unit 110 can repeatedly execute the processes of steps S16 and S17.

[0060] When the control unit 250 of the remote control device 20 finishes accepting the area setting operation from the area setter H1, it finishes outputting the area setting request signal via the light projecting unit 240 or the data output unit 270. When the control unit 110 finishes receiving the area setting request signal via the light receiving unit 150 or the data input unit 180, the monitoring device 10 changes the operation mode from the area setting mode to the monitoring mode (S18). Note that the remote control device 20 may output an instruction signal to change the operation mode to the monitoring mode via the light projecting unit 240 or the data output unit 270, rather than indirectly transitioning the operation mode to the monitoring mode by finishing transmitting the area setting request signal.

[0061] In the monitoring device 10, for example, the comparison / determination unit 113 of the control unit 110 acquires the distance threshold for each angle as each threshold data stored in the threshold table T1, and sets the monitoring area MR based on the distance threshold for each angle (S19).

[0062] The area setter H1 can remain within the detection area even after switching to monitoring mode. In the monitoring device 10, the comparison and determination unit 113 of the control unit 110 determines whether or not the area setter H1 has been detected within the monitoring area MR (S20). If the area setter H1 is detected within the monitoring area MR, the light projection unit 140 or the data output unit 190 outputs an alarm output signal including setter detection information (S21). The setter detection information may include information that the area setter H1 has been detected within the monitoring area MR, or the detection angle and detection position at which the area setter H1 was detected, etc.

[0063] When the control unit 250 receives an alarm output signal via the light receiving unit 210 or the data input unit 260, the remote control device 20 displays the setup person detection information via the display unit 220 (S22).

[0064] Furthermore, even when checking the monitoring area MR, the area setter H1 can move within the detection area. Therefore, different detection angles and detection distances can be derived depending on the position of the area setter H1. Therefore, each time the location of the area setter H1 moves, if a different detection angle and detection distance are derived, the control unit 110 may repeat the determination in step S20 as to whether the area setter H1 has been detected within the monitoring area MR.

[0065] In this way, in the monitoring system 5, the area setter H1 holds the remote control device 20 and moves around the monitoring device 10, while collecting angle and distance data for each reference position rp relative to the position of the monitoring device 10. The monitoring device 10 can easily register each threshold data in the threshold table T1 based on each collected angle and distance data.

[0066] Furthermore, when transitioning to monitoring mode and checking the set monitoring area, the area setter H1 can continue to move within the detection area. The monitoring device 10 determines whether each checking position where the area setter H1 is located within the detection area is inside or outside the monitoring area MR, and outputs an alarm output signal to the remote control device 20. This allows the area setter H1 to easily check whether each checking position is within the detection area without having to move long distances when setting and checking the area.

[0067] Furthermore, the area setter detection information may include information indicating that the area setter H1 was not detected, rather than information indicating that the area setter H1 was detected. In this case, the remote control device 20 may continuously display information indicating that the area setter H1 was detected or information indicating that the area setter H1 was not detected, as the area setter H1 moves. This allows the area setter H1 to easily check the area near the boundary of the monitoring area MR.

[0068] If the confirmation results at each confirmation position differ from what the area setter H1 intended, the area setter H1 can easily change the shape of the monitoring area MR to be set by outputting an area setting request signal again using the remote control device 20 to transition to area setting mode and updating or adding threshold data held in the threshold table T1. This allows the monitoring system 5 to set the monitoring area MR as desired by the area setter H1, thereby achieving desired monitoring.

[0069] Fig. 7B is a sequence diagram showing a modified example of the operation of the monitoring system 5. In Fig. 7B, the same processes as those in Fig. 7A are assigned the same step numbers, and their explanations will be omitted or simplified.

[0070] The monitoring system 5 performs the processes of steps S11 to S18. After switching to the monitoring mode, the control unit 110 determines whether a predetermined time has elapsed since switching to the monitoring mode (i.e., since acquisition of the area setting request signal was completed) (S26). If the predetermined time has not elapsed, the control unit 110 waits until the predetermined time has elapsed.

[0071] If a predetermined time has passed since the mode was changed to monitoring mode (Yes in step S26), the control unit 110 determines whether or not the area setting request signal has been acquired again (S27). If the area setting request signal has been acquired again, the process proceeds to step S14. If the area setting request signal has not been acquired again, the process proceeds to step S19. Thereafter, the monitoring system 5 performs the processes of steps S19 to S22.

[0072] 7B, the monitoring device 10 can resume registering threshold data for the monitoring area MR in the threshold table T1 even after it has once finished receiving the area setting request signal. Therefore, the area setter H1 can move to each location and then operate the operation unit 230 to register the threshold data for each location, rather than moving around the monitoring site while constantly operating the operation unit 230 of the remote control device 20 to register threshold data at each location. Therefore, the monitoring device 10 can reduce the burden on the area setter H1 when registering threshold data at each location, and can reduce the burden on the area setter H1 when setting the monitoring area MR.

[0073] 8 is an example of the threshold table T1. The threshold table T1 holds a distance threshold for each angle as threshold data. The distance threshold defines the distance from the monitoring device 10 to the peripheral edge of the monitoring area MR in the direction of the detection angle.

[0074] <Signal output when area is set> Next, a description will be given of an example of signal output when setting an area by the monitoring system 5. Here, two types of signal output when an area setting request signal is optically projected will be illustrated.

[0075] FIG. 9 is a diagram showing a first example of signal output when an area is set by the monitoring system 5. In FIG. 9, each signal is shown as a pulse signal. In FIG. 9, the vertical axis represents the magnitude of the pulse signal, and the horizontal axis represents time. The first output example shows that the timing of transmission and reception of light for object detection (projected light and received light) and the timing of transmission and reception of light for area setting (optical oscillation signal indicating an area setting request signal) are different and switch at regular intervals.

[0076] In Figure 9, each signal is shown as a pulse signal, and each signal includes an encoder signal generated by the monitoring device 10, a projected light emitted by the light-projecting unit 140, a detection light received by the light-receiving unit 150, an optical oscillation signal emitted by the light-projecting unit 240 of the remote control device 20, and an optical oscillation signal from the remote control device 20 received by the monitoring device 10.

[0077] In Figure 9, the projected light and the detection light corresponding to the projected light appear at the same time, but in reality, there is a slight time lag because the detection light is received after the projected light is emitted. The detection distance is derived based on the time lag between the projected light and the detection light. The optical oscillation signal is an area setting request signal transmitted from the remote control device 20 in response to an area setting operation. Therefore, the optical oscillation signal is continuously transmitted from the remote control device 20 to the monitoring device 10 while the area setting operation is being performed on the remote control device 20.

[0078] 9 also shows the light-receivable range in which the light-receiving unit 150 can receive the remote control synchronization signal over time, i.e., the light-receivable timing. The light-receivable range corresponds to the angular characteristics (light-receiving angle characteristics) at which the monitoring device 10 can detect an object, and corresponds to the temporal detectable range (detectable timing). In other words, the optical oscillation signal received by the light-receiving unit 150 at the light-receivable timing becomes the remote control synchronization signal. The light-receivable range is shown for a certain period on the time axis, which means that the light-receivable range can receive light continuously for a certain period while the rotation mechanism unit 130 rotates. The angle detection unit 170 determines that the angle corresponding to the remote control synchronization signal P1 at the center position of the light-receivable range is the angle position at which the area setter H1, the object to be detected, is located.

[0079] Furthermore, the timing of projecting the optical oscillation signal and the timing of receiving the optical oscillation signal are timings at which the monitoring device 10 transmits and receives light for synchronization in setting an area, not timings at which the monitoring device 10 transmits and receives light for object detection. Therefore, the optical oscillation signal does not include detection light, which is the basis for calculating the distance from the monitoring device 10 to the remote control device 20. Therefore, the control unit 110 derives the detection distance corresponding to the position of the area setter H1, for example, based on the detection light P2 immediately before the remote control synchronization signal P1. The control unit 110 may also derive the detection distance corresponding to the position of the area setter H1 based on the detection light immediately after the remote control synchronization signal P1. While the example has been given in which the angle at the timing when the remote control synchronization signal P1 is acquired is set as the detection angle corresponding to the position of the area setter H1, the angle detection unit 170 may instead calculate the angle at the timing when the detection light, which is the basis for the detection distance, is received immediately before or after the remote control synchronization signal P1, and use this angle as the detection angle corresponding to the position of the area setter H1.

[0080] Thus, according to this first output example, the monitoring device 10 can receive the area setting optical oscillation signal at a timing when it does not receive detection light, and can determine the angle at which the area setter H1 is located. Furthermore, the monitoring device 10 can acquire distance data based on the detection light P2 received immediately before the remote control synchronization signal P1 at the center of the light receiving range, and use this distance data as the distance threshold. The monitoring device 10 can repeatedly acquire such distance data around the monitoring device 10, determine the distance threshold for each angle of the monitoring device 10, and store the distance threshold in the threshold table T1.

[0081] FIG. 10 is a diagram showing a second example of signal output when an area is set by the monitoring system 5. In FIG. 10, each signal is shown as a pulse signal. In FIG. 10, the vertical axis indicates the magnitude of the pulse signal, and the horizontal axis indicates time. In FIG. 10, the first output example shows that the timing of transmission and reception of light for object detection (projected light and received light) overlaps with the timing of transmission and reception of light for area setting (optical oscillation signal indicating an area setting request signal). In FIG. 10, explanations of matters similar to those in FIG. 9 are omitted or simplified.

[0082] In Figure 10, each signal is shown as a pulse signal, and each signal includes an encoder signal generated by the monitoring device 10, a projected light emitted by the light-projecting unit 140, an optical oscillation signal indicating an area setting request signal emitted by the light-projecting unit 240 of the remote control device 20, and a received light received by the light-receiving unit 150.

[0083] 10, unlike Fig. 9, the timing of the optical oscillation signal and the timing of the light reception signal are not separated into the timing at which the monitoring device 10 transmits and receives light for synchronization for area setting and the timing at which the monitoring device 10 transmits and receives light for object detection. Specifically, the monitoring device 10 continuously transmits and receives light for synchronization for area setting.

[0084] In FIG. 10 , the pulse width t of the optical oscillation signal is smaller than the pulse width T of the projected light used for object detection. The received light may include an optical oscillation signal along with the detection light corresponding to the projected light. That is, the received light is an optical oscillation signal or a composite signal of the optical oscillation signal and the detection light, and this composite signal is the received light signal. The signal separation unit 160 analyzes the waveform of the received light signal and measures the pulse width based on the time positions of the rising and falling edges of this waveform to separate the optical oscillation signal from the detection light signal. Furthermore, the signal level of the optical oscillation signal is approximately constant, and the signal level of the detection light is also approximately constant. Therefore, the signal level of the composite signal portion is higher than that of the portion containing only the optical oscillation signal. Therefore, the signal separation unit 160 may separate the optical oscillation signal from the detection light signal based on the signal level of the received light signal. Furthermore, as described above, the signal levels (i.e., the amount of received light) of the composite signal portion and the portion containing only the optical oscillation signal are different, making it possible to determine that the composite signal portion contains an optical oscillation signal. Therefore, even if the signal separator 160 does not perform signal separation, the control unit 110 can identify the time position of the area setting request signal corresponding to the optical oscillation signal.

[0085] 10, like FIG. 9, shows the light-receiving range (light-receiving angle characteristics) in which the light-receiving unit 150 can receive the remote control synchronization signal over time. The light-receiving unit 150 can receive the optical oscillation signal at the light-receiving timing. The angle detection unit 170 determines that the angle corresponding to the optical oscillation signal P3 at the center position of the light-receiving range is the angle position at which the area setter H1, the object to be detected, is located.

[0086] Furthermore, the position of the optical oscillation signal P3 also includes a signal of the detection light. Therefore, the control unit 110 can derive the detection distance at the same time position as the optical oscillation signal P3 and use this distance data as the distance threshold. This detection distance can be derived based on the time position of the corresponding projected light and the time position of the detection light. The control unit 110 repeatedly derives the detection distance in this manner around the monitoring device 10, determines a distance threshold for each angle of the monitoring device 10, and stores the distance threshold in the threshold table T1. Furthermore, in the second output example, the time position at which the angle is derived and the time position at which the distance is derived are the same, so the angle-distance data is derived with high accuracy, and the setting accuracy of the monitoring area MR is high.

[0087] Next, the spatial light-receiving range of the monitoring device 10 will be described. 11 is a diagram showing an example of a spatial light-receiving range of the monitoring device 10. The storage unit 120 stores the light-receiving angle characteristics (light-receiving range) of the monitoring device 10 and the blind spot angle range, which is the angle corresponding to the blind spot of the monitoring device 10. In other words, the monitoring device 10 recognizes the light-receiving angle characteristics and the blind spot angle range.

[0088] In the monitoring device 10, light can be transmitted and received by the light projecting unit 140 and the light receiving unit 150, which are rotated by the rotation mechanism unit 130, in a portion of the periphery of the monitoring device 10. The range in which light can be transmitted and received is the light receiving range (detectable range). The light receiving range is at least a portion of the range other than the blind spot in which the light projecting unit 140 and the light receiving unit 150 of the monitoring device 10 cannot transmit or receive light. As the rotation mechanism unit 130 rotates, the light receiving range also rotates and moves.

[0089] The light-projecting unit 140 can emit projected light so that it widens as it moves away from the monitoring device 10, based on the position of the monitoring device 10 (the position of the light-projecting unit 140). The light-receiving unit 150 can receive light from a detection target object so that it widens as it moves away from the monitoring device 10, based on the position of the monitoring device 10 (the position of the light-receiving unit 150). The light-receiving range rotates around the monitoring device 10. Therefore, the detection target object moves from one end to the other end of the rotating light-receiving range. The control unit 110 determines that the angle corresponding to the center position C1 between one end E1 and the other end E2 of the light-receiving range is the angle at which the detection target object is located. In other words, when light from the remote control device 20 is received throughout the entire light-receiving angle characteristic of the monitoring device 10, the control unit 110 determines that the angle at which the remote control device 20 is located is the angle that is the center direction of the light-receiving angle characteristic. Then, distance calculation section 111 calculates the detection distance based on the detected light obtained corresponding to this angle.

[0090] At a position (angle) where the light-receiving angle characteristic overlaps with a blind spot, the control unit 110 may assume that light corresponding to the light-receiving angle characteristic is received after the detection light is received by the light-receiving unit 150, and may determine that the angle at the center of this light-receiving angle characteristic is the angle at which the remote control device 20 is located. That is, the control unit 110 may determine the angle at which the remote control device 20 is located based on the light-receiving angle characteristic, the blind spot angle range, and the angle at which the light-receiving unit 150 starts or stops receiving the detection light. For example, the angle at which the remote control device 20 is located is determined by adding half the angle of the angle range corresponding to the light-receiving angle characteristic to the angle at which the detection light starts to be received in the direction of rotation. For example, the angle at which the remote control device 20 is located is determined by adding half the angle of the angle range corresponding to the light-receiving angle characteristic to the angle at which the detection light stops being received in the direction opposite to the direction of rotation. Then, the distance calculation unit 111 may calculate the detection distance based on the detected light obtained corresponding to the angle at which the remote control device 20 is located.

[0091] Next, an example of determining the monitoring area MR will be described. Fig. 12 is a diagram showing a first setting example of the monitoring area MR, and Fig. 13 is a diagram showing a second setting example of the monitoring area MR.

[0092] The area setter H1 can designate a reference position rp for setting the monitoring area MR while holding the remote control device 20 and moving around the monitoring device 10 and transmitting an area setting request signal based on the area setting operation. Five reference positions rp are designated in FIGS. 12 and 13. The reference positions rp are detection positions detected by the monitoring device 10, and detection angles and detection distances based on the monitoring device 10 are derived. Based on these detection angles and detection distances, the control unit 110 stores distance thresholds for each angle as threshold data in the threshold table T1.

[0093] The control unit 110 then sets the monitoring area MR based on the threshold data, i.e., the distance threshold for each angle. In this case, the control unit 110 may set the monitoring area MR so that it passes through each reference position rp corresponding to the distance threshold for each angle. The control unit 110 may set the monitoring area MR by smoothly connecting each reference position rp with a curve to generate the periphery of the monitoring area MR, as shown in FIG. 12. The control unit 110 may set the monitoring area MR by connecting each reference position rp with a straight line to generate the periphery of the monitoring area MR, as shown in FIG. 13. In this case, the monitoring area MR in FIG. 12 is wider than the monitoring area MR in FIG. 13. In this way, the periphery of the monitoring area MR may be formed linearly, curved, or by connecting each reference position rp with an arc. Note that information indicating the shape of the monitoring area to be generated by passing through each reference position rp may be stored in the storage unit 120. Note that when the periphery of the monitoring area MR is formed linearly, there may be three or more reference positions rp lined up in a straight line. In this case, the monitoring area MR may be configured using only the two reference positions rp at both ends, in which case points other than the reference positions rp become constituent points that do not directly contribute to forming the periphery of the monitoring area MR, but distance thresholds for angles corresponding to constituent points other than these reference positions rp may also be stored in the storage unit 120. The constituent points here may include, for example, the reference positions rp as well as vertices, inflection points, or some other characteristic points that configure the monitoring area MR.

[0094] Next, a specific example of an alarm output will be described.

[0095] Fig. 14 is a timing chart showing an example of an optical alarm output. In Fig. 14, each signal is shown as a pulse signal. In Fig. 14, the vertical axis represents the magnitude of the pulse signal, and the horizontal axis represents time.

[0096] 14 shows the encoder signal, the detection light of the first revolution, and the projected light of the second revolution. The nth revolution (n=1, 2, ...) indicates that the rotation by the rotation mechanism 130 is the nth revolution. Although some parts are not shown in the figure, in reality, the detection light of the first revolution is received in response to the projected light of the first revolution, and the detection light of the second revolution is received in response to the projected light of the second revolution. The same applies to the third revolution and beyond.

[0097] 14, three detection distances based on the detected light received at the same time position in the first revolution corresponding to the three angles exceed three distance thresholds (set monitoring alarms in FIG. 14) stored in threshold table T1. In this case, comparison / determination unit 113 determines that area setter H1 is present within the set monitoring area MR in an angle range including these three angles.

[0098] If it is determined that the area setter H1 is present within the surveillance area MR, an alarm output signal is output to the remote control device 20 or the area setter H1 within this angle range in the next (here, second) cycle of light projection waves. In this case, the light-projecting unit 140 generates the alarm output signal based on the detection light. For example, the light-projecting unit 140 may generate the alarm output signal by modulating the detection light. In this case, the light-projecting unit 140 may generate the alarm output signal by increasing the frequency of the detection light or changing the signal level of the detection light, for example, by narrowing the pulse width of the detection light. The light-projecting unit 140 may also change the wavelength of the detection light to change the color of the detection light. For example, the light-projecting unit 140 may transmit one or more (e.g., three consecutive) light pulse signals indicating the alarm output signal at each of the three angles in accordance with an encoder signal. Furthermore, one or more (e.g., three consecutive) light pulse signals indicating the alarm output signal may be transmitted at at least one of the three angles.

[0099] In the remote control device 20, the light receiving unit 150 receives the alarm output signal, and the display unit 220 may display based on the alarm output signal. As the area setter H1 moves inside or outside the monitoring area MR, the display unit 220 receives a setter detection signal indicating that the area setter H1 is within the monitoring area MR and displays an image, or does not receive a setter detection signal and does not display an image. This allows the area setter H1 to easily check whether the set monitoring area MR is set within the desired range.

[0100] Note that the control unit 110 of the monitoring device 10 may alternately switch between projecting a light for object detection and projecting an alarm output signal within the angle range in which the area setter H1 was detected for a certain period of time after the operation mode has transitioned from the area setting mode to the monitoring mode. This allows the monitoring system 5 to continue detecting objects in the set monitoring area MR, while notifying the area setter H1 whether the confirmation position where the area setter H1 is located is within or outside the monitoring area MR.

[0101] (Variation of the first embodiment) Next, variations of this embodiment will be described.

[0102] In this embodiment, the wavelength of the area setting request signal may be the same as the wavelength of the projected light and detection light used for object detection. In this case, the monitoring device 10 can share the light-receiving unit 150 for area setting and object detection, thereby reducing the cost required for the light-receiving unit 150. Furthermore, the wavelength of the alarm output signal may be the same as the wavelength of the projected light and detection light used for object detection. In this case, the monitoring device 10 can share the light-projecting unit 140 for area setting and object detection, thereby reducing the cost required for the light-projecting unit 140.

[0103] The wavelength of the area setting request signal may be different from the wavelengths of the projected light and detection light used for object detection. In this case, the monitoring device 10 may share a light-receiving unit 150 capable of receiving multiple wavelengths, or may be provided with multiple light-receiving units 150. The wavelength of the alarm output signal may be different from the wavelengths of the projected light and detection light used for object detection. In this case, the monitoring device 10 may share a light-projecting unit 140 capable of receiving multiple wavelengths, or may be provided with multiple light-projecting units 140.

[0104] Furthermore, the data output unit 190 may output an alarm without taking into account the position of the remote control device 20 or the area setter H1. For example, the data output unit 190 may simply change the output mode (for example, light off or no alarm sound output) when no object is detected within the monitoring area MR to the output mode (for example, light flashing or alarm sound output) when an object is detected within the monitoring area MR.

[0105] As described above, according to the monitoring system 5 of the first embodiment, the area setter H1 himself / herself becomes a detection target, and the distance and angle corresponding to the position of the area setter H1 can be saved as threshold data defining the periphery of the monitoring area MR, thereby setting the monitoring area R. Furthermore, even when switching from the area setting mode to the monitoring mode, the area setter H1 himself / herself remains a detection target, and the monitoring device 10 can determine whether the position of the area setter H1 is included in the set monitoring area MR. Therefore, the area setter H1 can easily perform two tasks: setting the monitoring area MR and checking the monitoring area MR, by moving around the site with the remote control device 20. This reduces the burden on the area setter H1 associated with setting the monitoring area MR. Furthermore, because the area setter H1 needs to travel a shorter distance when setting and checking the monitoring area MR, the time required to finalize the monitoring area MR can be shortened.

[0106] Furthermore, by using the remote control device 20 to set the area, the monitoring system 5 can easily and safely set the monitoring area MR even when the monitoring device 10 is installed in a high place, for example.

[0107] (Second embodiment) In the first embodiment, it has been described that the monitoring device 10 determines the threshold data (distance threshold for each angle of the monitoring device 10). In the second embodiment, it will be described that the remote control device 20 determines the threshold data.

[0108] 15 is a schematic diagram showing an example configuration of a monitoring system 5A according to the second embodiment. The monitoring system 5A includes a monitoring device 10A and a remote control device 20A. The monitoring device 10A is, for example, a lidar device. The remote control device 20A is capable of remote control for setting a monitoring area MR, and is, for example, a device that combines a remote control device and a tablet terminal.

[0109] Fig. 16 is a block diagram showing an example configuration of a monitoring device 10A. The configuration of the monitoring device 10A in Fig. 16 is similar to the configuration of the monitoring device 10 in Fig. 3, but compared to the monitoring device 10, the monitoring device 10A includes a control unit 110A instead of the control unit 110. In Fig. 16, the same components as those in Fig. 3 are denoted by the same reference numerals, and their description will be omitted or simplified.

[0110] Fig. 17 is a block diagram showing an example of the functional configuration of control unit 110A. The configuration of control unit 110A in Fig. 17 is similar to the configuration of control unit 110 in Fig. 4, but control unit 110A does not include data rewriting unit 112 compared to control unit 110. In Fig. 17, the same components as those in Fig. 4 are denoted by the same reference numerals, and their description will be omitted or simplified.

[0111] The data input unit 180 may receive, for example, an area setting request signal and distance threshold values ​​(threshold data) for each angle derived by the remote control device 20A from the remote control device 20A. The input method by the data input unit 180 is the same as in the first embodiment. The area setting request signal and threshold data may also be optically input by the light receiving unit 150.

[0112] Data output unit 190 may output, for example, angle distance data including the detected angle detected by angle detection unit 170 and the detected distance calculated by distance calculation unit 111, and a data rewrite request signal to remote control device 20A. The output method by data output unit 190 is the same as in the first embodiment. Note that the angle distance data and data rewrite request signal may be optically output by light projection unit 140.

[0113] Fig. 18 is a block diagram showing an example configuration of a remote control device 20A. The configuration of the remote control device 20A in Fig. 18 is similar to the configuration of the remote control device 20A in Fig. 5, but compared to the remote control device 20, the remote control device 20A includes a control unit 250A instead of the control unit 250. In Fig. 18, the same components as those in Fig. 5 are denoted by the same reference numerals, and their description will be omitted or simplified.

[0114] The light receiving unit 210 may receive an optical signal indicating, for example, angle distance data or a data rewrite request signal. The light projecting unit 240 may project an optical signal indicating, for example, threshold data or an area setting request signal. The data input unit 260 may input, for example, angle distance data or a data rewrite request signal from the monitoring device 10A. The input method by the data input unit 260 is the same as in the first embodiment. The data output unit 270 may output, for example, threshold data or an area setting request signal to the monitoring device 10A. The output method by the data output unit 270 is the same as in the first embodiment.

[0115] The control unit 250A includes a threshold control unit 251. The threshold control unit 251 derives the above-mentioned threshold data (distance threshold for each angle) based on the acquired data rewrite request signal and angle distance data. The method of deriving this threshold data may be the same as the method of deriving threshold data performed by the data rewrite unit 112 of the monitoring device 10 in the first embodiment. The threshold control unit 251 outputs the derived threshold data to the monitoring device 10 via the light projector 240 or the data output unit 270A.

[0116] FIG. 19 is a diagram showing an example of each signal transmitted and received between the monitoring device 10A and the remote control device 20A.

[0117] 19, for example, a monitoring light (projected light) for object detection, a data rewrite request signal, angle distance data, and an alarm output signal are transmitted from the monitoring device 10A to the remote control device 20A. The data rewrite request signal, angle distance data, and alarm output signal may be optically projected or may be output by a method other than optical. Also, for example, a monitoring light (detection light) for object detection, an area setting request signal, and threshold data are transmitted from the remote control device 20A to the monitoring device 10A. The area setting request signal and threshold data may be optically projected or may be output by a method other than optical.

[0118] Fig. 20 is a sequence diagram showing an example of the operation of the monitoring system 5 A. In Fig. 20, the same processes as those in Fig. 7A and Fig. 7B are given the same step numbers, and their explanations will be omitted or simplified.

[0119] First, the monitoring device 10A and the remote control device 20A perform the processes of steps S11 to S15 shown in FIG. 7. In the monitoring device 10A, the light projecting unit 140 or the data output unit 190 outputs angle distance data including the detection angle and detection distance derived in step S15 and a data rewrite request signal to the remote control device 20A (S31). In the remote control device 20A, the light receiving unit 210 or the data input unit 260 acquires the angle distance data and the data rewrite request signal from the monitoring device 10A. In accordance with the data rewrite request signal, the threshold control unit 251 of the control unit 250A derives threshold data based on the angle distance data (S32). The light projecting unit 240 or the data output unit 270 outputs the derived threshold data to the monitoring device 10A. Thereafter, the processes from step S16 onwards are performed. Note that if a different detection position and detection distance are derived in step S17, the process proceeds to step S31.

[0120] In this way, according to the monitoring system 5 of this embodiment, the remote control device 20A can generate threshold data and store it in the threshold table T1 of the monitoring device 10A, and the same effects as those of the first embodiment can be obtained.

[0121] The monitoring system 5A may also include a device (e.g., a PC) that supports the area setting operation, separate from the remote control devices 20 and 20A. In this case, the remote control devices 20 and 20A may be dedicated to accepting operations by the area setter H1, transmitting an area setting request signal as a trigger signal, and performing display based on the alarm output signal, while the PC may perform other processes (e.g., obtaining angle distance data, generating threshold data, and issuing instructions to save the threshold data in the threshold table T1).

[0122] 7B described in the first embodiment, even after the acquisition of the area setting request signal has been completed, the registration of threshold data for the monitoring area MR in the threshold table T1 can be resumed. Specifically, after the processing of step S18, i.e., after transitioning to monitoring mode, the control unit 110 determines whether a predetermined time has elapsed since switching to monitoring mode (i.e., since the acquisition of the area setting request signal has been completed). If the predetermined time has elapsed since switching to monitoring mode, the control unit 110 determines whether the area setting request signal has been acquired again. If the area setting request signal has been acquired again, the process proceeds to step S14. If the area setting request signal has not been acquired again, the process proceeds to step S19. Thus, in the second embodiment as well, the area setter H1 can move to each location in the monitoring site and then operate the operation unit 230 to register threshold data at each location. Therefore, the monitoring system 5A can reduce the burden on the area setter H1 when registering threshold data at each location, thereby reducing the burden on the area setter H1 when setting the monitoring area MR.

[0123] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above-described embodiments may be combined in any manner without departing from the spirit of the invention.

[0124] In the above embodiments, a processor such as a CPU may be physically configured in any manner. Furthermore, if a programmable processor is used, the processing content can be changed by changing the program, thereby increasing the degree of freedom in processor design. The processor may be configured as a single semiconductor chip, or may be physically configured as multiple semiconductor chips. When configured as multiple semiconductor chips, each control in the above embodiments may be realized by a separate semiconductor chip. In this case, these multiple semiconductor chips can be considered to constitute a single processor. Furthermore, the processor may be configured as a semiconductor chip and a component (such as a capacitor) having a different function. Furthermore, a single semiconductor chip may be configured to realize both the function of the processor and other functions. Furthermore, multiple processors may be configured as a single processor.

[0125] As described above, the monitoring device 10 (an example of a scanner device) of the above embodiment sets a monitoring area MR. The monitoring device 10 includes an acquisition unit (e.g., a light-receiving unit 150 or a data input unit 180) that acquires an area setting request signal for setting the monitoring area MR from the remote control device 20. The monitoring device 10 includes a light-projecting unit 140 that projects light in each detection direction around the monitoring device 10, and a light-receiving unit 150 that receives light, including detection light, that is the projected light reflected or scattered by an object, and generates a light-receiving signal. The monitoring device 10 includes a recognition unit (e.g., a distance calculation unit 111 or an angle detection unit 170) that recognizes the positions in each detection direction of a mobile area setter H1 that sets the monitoring area MR based on the light-receiving signal. The monitoring device 10 includes an area setting unit (e.g., a control unit 110) that sets the monitoring area MR based on the positions in each detection direction recognized by the recognition unit in response to acquisition of the area setting request signal by the acquisition unit.

[0126] This allows the monitoring device 10 to eliminate the need for the area setter H1 to move around with a marker during the monitoring schedule when setting the monitoring area MR. Furthermore, the area setter H1 can remotely check whether detection is possible in the monitoring area MR after setting the monitoring area MR while walking within the detection area. Therefore, the monitoring device 10 eliminates the need for the area setter H1 to set the monitoring area MR and check whether detection is possible in the set monitoring area MR while moving between the monitoring area MR and the device that sets the monitoring area MR. Therefore, the area setter H1 only needs to visit the site where the area is to be set once. Therefore, the monitoring device 10 can reduce the burden on the area setter H1 and shorten the time required to finalize the monitoring area MR.

[0127] The monitoring device 10 may also include a rotation mechanism 130 that rotates the detection direction around a rotation axis. The recognition unit may recognize the angle of rotation by the rotation mechanism and the distance from the monitoring device 10 to the area setter H1 based on the light reception signal. The area setter may set the monitoring area MR based on the angle and distance recognized by the recognition unit.

[0128] As a result, the monitoring device 10 detects the area setter H1 by rotating the detection direction using the rotation mechanism 130, and can derive the above-mentioned angle and distance around the monitoring device 10 without having to include multiple light-projecting units 140 that project light in each detection direction and multiple light-receiving units 150 that receive detection light from each detection direction. Therefore, the monitoring device 10 can detect with high accuracy the positions of the area setter H1 who can move around the monitoring device 10, and can set the monitoring area MR with high accuracy.

[0129] Furthermore, the monitoring device 10 may include a rotation control unit (for example, the control unit 110) that changes the rotation speed of the rotation mechanism unit 130. This allows the monitoring device 10 to adjust, for example, the setting accuracy of the monitoring area MR.

[0130] Furthermore, the monitoring device 10 may include a storage unit 120. The area setting unit may derive a set distance for each angle corresponding to the distance from the monitoring device 10 to the periphery of the monitoring area MR based on the angle and distance recognized by the recognition unit, and store the set distance for each angle in the storage unit 120.

[0131] This allows the monitoring device 10 to store distance threshold values ​​for each angle that define the monitoring area MR.

[0132] The acquisition unit may include a light receiving unit 150. The light projecting unit 140 may project light having a first wavelength. The light receiving unit 150 may receive detection light having the first wavelength and the area setting request signal.

[0133] This allows the monitoring device 10 to share the general-purpose light receiving unit 150 for both receiving an optical signal for object detection and receiving a trigger signal for setting the monitoring area MR. Therefore, the monitoring device 10 can perform object detection and setting the monitoring area MR at low cost.

[0134] The acquisition unit may include a light receiving unit 150. The light receiving unit 150 may receive the detection light and the area setting request signal at different times. The recognition unit may recognize (determine) the angle of the location where the area setter H1 is located based on the time position at which the area setting request signal is received, and may recognize (determine) the distance to the location where the area setter H1 is located based on the recognized (determined) angle and the detection light.

[0135] This allows the monitoring device 10 to acquire the area setting request signal as a trigger signal while suppressing mutual interference between the optical signal for object detection and the area setting request signal, thereby increasing the accuracy of setting the monitoring area.

[0136] Furthermore, the light receiving unit 150 may receive the detection light and the area setting request signal at the same time. The recognition unit may recognize the angle of the location of the area setter H1 based on the time and position at which the area setting request signal is received, and recognize the distance to the location of the area setter H1 based on the recognized angle and the detection light. Furthermore, the monitoring device 10 may include a signal separation unit 160, which may separate the area setting request signal from the received light signal.

[0137] As a result, even if the monitoring device 10 receives the detection light and the area setting request signal at the same time, it is possible to derive the angle and distance corresponding to the position of the area setter H1.

[0138] The recognition unit may also recognize the angle of the location of the area setter H1 based on the center position of multiple time positions at which the area setting request signal is received within the light receiving range of the light receiving unit 150.

[0139] Rotation of the rotation mechanism 130 can also rotate the light-receiving range of the light-receiving unit 150. In this case, when the area setter H1 is located at a predetermined position, the area setting signal from the remote control device 20 held by the area setter H1 can be continuously detected within the light-receiving range. Even in this case, the position of the area setter H1 can be estimated with high accuracy.

[0140] The monitoring device 10 may also include a judgment unit (e.g., a comparison judgment unit 113) that judges whether or not the area setter H1 is located within the set monitoring area MR, and an output unit (e.g., a light-projecting unit 140 or a data output unit 190) that, when it is judged that the area setter H1 is located within the monitoring area MR, outputs a setter detection signal (an example of an alarm output signal) indicating that the area setter H1 has been detected within the monitoring area MR.

[0141] This allows the monitoring device 10 to determine whether the area setter H1 can remain at the site where the monitoring area MR has been set and continue to be detected in the set monitoring area MR. Therefore, the monitoring device 10 can eliminate the need for the area setter H1 to travel back and forth between the site and a location other than the site where the monitoring area MR is set.

[0142] The output unit may include a communication unit (for example, data output unit 190) and transmit the setter detection signal to the remote control device 20. This allows the monitoring device 10 to suppress optical interference between the projected light and the setter detection signal, and to accurately confirm that the setter has been detected.

[0143] The output unit may also include a light projecting unit 140. The light projecting unit 140 projects light at predetermined time intervals, and when it is determined that the area setter H1 is located within the monitoring area MR, the light projecting unit 140 may replace the light projected and project a setter detection signal toward the area setter H1.

[0144] This allows object detection within the monitoring area MR to be performed at predetermined time intervals. Furthermore, when the area setter H1 is detected, the setting of the monitoring area MR in that detection direction has been successfully completed. The monitoring device 10 can suppress the output of projected light for object detection in the detection direction in which the area setter H1 is detected, and can notify the area setter H1 that the area setter H1 has been successfully detected and that the monitoring area MR has been set.

[0145] Furthermore, the light-projecting unit 140 may generate a setter detection signal by modulating the detection light received by the light-receiving unit 150. This allows the monitoring device 10 to use the received detection light to notify the area setter H1 that he or she has been detected within the monitoring area MR by means of a setter detection signal, which is an optical signal having a wavelength different from that of the detection light for object detection. (Addendum) [Item 1] A scanner device for setting a monitoring area, an acquisition unit that acquires an area setting request signal for setting the monitoring area from a remote control device; a light projecting unit that projects light in each detection direction around the scanner device; a light receiving unit that receives light including detection light that is the projected light reflected or scattered by an object and generates a light receiving signal; a recognition unit that recognizes each position in each detection direction of a movable area setter that sets the monitoring area based on the light receiving signal; an area setting unit that sets the monitoring area based on each position in each detection direction of the area setter recognized by the recognition unit in response to acquisition of the area setting request signal by the acquisition unit; A scanner device comprising: [Item 2] a rotation mechanism that rotates the detection direction around a rotation axis, the recognition unit recognizes the angle of rotation by the rotation mechanism unit and the distance from the scanner device to a location where the area setter is located, based on the light reception signal; the area setting unit sets the monitoring area based on the angle and the distance recognized by the recognition unit. Item 1. A scanner device according to item 1. [Item 3] Further provided is a rotation control unit that changes the rotation speed of the rotation mechanism unit. Item 2. A scanner device according to item 2. [Item 4] a storage unit, The area setting unit deriving a set distance for each angle corresponding to a distance from the scanner device to a peripheral edge of the monitoring area based on the angle and the distance recognized by the recognition unit; storing the set distance for each angle in the storage unit; Item 4. The scanner device according to item 2 or 3. [Item 5] the acquisition unit includes the light receiving unit, the light projecting unit projects the light having a first wavelength, the light receiving unit receives the detection light having the first wavelength and the area setting request signal; The scanner device according to any one of items 2 to 4. [Item 6] the acquisition unit includes the light receiving unit, the light receiving unit receives the detection light and the area setting request signal at different times; The recognition unit recognize the angle of the location of the area setter based on the time and position at which the area setting request signal is received; recognizing the distance to the location of the area setter based on the recognized angle and the detected light; Item 6. The scanner device according to any one of items 2 to 5. [Item 7] the acquisition unit includes the light receiving unit, the light receiving unit receives the detection light and the area setting request signal at the same time; The recognition unit recognize the angle of the location of the area setter based on the time and position at which the area setting request signal is received; recognizing the distance to the location of the area setter based on the recognized angle and the detected light; Item 6. The scanner device according to any one of items 2 to 5. [Item 8] a signal separation unit, the signal separation unit separates the area setting request signal from the light reception signal; Item 7. A scanner device according to item 7. [Item 9] the recognition unit recognizes the angle of the location of the area setter based on a central position of a plurality of time positions at which the area setting request signal is received within a light receivable range of the light receiving unit; The scanner device according to any one of items 6 to 8. [Item 10] a determination unit that determines whether the area setter is located within the set surveillance area; an output unit that, when it is determined that the area setter is located within the monitoring area, outputs a setter detection signal indicating that the area setter has been detected within the monitoring area, 10. A scanner device according to any one of items 1 to 9. [Item 11] the output unit includes a communication unit and transmits the setting person detection signal to the remote control device. Item 11. A scanner device according to item 10. [Item 12] the output unit includes the light projecting unit, The light projecting unit is The projected light is projected at predetermined time intervals, When it is determined that the area setter is located within the monitoring area, the setter detection signal is projected toward the area setter in place of the projected light. Item 12. The scanner device according to item 10 or 11. [Item 13] The light-projecting unit generates the setting person detection signal based on the detection light received by the light-receiving unit. Item 13. The scanner device according to item 12. [Item 14] An area setting method for setting a monitoring area, comprising: acquiring an area setting request signal for setting the monitoring area from a remote control device; projecting light in each detection direction around the scanner device that defines the monitoring area; receiving light including detection light reflected or scattered by an object from the projected light, and generating a light reception signal; a step of recognizing each position in each detection direction of a movable area setter who sets the monitoring area based on the light receiving signal; setting the monitoring area based on the recognized positions of the area setter in each detection direction in response to acquisition of the area setting request signal; An area setting method having the above. [Industrial Applicability]

[0146] The present disclosure is useful for a scanner device, an area setting method, and the like that can reduce the burden on an area setter who sets a monitoring area. [Explanation of symbols]

[0147] 10,10A monitoring device 20,20A remote control device 30 Robotic Device 110 control section 111 Distance calculation section 112 Data rewriting unit 113 Comparison / judgment section 114 Distance measurement light emission synchronization unit 115 Alarm output light sync unit 120 Storage section 130 Rotation mechanism 131 outer cylindrical part 132 Inner cylindrical part 133 Magnet 134 Coil 135 Mirror fixing part 136 Bearing 140 Light projector 143 Rotating Mirror 144 Lens 150 Light receiving section 160 Signal separation section 170 Angle detection unit 180 Data Entry Section 190 Data output section 210 Light receiving section 220 Display section 230 Operation section 240 Light projector 250,250A control unit 251 Threshold control section 260 Data Entry Section 270 Data Output Unit MR Monitoring Area

Claims

1. A scanner device for setting a monitoring area, an acquisition unit that acquires an area setting request signal for setting the monitoring area from a remote control device; a light projecting unit that projects light in each detection direction around the scanner device; a light receiving unit that receives light including detection light that is the projected light reflected or scattered by an object and generates a light receiving signal; a recognition unit that recognizes each position in each detection direction of a movable area setter that sets the monitoring area based on the light receiving signal; an area setting unit that sets the monitoring area based on each position in each detection direction of the area setter recognized by the recognition unit in response to acquisition of the area setting request signal by the acquisition unit; Equipped with a rotation mechanism that rotates the detection direction around a rotation axis, the recognition unit recognizes the angle of rotation by the rotation mechanism unit and the distance from the scanner device to a location where the area setter is located, based on the light reception signal; the area setting unit sets the monitoring area based on the angle and the distance recognized by the recognition unit, the acquisition unit includes the light receiving unit, the light receiving unit receives the detection light and the area setting request signal at different times; The recognition unit recognize the angle of the location of the area setter based on the time and position at which the area setting request signal is received; recognizing the distance to the location of the area setter based on the recognized angle and the detected light; Scanner device.

2. A scanner device for setting a monitoring area, an acquisition unit that acquires an area setting request signal for setting the monitoring area from a remote control device; a light projecting unit that projects light in each detection direction around the scanner device; a light receiving unit that receives light including detection light that is the projected light reflected or scattered by an object and generates a light receiving signal; a recognition unit that recognizes each position in each detection direction of a movable area setter that sets the monitoring area based on the light receiving signal; an area setting unit that sets the monitoring area based on each position in each detection direction of the area setter recognized by the recognition unit in response to acquisition of the area setting request signal by the acquisition unit; Equipped with a rotation mechanism that rotates the detection direction around a rotation axis, the recognition unit recognizes the angle of rotation by the rotation mechanism unit and the distance from the scanner device to a location where the area setter is located, based on the light reception signal; the area setting unit sets the monitoring area based on the angle and the distance recognized by the recognition unit, the acquisition unit includes the light receiving unit, the light receiving unit receives the detection light and the area setting request signal at the same time; The recognition unit recognize the angle of the location of the area setter based on the time and position at which the area setting request signal is received; recognizing the distance to the location of the area setter based on the recognized angle and the detected light; Scanner device.

3. Further provided is a rotation control unit that changes the rotation speed of the rotation mechanism unit.

3. The scanner device according to claim 1 or 2.

4. a storage unit, The area setting unit deriving a set distance for each angle corresponding to a distance from the scanner device to a peripheral edge of the monitoring area based on the angle and the distance recognized by the recognition unit; storing the set distance for each angle in the storage unit; 3. The scanner device according to claim 1 or 2.

5. the acquisition unit includes the light receiving unit, the light projecting unit projects the light having a first wavelength, the light receiving unit receives the detection light having the first wavelength and the area setting request signal; 3. The scanner device according to claim 1 or 2.

6. a signal separation unit, the signal separation unit separates the area setting request signal from the light reception signal; The scanner device according to claim 2 .

7. the recognition unit recognizes the angle of the location of the area setter based on a central position of a plurality of time positions at which the area setting request signal is received within a light receivable range of the light receiving unit; The scanner device according to claim 1 .

8. a determination unit that determines whether the area setter is located within the set surveillance area; an output unit that, when it is determined that the area setter is located within the monitoring area, outputs a setter detection signal indicating that the area setter has been detected within the monitoring area, 3. The scanner device according to claim 1 or 2.

9. the output unit includes a communication unit and transmits the setting person detection signal to the remote control device. The scanner device according to claim 8 .

10. the output unit includes the light projecting unit, The light projecting unit is The projected light is projected at predetermined time intervals, When it is determined that the area setter is located within the monitoring area, the setter detection signal is projected toward the area setter in place of the projected light. The scanner device according to claim 8 .

11. The light-projecting unit generates the setting person detection signal based on the detection light received by the light-receiving unit. The scanner device according to claim 10.

12. An area setting method for setting a monitoring area, comprising: acquiring an area setting request signal for setting the monitoring area from a remote control device; projecting light in each detection direction around the scanner device that defines the monitoring area; receiving light including detection light reflected or scattered by an object from the projected light, and generating a light reception signal; a step of recognizing each position in each detection direction of a movable area setter who sets the monitoring area based on the light receiving signal; setting the monitoring area based on the recognized positions of the area setter in each detection direction in response to acquisition of the area setting request signal; and The step of recognizing each position of the area setter in each detection direction includes: and recognizing, based on the light receiving signal, an angle of rotation by a rotation mechanism that rotates the detection direction around a rotation axis and a distance from the scanner device to a location where the area setter is located; The step of setting the monitoring area includes: a step of setting the monitoring area based on the angle and the distance recognized in a step of recognizing each position of the area setter in each detection direction, the step of acquiring the area setting request signal includes the step of generating the light reception signal; the step of generating the light reception signal includes a step of receiving the detection light and the area setting request signal at different timings; The step of recognizing each position of the area setter in each detection direction includes: Recognizing the angle of the location of the area setter based on the time and position at which the area setting request signal is received; and recognizing the distance to a location of the area setter based on the recognized angle and the detected light. How to set up the area.

13. An area setting method for setting a monitoring area, comprising: acquiring an area setting request signal for setting the monitoring area from a remote control device; a step of projecting a light in each detection direction around the scanner device that sets the monitoring area; receiving light including detection light reflected or scattered by an object from the projected light, and generating a light reception signal; a step of recognizing each position in each detection direction of a movable area setter who sets the monitoring area based on the light receiving signal; setting the monitoring area based on the recognized positions of the area setter in each detection direction in response to acquisition of the area setting request signal; and The step of recognizing each position of the area setter in each detection direction includes: and recognizing, based on the light receiving signal, an angle of rotation by a rotation mechanism that rotates the detection direction around a rotation axis and a distance from the scanner device to a location where the area setter is located; The step of setting the monitoring area includes: a step of setting the monitoring area based on the angle and the distance recognized in a step of recognizing each position of the area setter in each detection direction, the step of acquiring the area setting request signal includes the step of generating the light reception signal; the step of generating the light reception signal includes a step of receiving the detection light and the area setting request signal at the same time; The step of recognizing each position of the area setter in each detection direction includes: Recognizing the angle of the location of the area setter based on the time and position at which the area setting request signal is received; and recognizing the distance to a location of the area setter based on the recognized angle and the detected light. How to set up the area.

Images