Monitoring device and monitoring method

Abstract

To provide a monitoring device capable of easily confirming a direction of retraction from a danger source by suppressing reduction in detection accuracy for a moving body to enter a periphery of the danger source, and a monitoring method.SOLUTION: A monitoring device 10 which is disposed in a monitoring environment C1 and monitoring entering to a periphery of a danger source (robot device 30) comprises: a detection unit for detecting a position of a moving body (worker, etc.,) entering a monitoring region MR, which is set based on an operable range of the danger source, while using invisible light; and a notification unit for notifying the moving body of guide information GI indicating a direction in which the moving body is away from the danger source or a state where the moving body is being closer to the danger source, with respect to the entering position of the moving body based on the detected entering position of the moving body. A detection direction which can be detected at a predetermined time by the detection unit is different from a notification direction which can be notified at a predetermined time by the notification unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a monitoring device and a monitoring method. [Background technology]

[0002] Conventionally, a monitoring system that monitors the intrusion of objects into the vicinity of a robot is known (see Patent Document 1). One such monitoring system includes a sensor unit that monitors the intrusion of a new, unregistered object into an operating area that is set to encompass the robot's operable range, a visible light irradiator that irradiates visible light from a position higher than the robot toward at least the outer edge of at least one of the operating area and a predetermined area set around the operating area, and a monitoring control unit that issues a request to stop the robot to a robot control unit that controls the robot when the sensor unit determines that a new object has intruded into the operating area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-140920 Summary of the Invention [Problem to be solved by the invention]

[0004] In the monitoring system of Patent Document 1, visible light is irradiated toward at least the outer edge of at least one of the motion area and a predetermined area set around the motion area, so only the area boundary is visualized. Therefore, it is difficult to grasp which direction to move in based on the area boundary irradiated with visible light to move away from danger. Furthermore, visualization of only the area boundary makes it difficult to grasp that a person is approaching a source of danger.

[0005] Furthermore, in this surveillance system, the invisible light used to detect the intrusion of a new object and the visible light irradiated onto the outer edge are emitted in the same direction at the same time. Specifically, the invisible light source that irradiates the invisible light and the visible light source that irradiates the visible light emit light from the same position in the same direction at the same time. Therefore, the visible light and the invisible light may interfere with each other if they travel along the same path, which may reduce the accuracy of detecting the intrusion of a new object.

[0006] The present disclosure has been made in consideration of the above circumstances, and provides a monitoring device and a monitoring method that can suppress a decrease in detection accuracy of an object entering the vicinity of a hazard and that can easily confirm the direction of escape from the hazard. [Means for solving the problem]

[0007] One aspect of the present disclosure is a monitoring device that monitors the intrusion of a hazard into its vicinity, and includes: a detection unit that uses invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; and an alarm unit that, based on the entry position of the object detected by the detection unit, issues guidance information indicating the direction in which the object will move away from the hazard, relative to the entry position of the object, wherein the detection direction that can be detected by the detection unit at a predetermined time and the alarm direction that can be reported by the alarm unit at the predetermined time are different.

[0008] One aspect of the present disclosure is a monitoring method for monitoring the intrusion of a hazard into the vicinity thereof, the monitoring method comprising the steps of: using invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; and, based on the detected entry position of the object, providing guidance information indicating the direction in which the object will move away from the hazard, relative to the entry position of the object; wherein the detection direction in which the entry position of the object can be detected at a predetermined time is different from the notification direction in which the guidance information can be reported at the predetermined time. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to suppress a decrease in the accuracy of detecting an object entering the vicinity of a hazard, and to easily confirm the direction of escape from the hazard. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of a monitoring environment in which a monitoring device according to a first embodiment is installed; [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] Block diagram showing an example of the configuration of a monitoring device [Figure 4] FIG. 10 shows an example of an area displayed by a monitoring device under normal conditions. [Figure 5] FIG. 10 is a diagram showing an example of an area displayed by a monitoring device when a warning is required. [Figure 6] FIG. 10 is a diagram showing an example of an area displayed by a monitoring device during alert status. [Figure 7] A diagram showing an example of a danger zone displayed by a monitoring device. [Figure 8] FIG. 10 is a diagram showing an example of an area displayed by a monitoring device when multiple people enter [Figure 9] 1 is a diagram showing an example of the configuration of a detection unit and a rotation mechanism unit as viewed from above and from the side; [Figure 10] FIG. 10 is a diagram showing a first configuration example of the visible light irradiation unit as seen from the side; [Figure 11] FIG. 10 is a diagram showing a second configuration example of the visible light irradiation unit as seen from the side. [Figure 12] FIG. 10 is a diagram showing a third configuration example of the visible light irradiation unit as seen from the side. [Figure 13A] FIG. 10 is a schematic diagram showing an example of the appearance of a monitoring device according to a modified example, as viewed from the side; [Figure 13B] 10 is a schematic diagram showing an example of the appearance of a monitoring device as viewed from above in a modified example. [Figure 14] FIG. 10 is a diagram showing an example of a region sound output by a monitoring device in a normal state according to a second embodiment; [Figure 15] FIG. 10 is a diagram showing an example of area sound output by a monitoring device when a warning is issued. [Figure 16] FIG. 10 is a diagram showing an example of area sound output by a monitoring device during alert status. [Figure 17] FIG. 10 shows an example of area sound output by a monitoring device in the event of danger. [Figure 18] FIG. 10 shows an example of area sound output by a monitoring device when multiple people enter [Figure 19A] FIG. 10 is a schematic diagram illustrating an example of the appearance of a monitoring device according to a second embodiment, as viewed from the side; [Figure 19B] FIG. 10 is a schematic diagram illustrating an example of the appearance of a monitoring device according to a second embodiment, as viewed from above; [Figure 20A] FIG. 1 is a schematic diagram illustrating an example of a rack system, a luggage transport device, and a monitoring device in a first use case. [Figure 20B] FIG. 1 is a diagram showing an example of a monitoring device installed on a luggage transport device and luggage protruding from a shelf. [Figure 20C] FIG. 10 is a diagram showing an example of a protection area and a warning area in a first use case. [Figure 21] Diagram to explain the second use case 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] <Description of monitoring environment> FIG. 1 is a diagram illustrating an example of a monitored environment C1 in which a monitoring device 10 according to an embodiment is placed. The monitored environment C1 is, for example, a factory, and the monitoring device 10 monitors whether work is being performed safely. The monitoring device 10 is, for example, a LiDAR device, and is an electro-optical mechanical LiDAR device. The monitored environment C1 includes, for example, the monitoring device 10 and a robotic device 30. In FIG. 1, the robotic device 30 is placed on a base 40, and the monitoring device 10 is placed near the robotic device 30 on the base 40, but this is not limited to this. In addition, a worker H1 and other objects may be present in the monitored environment C1. The worker H1, for example, visually checks the monitored environment C1, checks the robotic device 30, or checks products manufactured by the robotic device 30. The other objects may be, for example, objects or vehicles required for work in the factory.

[0013] If the worker H1 approaches the robotic device 30, the operation of the robotic device 30 may pose a danger to the worker H1. Therefore, a monitoring area MR is set based on the operational range of the robotic device 30 (for example, the range that a robot arm or the like can reach). The monitoring device 10 monitors the monitoring area MR and detects whether an object such as the worker H1 is present within the monitoring area MR. If the presence of an object in the monitoring area MR is detected, the monitoring device 10 visually or audibly notifies the worker H1 with guidance information GI indicating the direction in which the object is moving away from the robotic device 30. The guidance information GI is a type of warning information. Therefore, the monitoring device 10 can operate as an area scanner with a warning notification function. Furthermore, the guidance information GI may include approach guidance information indicating that the object is approaching the robotic device 30, instead of information indicating the direction in which the object is moving away from the robotic device 30.

[0014] <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.

[0015] 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 P1 on which the monitoring device 10 is installed. The y direction is a direction perpendicular to the x direction in the xy plane. The z direction is a direction perpendicular to the xy plane. The xy plane is, 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."

[0016] 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 any optical 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 P1 of the monitoring device 10 to the side farther from the installation surface P1, 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 translucent window. The translucent window can transmit, for example, invisible light (e.g., infrared light) and visible light from the inside to the outside of the monitoring device 10 and from the outside to the inside of the monitoring device 10. Note that the translucent window does not have to be translucent for visible light. Furthermore, if the entire upper housing 16 is translucent, the upper housing 16 may be a translucent colored or colorless cover.

[0017] 3 is a block diagram showing an example configuration of the monitoring device 10. The monitoring device 10 includes a detection unit 110, a notification unit 120, a rotation mechanism unit 130, a communication unit 140, a control unit 150, and a storage unit 160.

[0018] The detection unit 110 uses invisible light (for example, invisible laser light) to detect the position of an object (for example, worker H1) present within a monitoring region MR that is set based on the operable range of the robot device 30. The specific configuration of the detection unit 110 will be described later.

[0019] The notification unit 120 notifies, based on the position of the object detected by the detection unit 110, guidance information GI indicating the direction in which the object is moving away from the robot device 30 relative to the object position. In this embodiment, the notification unit 120 includes a visible light irradiator 120A that irradiates visible light (e.g., visible laser light). The visible light irradiator 120A displays the guidance information GI by irradiating visible light in an object approach direction dr1 from the monitoring device 10 toward the position of the detected object (e.g., worker H1). The specific configuration of the notification unit 120 will be described later.

[0020] Furthermore, the visible light irradiation unit 120A may irradiate each area within the monitoring area MR with visible light. The monitoring area MR may include, for example, a protection area R3, a warning area R2, and a caution area R1, in order from the side closest to the robotic device 30. The protection area R3 is set based on the operable range of the robotic device 30 and includes part or all of the operable range of the robotic device 30. The protection area R3 is an area where entry is prohibited in order to protect against the robotic device 30 as a hazard. The warning area R2 is set around the protection area R3. The warning area R2 is an area where entry is recommended because it is relatively close to the robotic device 30. The caution area R1 is set around the warning area R2. The width of the caution area R1 is, for example, a length equivalent to the horizontal safety distance ds specified in the JIS standard. The caution area R1 is an area where caution is required when entering. Note that the monitoring area MR does not have to include the caution area R1. It should be noted that entry into the area outside the monitoring area MR is not restricted, and for example, the worker H1 can move freely.

[0021] The visible light irradiator 120A may irradiate different areas (e.g., protection area R3, alert area R2, and attention area R1) within the monitoring area MR with visible light in different irradiation modes (e.g., visible light irradiation pattern or irradiation color). For example, red visible light may be irradiated onto the monitoring area R3, yellow visible light may be irradiated onto the alert area R2, and green visible light may be irradiated onto the attention area R1. Furthermore, the visible light irradiator 120A may determine which area within the monitoring area MR to irradiate with visible light based on the position of the detected object, and irradiate the determined area with visible light corresponding to this area.

[0022] The rotation mechanism 130 rotates a part (described later) of the detection unit 110. The rotation mechanism 130 may also rotate a part (described later) of the visible light irradiation unit 120A. Note that the rotation mechanism 130 may include, in addition to the components that actually rotate, fixedly arranged components that assist the rotation.

[0023] The communication unit 140 communicates various data and information with an external device (e.g., the robot device 30). The communication unit 140 may be a wired communication or a wireless communication. The communication method used by the communication unit 140 may include LAN (Local Area Network) communication, WAN (Wide Area Network) communication, power line communication, short-range communication, or communication for mobile phones (e.g., LTE (Long Term Evolution) communication, 5G (5th Generation) communication), etc.

[0024] The control unit 150 is configured by, for example, a processor, and realizes various functions by executing programs stored in the storage unit 160. The processor may include an MPU (Micro Processing Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), etc. The control unit 150 controls the operation of each unit of the monitoring device 10 and performs various processes. For example, the control unit 150 controls the detection operation by the detection unit 110, the notification operation by the notification unit 120, the rotation operation by the rotation mechanism unit 130, etc.

[0025] The control unit 150 may instruct the control of the operation of the robotic device 30 based on the position where the worker H1 has entered, detected by the detection unit 110 (also referred to as the entry position of the worker H1 or the detected position of the worker H1). For example, when the control unit 150 detects that the worker H1 has entered the protection area R3, it transmits an operation stop instruction signal to the robotic device 30 via the communication unit 140 to stop the operation of the robotic device 30. For example, when the control unit 150 detects that the worker H1 has entered the alert area R2, it transmits an operation restriction instruction signal to the robotic device 30 to restrict the operation of the robotic device 30. Restricting the operation of the robotic device 30 may include, for example, slowing down the operation of the robotic device 30 compared to normal.

[0026] When the robot device 30 receives various instruction signals from the monitoring device 10, it operates in accordance with the instruction signals. When the robot device 30 receives an operation stop instruction signal from the monitoring device 10, it may stop its operation (e.g., make an emergency stop) in accordance with the operation stop instruction signal. When the robot device 30 receives an operation stop restriction signal from the monitoring device 10, it may restrict its operation in accordance with the operation stop restriction signal. In this way, the monitoring device 10 can change the operation of the hazard source depending on the distance from the hazard source to the entry position of the worker H1.

[0027] The storage unit 160 includes a primary storage device (e.g., a random access memory (RAM) or a read only memory (ROM)). The storage unit 160 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 160 may include other storage devices. The storage unit 160 stores various data, information, programs, etc. For example, the storage unit 160 may store information about the monitoring area MR (e.g., information about the position and size of the monitoring area MR), information about the visible light irradiated to each area of ​​the monitoring area MR (e.g., information about the irradiation pattern), information about the invisible light irradiated within the monitoring area MR (e.g., information about the irradiation pattern), etc. The irradiation pattern of the invisible light may include, for example, the irradiation interval of the invisible light, the frequency of the invisible light, or the irradiation pattern, etc.

[0028] <Visible light irradiation corresponding to the area> 4 is a diagram showing an example of an area display by the monitoring device 10 in a normal state. When the worker H1 has not entered any area within the monitoring area MR, that is, when the worker H1 is located outside the attention area R1, the detection unit 110 does not detect entry into the monitoring area MR. In this case (also referred to as a normal state), the visible light irradiation unit 120A does not irradiate any area within the monitoring area MR with visible light, and does not visualize any area within the monitoring area MR. Even in this case, the safety of the worker H1 is ensured because the worker H1 has not entered the monitoring area MR.

[0029] FIG. 5 is a diagram showing an example of region display by the monitoring device 10 during a caution period. When the worker H1 enters the caution region R1, the detection unit 110 detects the worker H1's entry into the caution region R1 within the monitoring region MR. In this case (also referred to as a caution period), the visible light irradiation unit 120A, under the control of the control unit 150, irradiates the caution partial region R11, which is the periphery of the entry position (detection position) of the attention region R1, with visible light corresponding to the attention region R1, thereby visualizing the attention partial region R11. The irradiation of the entry region with visible light is an example of notification of approach guidance information. The attention partial region R11 is a partial region in the attention region R1 that is located in the object entry direction dr1 from the monitoring device 10 toward the entry position (detection position) of the attention region R1. This allows the worker H1 to recognize that he or she has entered the attention region R1 and is approaching the robot device 30. The visible light irradiator 120A may also irradiate the alert partial region R21, which is located in the object approach direction dr1 within the alert partial region R2, with visible light corresponding to the alert partial region R2, thereby visualizing the alert partial region R21. In this case, visible light may be irradiated in different irradiation modes to the attention partial region R11 and the alert partial region R21. Illuminating each region with visible light in different irradiation modes is an example of notifying approach guidance information. This allows the worker H1 to recognize the alert partial region R2, which is closer to the robotic device 30 than the attention partial region R1, and to recognize that he or she is approaching the robotic device 30.

[0030] FIG. 6 is a diagram showing an example of an area displayed by the monitoring device 10 during alert mode. When a worker H1 enters the alert mode area R2, the detection unit 110 detects the entry into the alert mode area R2 within the monitoring area MR. In this case (also referred to as alert mode), the visible light irradiator 120A, under the control of the controller 150, irradiates the alert mode area R21, which is the periphery of the entry position in the alert mode area R2, with visible light corresponding to the alert mode area R2, thereby visualizing the alert mode area R21. This illumination of the entry area with visible light is an example of notification of approach guidance information. This allows the worker H1 to recognize the position in the alert mode area R2 where the worker H1 has entered. The visible light irradiator 120A may also irradiate the protection mode area R31, which is located in the object entry direction dr1 in the protection mode area R3, with visible light corresponding to the protection mode area R3, thereby visualizing the protection mode area R31. In this case, the visible light may be irradiated in different illumination modes to the alert mode area R21 and the protection mode area R31. The irradiation of each area with visible light in different illumination patterns is an example of notification of approach guidance information, which allows the worker H1 to recognize the protection area R3, which is closer to the robotic device 30 than the alert area R2, and to recognize that he or she is getting closer to the robotic device 30.

[0031] 7 is a diagram showing an example of an area displayed by the monitoring device 10 in a dangerous situation. When worker H1 enters protection area R3, the detection unit 110 detects the entry into protection area R3 within the monitoring area MR. In this case (also referred to as a dangerous situation), the visible light irradiator 120A, under the control of the controller 150, irradiates a partial protection area R31, which is the periphery of the entry position in protection area R3, with visible light corresponding to protection area R3, thereby visualizing the partial protection area R31. This allows worker H1 to recognize the position in protection area R3 where worker H1 has entered.

[0032] Furthermore, when it is detected that worker H1 has entered protection area R3, the visible light irradiator 120A, under the control of the controller 150, irradiates visible light indicating an area (also referred to as a retreat area) that is one area outside (away from the monitoring device 10) of the periphery (also referred to as an entry area) including the position of worker H1 in the radial direction connecting the worker H1 and the monitoring device 10. For example, the visible light irradiator 120A irradiates visible light corresponding to the security area R2 (retreat area) that is outside the periphery (also referred to as an entry partial area) of the position of worker H1 within protection area R3 (entry area). The retreat partial area exists in an object entry direction dr1 that extends from the monitoring device 10 toward the position where worker H1 has entered. By checking the visible light irradiated onto the alert partial area R21 (evacuation partial area), the worker H1 can easily check the direction (evacuation direction) in which to move away from the robot device 30. Note that when it is detected that the worker H1 has entered the alert partial area R2, not just the protection area R3, the visible light irradiator 120A may irradiate the visible light corresponding to the attention partial area R1 onto the attention partial area R11 as the evacuation partial area. Displaying such an area immediately outside the position where the worker H1 is located is an example of displaying guidance information GI.

[0033] As a result, visible light corresponding to each area is irradiated onto the protected partial area R31 in which the worker H1 in the protected area R3 is located and the alert partial area R21 outside it, thereby irradiating the visible light in different irradiation modes. Similarly, visible light corresponding to each area may be irradiated onto the alert partial area R21 in which the worker H1 in the alert area R2 is located and the caution partial area R11 outside it, thereby irradiating the visible light in different irradiation modes. Irradiation of visible light in such different irradiation modes is an example of displaying guidance information GI.

[0034] FIG. 8 is a diagram showing an example of an area displayed by the monitoring device 10 when multiple workers enter the protection area R3. When it is detected that multiple workers H1 have entered the protection area R3, the visible light irradiator 120A irradiates, for each worker H1, an entry partial area surrounding the entry position of the worker H1 with visible light corresponding to the entry area of ​​the worker H1. As described above, the visible light irradiator 120A irradiates, for each worker H1, an evacuation partial area located immediately outside the entry partial area with visible light corresponding to the evacuation area. FIG. 8 shows that the entry direction of worker H11 is the object entry direction dr11, and the entry direction of worker H12 is the object entry direction dr12.

[0035] For example, suppose that it is detected that worker H11 of two workers H1 has entered protection area R3 and worker H12 has entered alert area R2. In this case, the visible light irradiator 120A irradiates protection partial area R31 with visible light corresponding to protection area R3, and irradiates alert partial area R22 with visible light corresponding to alert area R2. In this case, the visible light irradiator 120A may irradiate alert partial area R21, which is the evacuation partial area for worker H11 located in protection area R3, with visible light corresponding to alert area R2, and may irradiate visible light corresponding to alert area R1, which is the evacuation partial area for worker H12 located in alert area R2.

[0036] Similarly to the guidance information GI indicating the evacuation direction, the visible light irradiator 120A may also issue approach guidance information indicating an approach state for each worker H1. In this case, for example, if it is detected that multiple workers H1 have entered the monitoring area MR, the visible light irradiator 120A irradiates an entry partial area, which is the periphery of the entry position of each worker H1, with visible light corresponding to the entry area of ​​the worker H1. As described above, the visible light irradiator 120A irradiates, for each worker H1, with visible light corresponding to the approach area, with the periphery of the approach area (also referred to as the approach partial area) inside the periphery of the position of the worker H1 in the entry area (the entry partial area). The approach partial area exists in the object entry direction dr1 from the monitoring device 10 toward the position where the worker H1 has entered. This allows the workers H11 and H12 to recognize which area or position in the monitoring area MR they have entered. Furthermore, the workers H11 and H12 can determine which of the multiple workers H1 has approached the robotic device 30, whether all of the workers H1 are approaching the robotic device 30, and so on.

[0037] <Specific Configurations of the Detection Unit, Notification Unit, and Rotation Mechanism Unit> Next, specific examples of the configurations of the detection unit 110, the notification unit 120, and the rotation mechanism unit 130 of the monitoring device 10 will be described.

[0038] FIG. 9 is a diagram showing an example of the configuration of the detection unit 110 and the rotation mechanism unit 130 as viewed from above and from the side.

[0039] First, the rotation mechanism 130 will be described. As an example, the rotation mechanism 130 includes a coil arranged on the outer periphery and a magnet arranged on the inner periphery, forming a hollow motor. In the hollow motor, the control unit 150 switches the current flowing through the coil, causing the rotating part including the magnet to rotate integrally.

[0040] As a specific example, the rotation mechanism 130 assists the detection unit 110 and the visible light irradiation unit 120A to rotate along an installation surface P1 on which the monitoring device 10 is installed. The rotation mechanism 130 includes an outer cylindrical portion 131, an inner cylindrical portion 132, a plurality of magnets 133, a plurality of coils 134, a mirror fixing portion 135, and a bearing 136.

[0041] The outer cylindrical portion 131 has an annular peripheral wall portion 131a extending along the z-direction, a bottom portion 131b extending along the xy plane, and a shaft 131c located at the center of the outer cylindrical portion 131 along the xy plane. The center of the bottom portion 131b corresponding to the shaft 131c is an opening. Multiple (e.g., eight) coils 134 are installed on the inner surface of the peripheral wall portion 131a. The outer cylindrical portion 131 accommodates at least a portion of the inner cylindrical portion 132 therein. A bearing 136 may be inserted between the shaft 131c of the outer cylindrical portion 131 and the radial center of the inner cylindrical portion 132. The bearing 136 can facilitate smooth rotation of the inner cylindrical portion 132 around the shaft 131c. The outer cylindrical portion 131 itself is fixed and does not rotate.

[0042] The inner cylindrical portion 132 is disposed inside the outer cylindrical portion 131. The outer periphery of the inner cylindrical portion 132 is formed by a peripheral wall portion 132a extending along the z-direction and an upper wall portion 132c, part of which extends along the xy plane. The inner cylindrical portion 132 does not have a bottom portion facing the upper wall portion 132c, but has an opening portion facing the upper wall portion 132c. Multiple (eight, for example) magnets 133 are fixedly installed on the outer periphery of the peripheral wall portion 132a. The multiple magnets 133 are arranged in a circular ring shape when viewed from above. Two adjacent magnets 133 have different magnetic poles. In other words, the multiple magnets 133 are arranged so that their south poles and north poles alternate in a circular ring shape. The multiple magnets 133 are installed without contacting the multiple coils 134. A mirror fixing portion 135, to which a mirror (described later) is fixed, is disposed in the center of the upper portion of the inner cylindrical portion 132. The mirror fixing portion 135 may be a part of the upper wall portion 132c of the inner cylindrical portion 132, or may be installed on the upper wall portion 132c. The mirror fixing portion 135 is disposed at an angle with respect to the xy plane. At least a part of the detection unit 110 is housed inside the inner cylindrical portion 132.

[0043] An alternating current flows through the multiple coils 134 under the control of the control unit 150, generating a magnetic field. Each of the multiple coils 134 is independent so as to switch the magnetic field generated by each coil 134. By utilizing the repulsive and attractive forces generated between the magnetic field generated by the coils 134 and the magnetic field of the magnet 133, the inner cylindrical portion 132 rotates along the xy plane with the shaft 131c as the center of rotation relative to the outer cylindrical portion 131. On the other hand, when no alternating current flows through the multiple coils 134, no magnetic field is generated by the coils 134, and the inner cylindrical portion 132 does not rotate.

[0044] Next, the detection unit 110 will be described. The detection unit 110 includes an invisible light source 111, a rotating mirror 113, a lens 114, and a light receiving unit 115. The invisible light source 111 and the rotating mirror 113 are installed inside the inner cylindrical portion 132, and rotate together with the rotation of the inner cylindrical portion 132.

[0045] The invisible light source 111 emits invisible light LA1 (for example, infrared light). The rotating mirror 113 is fixed to the lower surface 135a of the mirror fixing portion 135. The rotating mirror 113 reflects the invisible light LA1 and directs the invisible light LA1 toward the outside of the monitoring device 10 through a light projection window in the upper housing 16, for example, in the entire horizontal direction. This allows the invisible light source 111 to irradiate the invisible light LA1 toward the outside of the monitoring device 10.

[0046] Furthermore, the monitoring device 10 can introduce invisible light LA2 from the outside to the inside of the monitoring device 10 through a light projection window in the upper housing 16. The invisible light LA2 is, for example, invisible light LA1 reflected or scattered by an object to be detected. The rotating mirror 113 reflects the invisible light LA2 introduced through the light projection window and guides it toward the light receiving unit 115. The lens 114 focuses the invisible light LA2 reflected by the rotating mirror 113 onto the light receiving unit 115. The light receiving unit 115 receives the focused invisible light LA2.

[0047] The rotating mirror 113 rotates along the xy plane together with the mirror fixing unit 135. Therefore, the direction in which the invisible light LA1 is reflected by the rotating mirror 113 and emitted changes depending on the timing. The control unit 150 recognizes the rotation state of the rotation mechanism unit 130, and can recognize from which horizontal direction the invisible light LA2 is received, for example, by the rotating mirror 113 reflecting the invisible light LA2. Therefore, the detection unit 110 can emit the invisible light LA1 in various directions on the xy plane, receive the invisible light LA2 from various directions on the xy plane, and detect objects in various directions on the xy plane.

[0048] The detection unit 110, under the control of the control unit 150, determines, based on the invisible light LA1 and the invisible light LA2, whether an object such as a worker H1 is present at the irradiation position of the invisible light LA, and whether an object has entered the monitoring area MR.

[0049] Next, a description will be given of the configuration of the notification unit 120. Here, a description will be given of a visible light irradiating unit 120A as the notification unit 120.

[0050] FIG. 10 is a diagram showing a first exemplary configuration of the visible light irradiator 120A as seen from the side. The visible light irradiator 120A1 includes a visible light source 121 and a rotating mirror 122A1 as the rotating mirror 122. The visible light source 121 emits visible light VLA. The visible light source 121 may adjust the irradiation mode of the visible light VLA (e.g., irradiation position, irradiation direction, irradiation pattern, and irradiation color (i.e., frequency of visible light)) under the control of the control unit 150. The visible light source 121 has multiple light sources. In FIG. 10, the visible light source 121 includes a first light source 121a, a second light source 121b, and a third light source 121c. Note that the number of light sources in the visible light source 121 is not limited to three. The first light source 121a, the second light source 121b, and the third light source 121c may each be adjustable to multiple different wavelengths and may be adjustable in irradiation color.

[0051] The rotating mirror 122 reflects light from the visible light source 121 and can irradiate the visible light VLA toward the outside of the monitoring device 10, for example, in the entire horizontal direction. The rotating mirror 122A1 is composed of multiple mirrors 122a, 122b, and 122c, and the number of mirrors is not limited to three. Each of the mirrors 122a, 122b, and 122c is, for example, a flat mirror, but they do not have to be flat mirrors. The rotating mirror 122 is installed on the upper surface 135b of the mirror fixing portion 135 of the rotation mechanism 130. Each of the mirrors 122a, 122b, and 122c of the rotating mirror 122A1 is fixed at a different angle relative to the mirror fixing portion 135 so that the irradiation position of the visible light VLA is shifted. Each of the mirrors 122a, 122b, and 122c reflects the visible light VLA in the same horizontal direction and guides it to the outside of the monitoring device 10 through a light projection window in the upper housing 16. Mirror 122a reflects visible light from first light source 121a. Mirror 122b reflects visible light from second light source 121b. Mirror 122c reflects visible light from third light source 121c. The visible light reflected by each mirror 122a, 122b, and 122c has a different reach depending on the installation angle of each mirror 122a, 122b, and 122c. This allows monitoring device 10 to irradiate visible light onto three areas at different distances from monitoring device 10: protection area R3, alert area R2, and attention area R1.

[0052] The rotating mirror 122 rotates along the xy plane together with the mirror fixing unit 135. Therefore, the direction in which the visible light VLA is reflected by the rotating mirror 122 and irradiated changes depending on the timing. The control unit 150 recognizes the rotation state of the rotation mechanism unit 130 and can recognize, for example, the horizontal direction in which the visible light VLA is irradiated by the rotating mirror 122 reflecting the visible light VLA. The control unit 150 controls at least one light source corresponding to the area to be irradiated to emit visible light while the rotating mirror 122 is oriented so that it can irradiate the visible light VLA toward the entry position of the worker H1 detected by the detection unit 110. In this way, the monitoring device 10 can reflect the visible light VLA emitted by the visible light source 121 and irradiate the area to be irradiated while the rotating mirror 122 is rotating.

[0053] Furthermore, mirror fixing portion 135 is inclined with respect to the xy plane, with rotating mirror 113 of detection unit 110 installed on bottom surface 135a, and rotating mirror 122 of visible light irradiator 120A installed on top surface 135b opposite bottom surface 135a. Therefore, at the same timing (same time), the irradiation direction of invisible light emitted by invisible light source 111 and irradiated from monitoring device 10 and the irradiation direction of visible light emitted by visible light source 121 and irradiated from monitoring device 10 are opposite directions, i.e., different directions. The irradiation direction of this invisible light corresponds to detection direction dr2 shown in FIG. 10. The irradiation direction of this visible light corresponds to reporting direction dr3 shown in FIG. 10.

[0054] Furthermore, by placing the rotating mirrors 113 and 122 on opposite sides of the mirror fixing unit 135, the visible light VLA emitted by the visible light source 121 is less likely to reach the detection unit 110, and the invisible light LA1 emitted by the invisible light source 111 and the invisible light LA2 from outside the monitoring device 10 are less likely to reach the visible light irradiating unit 120A. Therefore, by placing the rotating mirrors 113 and 122 on both sides of the mirror fixing unit 135, the visible light and the invisible light are less likely to intersect in time and space. Therefore, the monitoring device 10 can suppress interference between the visible light and the invisible light, and can suppress a decrease in the detection accuracy of the detection unit 110.

[0055] Fig. 11 is a diagram showing a second configuration example of the visible light irradiator 120A as seen from the side. In the visible light irradiator 120A2 in Fig. 11, the same components as those in the visible light irradiator 120A1 in Fig. 10 are denoted by the same reference numerals, and their description will be omitted or simplified.

[0056] Visible light irradiator 120A2 includes visible light source 121A, rotating mirror 122A2 as rotating mirror 122, and drive mirror 123. Visible light source 121A emits visible light. Visible light source 121A may be a single light source. Visible light source 121A may adjust the irradiation mode of visible light (e.g., irradiation pattern, irradiation color) under the control of controller 150.

[0057] Driven mirror 123 moves, for example, in the x direction under the control of control unit 150. The movement distance of drive mirror 123 is variable. Visible light emitted by visible light source 121A is reflected by drive mirror 123 and incident on rotating mirror 122A2. The position on rotating mirror 122A2 at which the light is incident depends on the position of drive mirror 123.

[0058] Rotating mirror 122A2 is a convex mirror. A convex mirror corresponds to a state in which multiple mirrors in rotating mirror 122A1 of visible light irradiator 120A1 in Fig. 10 are arranged with their installation angles shifted by a small angle each time. Therefore, rotating mirror 122A2 can reflect visible light from visible light source 121A at different angles depending on the reflection position on rotating mirror 122A2, and can adjust the irradiation distance of the visible light depending on the reflection position on rotating mirror 122A2.

[0059] Visible light irradiator 120A2 can irradiate visible light onto protection area R3, alert area R2, and caution area R1, which are three areas at different distances from monitoring device 10. Furthermore, since rotating mirror 122A2 can be a single convex mirror, the configuration of rotating mirror 122A2 can be simplified and the rotating mirror 122A2 can be made smaller.

[0060] Fig. 12 is a diagram showing a third configuration example of the visible light irradiation unit 120A as seen from the side. In the visible light irradiation unit 120A3 in Fig. 12, the same components as those in the visible light irradiation unit 120A1 in Fig. 10 or the visible light irradiation unit 120A2 in Fig. 11 are denoted by the same reference numerals, and their description will be omitted or simplified.

[0061] Visible light irradiator 120A3 includes visible light source 121A, rotating mirror 122A3 as rotating mirror 122, drive mirror 123, and lens 124. Drive mirror 122A3 includes one flat mirror. Visible light emitted by visible light source 121A is reflected by drive mirror 123 and incident on rotating mirror 122A3. The position at which the visible light is incident on rotating mirror 122A3 depends on the position of drive mirror 123.

[0062] The lens 124 is disposed inside the light projection window of the upper housing 16. The light projection window may be provided around the entire periphery of the side of the upper housing 16. A plurality of lenses 124 may be arranged around the entire periphery of the side of the upper housing 16. The lens 124 receives light reflected by the rotating mirror 122A3 and refracts and focuses each light component. By refracting the light components contained in visible light, it is possible to adjust the distance that each light component can reach, that is, the irradiation distance of visible light. The light projection window of the upper housing 16 itself may be composed of a lens.

[0063] Visible light irradiator 120A3 can irradiate visible light onto protection area R3, alert area R2, and caution area R1, which are three areas at different distances from monitoring device 10. Furthermore, rotating mirror 122A3 can be a single flat mirror of a general shape, which simplifies the configuration of rotating mirror 122A3 and enables the rotating mirror 122A3 to be made smaller.

[0064] (Modification of the first embodiment) Next, a modification of this embodiment will be described.

[0065] Monitoring device 10A in the modified example includes visible light irradiator 120B as notification unit 120. Note that other configurations of monitoring device 10A are similar to those of monitoring device 10 described above, and therefore description thereof will be omitted or simplified.

[0066] Fig. 13A is a schematic diagram showing an example of the external appearance of monitoring device 10A as seen from the side, and Fig. 13B is a schematic diagram showing an example of the external appearance of monitoring device 10A as seen from above.

[0067] The visible light irradiator 120B has a plurality of visible light sources 121B. The plurality of visible light sources 121B are installed on the side surfaces of the lower housing 15. As a specific example, the plurality of visible light sources 121B are installed on three or four of the four side surfaces of the lower housing 15. The plurality of visible light sources 121B are arranged two-dimensionally on each side surface of the lower housing 15, for example, arranged in a matrix in the x and z directions. In FIG. 13A , a total of 12 visible light sources 121B are arranged on one side surface, three in the x direction and four in the z direction. Note that the arrangement of the plurality of visible light sources 121B is not limited to this.

[0068] Each visible light source 121B is installed so that the direction of its optical axis oa is different. In this case, for example, in FIG. 13A, the direction of the optical axis oa is set so that the irradiation distance of visible light is approximately the same for each of three visible light sources 121B that are located at the same position in the z direction (z coordinate). Also, for example, in FIG. 13A, the direction of the optical axis oa is set so that the projection direction of the optical axis oa projected onto the xy plane is the same for each of four visible light sources 121B that are located at the same position in the x direction (x coordinate) (see FIG. 13B). Note that even for these four visible light sources 121B, the directions of the optical axes oa are different when the z direction is taken into consideration. Furthermore, for example, the direction of the optical axis oa of each visible light source 121B may be set so that the irradiation distance from the lowest visible light source 121B among the four visible light sources 121B along the z direction is shortest and the irradiation distance from the top visible light source 121B is longest.

[0069] In monitoring device 10B, invisible light used for detection by detection unit 110 passes through a light projection window in upper housing 16. Visible light emitted by each visible light source 121B is irradiated from each position in lower housing 15. Therefore, the positions through which invisible light and visible light pass are significantly different, and the detection direction dr2 by detection unit 110 and the reporting direction dr3 by reporting unit 120 (here, visible light irradiator 120B) are different at the same time.

[0070] In this way, in the monitoring device 10A of the modified example, the visible light sources 121B are installed so that the directions of the optical axes oa differ, thereby making it possible to irradiate each region within the monitoring region MR with visible light.

[0071] The monitoring devices 10, 10A of the first embodiment can visually provide the worker H1 with guidance information GI including an evacuation direction away from the robotic device 30. This makes it easier for the worker H1 to evacuate from the vicinity of the robotic device 30. The monitoring devices 10, 10A can therefore prevent the operation of the robotic device 30 from being stopped or restricted, shorten the time spent waiting for the robotic device 30 to resume operation, and prevent a decrease in productivity due to the robotic device 30. Furthermore, the monitoring device 10 can be made smaller by integrating the detection unit 110 and the notification unit 120, thereby reducing the installation area, enabling efficient use of space, and reducing the amount of installation work required for wiring, etc.

[0072] Furthermore, the monitoring devices 10 and 10A can irradiate visible light toward the floor, wall, object, or the like as an area within the monitoring region MR where an abnormality has been detected, thereby making it possible to visually identify the area (coordinates) near which the abnormality has occurred. Detecting an abnormality includes, for example, detecting entry of the worker H1 into the monitoring region MR. Furthermore, the monitoring devices 10 and 10A can irradiate guidance information GI toward the floor, wall, object, or the like, thereby assisting the worker H1 in visually identifying which direction to move to in order to move to a safer location. Therefore, the monitoring devices 10 and 10A can prevent the worker H1 from inadvertently remaining in the protection region R3 or the alert region R2, thereby preventing a decrease in productivity of the robot device 30.

[0073] Furthermore, if the guidance information visualizes each area with a corresponding illumination color, it becomes even easier for the worker H1 to evacuate. For example, if the color changes from red to yellow to green toward the protection area R3, the alert area R2, and the caution area R1, the worker H1 can easily recognize that moving from the red area to the yellow area will increase safety, and moving from the yellow area to the green area will increase even safety.

[0074] Furthermore, by separating the detection direction dr2 and the notification direction dr3, interference of the light used for detection and notification is less likely to occur, thereby improving the detection performance and notification performance. In this way, the monitoring device 10 can ensure safety in the monitoring region MR, so that, for example, even if there is no fence between the robot device 30 and the worker H1, humans and machines can work together.

[0075] (Second embodiment) In the second embodiment, it is assumed that guidance information is notified (displayed) by sound instead of by visible light. In the second embodiment, the description of matters similar to those in the first embodiment will be omitted or simplified.

[0076] Similar to the first embodiment, the monitoring device 10B in the second embodiment includes a detection unit 110, a notification unit 120, a rotation mechanism unit 130, a communication unit 140, a control unit 150, and a storage unit 160. The monitoring device 10B is, for example, a lidar device, but is not limited to an electro-optical mechanical lidar device and various types of lidar devices can be applied.

[0077] The monitoring device 10B includes a sound output unit 120C as the notification unit 120. The control unit 150 has the same functions as the control unit 150 in the first embodiment, but does not perform processing related to the visible light irradiators 120A and 120B, and instead performs processing related to sound output by the sound output unit 120C. The processing related to sound output includes, for example, processing related to the notification of guidance information GI by sound.

[0078] The sound output unit 120C notifies the guidance information GI by outputting sound in an object approach direction dr1 toward the position of the detected object (for example, worker H1) from the monitoring device 10. The specific configuration of the sound output unit 120C will be described later.

[0079] Furthermore, the sound output unit 120C may output a sound (also referred to as a region sound) corresponding to each region within the monitoring region MR. The region sound may have a different sound frequency (high / low pitch), a different sound output level (loudness / loudness), or a different sound pattern for each region. The sound output unit 120C may output different region sounds for different regions within the monitoring region MR (for example, the protection region R3, the alert region R2, and the attention region R1). Furthermore, the sound output unit 120C may determine to which region within the monitoring region MR the region sound should be output, based on the position of the detected object, and output the region sound corresponding to the determined region.

[0080] Furthermore, the sound output unit 120C may have directionality in the sound output direction. For example, the sound output unit 120C may output sound with directionality so that the sound is output toward the entry position of the worker H1 and not to any other position than the entry position of the worker H1. By outputting directional sound, the sound output unit 120C can clarify who and where the sound is being output to.

[0081] <Area sound output corresponding to the area> 14 is a diagram showing an example of area sound output by the monitoring device 10 in a normal state. When the worker H1 has not entered any area within the monitoring area MR, that is, when the worker H1 is located outside the attention area R1, the detection unit 110 does not detect entry into the monitoring area MR. In this case (also referred to as a normal state), the sound output unit 120C does not output sound to any area within the monitoring area MR. Even in this case, the safety of the worker H1 is ensured because the worker H1 has not entered the monitoring area MR.

[0082] 15 is a diagram showing an example of region sound output by the monitoring device 10 during a caution period. When the worker H1 enters the caution region R1, the detection unit 110 detects the entry into the caution region R1 within the monitoring region MR. In this case (also referred to as a caution period), the sound output unit 120C, under the control of the control unit 150, outputs a region sound corresponding to the caution region R1 to the caution partial region R11 that is the periphery of the entry position into the caution region R1. This allows the worker H1 to recognize that he or she has entered the caution region R1.

[0083] 16 is a diagram showing an example of area sound output during alert by the monitoring device 10. When worker H1 enters alert area R2, the detection unit 110 detects entry into alert area R2 within the monitoring area MR. In this case (also referred to as during alert), the sound output unit 120C, under the control of the control unit 150, outputs an area sound corresponding to alert area R2 to an alert partial area R21 that is the periphery of the entry position in alert area R2. This allows worker H1 to recognize that he or she has entered alert area R2.

[0084] 17 is a diagram showing an example of an area sound output by the monitoring device 10 in a dangerous situation. When worker H1 enters protection area R3, the detection unit 110 detects the entry into protection area R3 within the monitoring area MR. In this case (also referred to as a dangerous situation), the sound output unit 120C, under the control of the control unit 150, outputs an area sound corresponding to protection area R3 to a protection partial area R31 that is located around the entry position into protection area R3. This allows worker H1 to recognize that he or she has entered protection area R3.

[0085] Furthermore, when it is detected that the worker H1 has entered the protection area R3, the sound output unit 120C, under the control of the control unit 150, outputs sound guidance information indicating an evacuation area outside the entry area of ​​the worker H1. The sound guidance information may be an area sound corresponding to the evacuation area, or may be a voice message indicating the evacuation area (e.g., a message instructing the direction of movement for evacuation). For example, the sound output unit 120C outputs sound guidance information indicating the alert area R2 outside the protection partial area R31 for the protection partial area R31. This allows the worker H1 to easily confirm the direction (evacuation direction) to move away from the robot device 30 by checking the sound guidance information corresponding to the alert area R2. Note that, not only when the worker H1 has entered the protection area R3, but also when it is detected that the worker H1 has entered the alert area R2, the sound output unit 120C may output sound guidance information indicating the caution area R1 outside the alert partial area R21 for the alert partial area R21. Such sound guidance information is an example of guidance information GI.

[0086] 18 is a diagram showing an example of area sound output by the monitoring device 10 when multiple workers enter. When it is detected that multiple workers H1 have entered the protection area R3, the sound output unit 120C outputs an area sound corresponding to the entry area of ​​each worker H1 in an entry partial area that is around the entry position of each worker H1. Also, as described above, the sound output unit 120C outputs sound guidance information for each worker H1 that indicates an evacuation area that is located immediately outside the entry area of ​​the worker H1.

[0087] Therefore, for example, suppose that it is detected that worker H11 of two workers H1 has entered protection area R3 and worker H12 has entered alert area R2. In this case, the sound output unit 120C outputs an area sound corresponding to protection area R3 to protection partial area R31, and outputs an area sound corresponding to alert area R2 to alert partial area R22. In this case, the sound output unit 120C may output, as sound, sound guidance information indicating the alert area R2, which is located immediately outside of protection partial area R31, to protection partial area R31, and may output, as sound guidance information indicating the attention area R1, which is located immediately outside of alert partial area R22, to alert partial area R22.

[0088] Fig. 19A is a schematic diagram showing an example of the appearance of monitoring device 10B as seen from the side, and Fig. 19B is a schematic diagram showing an example of the appearance of monitoring device 10B as seen from above.

[0089] The sound output unit 120C has a plurality of speakers 126. Each speaker 126 may be a directional speaker. The plurality of speakers 126 are installed on the side surfaces of the lower housing 15. As a specific example, the plurality of speakers 126 are installed on three or four of the four side surfaces of the lower housing 15. The plurality of speakers 126 are arranged in one direction (for example, the x direction) on each side surface of the lower housing 15. In FIG. 19A, three speakers 126 are arranged in the x direction on one side surface. Note that the arrangement of the plurality of speakers 126 is not limited to this.

[0090] The speakers 126 are installed so that the direction of the sound axis sa is different. In this case, for example, for each of the three speakers 126 that are at the same position in the z direction (z coordinate) in Fig. 19A, the direction of the sound axis sa may be set so that the sound reaches approximately the same distance. Note that the sound axis sa indicates, for example, the output direction or traveling direction of the sound output from the speaker 126.

[0091] The multiple speakers 126 of the sound output unit 120C may be arranged in a matrix on each side surface of the lower housing 15, similar to the multiple visible light sources 121B of the visible light irradiator 120B in the modified example of the first embodiment. This allows the sound output unit 120C to finely divide the reach and output direction of the sound from the multiple speakers 126. In this case, it is possible to output sound to each of the subdivided partial regions in the monitoring region MR.

[0092] In monitoring device 10B, invisible light used for detection by detection unit 110 passes through a light projection window in upper housing 16. Sounds emitted by each speaker 126 are emitted from respective positions in lower housing 15. Therefore, the positions through which invisible light and sound pass are significantly different, and the detection direction dr2 by detection unit 110 and the notification direction dr3 by notification unit 120 (here, sound output unit 120C) are different at the same time.

[0093] As described above, the monitoring device 10B of this embodiment can auditorily provide the worker H1 with sound guidance information including an evacuation direction away from the robotic device 30. This makes it easier for the worker H1 to evacuate from the vicinity of the robotic device 30. Therefore, the monitoring device 10B can prevent the operation of the robotic device 30 from being stopped or restricted, shorten the time spent waiting for the robotic device 30 to resume operation, and suppress a decrease in productivity due to the robotic device 30. Furthermore, the monitoring device 10B can be made smaller by integrating the detection unit 110 and the notification unit 120, thereby reducing the installation area, enabling efficient use of space, and reducing the installation man-hours for wiring and the like.

[0094] Furthermore, the monitoring device 10B outputs a sound corresponding to the entry area of ​​the worker H1 within the monitoring region MR toward the target position, so that the worker H1 can determine which area the entry area is based on the manner in which the output sound is generated (for example, the interval, frequency, or intensity of the sound). Furthermore, the monitoring device 10B can further increase the accuracy of detecting the entry position of the worker H1 by having each speaker 126 have directionality in the sound output direction. Furthermore, because the monitoring device 10B can output a sound corresponding to the entry area of ​​the worker H1, the worker H1 can auditorily determine which area he or she is currently entering.

[0095] (Use Case) Next, use cases using the monitoring devices 10, 10A, and 10B of the first and second embodiments will be described. Two use cases will be mainly illustrated here. Furthermore, although the installation of the monitoring device 10 will be mainly described here, the same applies to the case where the monitoring devices 10A and 10B are installed.

[0096] <First Use Case> First, a description will be given of the first use case. In the first use case, the monitoring device 10 is used to monitor a rack system 50 in which a plurality of packages are stored.

[0097] Fig. 20A is a schematic diagram showing an example of a rack system 50, a luggage transporting device 55, and a monitoring device 10 in a first use case. Fig. 20B is a diagram showing an example of a monitoring device 10 installed on a luggage transporting device 55 and luggage 57 protruding from a shelf. Fig. 20C is a diagram showing an example of a protection area R3 and a security area R2 in the first use case.

[0098] A plurality of rack systems 50 are installed in, for example, a storage facility. Each rack system 50 is provided with a plurality of shelves that divide the space in the height direction perpendicular to the horizontal direction, a plurality of partitions that divide the space in the horizontal direction, etc. In each rack system 50, one or more items can be placed in the storage space that is divided in the height direction and horizontal direction, and can be stored at least temporarily.

[0099] In the first use case, for example, a luggage transporting device 55 is arranged that can move horizontally inside a storage facility. The luggage transporting device 55 has a holding unit 56 arranged, for example, along the horizontal direction, and is capable of holding luggage. The holding unit 56 may hold luggage by simply placing the luggage on a platform, or may hold the luggage by hooking or clamping the luggage. The holding unit 56 is also movable in the height direction of the luggage transporting device 55. Therefore, the holding unit 56 that holds the luggage is freely movable in the horizontal and height directions, and no matter where the luggage is stored in the three-dimensional space in the rack system 50, the luggage transporting device 55 can hold the luggage and transport it to another location.

[0100] In the luggage transport device 55, the monitoring device 10 is installed at the tip of the holding part 56. Therefore, by facing the monitoring area MR of the monitoring device 10 toward the rack system 50, it is possible to monitor any position in the three-dimensional space of the rack system 50 and detect abnormalities.

[0101] For example, suppose that at a predetermined position in the rack system 50, a piece of luggage 57 protrudes from a shelf of the rack system 50 toward the aisle where the luggage transport device 55 can move. In this case, if the protruding luggage 57 hits the luggage transport device 55 or the worker H1 moving along the aisle, the luggage 57 itself may be damaged, the luggage transport device 55 may break down, or the worker H1 may be injured.

[0102] Therefore, in the first use case, a piece of luggage 57 stored out of place (for example, protruding from a shelf) may be determined to be a hazard. Furthermore, the object to be detected by the detection unit 110 may be a luggage transport device 55 that is movable and capable of transporting the luggage 57. In this case, the control unit 150 may set the monitoring area MR based on the position of the luggage 57 stored out of place. For example, because the luggage 57 does not move on its own, the surrounding area including the area where the luggage 57 is present may be set as the protection area R3, which is an area where the luggage 57 can move. The control unit 150 may then set the area around the protection area R3 as the alert area R2, and the area around the alert area R2 as the attention area R1. For example, the control unit 150 may determine the size of the protection area R3 and the monitoring area MR based on the size of the luggage 57 itself that has been stored out of place, the size of the part of the luggage 57 that protrudes from the shelf, or the like.

[0103] When the notification unit 120 detects the entry of the luggage carrying device 55 into the monitoring area MR, it may visualize the entry area or notify guidance information GI based on the entry position of the luggage carrying device 55. As a result, if the stored luggage is shifted from the predetermined storage position, for example, if the luggage 57 protrudes from the shelf, the luggage carrying device 55 may come into contact with the luggage 57 while moving. Even in this case, the monitoring device 10 can notify, for example, in which direction the luggage carrying device 55 should move to increase safety by visualizing the area in the monitoring area MR near the position of the luggage 57 and notifying guidance information GI.

[0104] Thus, in the first use case, the monitoring device 10 detects luggage 57 that is not properly stored in the rack system 50, and when the luggage transport device 55 approaches this luggage 57, it can issue guidance information GI. Therefore, the worker H1 or manager in the storage facility can visually confirm the area (coordinates) near which the abnormality has occurred, the direction in which the luggage transport device 55 should retreat, etc. Therefore, the monitoring device 10 can assist in eliminating the abnormal state (for example, having the worker H1 store the protruding luggage 57 inside the storage shelf) and speed up the return to a normal state.

[0105] <Second Use Case> Next, a second use case will be described. In the second use case, a vehicle 65 travels in a factory 60. The mobile vehicle 65 here is an example of a hazard, and is assumed to be an automated guided vehicle (AGV), but may also be a manned vehicle. The area within the factory 60 includes a travel area 61 in which the vehicle 65 can travel, and a work area 62 in which the robot device 30, worker H1, or the like can work. A monitoring device 10 is installed at an arbitrary position within the factory 60, for example, near the boundary between the travel area 61 and the work area 62.

[0106] FIG. 21 is a diagram illustrating a second use case. The monitoring area MR monitored by the monitoring device 10 is set to include a portion of the driving area 61 and the working area 62, for example, near the boundary between the driving area 61 and the working area 62. The driving area 61 within the monitoring area MR is set to a protection area R3. The working area 62 within the monitoring area MR is set to an alert area R2. Note that in FIG. 21, the protection area R3 and the alert area R2 have a rectangular shape, but this is not limited to this. Furthermore, the sizes of the protection area R3 and the alert area R2 shown in FIG. 21 are not limited to these, and may be, for example, areas larger than those shown in FIG. 21.

[0107] For example, in the monitoring area MR, when a worker H1 attempts to enter the travel area 61 from the working area 62, the worker H1 will pass through the alert area R2 and then the protection area R3. In this case, the control unit 150 first detects the worker H1 in the alert area R2 and visualizes the area around the worker H1 with visible light corresponding to the alert area R2. When the worker H1 further advances into the protection area R3, the control unit 150 detects the worker H1 in the protection area R3 and visualizes the area around the worker H1 with visible light corresponding to the protection area R3.

[0108] Detection of the entry of an object (e.g., worker H1) into the monitoring area MR may be performed, for example, when the vehicle 65 enters within a predetermined distance from the monitoring area MR (i.e., when the distance between the vehicle and the peripheral edge of the monitoring area MR becomes a predetermined distance). The entry of the vehicle 65 within the predetermined distance from the monitoring area MR may be detected, for example, by an external sensor. The communication unit 140 of the monitoring device 10 may acquire vehicle detection information indicating that the vehicle 65 has entered within the predetermined distance from the monitoring area MR from the external sensor. In this case, the monitoring device 10 can visualize at least a portion of the entry area and evacuation area for the worker H1 in the monitoring area MR when the vehicle 65 approaches the periphery of the monitoring area MR, thereby ensuring the safety of the worker H1. Furthermore, this object detection may be performed, for example, over a period during which the distance between the vehicle 65 and the peripheral edge of the monitoring area MR is within the predetermined distance. In this case, the monitoring device 10 can visualize at least a part of the entry area and evacuation area for the worker H1 in the monitoring area MR while the vehicle 65 is traveling around the monitoring area MR, thereby ensuring the safety of the worker H1.

[0109] In this way, when the entry of a vehicle 65 is detected within a predetermined distance from the monitoring area MR and the entry of a worker H1 into the monitoring area MR is detected, the notification unit 120 may notify guidance information GI at the object's entry position.

[0110] Thus, in the second use case, the monitoring device 10 monitors the traveling status of the vehicle 65, and if the entry of an object such as a worker H1 within the monitoring area MR is detected as the vehicle 65 passes through the periphery of the monitoring area MR, the monitoring device 10 can visualize the entry area around the object and the evacuation area in the object's entry direction dr1. Furthermore, by installing the monitoring device 10, for example, at the corner of an intersection of passageways in the factory 60, the vicinity of this intersection can be set as the monitoring area MR, and the entry area and evacuation area for the worker H1 within the monitoring area MR can be visualized. Therefore, the worker H1 can recognize the position of the vehicle 65 without visually checking the vehicle 65, making it easier to avoid danger caused by the traveling vehicle 65.

[0111] 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.

[0112] 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.

[0113] As described above, the monitoring device 10 of the above embodiment monitors the robotic device 30 (an example of a hazard) for entering the vicinity thereof. The monitoring device 10 includes a detection unit 110 and a notification unit 120. The detection unit 110 uses invisible light to detect a worker H1 (an example of an object) that enters a monitoring region MR that is set based on the operable range of the robotic device 30. The notification unit 120 notifies, based on the entry position of the worker H1 detected by the detection unit 110, guidance information indicating the direction in which the worker H1 moves away from the robotic device 30, relative to the entry position of the worker H1. Furthermore, a detection direction dr2 that can be detected by the detection unit 110 at a predetermined time and a notification direction dr3 that can be notified by the notification unit 120 at this predetermined time are different.

[0114] As a result, the monitoring device 10 provides guidance information, allowing the worker H1 to easily confirm the direction of evacuation from the robot device 30. Furthermore, by having the detection direction and the notification direction different at the same time, it is possible to prevent mutual interference between object detection and notification of guidance information, and to prevent a decrease in the accuracy of detecting an object entering the monitoring area MR. Therefore, the monitoring device 10 can prevent a decrease in the safety of the monitoring area MR due to notifications.

[0115] The notification unit 120 may also include a visible light irradiator 120A that irradiates visible light. The visible light irradiator 120A may display guidance information by irradiating visible light in an object entry direction dr1 from the monitoring device 10 toward the entry position of the worker H1.

[0116] This allows the monitoring device 10 to notify the guidance information using visible light. Furthermore, the monitoring device 10 can prevent the invisible light for object detection and the visible light for notifying the guidance information from interfering with each other when they are simultaneously emitted in the same direction, thereby preventing a decrease in the detection accuracy of the worker H1 in the monitoring area MR.

[0117] Furthermore, the monitoring area MR may include a protection area R3 (an example of a first area) set according to the operable range of the robot device 30, and an alert area R2 (an example of a second area) set around the protection area R3. When it is detected that the worker H1 has entered the protection area R3, the visible light irradiator 120A may irradiate, as guidance information, visible light onto an alert partial area R21 (an example of a second partial area) that corresponds to the object's entering direction in the alert area R2.

[0118] As a result, the monitoring device 10 irradiates the alert area R2 outside the protection area R3 with visible light, so that the worker H1 who enters the protection area R3 can easily visually confirm the evacuation direction.

[0119] Furthermore, the monitoring area MR may include a protection area R3 set according to the operable range of the robot device 30, and an alert area R2 set around the protection area R3. When it is detected that the worker H1 has entered the protection area R3, the visible light irradiator 120A may irradiate visible light in different irradiation modes to a protection partial area R31 (an example of a first partial area) corresponding to the object approach direction dr1 of the protection area R3, and an alert partial area R21 corresponding to the object approach direction dr1 of the alert area R2.

[0120] As a result, the monitoring device 10 irradiates visible light in different ways onto the protection area R3 and the alert area R2 outside the protection area R3, so that a worker H1 who enters the protection area R3 can visually distinguish between the protection area R3 and the alert area R2 and can easily confirm the direction of evacuation.

[0121] In addition, when the detection unit 110 detects the entry of multiple workers H1 into the monitoring area MR, the visible light irradiation unit 120A may notify multiple pieces of guidance information by irradiating visible light in each of multiple object entry directions dr11, dr12 from the monitoring device 10 toward each of the multiple workers H1.

[0122] This allows the monitoring device 10 to notify multiple pieces of guidance information corresponding to multiple workers H1. Therefore, multiple workers H1 who enter the monitoring area MR can easily confirm the evacuation direction that suits each worker H1.

[0123] The notification unit 120 may also include a sound output unit 120C that has directionality and outputs sound. The sound output unit 120C may notify guidance information by outputting a predetermined sound in an object entry direction dr1 from the monitoring device 10B toward the entry position of the worker H1.

[0124] This allows monitoring device 10B to auditorily notify the driver of the guidance information by sound.

[0125] Furthermore, the monitoring area MR may include a protection area R3 set according to the operable range of the robot device 30, and a warning area R2 set around the protection area R3. When it is detected that the worker H1 has entered the protection area R3, the sound output unit 120C may output a voice message corresponding to the guidance information to a protection partial area R31 corresponding to the object entry direction dr1 of the protection area R3.

[0126] As a result, the monitoring device 10B provides a voice message indicating the direction from the protection area R3 to the alert area R2 outside the protection area R3, so that the worker H1 who enters the protection area R3 can easily auditorily confirm the evacuation direction.

[0127] In addition, when the detection unit 110 detects the entry of multiple workers H1 into the monitoring area MR, the sound output unit 120C may notify multiple pieces of guidance information by outputting a predetermined sound from the monitoring device 10B in each of multiple object entry directions dr11, dr12 toward each of the multiple workers H1.

[0128] This allows the monitoring device 10B to notify the multiple workers H1 by using multiple pieces of guidance information corresponding to the multiple workers H1. Therefore, the multiple workers H1 who enter the monitoring area MR can easily confirm the evacuation direction that suits each worker H1 by sound.

[0129] The monitoring device 10 may further include a rotation mechanism 130 that assists in rotation of the detection unit 110 along an installation surface P1 (an example of a first plane) of the monitoring device 10. The rotation mechanism 130 may include a mirror fixing unit 135 that is disposed at an angle with respect to the installation surface P1. The detection unit 110 may include an invisible light source 111, a light receiving unit 115, and a rotating mirror 113 (an example of a first rotating mirror). The invisible light source 111 emits invisible light LA1 (an example of first invisible light). The light receiving unit 115 receives invisible light LA2 (an example of second invisible light). The rotating mirror 113 is fixed to a lower surface 135a (an example of a first surface) of the mirror fixing unit 135. The rotating mirror 113 may reflect the invisible light LA1 from the invisible light source 111 and guide it to the outside of the monitoring device 10, and may reflect the invisible light LA2 from the outside of the monitoring device 10 and guide it to the light receiving unit 115.

[0130] As a result, the monitoring device 10 can irradiate the invisible light LA1 in various directions (for example, all around) around the periphery of the monitoring device 10 along the installation surface P1 by the rotation mechanism 130, and can receive the invisible light LA2 from various directions around the periphery of the monitoring device 10. Therefore, the monitoring device 10 can detect a worker H1 or the like who may be present at various positions around the monitoring device 10.

[0131] The alarm unit 120 may include a visible light irradiator 120A that irradiates visible light. The visible light irradiator 120A may include a visible light source 121 that emits visible light VLA, and a rotating mirror 122 (an example of a second rotating mirror) fixed to an upper surface 135b (an example of a second surface) opposite to the lower surface 135a of the mirror fixing unit 135. The rotating mirror 122 reflects the visible light VLA from the visible light source 121 and guides it to the outside of the monitoring device 10, and may be able to adjust the irradiation distance of the visible light VLA.

[0132] Thus, the monitoring device 10 can separate the visible light VLA and the invisible light LA1, LA2 in time and space by providing the rotating mirror 113 and the rotating mirror 122 on each side of the mirror fixing portion 135. Therefore, the monitoring device 10 can suppress interference between the visible light VLA and the invisible light LA1, LA2.

[0133] Furthermore, the rotating mirror 122 may include a plurality of mirrors 122a, 122b, and 122c. The plurality of mirrors 122a, 122b, and 122c may have different installation angles with respect to the installation plane P1.

[0134] This allows the monitoring device 10 to adjust the irradiation distance of the visible light VLA by varying the direction (irradiation direction) of each visible light reflected by the multiple mirrors 122a, 122b, and 122c and guided to the outside of the monitoring device 10. Therefore, the monitoring device 10 can irradiate the visible light VLA toward a desired area within the monitoring area.

[0135] Furthermore, the rotating mirror 122 may be a convex mirror, which allows the monitoring device 10 to adjust the irradiation distance of the visible light VLA using a single convex mirror, and to irradiate each area in the monitoring region MR with visible light.

[0136] Alternatively, the rotating mirror 122 may be a single flat mirror. The visible light irradiator 120A3 may be arranged along the peripheral edge surface in the direction along the installation surface P1 of the monitoring device 10, and may include a lens 124 that passes the visible light VLA from the flat mirror.

[0137] As a result, the monitoring device 10 can adjust the irradiation distance of the visible light VLA and can irradiate each area in the monitoring region MR with visible light, even if the rotating mirror 122 does not have a special shape.

[0138] Furthermore, monitoring device 10A may further include a lower housing 15 (an example of a housing) that houses at least a part of detection unit 110. Visible light irradiator 120B may include multiple visible light sources 121B arranged on the outer surface of lower housing 15. The optical axes oa of multiple visible light sources 121B may be different from each other.

[0139] This eliminates the need for monitoring device 10A to provide a configuration related to the notification of guidance information (for example, visible light irradiator 120A) inside lower housing 15, thereby enabling monitoring device 10A to be miniaturized. Even in this case, the irradiation directions (optical axes oa) of multiple visible light sources 121B are different from each other, so monitoring device 10A can irradiate visible light to each area within monitoring area MR.

[0140] Furthermore, monitoring device 10B may further include a lower housing 15 (an example of a housing) that houses at least a part of detection unit 110. Sound output unit 120C may include a plurality of speakers 126 arranged on the outer surface of lower housing 15. The sound axes sa of the plurality of speakers 126 may be different from one another.

[0141] This eliminates the need for monitoring device 10B to provide a configuration related to the notification of guidance information (for example, visible light irradiator 120A) inside lower housing 15, thereby enabling monitoring device 10B to be made smaller. Even in this case, the sound output directions (sound axes sa) of multiple speakers 126 are different from each other, so monitoring device 10B can output sound to each area within monitoring area MR.

[0142] The monitoring device 10 may be a lidar device. This allows the monitoring device 10 to use laser light to detect objects with low radio wave reflectivity (such as cardboard, wood, and polystyrene foam). Furthermore, since the lidar device has high detection resolution, it can easily detect the distance between the monitoring device 10 and the object in addition to detecting the intrusion of the object itself.

[0143] The monitoring device 10 of the above embodiment monitors the robotic device 30 for entry into the vicinity thereof. The monitoring device 10 includes a detection unit 110 and a notification unit 120. The detection unit 110 uses invisible light to detect a worker H1 who has entered a monitoring region MR that is set based on the operable range of the robotic device 30. The notification unit 120 notifies, based on the entry position of the worker H1 detected by the detection unit 110, approach guidance information indicating that the worker H1 is approaching the robotic device 30, relative to the entry position of the worker H1. A detection direction dr2 that can be detected by the detection unit 110 at a predetermined time and a notification direction dr3 that can be notified by the notification unit 120 at this predetermined time are different.

[0144] As a result, by the monitoring device 10 providing the approach guidance information, the worker H1 can easily confirm that the danger is increasing as he approaches the robot device 30. Furthermore, by having the detection direction and the notification direction different at the same time, it is possible to prevent mutual interference between object detection and notification of approach guidance information, and to prevent a decrease in the detection accuracy of an object entering the monitoring region MR. Therefore, the monitoring device 10 can prevent a decrease in the safety of the monitoring region MR due to the notification.

[0145] The notification unit 120 may also include a visible light irradiator 120A that irradiates visible light. The visible light irradiator 120A may display approach guidance information by irradiating visible light in an object approach direction dr1 from the monitoring device 10 toward the approach position of the worker H1.

[0146] This allows the monitoring device 10 to notify the approach guide information using visible light. Furthermore, the monitoring device 10 can prevent the invisible light for object detection and the visible light for notifying the approach guide information from being simultaneously emitted in the same direction and interfering with each other, thereby preventing a decrease in the detection accuracy of the worker H1 in the monitoring area MR.

[0147] Furthermore, the monitoring area MR may include a protection area R3 set according to the operable range of the robot device 30, and a warning area R2 set around the protection area R3. When it is detected that the worker H1 has entered the warning area R2, the visible light irradiator 120A may irradiate visible light onto a protection partial area R31 corresponding to the object's entering direction in the protection area R3, as approach guidance information.

[0148] As a result, the monitoring device 10 irradiates visible light onto the alert area R2 outside the protection area R3, allowing the worker H1 who enters the protection area R3 to easily visually confirm the direction of approach.

[0149] Furthermore, the monitoring area MR may include a protection area R3 set according to the operable range of the robot device 30, and an alert area R2 set around the protection area R3. When it is detected that the worker H1 has entered the alert area R2, the visible light irradiator 120A may irradiate visible light in different irradiation modes to a protection partial area R31 corresponding to the object entry direction dr1 of the protection area R3 and an alert partial area R21 corresponding to the object entry direction dr1 of the alert area R2.

[0150] As a result, the monitoring device 10 irradiates visible light in different ways onto the protected area R3 and the alert area R2 outside the protected area R3, so that a worker H1 who enters the alert area R2 can visually distinguish between the protected area R3 and the alert area R2, and can easily confirm that the worker H1 is approaching the robot device 30 and the direction of approach.

[0151] In addition, when the detection unit 110 detects the entry of multiple workers H1 into the monitoring area MR, the visible light irradiation unit 120A may notify multiple approach guidance information by irradiating visible light in each of multiple object entry directions dr11, dr12 from the monitoring device 10 toward each of the multiple workers H1.

[0152] This allows the monitoring device 10 to provide multiple pieces of approach guidance information corresponding to multiple workers H1, so that multiple workers H1 who enter the monitoring area MR can easily check the state of approach to each robot device 30 that suits the worker H1. [Item 1] A monitoring device for monitoring intrusion of a hazard into the vicinity thereof, a detection unit that uses invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; a notification unit that notifies, based on the entry position of the object detected by the detection unit, guidance information indicating a direction in which the object moves away from the hazard source relative to the entry position of the object; Equipped with a detection direction that can be detected by the detection unit at a predetermined time and a notification direction that can be notified by the notification unit at the predetermined time are different; Monitoring equipment. [Item 2] the notification unit includes a visible light irradiator that irradiates visible light, the visible light irradiating unit displays the guidance information by irradiating visible light in an object entry direction from the monitoring device toward the object entry position. Item 1. The monitoring device according to item 1. [Item 3] the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, When it is detected that the object has entered the first area, the visible light irradiating unit irradiates a second partial area of ​​the second area corresponding to the object's entering direction with visible light as the guidance information. Item 2. The monitoring device according to item 2. [Item 4] the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, When it is detected that the object has entered the first area, the visible light irradiating unit irradiates a first partial area of ​​the first area corresponding to the object's entry direction and a second partial area of ​​the second area corresponding to the object's entry direction with visible light in different irradiation modes. Item 2. The monitoring device according to item 2. [Item 5] When the detection unit detects the intrusion of a plurality of objects into the monitoring area, the visible light irradiating unit irradiates visible light in a plurality of object intrusion directions from the monitoring device toward each of the plurality of objects, thereby notifying the plurality of pieces of guidance information. The monitoring device according to any one of items 2 to 4. [Item 6] the notification unit includes a sound output unit that has directionality and outputs sound, the sound output unit outputs a predetermined sound from the monitoring device in an object entry direction toward the object entry position to notify the user of the guidance information. Item 1. The monitoring device according to item 1. [Item 7] the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, when it is detected that the object has entered the first area, the sound output unit outputs a voice message corresponding to the guidance information to a first partial area corresponding to a direction in which the object has entered the first area. Item 6. The monitoring device according to item 6. [Item 8] When the detection unit detects the intrusion of a plurality of objects into the monitoring area, the sound output unit outputs a predetermined sound in each of a plurality of object intrusion directions from the monitoring device toward each of the plurality of objects, thereby notifying the plurality of pieces of guidance information. Item 6 or 7. The monitoring device according to item 6 or 7. [Item 9] a rotation mechanism that assists rotation of the detection unit along a first plane, the rotation mechanism includes a mirror fixing portion disposed at an angle with respect to the first plane, The detection unit an invisible light source that emits a first invisible light; a light receiving unit that receives the second invisible light; a first rotating mirror fixed to a first surface of the mirror fixing portion, The first rotating mirror is reflecting the first invisible light from the invisible light source and guiding it to the outside of the monitoring device; reflecting the second invisible light from outside the monitoring device and guiding it to the light receiving unit; The monitoring device according to any one of items 1 to 8. [Item 10] the notification unit includes a visible light irradiator that irradiates visible light, The visible light irradiation unit is a visible light source that emits the visible light; a second rotating mirror fixed to a second surface of the mirror fixing portion opposite to the first surface, the second rotating mirror reflects the visible light from the visible light source and guides it to the outside of the monitoring device, and is capable of adjusting the irradiation distance of the visible light. Item 9. The monitoring device according to item 9. [Item 11] the second rotating mirror includes a plurality of mirrors; The plurality of mirrors have different installation angles with respect to the first plane. Item 11. The monitoring device according to item 10. [Item 12] the second rotating mirror includes a convex mirror; Item 12. The monitoring device according to item 10 or 11. [Item 13] the second rotating mirror is a single plane mirror; the visible light irradiating unit is disposed along a peripheral end surface of the monitoring device in a direction along the first plane, and includes a lens that transmits the visible light from the plane mirror. Item 11. The monitoring device according to item 10. [Item 14] Further provided is a housing that accommodates at least a portion of the detection unit, the visible light irradiating unit includes a plurality of visible light sources arranged on an outer surface of the housing, The optical axes of the plurality of visible light sources are different from each other. Item 11. The monitoring device according to item 10. [Item 15] Further provided is a housing that accommodates at least a portion of the detection unit, the sound output unit includes a plurality of speakers arranged on an outer surface of the housing, The sound axes of the plurality of speakers are different from each other. The monitoring device according to any one of items 6 to 8. [Item 16] the monitoring device is a lidar device; The monitoring device according to any one of items 1 to 15. [Item 17] A monitoring device for monitoring intrusion of a hazard into the vicinity thereof, a detection unit that uses invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; a notification unit that notifies, based on the entry position of the object detected by the detection unit, approach guidance information indicating that the object is approaching the hazard source with respect to the entry position of the object; Equipped with a detection direction that can be detected by the detection unit at a predetermined time and a notification direction that can be notified by the notification unit at the predetermined time are different; Monitoring equipment. [Item 18] the notification unit includes a visible light irradiator that irradiates visible light, the visible light irradiating unit displays the approach guidance information by irradiating visible light in an object entry direction from the monitoring device toward the object entry position. Item 18. The monitoring device according to item 17. [Item 19] the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, when it is detected that the object has entered the second area, the visible light irradiating unit irradiates a first partial area of ​​the first area corresponding to the object's entering direction with visible light as the approach guidance information. Item 19. The monitoring device according to item 18. [Item 20] the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, When it is detected that the object has entered the second area, the visible light irradiating unit irradiates a first partial area of ​​the first area corresponding to the object's entry direction and a second partial area of ​​the second area corresponding to the object's entry direction with visible light in different irradiation modes. Item 19. The monitoring device according to item 18. [Item 21] When the detection unit detects the intrusion of a plurality of objects into the monitoring area, the visible light irradiating unit irradiates visible light in a plurality of object intrusion directions from the monitoring device toward each of the plurality of objects, thereby notifying the plurality of pieces of approach guidance information. The monitoring device according to any one of items 18 to 20. [Item 22] A monitoring method for monitoring intrusion of a hazard into a periphery, comprising: using invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; a step of notifying, based on the detected entry position of the object, guidance information indicating a direction in which the object moves away from the hazard source with respect to the entry position of the object; and a detection direction in which the entry position of the object can be detected at a predetermined time and a notification direction in which the guidance information can be notified at the predetermined time are different from each other; Monitoring method. [Item 23] A monitoring method for monitoring intrusion of a hazard into a periphery, comprising: using invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; a step of notifying, based on the detected approach position of the object, approach guidance information indicating that the object is approaching the hazard source, to the approach position of the object; and a detection direction in which the approach position of the object can be detected at a predetermined time and a notification direction in which the approach guidance information can be notified at the predetermined time are different from each other; Monitoring method. [Industrial Applicability]

[0153] The present disclosure is useful for a monitoring device and a monitoring method that can suppress a decrease in the accuracy of detecting an object entering the vicinity of a hazard and that can easily confirm the direction of escape from the hazard. [Explanation of symbols]

[0154] 10,10A,10B Monitoring device 30 Robotic Device 50 rack system 55 Luggage handling equipment 56 Holding part 57 Luggage 60 Factories 61 Driving Area 62 work area 65 vehicles 110 Detector 111 Invisible light source 113 Rotating Mirror 114 Lens 115 Light receiving part 120 Information Department 120A,120B Visible light irradiation part 120C Sound output unit 121 Visible light source 122, 122A1, 122A2, 122A3 Rotating mirror 123 Driving mirror 124 Lens 130 Rotation mechanism 131 outer cylindrical part 132 Inner cylindrical part 133 Magnet 134 Coil 135 Mirror fixing part 136 Bearing 140 Communications Department 150 control section 160 Storage section dr1, dr11, dr12 Object approach direction dr2 detection direction dr3 Report direction LA1,LA2 Invisible light MR Monitoring Field oa optical axis R1 Attention Area R2 Warning Area R3 Protection Field R11 Pay attention to some areas R21 Warning areas R31 Protection of certain areas sa tone axis VLA visible light

Claims

1. A monitoring device for monitoring intrusion of a hazard into the vicinity thereof, a detection unit that uses invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; a notification unit that notifies, based on the entry position of the object detected by the detection unit, guidance information indicating a direction in which the object moves away from the hazard source relative to the entry position of the object; Equipped with a detection direction that can be detected by the detection unit at a predetermined time and a notification direction that can be notified by the notification unit at the predetermined time are different; Monitoring equipment.

2. the notification unit includes a visible light irradiator that irradiates visible light, the visible light irradiating unit displays the guidance information by irradiating visible light in an object entry direction from the monitoring device toward the object entry position. The monitoring device of claim 1 .

3. the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, When it is detected that the object has entered the first area, the visible light irradiating unit irradiates a second partial area of ​​the second area corresponding to the object's entering direction with visible light as the guidance information. The monitoring device according to claim 2 .

4. the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, When it is detected that the object has entered the first area, the visible light irradiating unit irradiates a first partial area of ​​the first area corresponding to the object's entry direction and a second partial area of ​​the second area corresponding to the object's entry direction with visible light in different irradiation modes. The monitoring device according to claim 2 .

5. When the detection unit detects the intrusion of a plurality of objects into the monitoring area, the visible light irradiating unit irradiates visible light in a plurality of object intrusion directions from the monitoring device toward each of the plurality of objects, thereby notifying the plurality of pieces of guidance information. The monitoring device according to claim 2 .

6. the notification unit includes a sound output unit that has directionality and outputs sound, the sound output unit outputs a predetermined sound from the monitoring device in an object entry direction toward the object entry position to notify the user of the guidance information. The monitoring device of claim 1 .

7. the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, when it is detected that the object has entered the first area, the sound output unit outputs a voice message corresponding to the guidance information to a first partial area corresponding to a direction in which the object has entered the first area. The monitoring device according to claim 6.

8. When the detection unit detects the intrusion of a plurality of objects into the monitoring area, the sound output unit outputs a predetermined sound in each of a plurality of object intrusion directions from the monitoring device toward each of the plurality of objects, thereby notifying the plurality of pieces of guidance information. The monitoring device according to claim 6.

9. a rotation mechanism that assists rotation of the detection unit along a first plane, the rotation mechanism includes a mirror fixing portion disposed at an angle with respect to the first plane, The detection unit an invisible light source that emits a first invisible light; a light receiving unit that receives the second invisible light; a first rotating mirror fixed to a first surface of the mirror fixing portion, The first rotating mirror is reflecting the first invisible light from the invisible light source and guiding it to the outside of the monitoring device; reflecting the second invisible light from outside the monitoring device and guiding it to the light receiving unit; The monitoring device of claim 1 .

10. the notification unit includes a visible light irradiator that irradiates visible light, The visible light irradiation unit is a visible light source that emits the visible light; a second rotating mirror fixed to a second surface of the mirror fixing portion opposite to the first surface, the second rotating mirror reflects the visible light from the visible light source and guides it to the outside of the monitoring device, and is capable of adjusting the irradiation distance of the visible light. The monitoring device of claim 9.

11. the second rotating mirror includes a plurality of mirrors; The plurality of mirrors have different installation angles with respect to the first plane. The monitoring device of claim 10.

12. the second rotating mirror includes a convex mirror; The monitoring device of claim 10.

13. the second rotating mirror is a single plane mirror; the visible light irradiating unit is disposed along a peripheral end surface of the monitoring device in a direction along the first plane, and includes a lens that transmits the visible light from the plane mirror. The monitoring device of claim 10.

14. Further provided is a housing that accommodates at least a portion of the detection unit, the visible light irradiating unit includes a plurality of visible light sources arranged on an outer surface of the housing, The optical axes of the plurality of visible light sources are different from each other. The monitoring device of claim 10.

15. Further provided is a housing that accommodates at least a portion of the detection unit, the sound output unit includes a plurality of speakers arranged on an outer surface of the housing, The sound axes of the plurality of speakers are different from each other. The monitoring device according to claim 6.

16. the monitoring device is a lidar device; The monitoring device of claim 1 .

17. A monitoring device for monitoring intrusion of a hazard into the vicinity thereof, a detection unit that uses invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; a notification unit that notifies, based on the entry position of the object detected by the detection unit, approach guidance information indicating that the object is approaching the hazard source with respect to the entry position of the object; Equipped with a detection direction that can be detected by the detection unit at a predetermined time and a notification direction that can be notified by the notification unit at the predetermined time are different; Monitoring equipment.

18. the notification unit includes a visible light irradiator that irradiates visible light, the visible light irradiating unit displays the approach guidance information by irradiating visible light in an object entry direction from the monitoring device toward the object entry position.

18. The monitoring device of claim 17.

19. the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, When it is detected that the object has entered the second area, the visible light irradiating unit irradiates a first partial area of ​​the first area corresponding to the object's entering direction with visible light as the approach guidance information.

20. The monitoring device of claim 18.

20. the monitoring area includes a first area set in accordance with an operable range of the hazard, and a second area set around the first area, When it is detected that the object has entered the second area, the visible light irradiating unit irradiates a first partial area of ​​the first area corresponding to the object entry direction and a second partial area of ​​the second area corresponding to the object entry direction with visible light in different irradiation modes.

20. The monitoring device of claim 18.

21. When the detection unit detects the intrusion of a plurality of objects into the monitoring area, the visible light irradiating unit irradiates visible light in a plurality of object intrusion directions from the monitoring device toward each of the plurality of objects, thereby notifying the plurality of pieces of approach guidance information.

20. The monitoring device of claim 18.

22. A monitoring method for monitoring intrusion of a hazard into a periphery, comprising: using invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; a step of notifying, based on the detected entry position of the object, guidance information indicating a direction in which the object moves away from the hazard source with respect to the entry position of the object; and a detection direction in which the entry position of the object can be detected at a predetermined time and a notification direction in which the guidance information can be notified at the predetermined time are different from each other; Monitoring method.

23. A monitoring method for monitoring intrusion of a hazard into a periphery, comprising: using invisible light to detect the position of an object that has entered a monitoring area that is set based on the operable range of the hazard; a step of notifying, based on the detected approach position of the object, approach guidance information indicating that the object is approaching the hazard source, to the approach position of the object; and a detection direction in which the approach position of the object can be detected at a predetermined time and a notification direction in which the approach guidance information can be notified at the predetermined time are different from each other; Monitoring method.

Images