Object detection device

Abstract

To provide an object detection device capable of easily detecting the vicinity of the surface of the installation object.SOLUTION: A pair of object detection sensor units 11 of an object detection device 10 is attached to and along an outer circumferential surface of an installation object. Respective attachment positions of the object detection sensor units 11 are adjusted so that detection light projected along an axial direction of the installation object by an axial light projection part 15 of one of the object detection sensor units 11 is received by an axial light receiving part 17 of the other of the object detection sensor units 11. Since the object detection sensor units 11 can be easily attached to the surface of the installation object, it is possible to easily construct a safety system that, upon detecting an object such as a human near a surface of an industrial robot or the like, emergency-stops the industrial robot. Thus, safety of the installation object, e.g., the industrial robot can be easily secured.SELECTED DRAWING: Figure 28

Description

[Technical Field]

[0001] The present invention relates to an object detection device, and more particularly to an object detection sensor unit that can be easily arranged regardless of the shape of the installation location. [Background technology]

[0002] A conventional object detection device will be described using an object detection device Z100 shown in FIG. 12. FIG. 12 shows an example of the use of the object detection device Z100 (not shown), in which the object detection device Z100 is disposed on the outer surface of an industrial robot. The object detection device Z100 has multiple optical sensor units ZSU and one central control unit Z115. In the optical sensor unit ZSU, multiple optical sensor units Z111 and one unit control unit Z113 are connected in a star configuration via an optical sensor connection line ZL111. The unit control units Z113 belonging to one group line ZGL are connected in a cascade configuration via a unit control unit connection line ZL113. One of the unit control units Z113 connected in a cascade configuration is connected to the central control unit Z115 via the unit control unit connection line ZL113. By using flexible optical sensor connection wire ZL111 and unit control unit connection wire ZL113, the optical sensor unit Z111 and unit control unit Z113 can be freely positioned to match the shape of the installation location, and the detection range at the installation location can be freely set.

[0003] The industrial robot Z50 is a robot with seven movable axes. The industrial robot Z50 has arms ZAM1 to ZAM7, movable rotary joints ZJ1 to ZJ13, a base ZB1, and a hand ZH1. An object detection device Z100 is disposed on the outer periphery of each of the arms ZAM1 to ZAM7, the hand ZH1, and the base ZB1.

[0004] Each of the arms ZAM1 to ZAM7, the base ZB1, and the hand ZH1 is provided with one unit control unit and multiple optical sensors Z111. As shown in FIG. 12, the optical sensors Z111 can be placed anywhere, such as on the arms ZAM1 to ZAM7, the hand ZH1, or the base ZB1, regardless of the shape of the installation location. In this way, the optical sensors Z111 can be easily placed on the outer surface of the device on which the object detection device Z100 is to be installed, making it possible to bring the industrial robot to an emergency stop when an object such as a person is detected near the robot. In other words, the safety of the device on which the device is to be installed, such as an industrial robot, can be improved.

[0005] Furthermore, by adjusting the length of the optical sensor connection line ZL111, the optical sensor unit Z111 can be placed in any position. Therefore, regardless of the shape of the installation location, such as the rectangular pillar-shaped arms ZAM1 to ZAM7 or the cylindrical base ZB1, the optical sensor unit 111 can be placed all around the robot. This allows the robot to detect people and other objects all around the robot, thereby improving the safety of the device to which it is installed.

[0006] Furthermore, the optical sensor Z111 can be freely positioned even on a device with a complex shape like the hand ZH1. This prevents blind spots when positioning the optical sensor Z111, thereby improving the safety of the device to which it is installed.

[0007] Furthermore, even if there is an obstacle between the arms ZAM1 to ZAM7 on which the optical sensor units Z111 are arranged, such as the movable rotary joints ZJ1 to ZJ13, the unit control units Z113 can be connected to each other while avoiding the obstacle by adjusting the length of the unit control unit connecting line ZL113. In this way, the object detection device Z100 can be freely placed regardless of the shape of the device to be placed.

[0008] Regardless of the installation shape of the object detection device Z100, the object detection device can be easily installed simply by adjusting the number and placement positions of the optical sensor units Z111 and unit control units Z113, and the lengths of the optical sensor connection lines ZL111 and unit control unit connection lines ZL113. Furthermore, the object detection device Z100 can easily adapt to changes in the installation environment by changing the installation positions of the optical sensor units Z111 and unit control units Z113, or by adding or reducing the number of units installed, in accordance with changes in the installation environment, such as changes in the detection position, detection range, installation position, or shape of the device to be installed (see Patent Document 1). [Prior art documents] [Patent documents]

[0009] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-083615 Summary of the Invention [Problem to be solved by the invention]

[0010] 1. The above-described object detection device Z100 has the following points that need to be improved. In the object detection device Z100, multiple optical sensor units Z111 and unit control units Z113 need to be individually placed on the installation object. Therefore, the placement work of the optical sensor units Z111 and unit control units Z113 is complicated and time-consuming, which is an area that needs to be improved.

[0011] Furthermore, since the multiple optical sensor units Z111 and the unit control unit Z113 are connected by respective connection lines, the object detection device Z100 is difficult to carry around and handle, which is an area that needs improvement.

[0012] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide an object detection device that is easy to handle and in which the object detection sensor unit can be easily arranged regardless of the shape of the installation location.

[0013] 2. The object detection device Z100 described above has the following points that need to be improved. In the object detection device Z100, the multiple optical sensor units Z111 project detection light outward from the surface of the industrial robot Z50, which is the object to be installed, that is, in a radial direction from the surface of each arm. Therefore, there is an issue that needs to be improved, namely, it is not possible to detect areas near the surface of each arm of the industrial robot Z50.

[0014] Furthermore, in order to minimize the range near the surface where detection is not possible, it is necessary to arrange a large number of optical sensor units Z111. Since the workload required to arrange the optical sensor units Z111 is extremely large, it is not realistic to arrange a large number of optical sensor units Z111 to detect near the surface, which is an area that needs improvement.

[0015] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide an object detection device that can easily detect the vicinity of the surface of an object on which it is to be installed.

[0016] 3. The object detection device Z100 described above has the following points that need to be improved: Depending on the shape of the object on which the object is installed, the optical sensor units Z111 may unintentionally detect the object on which they are installed, which may unintentionally stop the operation of the object on which they are installed.

[0017] Therefore, an object of the present invention is to provide an object detection system that can prevent unintended object detection regardless of the shape of the object to which it is attached. [Effects of the Invention]

[0018] The means for solving the problems in the present invention and the effects of the invention are as follows.

[0019] The object detection device of the present invention comprises an object detection sensor unit that detects surrounding objects, a flexible sensor placement member on which a plurality of the object detection sensor units are arranged and which has flexibility, a control unit that controls the operation of the object detection sensor units, and a connection harness that directly or indirectly connects the object detection sensor units and the control unit.

[0020] This allows the object detection sensor unit to be easily positioned regardless of the shape of the installation location by deforming the flexible sensor placement member. In this way, the object detection sensor unit can be easily positioned on the outer surface of the installation target, making it easy to build an operation control system that controls the operation of the installation target when an object is detected around the installation target.

[0021] Furthermore, since the plurality of object detection sensor units are integrally arranged on the flexible sensor arrangement member, handling is easy.

[0022] In the object detection device according to the present invention, the sensor placement flexible member has a band shape and has the object detection sensor unit arranged in a straight line along the long axis of the band shape.

[0023] This allows the object detection sensor unit to be placed on an object to be placed, simply by wrapping the band-shaped flexible sensor placement member around the object on which the object detection device is to be placed.

[0024] In the object detection device of the present invention, the sensor placement flexible member is characterized by having a sensor placement member on which the object detection sensor unit is placed, and an intermediate flexible member that connects the sensor placement members and has flexibility.

[0025] This provides flexibility to the sensor placement member, allowing the flexible sensor placement member to be deformed, making it possible to easily place the object detection sensor unit regardless of the shape of the installation location. In this way, the object detection sensor unit can be easily placed on the outer surface of the installation target, making it easy to build an operation control system that controls the operation of the installation target when an object is detected around the installation target.

[0026] In the object detection device according to the present invention, the intermediate flexible member has an extension mechanism for adjusting the length.

[0027] This allows the object detection sensor unit to be disposed at a desired position.

[0028] In the object detection device of the present invention, the sensor placement flexible member has a plurality of unit flexible members on which the object detection sensor units are placed, and the unit flexible members have a connecting mechanism that connects them to other adjacent unit flexible members.

[0029] This provides flexibility to the sensor placement member, allowing the flexible sensor placement member to be deformed, making it possible to easily place the object detection sensor unit regardless of the shape of the installation location. In this way, the object detection sensor unit can be easily placed on the outer surface of the installation target, making it easy to build an operation control system that controls the operation of the installation target when an object is detected around the installation target.

[0030] In the object detection device according to the present invention, the connection harness directly connects each of the object detection sensor units to the control unit.

[0031] This allows the object detection sensor unit to be connected via another object detection sensor unit, i.e., not to another object detection sensor unit. Therefore, the object detection sensor unit can be positioned freely, regardless of the positions of other object detection sensors, by considering only the positional relationship with the control unit, such as the distance between the object detection sensor unit and the control unit. Furthermore, the number of object detection sensors connected to the control unit 17 can be easily increased or decreased.

[0032] In the object detection device according to the present invention, the connection harness connects the object detection sensors in a cascade configuration.

[0033] This allows only the end-located object detection sensors of the cascade-connected plurality of object detection sensors to be connected to the control unit, which means that the object detection sensors and the control unit can be connected with a simple configuration.

[0034] The object detection device of the present invention comprises an object detection sensor unit that detects surrounding objects, a flexible sensor placement member on which a plurality of the object detection sensor units are arranged and which has flexibility, a control unit that controls the operation of the object detection sensor units, and a connection harness that connects the object detection sensor units and the control unit, characterized in that the flexible sensor placement member comprises a sensor placement member on which the object detection sensor units are arranged, and an intermediate connection harness that cascades between the object detection sensor units and which is flexible.

[0035] This allows the sensor placement members to be connected to each other and the object detection sensor units to be electrically connected simply by using the intermediate connection harness, thereby simplifying the configuration of the object detection device.

[0036] In the object detection device according to the present invention, the intermediate connection harness has an expansion and contraction mechanism for adjusting the length.

[0037] This allows the object detection sensor unit to be arranged at a desired position with a simple configuration.

[0038] In the object detection device of the present invention, the connection harness has an inter-sensor connection line that connects adjacent object detection sensor units and a connection line that directly connects the object detection sensor unit and the control unit, and has an inter-sensor connection line protection unit that protects the inter-sensor connection line by covering it.

[0039] As a result, the sensor-to-sensor connection wire is protected by the sensor-to-sensor connection wire coating portion, and the sensor-to-sensor connection wire can be prevented from being damaged by external forces.

[0040] In the object detection device according to the present invention, the inter-sensor connection line protection unit is disposed between each pair of adjacent object detection sensor units.

[0041] As a result, the inter-sensor connection line protection portion is formed corresponding to each inter-sensor connection line, and therefore the flexibility of the sensor placement flexible member is not impaired.

[0042] In the object detection device according to the present invention, the inter-sensor connection line protection section has a ring structure.

[0043] This makes it possible to easily protect the inter-sensor connection wires that connect the object detection sensor units arranged in a circular pattern.

[0044] In the object detection device according to the present invention, the inter-sensor connection line protection section has a sensor opening for arranging the object detection sensor section.

[0045] This makes it possible to easily fix the object detection sensor unit in a ring shape.

[0046] The object detection device of the present invention is an object detection device that is installed on the surface of a specified installation object, and has at least one of a light-projecting unit that projects detection light in a direction intersecting the normal direction of the surface, and a light-receiving unit that receives the detection light from a direction intersecting the normal direction of the surface.

[0047] This makes it possible to easily detect objects in a direction intersecting the normal direction of the surface of the installation object. By installing the light projecting unit in a position close to the surface of the installation object, it is possible to detect objects close to the surface of the installation object.

[0048] The object detection device according to the present invention further includes a housing having an annular structure, the housing having the light projecting unit and / or the light receiving unit located therein.

[0049] This allows the light-emitting unit and the light-receiving unit to be easily attached to the attachment object.

[0050] In the object detection device of the present invention, the housing portion has an end face whose normal direction is a direction that intersects with the normal direction of the surface, and the end face has an opening for projecting the detection light and / or an opening for receiving the detection light.

[0051] This allows the light-emitting unit and the light-receiving unit to be easily attached to the object while protecting them.

[0052] In the object detection device of the present invention, the light-projecting unit projects the detection light onto the light-receiving unit of another object detection device, and the light-receiving unit receives the detection light projected by the light-projecting unit of the other object detection device.

[0053] This makes it possible to determine that an object has been detected when the detection light is blocked and cannot be received.

[0054] The object detection device of the present invention is characterized in that it has a light-emitting unit and a light-receiving unit that form a pair, and the light-receiving unit receives the detection light emitted by the paired light-emitting unit.

[0055] This eliminates the need to adjust the direction of light projection at the light-projecting unit and the direction of light reception at the light-receiving unit when installing the device, making it easier to install the light-projecting unit and light-receiving unit on the installation target.

[0056] The object detection device according to the present invention is characterized by having a reflecting unit having a reflecting surface located opposite the end face, the reflecting unit having a reflecting surface that reflects the detection light emitted by the light-emitting unit toward the light-receiving unit that forms a pair with the light-emitting unit that emitted the detection light.

[0057] This makes it possible to determine that an object has been detected when the detection light is blocked and cannot be received.

[0058] The object detection system according to the present invention comprises an object detection sensor unit having an object detection sensor section that projects predetermined detection light onto a predetermined detection area and receives reflected light of the detection light to detect surrounding objects and convert the detection results into detection result information, a movement information acquisition section that acquires movement information that indicates its own movement state, a transmission section that transmits the detection result information and the position information, a reception section that receives detection area adjustment information to adjust the detection area, a detection area adjustment section that, upon receiving the detection area adjustment information, adjusts the detection area using the detection area adjustment information when the detection light is next projected, and a housing section for attachment to an object to be attached, and a movement information acquisition section that acquires movement information that indicates its own movement state and converts the detection result information and the position information into detection result information. the object detection control device includes a receiving unit that receives the movement information; a shape estimation unit that uses the received movement information to estimate the shape of the attachment target; a detection area interference determination unit that estimates the detection area of ​​the object detection sensor unit and determines whether the estimated detection area interferes with the estimated shape of the attachment target; a detection area adjustment information generation unit that generates detection area adjustment information to adjust the detection area when it is determined that the estimated detection area interferes with the estimated shape of the attachment target; and a detection area adjustment information transmission unit that transmits the generated detection area adjustment information to the object detection sensor unit that forms the detection area that interferes with the estimated shape of the attachment target.

[0059] This allows the detection area to be adjusted after determining the shape of the attachment object and whether or not there is interference with the detection area, thereby preventing the detection of unintended objects.

[0060] The object detection sensor unit according to the present invention comprises: The device has an object detection sensor unit that detects surrounding objects by projecting a predetermined detection light onto a predetermined detection area and receiving reflected light of the detection light, and converts the detection results into detection result information; a movement information acquisition unit that acquires movement information that indicates its own movement state; a transmission unit that transmits the detection result information and the position information; a reception unit that receives detection area adjustment information to adjust the detection area; a detection area adjustment unit that, upon receiving the detection area adjustment information, adjusts the detection area using the detection area adjustment information the next time the device projects the detection light; and a housing unit for attachment to an object to be attached.

[0061] This allows the detection area to be adjusted after determining the shape of the attachment object and whether or not there is interference with the detection area, thereby preventing the detection of unintended objects.

[0062] In the object detection sensor unit according to the present invention, the detection area adjustment section adjusts the detection area to reduce it or set it to 0 (zero).

[0063] This makes it possible to easily adjust the detection area and prevent unintended detection of objects.

[0064] In the object detection sensor unit according to the present invention, the movement information acquisition section is a three-axis acceleration sensor.

[0065] This makes it possible to easily estimate the shape of the attachment object and the detection area.

[0066] The object detection control device according to the present invention includes an object detection sensor unit that detects surrounding objects by projecting predetermined detection light onto a predetermined detection area and receiving reflected light of the detection light, and converts the detection result into detection result information, a movement information acquisition unit that acquires movement information that indicates its own movement state, a transmission unit that transmits the detection result information and the position information, a reception unit that receives detection area adjustment information to adjust the detection area, a detection area adjustment unit that, upon receiving the detection area adjustment information, adjusts the detection area using the detection area adjustment information when the detection light is next projected, and a housing unit for attachment to an object to be attached. a shape estimation unit that estimates the shape of the object to be attached using the received movement information; a detection area interference determination unit that estimates the detection area of ​​the object detection sensor unit and determines whether the estimated detection area interferes with the estimated shape of the object to be attached; a detection area adjustment information generation unit that generates detection area adjustment information to adjust the detection area when it is determined that the estimated detection area interferes with the estimated shape of the object to be attached; and a detection area adjustment information transmission unit that transmits the generated detection area adjustment information to the object detection sensor unit that forms the detection area that interferes with the estimated shape of the object to be attached.

[0067] This allows the detection area to be adjusted after determining the shape of the attachment object and whether or not there is interference with the detection area, thereby preventing the detection of unintended objects.

[0068] In the object detection control device according to the present invention, the detection area adjustment information generation unit generates the detection area adjustment information to reduce the detection area or adjust it to 0 (zero).

[0069] This makes it possible to easily adjust the detection area and prevent unintended detection of objects.

[0070] In the object detection control device of the present invention, the detection area adjustment information generation unit generates the detection area adjustment information that shortens the light reception waiting time that enables the reflected light to be received in the object detection sensor unit of the object detection sensor unit.

[0071] This allows the detection area to be easily adjusted.

[0072] The detection area adjustment program according to the present invention comprises: a detection area adjustment program that causes a computer to operate as an object detection control device that transmits detection area adjustment information to an object detection sensor unit that has an object detection sensor unit that detects surrounding objects by projecting predetermined detection light onto a predetermined detection area and receiving reflected light of the detection light, and converts the detection result into detection result information; a movement information acquisition unit that acquires movement information that indicates its own movement state; a transmission unit that transmits the detection result information and the position information; a reception unit that receives detection area adjustment information to adjust the detection area; a detection area adjustment unit that, upon receiving the detection area adjustment information, adjusts the detection area using the detection area adjustment information when the detection light is next projected; and a housing unit for attachment to an object to be attached, The detection area adjustment program causes the computer to operate as a receiving unit that receives the detection result information and the movement information, a shape estimation unit that uses the received movement information to estimate the shape of the attachment target, a detection area interference judgment unit that estimates the detection area of ​​the object detection sensor unit and determines whether the estimated detection area interferes with the estimated shape of the attachment target, a detection area adjustment information generation unit that generates detection area adjustment information to adjust the detection area when it is determined that the estimated detection area interferes with the estimated shape of the attachment target, and a detection area adjustment information transmission unit that transmits the generated detection area adjustment information to the object detection sensor unit that forms the detection area that interferes with the estimated shape of the attachment target.

[0073] This allows the detection area to be adjusted after determining the shape of the attachment object and whether or not there is interference with the detection area, thereby preventing the detection of unintended objects. [Brief explanation of the drawings]

[0074] [Figure 1] 1 is a diagram showing an object detection device 10 which is an embodiment of an object detection device according to the present invention. [Figure 2] FIG. 2 is a diagram illustrating a hardware configuration of an object detection sensor unit 13. [Figure 3] FIG. 2 is a diagram showing a sensor arrangement flexible member 15. [Figure 4] FIG. 2 is a diagram illustrating a hardware configuration of a control unit 17. [Figure 5] 1 shows an example of installation of the object detection device 10. [Figure 6] 1 is a diagram showing a hardware configuration of an object detection device 20 which is an embodiment of an object detection device according to the present invention. [Figure 7] 2 is a diagram showing an object detection sensor unit 21 of the object detection device 20. FIG. [Figure 8] 1 is a diagram showing a hardware configuration of an object detection device 30 which is an embodiment of an object detection device according to the present invention. [Figure 9] 2 is a diagram showing a hardware configuration of an object detection sensor unit 31 of an object detection device 30. FIG. [Figure 10] FIG. 10 is a diagram showing another embodiment of the object detection device. [Figure 11] FIG. 10 is a diagram showing another embodiment of the object detection device. [Figure 12] FIG. 1 is a diagram illustrating a conventional object detection device. [Figure 13] 1 is a diagram showing an object detection device 40 according to an embodiment of the present invention in a linear state. [Figure 14] FIG. 10 is a diagram showing the object detection device 40 in a linear state. [Figure 15] FIG. 10 is a diagram showing the object detection device 40 in a ring state. [Figure 16] FIG. 10 is a perspective view of the unit arrangement section 433 as seen from above. [Figure 17] A perspective view of the unit placement section 433 as seen from the bottom side. [Figure 18]10 is a perspective view of the inter-sensor connection line protection unit 49 as seen from above. FIG. [Figure 19] 10 is a perspective view of the inter-sensor connection line protection section 49 as seen from the bottom side. FIG. [Figure 20] 1 is a diagram showing a hardware configuration of an object detection device 50 which is an embodiment of an object detection device according to the present invention. [Figure 21] FIG. 2 is a diagram showing an object detection sensor unit 51. [Figure 22] FIG. 2 is a diagram showing an object detection sensor unit 51. [Figure 23] FIG. 10 is a diagram showing an inter-sensor connection line protector 59. [Figure 24] 10 is a diagram showing a cross section of the inter-sensor connection line protection unit 59. FIG. [Figure 25] 1 is a diagram showing a hardware configuration of an object detection device 60 which is an embodiment of an object detection device according to the present invention. [Figure 26] FIG. 10 is a diagram showing an inter-sensor connection line protector 69. [Figure 27] FIG. 2 is a diagram showing an object detection sensor unit 61. [Figure 28] 1 is a diagram showing an object detection device X10 which is an embodiment of an object detection device according to the present invention. [Figure 29] FIG. 2 is a diagram showing the appearance of the object detection sensor unit X11. [Figure 30] FIG. 2 is a diagram showing the inside of the object detection sensor unit X11. [Figure 31] FIG. 2 is a diagram illustrating a hardware configuration of a control unit X19. [Figure 32] 1 shows an example of installation of the object detection device X10. [Figure 33] 1 is a diagram showing an object detection device X20 which is an embodiment of the object detection device according to the present invention. [Figure 34] FIG. 2 is a diagram showing the appearance of the object detection sensor unit X21. [Figure 35] FIG. 2 is a diagram showing the inside of the object detection sensor unit X21. [Figure 36] 1 shows an example of installation of the object detection device X20. [Figure 37]1 is a diagram showing the appearance of an object detection sensor unit X31 of an object detection device X30 which is an embodiment of an object detection device according to the present invention. [Figure 38] FIG. 2 is a diagram showing the inside of the object detection sensor unit X31. [Figure 39] FIG. 10 is a diagram showing another embodiment of the object detection device. [Figure 40] FIG. 10 is a diagram showing another embodiment of the object detection device. [Figure 41] FIG. 10 is a diagram showing another embodiment of the object detection device. [Figure 42] FIG. 10 is a diagram showing another embodiment of the object detection device. [Figure 43] FIG. 10 is a diagram showing another embodiment of the object detection device. [Figure 44] 1 is a diagram showing an object detection system 100 as an embodiment of an object detection system according to the present invention. [Figure 45] 1 is a diagram showing the appearance of an object detection sensor unit 110. FIG. [Figure 46] 2 is a diagram showing the inside of a part of the object detection sensor unit 110. FIG. [Figure 47] 1 is a diagram showing a housing part 119 of the object detection sensor unit 110. FIG. [Figure 48] 2 is a diagram illustrating a hardware configuration of a first object detection sensor unit 111. FIG. [Figure 49] 10 is a diagram illustrating a hardware configuration of a second object detection sensor unit 113. FIG. [Figure 50] FIG. 2 is a diagram illustrating a hardware configuration of a control unit 170. [Figure 51] FIG. 2 is a diagram showing the initial state of the industrial robot RBT to which the device is to be attached. [Figure 52] 10 is a flowchart showing the operation of the control unit 170. [Figure 53] 10 is a flowchart showing the operation of the control unit 170. [Figure 54] 10 is a flowchart showing the operation of the control unit 170. [Figure 55] FIG. 10 is a diagram showing the state of the industrial robot RBT to which the device is to be attached after it has operated for a predetermined period of time. [Figure 56] FIG. 10 is a diagram showing the state of a detection area. [Figure 57] FIG. 10 is a diagram showing the state of a detection area. [Figure 58] 10 is a flowchart showing the operation of the first object detection sensor unit 111. [Figure 59] 10 is a flowchart showing the operation of the second object detection sensor unit 113. [Figure 60] FIG. 10 is a diagram showing another embodiment of the object detection system according to the present invention. [Figure 61] FIG. 10 is a diagram showing another embodiment of the object detection system according to the present invention. [Figure 62] FIG. 10 is a diagram showing another embodiment of the object detection system according to the present invention. [Figure 63] FIG. 10 is a diagram showing another embodiment of the object detection system according to the present invention. [Figure 64] FIG. 10 is a diagram showing another embodiment of the object detection system according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0075] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. [Example]

[0076] An object detection device according to the present invention will be described using an object detection device 10 shown in Fig. 1 as an example. The object detection device 10 detects whether or not an object is present in the surrounding area, and performs a predetermined operation based on the object detection result.

[0077] 1. Hardware Configuration The object detection device 10 includes an object detection sensor unit 11, a control unit 17, and a connection harness 19. The object detection sensor unit 11 includes a plurality of object detection sensor sections 13 and a flexible sensor arrangement member 15.

[0078] The object detection sensor unit 13 detects whether or not an object is present by projecting a predetermined light as detection light and receiving the reflected detection light. The hardware configuration of the object detection sensor unit 13 is shown in FIG.

[0079] The object detection sensor unit 13 includes a light-emitting element 13a, a light-emitting lens 13b, a light-receiving element 13c, and a sensor communication circuit 13d. The light-emitting element 13a emits predetermined detection light, such as near-infrared light. The light-emitting lens 13b diffuses the detection light emitted by the light-emitting element 13a into a predetermined range (detection region R13). For example, a cylindrical lens can be used to form a detection region that extends linearly in a predetermined direction. The shape and characteristics of the light-emitting lens 13b may be appropriately selected to prevent erroneous detection of an object on which the object detection sensor unit 13 is to be placed, such as an industrial robot. The light-receiving element 13c receives the detection light emitted by the light-emitting element 13a that is reflected by an object.

[0080] The light-emitting element 13a may be, for example, a near-infrared LED (Light Emitting Diode). The light-receiving element 13c may be, for example, a phototransistor, a photodiode, or a light-receiving element with a built-in amplifier circuit. When a photodiode is used, an amplifier circuit and a filter circuit may be arranged together with the light-receiving element 13c.

[0081] The sensor communication circuit 13d is connected to the sensor control communication circuit 17g of the control unit 17, enabling communication between the object detection sensor unit 13 and the control unit 17. The sensor communication circuit 13d of each object detection sensor unit 13 is connected to the control unit 17 directly, that is, in parallel.

[0082] Returning to FIG. 1, the sensor placement flexible member 15 is a flexible member that can be positioned along the surface of the object to which it is attached. The sensor placement flexible member 15 can be formed from a thin rubber plate, for example. A plan view of the sensor placement flexible member 15 on which the object detection sensor units 13 are positioned is shown in FIG. 3A. The sensor placement flexible member 15 has a strip shape, i.e., a long, narrow rectangle. The sensor placement flexible member 15 has multiple object detection sensor units 13 arranged in a straight line along the long axis J15 of the strip shape. The object detection sensor units 13 are arranged at equal intervals on the sensor placement flexible member 15. The object detection sensor units 13 are fixed to the sensor placement flexible member 15 by a predetermined fixing means, such as a predetermined fixing member, adhesive, or screw.

[0083] 3B, a band-shaped detection region R11 is formed on the sensor arrangement flexible member 15 by the detection regions R13 formed by the object detection sensor units 13 linearly arranged on the sensor arrangement flexible member 15. In other words, a band-shaped detection region R13 is formed on the band-shaped sensor arrangement flexible member 15.

[0084] Returning to Fig. 1, the control unit 17 receives sensor detection information from each object detection sensor unit 13 via the connection harness 19. The control unit 17 determines whether or not an object is present around the object detection sensor unit 13 based on the received sensor detection information and sensor connection information that indicates the connection relationships between each object detection sensor unit 13 and / or the arrangement positions of the connection relationships between each object detection sensor unit 13 and the control unit 17. The sensor connection information is stored in advance in a storage means such as a predetermined memory.

[0085] The hardware configuration of the control unit 17 will be described with reference to Fig. 4. The control unit 17 has a CPU 17a, a memory 17b, a sensor control communication circuit 17g, and an operation control communication circuit 17h.

[0086] The CPU 17a performs processing based on the operating system (OS), sensor control program, and other applications stored in the memory 17b. The memory 17b provides a working area for the CPU 17a, and also stores and holds the operating system (OS), sensor control program, and other application programs, as well as various data.

[0087] The sensor control communication circuit 17g is connected to the sensor communication circuit 13d (see FIG. 2) of the object detection sensor unit 13 via a connection harness 19 (see FIG. 1), and transmits and receives information therebetween. The sensor control communication circuit 17g is connected directly, that is, in parallel, to each of the object detection sensor units 13. The operation control communication circuit 17h is connected to an object whose operation is to be controlled based on the presence of an object detected by the object detection sensor unit 11, and transmits and receives information therebetween.

[0088] 1, the connection harness 19 directly connects each object detection sensor unit 13 to the control unit 17. In other words, the connection harness 19 is a connection line for connecting each object detection sensor unit 13 to the control unit 17 in parallel.

[0089] Second usage example As an example of how the object detection device 10 is used, FIG. 5 shows a state in which it is placed on the outer surface of an industrial robot. The industrial robot RBT is a robot with seven movable axes. The industrial robot RBT has arms AM1 to AM7, movable rotary joints J1 to J13, a base B1, and a hand H1. Object detection sensor units 11 of the object detection device 10 are placed on the outer periphery of each of the arms AM3, AM5, and the base B1. The three object detection sensor units 11 placed on the arms AM3, AM5, and the base B1 are connected to a control unit 17. The control unit 17 is also connected to a power source (not shown) that operates the movable rotary joints J1 to J13 of the industrial robot RBT. The control unit 17 controls the operation of the power source, thereby controlling the operation of the arms AM1 to AM7.

[0090] Each object detection sensor unit 11 is arranged with the sensor placement flexible member 15 along the outer periphery of each arm. By deforming the sensor placement flexible member 15, the object detection sensor unit 11 can be easily arranged regardless of the shape of the arms AM3 and AM5 where it is installed. In this way, since the object detection sensor unit 11 can be easily arranged on the outer surface of the device on which it is installed, it is easy to build a safety system that brings the industrial robot to an emergency stop when an object such as a person is detected near the robot. In other words, safety can be easily built into the device on which it is installed, such as an industrial robot.

[0091] Furthermore, since the plurality of object detection sensor units 13 are integrally arranged on the flexible sensor arrangement member 15, it can be easily handled, such as carried around.

[0092] 5, the object detection sensor units 11 can be arranged in any shape by adjusting the length of the sensor arrangement flexible member 15 and the number of object detection sensor sections 13 to be arranged. Therefore, the object detection sensor units 11 can be arranged on the surface of the rectangular pillar-shaped arms AM1 to AM7, the cylindrical base B1, etc., regardless of the shape of the installation location. This makes it possible to easily detect objects such as people within a required range, such as the entire periphery of the robot, thereby easily improving the safety of the installation target device.

[0093] Furthermore, even if there is an obstacle between the arms AM1 to AM7 on which the object detection sensor units 11 are arranged, such as the movable rotary joints J1 to J13, the object detection sensor units 11 can be arranged while avoiding the obstacle by adjusting the length of the sensor arrangement flexible member 15 and the number of arranged object detection sensor sections 13. In this way, the object detection device 10 allows the object detection sensor units 11 to be arranged freely regardless of the shape of the object to be arranged.

[0094] Furthermore, in the object detection device 10, the detection area R11 is formed on the sensor placement flexible member 15 (see Figure 3), so it is possible to grasp the area in which the detection area R11 is formed along the shape of the sensor placement flexible member 15, and therefore the detection area R11 of the object detection device 10 can be easily formed in the desired area. [Example]

[0095] In the object detection sensor unit 11 in the object detection device 10 according to the first embodiment described above, the object detection sensor section 13 is arranged on the sensor arrangement flexible member 15. On the other hand, the object detection sensor unit 21 in the object detection device 20 according to the present embodiment uses a sensor arrangement flexible member 25 having a sensor arrangement member 251 on which the object detection sensor section 13 is arranged and an intermediate flexible member 253 that connects the sensor arrangement member 251. Note that, in the following, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0096] 1. Hardware Configuration The hardware configuration of the object detection device 20 will be described with reference to Fig. 6. The object detection device 20 has an object detection sensor unit 21, a control unit 17, and a connection harness 19.

[0097] The hardware configuration of the sensor placement flexible member 25 will be described with reference to FIG. 7 . The object detection sensor unit 21 has a plurality of object detection sensor sections 13 and a sensor placement flexible member 25. The sensor placement flexible member 25 has a sensor placement member 251 and an intermediate flexible member 253. The sensor placement member 251 has a rectangular plate shape, and the object detection sensor section 13 is placed thereon. The intermediate flexible member 253 is placed between the sensor placement members 251 and connects the sensor placement members 251 together. The intermediate flexible member 253 has a belt 253a and an extension / retraction mechanism 253b. The belt 253a is flexible and is made of fabric, such as that used in the shoulder strap of a bag. The extension / retraction mechanism 253b adjusts the length of the belt 253a between adjacent sensor placement members 251. For example, the extension / retraction mechanism 253b may be a length adjustment mechanism, such as that used in the shoulder strap of a bag.

[0098] By forming sensor placement flexible member 25 using sensor placement members 251 and intermediate flexible members 253, sensor placement flexible member 25 as a whole has flexibility and can be placed along the surface of the object to which sensor placement flexible member 25 is attached. Furthermore, by using length-adjustable extension mechanism 253b, the length between adjacent sensor placement members 251 can be adjusted, allowing object detection sensor unit 13 to be placed in a desired position. Furthermore, the overall length of sensor placement flexible member 25 can be adjusted by increasing or decreasing the number of sensor placement members 251 and intermediate flexible members 253, making it easy to prepare sensor placement flexible member 25s that suit the size and length of the object to be placed.

[0099] The object detection sensor units 13 are connected to the control unit 17 in parallel using a connection harness 19 (see FIG. 6). [Example]

[0100] In the object detection sensor unit 21 in the object detection device 20 according to the second embodiment described above, the sensor placement flexible member 25 is given flexibility using the sensor placement member 251 and intermediate flexible member 253, and is placed along the surface of the object to be attached. On the other hand, the object detection sensor unit 31 in the object detection device 30 according to the present embodiment uses a sensor placement flexible member 35 that connects a plurality of unit flexible members 351. Note that, in the following, the same components as those in the first and second embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0101] 1. Hardware Configuration The hardware configuration of the object detection device 30 will be described with reference to Fig. 8. The object detection device 30 has an object detection sensor unit 31, a control unit 17, and a connection harness 19.

[0102] The hardware configuration of the object detection sensor unit 31 will be described with reference to Fig. 9. The object detection sensor unit 31 has a plurality of object detection sensor sections 13 and a sensor arrangement flexible member 35. The sensor arrangement flexible member 35 has a plurality of unit flexible members 351. Each unit flexible member 351 has a rectangular plate shape, and the object detection sensor sections 13 are arranged on it. Each unit flexible member 351 also has a connecting mechanism for connecting to other unit flexible members 351 located adjacently. As the connecting mechanism, for example, a connecting mechanism of an endless track belt called a crawler or caterpillar is used.

[0103] By forming the sensor-positioning flexible member 35 using unit flexible members 351, flexibility is imparted to the sensor-positioning flexible member 35, allowing the sensor-positioning flexible member 35 to be positioned along the surface of the object. Furthermore, the number of unit flexible members 351 to be connected can be increased or decreased, making it easy to change the overall length of the sensor-positioning flexible member 35. This makes it easy to prepare a sensor-positioning flexible member 35 that matches the size and shape of the object.

[0104] The object detection sensor units 13 are connected in parallel to the control unit 17 via a connection harness 19 (see FIG. 8). [Example]

[0105] In the object detection sensor unit 11 in the object detection device 10 according to the first embodiment described above, the object detection sensor sections 13 arranged on the flexible sensor arrangement member 15 are connected in parallel to the control section 17. On the other hand, in the object detection device 40 according to the present embodiment, each object detection sensor section 13 is cascade-connected to an adjacent object detection sensor section 13 by a flexible connecting wire, and the connecting wires between the object detection sensor sections 13 are protected. Note that, in the following, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0106] 1. Hardware Configuration The hardware configuration of the object detection device 40 will be described using Figs. 13 to 15. The object detection sensor unit 41 (described later) of the object detection device 40 has a linear state (see Figs. 13 and 14) in which a sensor arrangement flexible member 45 (described later) is arranged in a straight line, and a ring state (see Fig. 15) in which both ends of the sensor arrangement flexible member 45 are connected. Fig. 13 shows a state in which an inter-sensor connection line protector 49 is attached in the linear state, and Fig. 14 shows a state in which the inter-sensor connection line protector 49 has been removed. Note that Figs. 13 and 14 show only one end side of the object detection sensor unit 41.

[0107] 13, the object detection device 40 includes an object detection sensor unit 41, a control unit 17, and a connection harness 19. The object detection sensor unit 41 includes a plurality of object detection sensor units 43, a flexible sensor placement member 45, and an inter-sensor connection line protector 49. Furthermore, as shown in FIG. 14, the object detection sensor unit 41 includes a plurality of inter-sensor connection lines 47.

[0108] 13, the object detection sensor unit 43 has a sensor board 431 and a unit arrangement unit 433. The sensor board 431 is a circuit board, and has a light-emitting element 13a, a light-emitting lens 13b, a light-receiving element 13c, and a sensor communication circuit 13d (see FIG. 2 for all of the above).

[0109] FIG. 16 shows a perspective view of the unit mounting section 433 from above, and FIG. 17 shows a perspective view of the unit mounting section 433 from below. As shown in FIG. 16, the unit mounting section 433 has a unit protective housing section 433a and a sensor mounting flexible member locking section 433b. The unit protective housing section 433a is a case that houses the sensor board 431. The unit protective housing section 433a has an internal space 433a1 for mounting the sensor board, a light-emitting opening 433a2, a light-receiving opening 433a3, and an opening 433a4 for an inter-sensor connecting line. Of the object detection sensor sections 43 connected to each other, one located at the end further has a connection harness opening 433a5 (see FIG. 15) for connecting the connection harness 19 for connection to the control section 17 to the unit protective housing section 433a.

[0110] The sensor board arrangement internal space 433a1 is a space for arranging the sensor board 431. The light-emitting opening 433a2 is formed corresponding to the arrangement positions of the light-emitting element 13a and the light-emitting lens 13b (see FIG. 2) on the sensor board 431 arranged in the sensor board arrangement internal space 433a1. The sensor board 431 emits detection light through the light-emitting opening 433a2. The light-receiving opening 433a3 is formed corresponding to the arrangement position of the light-receiving element 13c (see FIG. 2) on the sensor board 431 arranged in the sensor board arrangement internal space 433a1. The sensor board 431 receives reflected light of the emitted detection light through the light-receiving opening 433a3. The sensor connecting line opening 433a4 is formed corresponding to the arrangement position of the sensor communication circuit 13d (see FIG. 2) on the sensor board 431 arranged in the sensor board arrangement internal space 433a1. The sensor board 431 is connected to adjacent other sensor boards 431 by inter-sensor connection lines 47 (described later) via the inter-sensor connection line openings 433a4. By making the upper surface of the unit protective housing part 433a parallel to the light-emitting surface of the light-emitting element 13a and the light-receiving surface of the light-receiving element 13c, it is possible to prevent the light-emitting element 13a from emitting detection light and the light-receiving element 13c from receiving reflected light.

[0111] The sensor placement flexible member locking portion 433b is formed to protrude from the lower portion of the unit protective housing portion 433a, i.e., from the surface opposite to the surface of the unit protective housing portion 433a where the light-emitting opening 433a2 and the light-receiving opening 433a3 are formed. As shown in FIG. 17, the sensor placement flexible member locking portion 433b has a convex shape with an L-shaped cross section. Two sensor placement flexible member locking portions 433b are formed as a pair, with their L-shaped cross-sectional ends facing each other. The sensor placement flexible member locking portion 433b has a flexible member insertion space 433b1 and a flexible member arrangement space 433b2. The flexible member insertion space 433b1 is a space for inserting the sensor placement flexible member 45 into the flexible member arrangement space 433b2. The flexible member arrangement space 433b2 is a space for arranging the sensor placement flexible member 45. The sensor arrangement flexible member 45 arranged in the flexible member arrangement space 433b2 is fixed to the unit protection housing portion 433a by the sensor arrangement flexible member locking portion 433b.

[0112] The sensor arrangement flexible member 45 holds the object detection sensor unit 43 and the inter-sensor connection line protection unit 49 in a straight line, integrating them together. The sensor arrangement flexible member 45 is a flexible strip-shaped member. For example, a double-sided fastener can be used as the sensor arrangement flexible member 45.

[0113] By joining one end 45T1 (see FIG. 13) of the sensor placement flexible member 45 with the other end 45T2 (not shown), the object detection sensor unit 41 is formed into a ring shape, which is then wrapped around and fixed to an attachment target, such as the arm of an industrial robot, as shown in FIG. 15. The length of the sensor placement flexible member 45, the number of object detection sensor units 43 attached to the sensor placement flexible member 45, and the spacing (pitch) between adjacent object detection sensor units 43 are adjusted depending on conditions such as the size and detection range of the attachment target.

[0114] As shown in Fig. 14, the sensor connection lines 47 are electrical connection lines for cascading adjacent sensor substrates 431. The sensor connection lines 47 are flexible and absorb positional deviations of the object detection sensor units 43. The sensor connection lines 47 are arranged along the flexible sensor arrangement member 45. Note that although the sensor connection lines 47 are drawn straight in Fig. 14, they have a certain amount of slack or a certain amount of redundancy due to being bellows-shaped or the like.

[0115] FIG. 18 shows a perspective view of the sensor-to-sensor connection line protection portion 49 as viewed from the top side, and FIG. 19 shows a perspective view of the sensor-to-sensor connection line protection portion 49 as viewed from the bottom side. As shown in FIG. 18, the sensor-to-sensor connection line protection portion 49 has a sensor-to-sensor connection line covering portion 49a and a sensor placement flexible member locking portion 49b. The sensor-to-sensor connection line covering portion 49a is formed so as to cover the sensor-to-sensor connection line 47 connecting the sensor boards 431, that is, on the upper part of the sensor-to-sensor connection line 47. The sensor placement flexible member locking portion 49b is formed so as to protrude from the lower part of the sensor connection line covering portion 49a. The sensor placement flexible member locking portion 49b has a convex shape with an L-shaped cross section. Two sensor placement flexible member locking portions 49b are formed as a pair, with the ends of each L-shaped cross section facing each other.

[0116] The sensor-to-sensor connection line protection section 49 has a flexible member insertion space 49b1 and a sensor-to-sensor connection line / flexible member arrangement space 49b2. The flexible member insertion space 49b1 is a space for inserting the sensor-to-sensor connection line 47 and the sensor-mounting flexible member 45 into the sensor-to-sensor connection line / flexible member arrangement space 49b2. The sensor-to-sensor connection line / flexible member arrangement space 49b2 is a space for arranging the sensor-to-sensor connection line 47 and the sensor-mounting flexible member 45. The sensor-to-sensor connection line 47 arranged in the sensor-to-sensor connection line / flexible member arrangement space 49b2 is protected by the sensor-to-sensor connection line covering section 49a. This prevents the sensor-to-sensor connection line 47 from being damaged by external forces. The sensor-to-sensor connection line / flexible member 45 arranged in the sensor-to-sensor connection line / flexible member arrangement space 49b2 is fixed to the sensor-to-sensor connection line protection section 49 by the sensor-mounting flexible member locking section 49b.

[0117] Furthermore, since the inter-sensor connection line protection portions 49 are formed corresponding to the inter-sensor connection lines 47 that connect the sensor substrates 431 together, the flexibility of the sensor placement flexible member 45 is not impaired. [Example]

[0118] In the object detection device 40 according to the fourth embodiment described above, the sensor-to-sensor connection line protector 49 is formed for each sensor-to-sensor connection line 47 that connects the sensor substrates 431, whereas in the object detection device 50 according to the present embodiment, the sensor-to-sensor connection line protector 49 integrally covers a plurality of sensor-to-sensor connection lines 47. Note that, in the following, the same components as those in the fourth embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0119] 1. Hardware Configuration The hardware configuration of the object detection device 50 will be described with reference to Fig. 20. The object detection device 50 includes an object detection sensor unit 51, a control unit 17, and a connection harness 19.

[0120] The object detection sensor unit 51 has a plurality of object detection sensor units 43, a sensor arrangement flexible member 45 (see FIG. 22), sensor connection lines 47 (see FIG. 22), and a sensor connection line protection unit 59. The sensor connection line protection unit 59 has a hollow cylindrical shape. The sensor connection line protection unit 59 has a first housing 591, a second housing 592, and a hinge unit 593. The first housing 591 and the second housing 592 are rotated around the hinge unit 593 in the directions of arrows R21 and R22, respectively, to arrange the object detection sensor units 43 and the like in the internal space of the hollow cylindrical shape.

[0121] First housing 591 and second housing 592 each have a hollow semi-cylindrical shape formed by dividing a hollow cylinder along its axis. First housing 591 and second housing 592 are configured to engage with each other at ends different from hinge portion 593 and become one unit.

[0122] FIG. 21 shows a state in which one end 591d of first housing 591 and one end 592d of second housing 592 have been removed. First housing 591 has sensor-to-sensor connecting wire coating 591a, end 591b along the end face of the hollow cylindrical shape, inner circumferential portion 591c along the inner circumferential surface of the hollow cylindrical shape, and end 591d positioned opposite end 591b. End 591b and inner circumferential portion 591c are integrally formed. First housing 591 is formed by fitting sensor-to-sensor connecting wire coating 591a and end 591d into end 591b and inner circumferential portion 591c, which are integrally formed. The same applies to second housing 592.

[0123] Fig. 22 shows a state in which sensor-to-sensor connecting wire coating portion 591a has been removed from first housing 591 and sensor-to-sensor connecting wire coating portion 592a has been removed from second housing 592 shown in Fig. 21. As is clear from Fig. 21 and Fig. 22, sensor-to-sensor connecting wire coating portions 591a and 592a are formed in positions that cover sensor-to-sensor connecting wire 47 that connects sensor boards 431 (see Fig. 13).

[0124] 23 shows a state in which the object detection sensor unit 43, the sensor placement flexible member 45, and the sensor connecting wire 47 have been removed from the sensor connecting wire protection unit 59 shown in FIG. 21. The sensor connecting wire covering unit 591a has a two-part annular structure. The sensor connecting wire covering unit 591a has a sensor placement opening 591a1 for placing the object detection sensor unit 43. The portion of the sensor connecting wire covering unit 591a where the sensor placement opening 591a1 is not formed corresponds to a position that covers the sensor connecting wire 47 and has the function of protecting the sensor connecting wire 47.

[0125] The object detection sensor unit 43 is disposed in an internal space formed by the inter-sensor connecting wire cover 591a and the inner circumferential portion 591c. The position of the object detection sensor unit 43 relative to the inter-sensor connecting wire cover 591a is fixed by the engagement between the sensor disposition opening 591a1 and the object detection sensor unit 43. The same applies to the second housing.

[0126] In this way, by using the hollow cylindrical sensor connection line protection part 59, it is possible to prevent external forces from acting on the sensor connection lines 47. In other words, it is possible to prevent damage to the sensor connection lines 47. Furthermore, the sensor connection line protection part 59 can fix the shape of the object detection sensor unit 51 before attaching it to the attachment target, making it easy to attach it to the attachment target.

[0127] 24 , in the sensor-to-sensor connecting line protection unit 59, the distance L1 from the light emitting element 13 a and the light receiving element 13 c to the outer peripheral surface of the sensor-to-sensor connecting line covering portion 591 a is set to a distance that does not impair the measurement performance of the sensor, such as the detection area R13 preset in the object detection sensor unit 43 and the light receiving range R14 preset in the object detection sensor unit 43. In general, the distance L1 from the light emitting element 13 a and the light receiving element 13 c to the outer peripheral surface of the sensor-to-sensor connecting line covering portion 591 a is short, and this can be achieved by, for example, reducing the thickness of the sensor-to-sensor connecting line protection unit 59. The same applies to the second housing 592. [Example]

[0128] In the object detection device 50 according to the above-described fifth embodiment, the object detection sensor unit 43 having the unit arrangement portion 433 is arranged inside the inter-sensor connection line protection portion 59. On the other hand, in the object detection device 60 according to the present embodiment, the object detection sensor unit 63 not having the unit arrangement portion 433 is arranged inside the inter-sensor connection line protection portion 69. Note that, in the following, the same components as those in the first to fifth embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0129] 1. Hardware Configuration The hardware configuration of the object detection device 60 will be described with reference to Fig. 25. The object detection device 60 has an object detection sensor unit 61, a control unit 17, and a connection harness 19.

[0130] The object detection sensor unit 61 has a plurality of object detection sensor units 63, inter-sensor connection lines 67 (see FIG. 27), and an inter-sensor connection line protector 69. The inter-sensor connection line protector 69 has a hollow cylindrical shape. The inter-sensor connection line protector 69 has a first housing 691, a second housing 692, and a hinge unit 593. The first housing 691 and the second housing 692 rotate around the hinge unit 593 in the directions of arrows R31 and R32, respectively, to form a space within the hollow cylindrical interior for inserting the object detection sensor units 63 and the sensor arrangement flexible member 65.

[0131] First housing 691 and second housing 692 each have a shape obtained by dividing a hollow cylinder along its axis. First housing 691 and second housing 692 are configured to engage with each other at ends different from hinge portion 593 and become one unit.

[0132] FIG. 26 shows the sensor-to-sensor connecting line protection unit 69 with one end 691d of the first housing 691 and one end 692d of the second housing 692 removed. The first housing 691 has an inter-sensor connecting line covering portion 691a, an end 691b along the end face of the hollow cylindrical shape, an inner circumferential portion 691c along the inner circumferential surface of the hollow cylindrical shape, and an end 691d (not shown in FIG. 26, see FIG. 25) positioned opposite end 691b. Note that end 691b and inner circumferential portion 691c are integrally formed. Furthermore, the first housing 691 is formed by fitting the inter-sensor connecting line covering portion 691a and end 691d into the integrally formed end 691b and inner circumferential portion 691c.

[0133] The inter-sensor connecting wire covering portion 691a has a light-emitting opening 691a1 so as not to obstruct the projection of detection light by the light-emitting element 13a of the object detection sensor portion 63, and a light-receiving opening 691a2 so as not to obstruct the reception of reflected light by the light-receiving element 13c.

[0134] The object detection sensor unit 63 is disposed in an internal space formed by the inter-sensor connection wire covering portion 691a and the inner periphery portion 691c.

[0135] Fig. 27 shows a state in which the inter-sensor connecting wire covering portion 691a is removed from the first housing 691 shown in Fig. 26. As shown in Fig. 27, the object detection sensor unit 63 is a circuit board, and has a sensor board 631, a light emitting element 13a, a light emitting lens 13b (not shown, see Fig. 2), a light receiving element 13c, and a sensor communication circuit 13d.

[0136] Adjacent sensor boards 631 are connected by inter-sensor connection wires 67. The inter-sensor connection wires 67 are connected to the sensor communication circuits 13d of the object detection sensor units 63 and have the function of electrically connecting adjacent object detection sensor units 63, and are flexible, so they also have the function of physically connecting adjacent sensor boards 631, which are the objects to which they are attached.

[0137] 25 and 27, the sensor-to-sensor connecting line covering portion 691a is formed in a position that covers the object detection sensor unit 63 (see FIG. 27), and is also formed in a position that covers the sensor-to-sensor connecting line 67. The portion of the sensor-to-sensor connecting line covering portion 691a other than the position that covers the object detection sensor unit 63 functions to protect the sensor-to-sensor connecting line 67. By making the surface of the sensor-to-sensor connecting line covering portion 691a that covers the object detection sensor unit 63 (see FIG. 27) parallel to the light-emitting surface of the light-projecting element 13a and the light-receiving surface of the light-receiving element 13c, it is possible to prevent the light-projecting of the detection light by the light-projecting element 13a and the light-receiving of the reflected light by the light-receiving element 13c from being obstructed. The same applies to the second housing.

[0138] In this way, by using the hollow cylindrical sensor connection line protection part 69, it is possible to prevent external forces from acting on the sensor connection line 67. In other words, it is possible to prevent damage to the sensor connection line 67. Furthermore, with the sensor connection line protection part 69, the shape of the object detection sensor unit 63 can be fixed into a circular shape before the object detection sensor unit 63 is attached to an attachment target (for example, an industrial robot), so that the object detection sensor unit 63 can be easily attached to the attachment target. [Example]

[0139] An object detection device according to the present invention will be described using an object detection device X10 shown in Fig. 28 as an example of one embodiment. The object detection device X10 detects whether an object is present in a predetermined detection area and performs a predetermined operation based on the object detection result.

[0140] 1st configuration The configuration of the object detection device X10 will be described with reference to Fig. 28. The object detection device X10 has an object detection sensor unit X11 and a control unit X19. In the object detection device X10, two object detection sensor units X11 are arranged as a pair facing each other. An object is detected by determining whether detection light emitted from one object detection sensor unit X11 is received by the other object detection sensor unit X11.

[0141] The appearance of the object detection sensor unit 11 is shown in Fig. 29. The object detection sensor unit X11 has a housing X13, an axial light-projecting unit X15 (described later), and an axial light-receiving unit X17 (described later). The axial light-projecting unit X15 and the axial light-receiving unit X17 are arranged inside the housing X13. The housing X13 has a thin, hollow cylindrical shape.

[0142] The housing X13 has a first housing 131, a second housing 132, and a hinge 133. The first housing 131 and the second housing 132 rotate around the hinge 133 in the directions of arrows A21 and A22, respectively.

[0143] First housing 131 and second housing 132 each have a hollow semi-cylindrical shape formed by dividing a hollow cylinder into two halves. First housing 131 and second housing 132 are configured to engage with each other at ends different from hinge 133 and become one body.

[0144] The first housing 131 has an outer circumferential portion 131a, a light emitting and receiving opening forming end portion 131b, an end portion 131c positioned opposite the light emitting and receiving opening forming end portion 131b, and an inner circumferential portion 131d. The light emitting and receiving opening forming end portion 131b, the end portion 131c, and the inner circumferential portion 131d are integrally formed. The first housing 131 is formed by fitting the outer circumferential portion 131a into the light emitting and receiving opening forming end portion 131b, the end portion 131c, and the inner circumferential portion 131d, which are integrally formed.

[0145] The outer peripheral portion 131a is formed in a thin cylindrical shape that corresponds to the outer peripheral surface of the hollow cylindrical shape.

[0146] The light emitting and receiving opening forming end portion 131b is formed as a ring-shaped lid that closes one end face of the hollow cylindrical shape. The light emitting and receiving opening forming end portion 131b has an end face P131b whose normal direction N13 is a direction that intersects with the normal direction of the surface of the installation object when the object detection sensor unit X11 is installed on the installation object, for example, the arm of an industrial robot. The light emitting and receiving opening forming end portion 131b has a plurality of light emitting and receiving openings R131a. The light emitting and receiving openings R131a are formed at predetermined intervals.

[0147] The end portion 131c is formed as a ring-shaped lid that closes the other end face of the hollow cylindrical shape. The end portion 131c is formed to face the light emitting and receiving opening forming end portion 131b across the outer peripheral portion 131a and the inner peripheral portion 131d.

[0148] The inner peripheral portion 131d is formed in a thin cylindrical shape corresponding to the inner peripheral surface of the hollow cylindrical shape.

[0149] The same applies to the second housing part 132.

[0150] By using the housing part X13, the object detection sensor unit X11 can be easily attached to an attachment object, for example, the arm of an industrial robot.

[0151] The internal structure of the object detection sensor unit X11 is shown in Figure 30. Figure 30 shows the object detection sensor unit X11 shown in Figure 29 with the outer peripheral portions 131a and 132a of the housing portion X13 removed. The axial light-projecting portion X15 projects predetermined detection light, for example, near-infrared light. The axial light-projecting portion X15 projects near-infrared light using, for example, a near-infrared LED (Light Emitting Diode). The axial light-projecting portion X15 projects the detection light to a predetermined range using a predetermined light-projecting lens or the like.

[0152] The axial light receiving unit X17 receives the detection light emitted from the axial light emitting unit X15. The axial light receiving unit X17 receives the detection light using, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, etc. When a photodiode is used, an amplifier circuit or a filter circuit may be provided.

[0153] The axial light-projecting unit X15 and the axial light-receiving unit X17 are each disposed on a predetermined substrate S. The substrate S at the end of a predetermined sensor communication line W is connected to a control unit X19 via a control unit connection line connector C using a control unit connection line (not shown).

[0154] The axial light-projecting units X15 and the axial light-receiving units X17 are alternately arranged inside the housing X13. The axial light-projecting unit X15 is arranged in alignment with the positions of the light-projecting and receiving openings R131a and R132a so that the detection light to be projected can be projected from the light-projecting and receiving openings R131a and R132a of the housing X13 toward the outside of the housing X13. That is, the axial light-projecting unit X15 projects the detection light along the normal direction N13 of the end face P131b, that is, the axial direction of the housing X13. The axial light-projecting unit X15 acquires light-projection control information indicating the light-projection timing from the control unit X19 and appropriately projects the detection light.

[0155] The axial light receiving unit X17 is disposed in alignment with the positions of the light emitting and receiving openings R131a and R132a of the housing X13 so that the projected detection light can be received through the light emitting and receiving openings R131a and R132a. That is, the axial light receiving unit X17 receives the detection light projected along the axial direction of the housing X13. The axial light receiving unit X17 transmits information indicating whether or not the detection light has been received to the control unit X19 as detection information. The axial light receiving unit X17 also acquires light receiving control information indicating the timing of receiving the detection light, and appropriately receives the detection light.

[0156] 28, by arranging two object detection sensor units X11 facing each other so that the detection light emitted by the axial light-emitting unit X15 of one object detection sensor unit X11 is received by the axial light-receiving unit X17 of the other object detection sensor unit X11, it is possible to detect objects in an area along the axial direction from one object detection sensor unit X11 to the other object detection sensor unit X11. For example, by installing the object detection sensor unit X11 on the arm of an industrial robot, it is possible to detect objects in an area along the arm. In other words, it is possible to detect objects in an area closer to the arm.

[0157] 28, the control unit X19 receives detection information from the object detection sensor unit X11. Based on the received detection information, the control unit X19 determines whether an object is present in the detection area. The control unit X19 also transmits light-projection control information to the axial light-projecting unit X15 and light-receiving control information to the axial light-receiving unit X17.

[0158] The control unit X19 determines that an object is present when the axial light receiving unit X17 is no longer able to receive the detection light, that is, when the detection light emitted from the axial light emitting unit X15 is blocked.

[0159] The hardware configuration of the control unit X19 will be described with reference to Fig. 31. The control unit 19 has a CPU 19a, a memory 19b, a sensor control communication circuit 19g, and an operation control communication circuit 19h.

[0160] The CPU 19a performs processing based on the operating system (OS), object detection program, and other applications stored in the memory 19b. The memory 19b provides a working area for the CPU 19a, and also stores and holds the operating system (OS), object detection program, and other application programs, as well as various data.

[0161] The sensor control communication circuit 19g is connected to the axial light-emitting unit X15 and the axial light-receiving unit X17 of the object detection sensor unit X11, and transmits and receives information therebetween. The operation control communication circuit 19h is connected to an object whose operation is to be controlled based on the presence of an object detected by the object detection sensor unit X11, and transmits and receives information therebetween.

[0162] As an example of use of the object detection device X10, a state in which it is placed on the outer surface of an industrial robot is shown in Fig. 32. The industrial robot RBT is a robot with three movable axes. The industrial robot RBT has arms AM11 to AM15. Arm AM11, AM13 A pair of object detection sensor units X11 of the object detection device X10 (see FIG. 28) are attached along the outer circumferential surface of each of the object detection sensor units X10 and the object detection sensor unit X11. The attachment positions of the object detection sensor units X11 are adjusted so that detection light emitted by the axial light-projecting unit X15 of one object detection sensor unit X11 is received by the axial light-receiving unit X17 of the other object detection sensor unit X11. The pair of object detection sensor units X11 are connected to a control unit X19 (see FIG. 28). The control unit X19 is also connected to a power source (not shown) that operates the arms AM11 to AM15 of the industrial robot RBT. When installing the pair of object detection devices X11, the positions of the axial light-projecting unit X15 and the axial light-receiving unit X17 can be aligned by aligning the positions of the hinge units 133.

[0163] In this way, since the object detection sensor unit X11 can be easily attached to the surface of the installation object, it is possible to easily build a safety system that brings the industrial robot to an emergency stop when an object such as a person is detected near the surface of the industrial robot. In other words, safety can be easily built into the installation object, such as an industrial robot.

[0164] Furthermore, since the multiple axial light-emitting units X15 and the axial light-receiving units X17 can be attached as a single unit, the device can be easily carried around and handled.

[0165] In addition, attach the object detection sensor unit X11. Arm AM11~AM13 Even if there is an obstacle between the object detection sensor units X11 and the object detection device X10, the obstacle can be avoided by adjusting the number of object detection sensor units X11 to be attached. In this way, the object detection device X10 allows the object detection sensor units X11 to be attached freely regardless of the shape of the object to be attached. [Example]

[0166] In the object detection device X10 according to the seventh embodiment described above, a pair of object detection sensor units X11 are arranged opposite each other at a predetermined distance, and an object is detected based on whether or not the detection light emitted by one object detection sensor unit X11 is received by the other object detection sensor unit X11. On the other hand, in the object detection device X20 according to the present embodiment, an object is detected based on whether or not the detection light emitted by the object detection sensor unit X21 is received by itself. Note that, hereinafter, the same components as those in the seventh embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0167] 1st configuration The configuration of the object detection device X20 will be described with reference to Fig. 33. The object detection device X20 has an object detection sensor unit X21, a control unit X19, and a reflecting unit X200. The object detection sensor unit X21 detects an object by reflecting detection light emitted by itself by the reflecting unit X200 and determining whether or not the detection light reflected by the reflecting unit X200 is received.

[0168] The appearance of the object detection sensor unit X21 is shown in Figure 34. The object detection sensor unit X21 has a housing part X23, an axial light-projecting part X15 (see Figure 35), and an axial light-receiving part X17 (see Figure 35). The axial light-projecting part X15 and the axial light-receiving part X17 are arranged inside the housing part X23. The housing part X23 has a thin hollow cylindrical shape.

[0169] The housing X23 has a first housing 231, a second housing 232, and a hinge 133. The first housing 231 and the second housing 232 rotate around the hinge 133 in the directions of arrows A71 and A72, respectively.

[0170] The first housing part 231 and the second housing part 232 each have a hollow semi-cylindrical shape obtained by dividing a hollow cylinder into two halves. The first housing part 231 and the second housing part 232 are configured to engage with each other at ends different from the hinge part 133 and become one body.

[0171] The first housing 231 has an outer circumferential portion 131a, a light emitting and receiving opening forming end portion 231b, an end portion 131c, and an inner circumferential portion 131d. The light emitting and receiving opening forming end portion 231b, the end portion 131c, and the inner circumferential portion 131d are integrally formed. The first housing 231 is formed by fitting the outer circumferential portion 131a into the light emitting and receiving opening forming end portion 231b, the end portion 131c, and the inner circumferential portion 131d, which are integrally formed.

[0172] The light emitting and receiving opening forming end 231b is formed as a ring-shaped lid that closes one end face of the hollow cylindrical shape. The light emitting and receiving opening forming end 231b has an end face P231b whose normal direction N13 is a direction that intersects with the normal direction of the surface of the object to which the object detection sensor unit X21 is attached, for example, when the object detection sensor unit X21 is attached to the object to be installed, such as the arm of an industrial robot.

[0173] The light emitting / receiving opening forming end portion 231b has a plurality of light emitting openings R231a and a plurality of light receiving openings R231b. One light emitting opening R231a and one light receiving opening R231b are paired and formed adjacent to each other. The pair of light emitting openings R231a and light receiving openings R231b are formed at a predetermined interval. The same applies to the second housing portion 232.

[0174] By using the housing part X23, the object detection sensor unit X21 can be easily attached to an attachment object, for example, the arm of an industrial robot.

[0175] The internal structure of the object detection sensor unit X21 is shown in Figure 35. Figure 35 shows the object detection sensor unit X21 shown in Figure 34 with outer peripheral portions 131a and 232 (not shown)a of the housing portion X23 removed. The axial light-projecting portion X15 projects predetermined detection light, for example, near-infrared light. The axial light-projecting portion X15 projects near-infrared light using, for example, a near-infrared LED (Light Emitting Diode). The axial light-projecting portion X15 projects the detection light to a predetermined range using a predetermined light-projecting lens or the like.

[0176] The axial light receiving unit X17 receives the detection light emitted from the axial light emitting unit X15. The axial light receiving unit X17 receives the detection light using, for example, a phototransistor, a photodiode, a light receiving element with a built-in amplifier circuit, etc. When a photodiode is used, an amplifier circuit or a filter circuit may be provided.

[0177] The axial light-projecting units X15 and the axial light-receiving units X17 are alternately arranged inside the housing X13. The axial light-projecting unit X15 is arranged in accordance with the positions of the light-projecting openings R231a and R232a so that the projected detection light can be projected from the light-projecting openings R231a and R232a of the housing X23 toward the outside of the housing X23. In other words, the axial light-projecting unit X15 projects the detection light along the axial direction of the housing X23. The axial light-projecting unit X15 acquires light-projection control information indicating the light-projection timing from the control unit X19 and projects the detection light as appropriate.

[0178] The axial light-receiving unit X17 is positioned to match the positions of the light-receiving openings R231b and R232b of the housing unit 23 so that it can receive reflected light of the emitted detection light through the light-receiving openings R231b and R232b of the housing unit 23. That is, the axial light-receiving unit X17 receives the detection light that is emitted from its paired axial light-projecting unit X15 along the axial direction of the housing unit X23, reflected by the reflecting unit X200, and reflected back along the axial direction of the housing unit X23. The axial light-receiving unit X17 transmits information indicating whether or not it has received the detection light to the control unit X19 as detection information. The axial light-receiving unit X17 also acquires light-receiving control information indicating the light-receiving timing at which it can receive the detection light emitted by its paired axial light-projecting unit X15, and receives the detection light as appropriate.

[0179] 33, the control unit X19 receives detection information from the object detection sensor unit X21. The control unit X19 determines whether or not an object is present in the detection area based on the received detection information. The control unit X19 also sequentially transmits light-projection control information to each axial light-projecting unit X15 to start light projection. The control unit X19 also transmits light-receiving control information to start light reception to the axial light-receiving unit X17 that is paired with the axial light-projecting unit X15 that transmitted the light-projection control information so that the paired axial light-projecting unit X15 can receive reflected light of the detection light projected.

[0180] The control unit X19 determines that an object is present when the axial light receiving unit X17 does not receive detection light, that is, when it does not receive reflected light of the detection light emitted from the axial light emitting unit X15.

[0181] The reflector X200 has a configuration similar to that of the housing X23 of the object detection sensor unit X21. However, the reflector X200 does not have the light-projecting openings R231a, R232a and the light-receiving openings R231b, R232b at the light-projecting / receiving opening forming ends 231b, 232b, and has a configuration similar to that of the ends 131c, 132c. Furthermore, the reflector X200 does not have internal circuits such as the axial light-projecting unit X15 and the axial light-receiving unit X17 inside.

[0182] 33, the object detection sensor unit X21 and the reflector X200 are mounted facing each other so that detection light emitted by the axial light-emitting unit X15 of the object detection sensor unit X21 is reflected by the reflector X200 and the reflected detection light is received by the axial light-receiving unit X17 of the object detection sensor unit X21. This makes it possible to detect objects in an area along the axial direction from the object detection sensor unit X21 to the reflector X200. For example, by installing the object detection sensor unit X21 on the arm of an industrial robot, objects can be detected in an area along the arm. In other words, objects in an area closer to the arm can be detected.

[0183] Second usage example As an example of use of the object detection device X20, FIG. 36 shows a state in which it is arranged on the outer surface of an industrial robot RBT. The object detection sensor unit X21 and reflector X200 of the object detection device X20 (see FIG. 28) are attached along the outer circumferential surface of each of the arms AM11 and AM13. The attachment positions of the object detection sensor unit X21 and the reflector X200 are adjusted so that the detection light emitted by the axial light-projecting unit 15 of the object detection sensor unit X21 is reflected by the reflector X200. The object detection sensor unit X21 is connected to a control unit X19 (see FIG. 33). The control unit X19 is also connected to a power source (not shown) that operates the arms AM11 to AM15 of the industrial robot RBT.

[0184] In this way, since the object detection sensor unit X21 can be easily attached to the surface of the installation object, it is possible to easily build a safety system that brings the industrial robot to an emergency stop when an object such as a person is detected near the robot. In other words, safety can be easily built into the installation object, such as an industrial robot.

[0185] Furthermore, since the multiple axial light-emitting units X15 and the axial light-receiving units X17 can be attached as a single unit, the device can be easily carried around and handled.

[0186] In addition, attach the object detection sensor unit X21. Arm AM11~AM13 Even if there is an obstacle between the object detection sensor units X21 and the reflecting units X200, the obstacle can be avoided by adjusting the number of object detection sensor units X21 and reflecting units X200 to be attached. In this way, in the object detection device X20, the object detection sensor units X21 can be attached freely regardless of the shape of the object to be attached.

[0187] Furthermore, in the object detection sensor unit X21, the positions of the detection light projection and reception at the axial light-projecting unit X15 and the axial light-receiving unit X17 are adjusted within the intended range of use, so that adjustment of the detection light projection and reception is required, making it easier to attach the object detection sensor unit X21 to the installation object. [Example]

[0188] In the object detection device X20 according to the above-described eighth embodiment, an object is detected along the axial direction of the object detection sensor unit X21. On the other hand, in the object detection device X30 according to the present embodiment, an object is detected not only along the axial direction but also in radial directions from the axis. Note that, in the following, the same reference numerals are used for the same configurations as those in the seventh and eighth embodiments, and detailed description thereof will be omitted.

[0189] 1st configuration The configuration of the object detection device X30 is the same as that of Example 8 (see FIG. 33). The object detection device X30 has an object detection sensor unit X31 that replaces the object detection sensor unit X21, a control unit X19, and a reflecting unit X200. The object detection sensor unit X31 detects an object in the axial direction by reflecting the detection light it emits with the reflecting unit X200 and determining whether or not it receives the detection light reflected by the reflecting unit X200, and also detects an object in the radial direction relative to the axis by determining whether or not it receives the detection light it emits.

[0190] The appearance of the object detection sensor unit X31 is shown in Figure 37. The object detection sensor unit X31 has a housing X33, an axial light-projecting unit X15 (see Figure 38), an axial light-receiving unit X17 (see Figure 38), a radial light-projecting unit X35 (see Figure 38), and a radial light-receiving unit X37 (see Figure 38). The axial light-projecting unit X15, the axial light-receiving unit X17, the radial light-projecting unit X35, and the radial light-receiving unit X37 are arranged inside the housing X33. The housing X33 has a thin, hollow cylindrical shape.

[0191] The housing X33 has a first housing 331, a second housing 332, and a hinge 133. The first housing 331 and the second housing 332 rotate around the hinge 133 in the directions of arrows A101 and A102, respectively.

[0192] The first housing part 331 and the second housing part 332 each have a hollow semi-cylindrical shape obtained by dividing a hollow cylinder into two halves. The first housing part 331 and the second housing part 332 are configured to engage with each other at an end different from the hinge part 133 and become one body.

[0193] The first housing part 331 has an outer peripheral part 331a, a light emitting and receiving opening forming end part 231b, an end part 131c, and an inner peripheral part 131d. The first housing part 331 is formed by fitting the outer peripheral part 331a into the light emitting and receiving opening forming end part 231b, the end part 131c, and the inner peripheral part 131d, which are integrally formed.

[0194] The outer peripheral portion 331a is formed as a thin cylindrical shape corresponding to the outer peripheral surface of the hollow cylindrical shape. The outer peripheral portion 331a has a plurality of radial direction light projection openings R331a and a plurality of radial direction light reception openings R331b. One radial direction light projection opening R331a and one radial direction light reception opening R331b are paired and formed adjacent to each other. The pair of radial direction light projection openings R331a and radial direction light reception openings R331b are formed at a predetermined interval. The above also applies to the second housing portion 332.

[0195] The internal structure of the object detection sensor unit X31 is shown in Figure 38. Figure 38 shows the object detection sensor unit X31 shown in Figure 37 with outer peripheral portions 331a and 332a (not shown) of the housing X33 removed. The radial light-projecting unit X35 projects predetermined detection light, for example, near-infrared light, similar to the axial light-projecting unit X15. The axial light-projecting unit X15 projects near-infrared light using, for example, a near-infrared LED (Light Emitting Diode). The radial light-projecting unit X35 projects the detection light to a predetermined range using a predetermined light-projecting lens or the like.

[0196] The radial light receiving unit X37, like the radial light receiving unit X17, receives reflected light of the detection light emitted from the radial light projecting unit X35. The radial light receiving unit X37 receives the detection light using, for example, a phototransistor, a photodiode, or a light receiving element with a built-in amplifier circuit. When a photodiode is used, an amplifier circuit or a filter circuit may be provided.

[0197] The pair of radial direction light projector X35 and radial direction light receiver X37 are arranged at a predetermined interval inside the housing X33. The radial direction light projector X35 is arranged in accordance with the positions of the radial direction light projecting openings R331a and R332a so that the projected detection light can be projected from the radial direction light projecting openings R331a and R332a of the housing X33 toward the outside in a radial direction relative to the axis of the housing X33. In other words, the radial direction light projector X35 projects the detection light in a radial direction relative to the axis of the housing X33. The radial direction light projector X35 acquires light projection control information indicating light projection timing from the control unit X19 and projects the detection light as appropriate.

[0198] The radial light receiving unit X37 is positioned to match the positions of the radial light receiving openings R331b and R332b of the housing X33 so that it can receive reflected light of the detection light projected from the radial light projector X35 through the radial light receiving openings R331b and R332b of the housing X33. That is, the radial light receiving unit X37 receives the detection light that is projected from its paired radial light projector X35 in the radial direction relative to the axis of the housing X33 and reflected by an object along the radial direction relative to the axis of the housing X33. The radial light receiving unit X37 transmits information indicating whether or not it has received the detection light to the control unit X19 as detection information. The radial light receiving unit X37 also acquires light receiving control information indicating the light receiving timing at which it can receive the detection light projected by its paired radial light projector X35, and receives the detection light as appropriate.

[0199] The control unit X19 of the object detection device X30 receives detection information from the object detection sensor unit X31. Based on the received detection information, the control unit X19 determines whether an object is present in a detection area along the axial direction of the object detection sensor unit X31 and whether an object is present in a detection area in a radial direction relative to the axis of the object detection sensor unit X31. The control unit X19 also sequentially transmits light-projection control information for starting light projection to each axial light-projecting unit X15 and radial light-projecting unit X35. The control unit X19 also transmits light-receiving control information for starting light reception to the axial light-receiving unit X17 paired with the axial light-projecting unit X15 that transmitted the light-projection control information so that the axial light-projecting unit X15 can receive reflected light of the detection light projected.

[0200] The control unit X19 determines that an object exists near the mounting target when the axial light-receiving unit X17 does not receive detection light, i.e., does not receive reflected light of the detection light emitted from the axial light-emitting unit X15. The control unit X19 also determines that an object exists in the radial direction when the radial light-receiving unit X37 receives detection light, i.e., receives reflected light of the detection light emitted from the radial light-emitting unit X35. [Example]

[0201] An object detection device according to the present invention will be described using an object detection device 100 shown in Fig. 44 as an example. Fig. 44 shows the object detection device 100 installed on an industrial robot RBT as an installation target. The object detection device 100 is installed on a predetermined installation target, and detects whether or not an object exists in the vicinity without erroneously detecting detection targets that do not need to be detected, such as the installation target.

[0202] 1. Hardware Configuration The hardware configuration of the object detection device 100 will be described with reference to Fig. 44. The object detection device 100 has an object detection sensor unit 110, a control unit 170, and a connection harness 190. The object detection sensor unit 110 is attached to the arm of the industrial robot RBT. The object detection sensor unit 110 is connected to the control unit 170 via the connection harness.

[0203] The control unit 170 controls the operation of the object detection sensor unit 110, and also controls the operation of the industrial robot RBT, which is the installation target, based on the detection information acquired from the object detection sensor unit 110.

[0204] 1. Object detection sensor unit 110 The configuration of object detection sensor unit 110 will be described with reference to Figs. 45 to 49. Fig. 45 shows an external perspective view of object detection sensor unit 110. Fig. 46 shows a state in which a portion has been removed from object detection sensor unit 110 shown in Fig. 45. Fig. 47 shows a state in which components disposed in the internal space of housing 119 (described below) have been removed from object detection sensor unit 110 shown in Fig. 46.

[0205] 45 and 46, the object detection sensor unit 110 has one first object detection sensor unit 111, multiple second object detection sensor units 113, inter-sensor connection lines 117, and a housing unit 119. The first object detection sensor unit 111 and the second object detection sensor unit 113 are cascade-connected by the inter-sensor connection lines 117 and are disposed inside the housing unit 119.

[0206] (1) First object detection sensor unit 111 The configuration of the first object detection sensor unit 111 will be described with reference to Fig. 48. The object detection sensor unit 111 has a light-emitting element 111a, a light-emitting lens 111b, a light-receiving element 111c, a sensor communication interface 111d, a sensor control unit 111e, a control unit communication interface 111f, and an acceleration sensor 111g.

[0207] The light-projecting element 111a projects predetermined detection light, for example, near-infrared light. The light-projecting lens 111b diffuses the detection light projected by the light-projecting element 111a over a predetermined range (detection region R111). The shape and characteristics of the light-projecting lens 111b may be appropriately selected to prevent erroneous detection of an object to be placed on, such as an industrial robot, on which the object detection sensor unit 110 is to be placed. For example, a near-infrared LED (Light Emitting Diode) or the like can be used as the light-projecting element 111a.

[0208] The light receiving element 111c receives the detection light emitted by the light emitting element 111a that is reflected by an object. The light receiving element 111c can be, for example, a phototransistor, a photodiode, or a light receiving element with a built-in amplifier circuit. When a photodiode is used, an amplifier circuit and a filter circuit may be arranged together with the light receiving element 111c.

[0209] The sensor communication interface 111d is connected to the sensor communication interface 113d of the adjacent second object detection sensor unit 113, allowing the first object detection sensor unit 111 and the second object detection sensor unit 113 to communicate with each other.

[0210] The sensor control unit 111e acquires sensor control information from the control unit 170, controls object detection by the light emitting element 111a and the light receiving element 111c, and transmits the object detection information to the control unit 170. The sensor control unit 111e also transmits movement information acquired from the acceleration sensor unit 111g to the control unit.

[0211] The control unit communication interface 111f is connected to the sensor control communication circuit 170g (see FIG. 50) of the control unit 170, allowing communication between the control unit 170 and the first object detection sensor unit 111, that is, between the object detection sensor unit 110 and the control unit 170. The control unit communication interfaces 111f of the first object detection sensor units 111 of each object detection sensor unit 110 are directly connected in parallel to the control unit 170. Therefore, the multiple object detection sensor units 110 are each connected in parallel to the control unit 170.

[0212] The acceleration sensor unit 111g has a triaxial acceleration sensor. The triaxial acceleration sensor measures acceleration along each axis in a predetermined coordinate space (X-axis, Y-axis, Z-axis) and generates movement information. By integrating the measured acceleration twice, the displacement along each axis can be calculated.

[0213] (2) Second object detection sensor unit 113 The configuration of the second object detection sensor unit 113 will be described with reference to Fig. 49. The object detection sensor unit 113 has a light-projecting element 113a, a light-projecting lens 113b, a light-receiving element 113c, a sensor communication interface 113d, and a sensor control unit 113e. Note that the light-projecting element 113a, the light-projecting lens 113b, the light-receiving element 113c, the sensor communication interface 113d, and the sensor control unit 113e are similar to the light-projecting element 111a, the light-projecting lens 111b, the light-receiving element 111c, the sensor communication interface 111d, and the sensor control unit 111e of the first object detection sensor unit 111, and therefore detailed description thereof will be omitted.

[0214] (3) Sensor connection line 117 46, the inter-sensor connection lines 117 connect between adjacent first object detection sensor units 111 and second object detection sensor units 113, and between two adjacent second object detection sensor units 113. The inter-sensor connection lines 117 are connected to the sensor communication interface 111d of the first object detection sensor unit 111 and the sensor communication interface 113d of the second object detection sensor unit 113, and electrically and physically connect the adjacent first object detection sensor units 111 and second object detection sensor units 113.

[0215] (4) Housing 119 47, the housing 119 has a hollow cylindrical shape. The housing 119 has a first housing 1191, a second housing 1192, and a hinge 1193. The object detection sensor unit 110 is attached to an attachment object by rotating the first housing 1191 and the second housing 1192 around the hinge 1193 in the directions of arrows R31 and R32, respectively, and opening one end.

[0216] The first housing unit 1191 and the second housing unit 1192 each have a semi-hollow cylindrical shape obtained by dividing the hollow cylindrical shape along a plane including the long axis J119 of the hollow cylindrical shape and the rotation axis J1193 of the hinge unit 1193. The first housing unit 1191 and the second housing unit 1192, which have semi-hollow cylindrical shapes, engage with each other at an end different from the hinge unit 1193 to become one unit and form the hollow cylindrical shape.

[0217] First housing 1191 has outer periphery 1191a, end 1191b along the end face of the hollow cylindrical shape, inner periphery 1191c along the inner periphery of the hollow cylindrical shape, and end 1191d located opposite end 1191b. Outer periphery 1191a, end 1191b, and inner periphery 1191c are integrally formed. First housing 1191 is formed by fitting end 1191d into outer periphery 1191a, end 1191b, and inner periphery 1191c, which are integrally formed.

[0218] The outer peripheral portion 1191a has a light emitting / receiving opening 1191a1 at a position corresponding to the light emitting element 113a and the light receiving element 113c of the second object detection sensor portion 113, the opening having a size and shape that does not obstruct the emission of detection light from the light emitting element 113a of the second object detection sensor portion 113, and does not obstruct the reception of reflected light from the light receiving element 113c of the second object detection sensor portion 113.

[0219] The above also applies to the second housing unit 1192. Note that the outer peripheral portion 1192a (not shown) of the second housing unit 1192 has light emitting / receiving openings 1192a1 (not shown) at positions corresponding to the light emitting element 113a and the light receiving element 113c of the second object detection sensor unit 113, as well as at positions corresponding to the light emitting element 111a and the light receiving element 111c of the first object detection sensor unit 111.

[0220] In this way, the object detection sensor unit 110 can be easily attached by simply opening the first housing part 1191 and the second housing part 1192 to the left and right around the hinge part 1193, placing them along the outer periphery of a specified attachment object, for example, the arm of an industrial robot, and then closing the first housing part 1191 and the second housing part 1192.

[0221] 2. Control unit 170 The hardware configuration of the control unit 170 will be described with reference to Fig. 50. The control unit 170 has a CPU 170a, a memory 170b, a sensor control communication circuit 170g, and an operation control communication circuit 170h.

[0222] The CPU 170a performs processing based on the operating system (OS), detection area adjustment program, and other applications stored in the memory 170b. The memory 170b provides a working area for the CPU 170a, and also stores and holds the operating system (OS), detection area adjustment program, and other application programs, as well as various data.

[0223] The sensor control communication circuit 170g is connected to a control unit communication interface 111f (see FIG. 48) arranged in the first object detection sensor unit 111 of the object detection sensor unit 110 via a connection harness 190 (see FIG. 44), and transmits and receives information therebetween. The sensor control communication circuit 170g is connected directly, that is, in parallel, to each object detection sensor unit 110. The operation control communication circuit 170h is connected to a control target, such as an industrial robot RBT, whose operation is controlled based on the presence of an object detected by the object detection sensor unit 110, and transmits and receives information therebetween.

[0224] 3. Connection harness 190 As shown in Figure 44, the connection harness 190 connects the control unit communication interface 111f of the first object detection sensor section 111 of each object detection sensor unit 110 to the sensor control communication circuit 170g of the control unit 170, directly connecting each object detection sensor unit 110 to the control unit 170.

[0225] Detection area adjustment process in the second control unit 170 The detection area adjustment process that is performed by the CPU 170a of the control unit 170 based on the detection area adjustment program will be described using an example in which the object detection device 100 is disposed on the outer surface of an industrial robot.

[0226] 1. Installation object An industrial robot RBT as shown in Fig. 51 is set as an installation target for placing the object detection device 100. The industrial robot RBT is a robot having three rotation axes. The industrial robot RBT has arms AM1 to AM7, a base B1, and a working end part H1.

[0227] Arm AM1 is disposed on base B1 and rotates around a rotation axis RJ1 set in the longitudinal direction of the arm AM1. Arm AM3 is connected to the adjacent arm AM1 and rotates around a rotation axis RJ3 set at one end relative to arm AM1. Arm AM5 is connected to the adjacent arm AM3 and rotates around a rotation axis RJ5 set at one end relative to arm AM3. Arm AM7 is connected to the adjacent arm AM5 and rotates around a rotation axis RJ7 set at one end relative to arm AM5.

[0228] An object detection sensor unit 110 of the object detection device 100 is arranged on the outer circumferential surface of each of the arms AM3, AM5, and AM7. The six object detection sensor units 110 arranged on the arms AM3, AM5, and AM7 are connected to a control unit 170. The control unit 170 is also connected to a power mechanism (not shown) that operates each of the arms AM1 to AM7 of the industrial robot RBT. The control unit 170 controls the operation of the power mechanism, thereby controlling the operation of the arms AM1 to AM7.

[0229] Each object detection sensor unit 110 is arranged along the outer periphery of each arm. Because the object detection sensor units 110 can be easily arranged on the outer surface of the device to which they are to be installed, it is easy to build a safety system that brings the industrial robot to an emergency stop when it detects an object such as a person near the robot. In other words, safety can be easily built into the device to which the sensor units are to be installed, such as an industrial robot.

[0230] 2. Initial setting information Before performing the detection area adjustment process, predetermined initial setting values ​​are set. First, the initial state of the industrial robot RBT equipped with the object detection sensor unit 110 is set. Here, the industrial robot RBT is assumed to have a base B1, arms AM1 to AM7, and a working end H1, for example, as shown in FIG.

[0231] The base B1 supports the industrial robot RBT. The base B1 has a flat upper surface, and the arm AM1 is disposed so as to protrude upward from the upper surface. Each of the arms AM1 to AM7 has a cylindrical shape along its respective long axis LJ1 to LJ7 (see FIG. 55). Note that the long axis LJ1 to LJ7 of each arm exists on the Z axis in FIG. 51. The arm AM3 is connected to the arm AM1 at an end different from the end connected to the base B1 so as to be rotatable around a rotation axis RJ3. Note that the intersection of the long axis LJ3 of the arm AM3 and the rotation axis RJ3 is the rotation center C3. The same applies to the arms AM5 and AM7. The working end H1 is connected to the arm AM7 at an end different from the end connected to the arm AM5.

[0232] Here, the initial state is set as shown in FIG. 51, for example, with coordinate axes having the Z axis in the vertical direction, and the X and Y axes within the bottom surface, with the center of the bottom surface of the lowest-positioned arm AM1 as the origin O, and each arm AM1 to AM7 being arranged vertically in a straight line, that is, with the long axes LJ1 to LJ7 of each arm AM1 to AM7 arranged in a straight line along the Z axis.

[0233] In the initial state, the positions of rotational center points C3 to C7 (C3(0) to C7(0)) on the set coordinate axes and the lengths between each rotational center point (L1, L3, ...) are stored in memory 170b as part of the initial setting information.

[0234] The radius R from the center of the object detection sensor unit 110 attached to the industrial robot RBT to each light-emitting element, the central angle α between adjacent first object detection sensor unit 111 and second object detection sensor unit 113, and the apex angle θ that specifies the shape of the detection area R111 of the first object detection sensor unit 111 and the detection area R113 of the second object detection sensor unit 113 as a cone are stored and retained in memory 170b as part of the initial setting information.

[0235] The object detection sensor units 110 are attached to predetermined positions on the industrial robot RBT. Two object detection sensor units 110 are attached to each of the arms AM3 to AM7 of the industrial robot RBT, and are named 110_1, 110_2, ... from the bottom up, and similarly, the first object detection sensor portions 111 of each object detection sensor unit 110 are named 111_1, 111_2, ... from the bottom up.

[0236] After the industrial robot RBT is set to its initial state, the initial positions (P111_1(0), P111_2(0), ...) of the first object detection sensor parts 111 of each object detection sensor unit 110 on the set coordinate axes are stored and retained in memory 170b as part of the initial setting information.

[0237] 3.Detection area adjustment process The detection area adjustment process that the CPU 170a of the control unit 170 performs based on the detection area adjustment program will be described with reference to the flowcharts shown in FIGS. 52 to 57 and FIG.

[0238] 52, after the object detection device 100 starts operating, the CPU 170a transmits object detection start information to the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110 (S901). The object detection start information will be described later.

[0239] The operations of the first object detection sensor section 111 and the second object detection sensor section 113 of the object detection sensor unit 110 that acquire the object detection start information will be described later.

[0240] The CPU 170a acquires sensor information from the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110 (S903). The sensor information will be described later.

[0241] When the CPU 170a determines that it has acquired sensor information from the first object detection sensor section 111 and the second object detection sensor section 113 of all object detection sensor units 110 (S905), it extracts sensor information related to the first object detection sensor section 111 that has movement information (S907) and performs a shape estimation process to determine the shape of the industrial robot RBT at that time (S909).

[0242] The shape estimation process will be described using the flowchart shown in FIG. 53 and FIG. 55. Note that FIG. 55 shows the state of the industrial robot RBT after it has operated for a predetermined time. Hereinafter, for components that exist in plurality, they are identified by adding the suffix "_n (n is a natural number)" in order from the lowest position in the initial state. For example, the first object detection sensor unit 111 that is located second from the bottom in the initial state will be referred to as the first object detection sensor unit 111_2. Note that unless otherwise specified, it will be referred to as the first object detection sensor unit 111_n.

[0243] 53, the CPU 170a calculates, from the acquired movement information, a displacement (m111_n(x): see FIG. 55) from the previous position for each first object detection sensor unit 111_n (S1001). Next, the CPU 170a adds the calculated displacement (m111_n(x)) to the previous position (P111_n(x-1): see FIG. 55) for each first object detection sensor unit 111_n to calculate a current position (P111_n(x): see FIG. 55) (S1003). Note that the current position (P111_n(x)) of the first object detection sensor unit 111_n can be calculated deductively using the position (P111_n(0): see FIG. 51) of the first object detection sensor unit 111 in the initial state.

[0244] Next, the CPU 170a executes the following process on the target arms in order from the arm AM1 located on the lower side in the initial state to the arms AM3, AM5, and AM7 located on the upper side.

[0245] When the CPU 170a determines that the object detection sensor unit 110 is attached to the target arm (S1005), it calculates a rotation angle r_n(x) for the target arm by rotating a vector from the current lower rotation center Cm(x) (m = 3, 5, 7) to the current position P111_n(x) of the first object detection sensor unit 111_n, starting from the current lower rotation center Cm(x), around a rotation axis RJm passing through the current lower rotation center Cm, to match the vector from the lower rotation center Cm(0) of the target arm in the initial state to the position P111_(0) of the first object detection sensor unit 111_n, with the current lower rotation center Cm(x) as the starting point (S1007).

[0246] For example, for arm AM3, a vector from the current lower rotation center C3(x) to the current position P111_2(x) of the first object detection sensor unit 111_2 has the current lower rotation center C3(x) as its origin, and a vector from the lower rotation center C3(0) of the target arm in the initial state to the position P111_(0) of the first object detection sensor unit 111_n is rotated around the rotation axis RJ3 passing through the current lower rotation center C3(x) to calculate a rotation angle r_3(x). Note that since the rotation center C3 does not move, the current position C3(x) of the rotation center is the position C3(0) of the rotation center C3 in the initial state (see FIG. 51).

[0247] The CPU 170a uses the calculated rotation angle r_n(x) to move the initial long axis LJm of the target arm to the current lower rotation center Cm(x) of the target arm, rotate it by the rotation angle r_n(x), and calculate the position of the current long axis LJ_n(x) passing through the current lower rotation center Cm(x) (S1009).The CPU 170a then uses the distance between the rotation centers of the target arms (L3, L5, L7 (see FIG. 51)) to calculate the position of the upper rotation center Cm(x) (S1011).

[0248] The CPU 170a executes the processes of steps S1005 to S1013 for all the arms (S1013). The CPU 170a calculates the current shape of the industrial robot RBT using the calculated radius of each arm and the like (S1015).

[0249] Returning to FIG. 52, when the CPU 170a finishes the shape estimation process for the industrial robot RBT, it executes a detection area adjustment information generation process (S911).

[0250] The detection area adjustment information generation process will be described with reference to Fig. 54. The CPU 170a calculates the position of the second object detection sensor section 113 other than the first object detection sensor section 111 for each object detection sensor unit 110 from the position of the first object detection sensor section 111 of each arm and the position of the long axis of each arm (S1101). The CPU 170a calculates the detection area formed by the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110 from the calculated position of the second object detection sensor section 113 and the calculated shape of the industrial robot RBT (S1103). Note that, as shown in Fig. 56, the detection area is formed radially from the center of the object detection sensor unit 110 toward the positions of the first object detection sensor section 111 and the second object detection sensor section 113, that is, in a direction perpendicular to the surface of the industrial robot RBT.

[0251] The CPU 170a calculates whether or not the calculated detection area interferes with the shape of the industrial robot RBT calculated in the shape estimation process (see Fig. 53) (S1105). For example, in the industrial robot RBT having a shape as shown in Fig. 56, for the arms AM3 and AM7 that are positioned opposite each other, it is determined that for the object detection sensor units 110_2 and 110_5 attached to each arm, the detection area formed by a part of the first object detection sensor unit 111 and / or the second object detection sensor unit 113 interferes with the other arm.

[0252] Here, Figure 57 shows the industrial robot RBT shown in Figure 56 as viewed from the right side of the same figure. As shown in Figure 57, with arms AM3 and AM7 positioned opposite each other, it is determined that the detection area formed by the first object detection sensor unit 111 and / or the second object detection sensor unit 113 located on the opposing surface F3 of arm AM3 interferes with the other arm AM7. A similar determination is made for arm AM7. A similar determination is also made for the other arms.

[0253] Returning to FIG. 55, when the CPU 170a determines that the two will interfere with each other, it generates detection area adjustment information for the interfering first object detection sensor unit 111 or second object detection sensor unit 113 (S1107).

[0254] Here, the detection area adjustment information will be described. The detection area adjustment information is information for adjusting the light-reception standby period for receiving reflected light in the light-receiving elements of each of the first object detection sensor unit 111 and the second object detection sensor unit 113. By adjusting the light-reception standby period, it is possible to limit the area where the detection light actually reaches, that is, the detection area. For example, by shortening the light-reception standby period to 30% of the predetermined period, it is possible to limit the detection area to a short distance from the object to which the sensor is attached, and prevent reflected light reflected due to interference between the arms from being used for effective detection.

[0255] When the CPU 170a determines that the processes of steps S1101 to S1107 have been executed for all the object detection sensor units 110 (S1209), it ends the detection area adjustment information generation process.

[0256] Returning to FIG. 52, when the CPU 170a finishes the detection area adjustment information generation process, it generates object detection start information for starting the next object detection at a predetermined timing (S913).

[0257] Here, the object detection start information will be described. The object detection start information is information for causing the first object detection sensor section 111 and the second object detection sensor section 113 of the object detection sensor unit 110 to start object detection. The first object detection sensor section 111 and the second object detection sensor section 113 that have acquired the object detection start information start object detection using their respective light-emitting elements, light-receiving elements, etc. The object detection start information is generated in association with sensor identification information for identifying the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110. Furthermore, for the first object detection sensor section 111 and the second object detection sensor section 113 whose detection areas are determined to need to be adjusted, the object detection start information is also associated with the detection area adjustment information generated in step S1207.

[0258] When a predetermined time has elapsed (S915), the CPU 170a repeats the processing of steps S901 to S915, such as transmitting the generated object detection start information to the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110, until the operation is completed.

[0259] In step S903, the CPU 170a acquires sensor information from the first object detection sensor section 111 and the second object detection sensor section 113 of each object detection sensor unit 110, extracts detection result information from the acquired sensor information, and if the extracted detection result information indicates that an object has been detected, transmits a stop signal to the industrial robot RBT to stop the operation of the industrial robot RBT to which the sensor is attached.

[0260] 4. Operation of the first object detection sensor unit 111 57, when the sensor control unit 111e of the first object detection sensor unit 111 of the object detection sensor unit 110 acquires object detection start information via the control unit communication interface 111f (S1301), it determines whether the acquired object detection start information corresponds to itself (S1303). If the sensor control unit 111e determines that the object detection start information is for itself, it extracts detection area adjustment information included in the object detection start information (S1305), and adjusts the light reception standby period, which is the period during which the light receiving element 111c receives reflected light of the detection light, based on the extracted detection area adjustment information (S1307).

[0261] The sensor control unit 111e projects detection light via the light-projecting element 111a (S1309). The sensor control unit 111e monitors whether reflected light is received via the light-receiving element 111c. When the sensor control unit 111e determines that reflected light has been received (S1311), it generates detection result information indicating that an object has been detected (S1315). The sensor control unit 111e acquires the acceleration measured by the acceleration sensor unit 111g as movement information (S1317). The sensor control unit 111e transmits the generated detection result information and movement information, together with sensor identification information that identifies itself, to the control unit 170 as sensor information (S1319).

[0262] On the other hand, if the sensor control unit 111e determines in step S1309 that a predetermined light reception waiting period has elapsed without receiving reflected light since emitting the detection light (S1313), it generates detection result information indicating that an object has not been detected (S1315). The sensor control unit 111e acquires the acceleration measured by the acceleration sensor unit 111g as movement information (S1317). The sensor control unit 111e transmits the generated detection result information and movement information, together with sensor identification information that identifies itself, to the control unit 170 as sensor information (S1319).

[0263] Furthermore, if the sensor control unit 111e determines that the object detection start information acquired in step S1301 does not correspond to itself, it transmits the acquired object detection start information to the adjacent second object detection sensor unit 113 via the sensor communication interface 113d (S1321).

[0264] Furthermore, when the sensor control unit 111e acquires detection result information from the adjacent second object detection sensor unit 113 via the sensor communication interface 113d, it transmits the information to the control unit 170 via the control unit communication interface 111f.

[0265] 5. Operation of the second object detection sensor unit 113 57, when the sensor control unit 113e of the second object detection sensor unit 113 of the object detection sensor unit 110 acquires object detection start information via the sensor communication interface 113d (S1401), it determines whether the acquired object detection start information corresponds to itself (S1403). If the sensor control unit 113e determines that the object detection start information is for itself, it extracts detection area adjustment information included in the object detection start information (S1405), and adjusts the light reception standby period, which is the period during which the light receiving element 113c receives reflected light of the detection light, based on the extracted detection area adjustment information (S1407).

[0266] The sensor control unit 113e projects detection light via the light-emitting element 113a (S1409). The sensor control unit 113e monitors whether reflected light is received via the light-receiving element 113c. When the sensor control unit 113e determines that reflected light has been received (S1411), it generates detection result information indicating that an object has been detected (S1415). The sensor control unit 113e transmits the generated detection result information and sensor identification information that identifies itself to the control unit 170 as sensor information (S1419).

[0267] On the other hand, if the sensor control unit 113e determines that the predetermined light reception waiting period has elapsed without receiving reflected light since emitting the detection light in step S1409 (S1413), it generates detection result information indicating that an object has not been detected (S1415).The sensor control unit 113e transmits the generated detection result information to the control unit 170 as sensor information together with sensor identification information that identifies the sensor control unit 113e (S1419).

[0268] Furthermore, if the sensor control unit 113e determines that the object detection start information acquired in step S1403 does not correspond to itself, it transmits the acquired object detection start information to the adjacent first object detection sensor unit 111 or second object detection sensor unit 113 via the sensor communication interface 113d (S1421).

[0269] In addition, when the sensor control unit 113e acquires sensor information from the adjacent second object detection sensor unit 113 via the sensor communication interface 113d, it transmits the information to the adjacent first object detection sensor unit 111 or second object detection sensor unit 113 via the control unit communication interface 111f.

[0270] [Other embodiments] (1) Sensor placement flexible member 15: In the above-described first embodiment, the sensor placement flexible member 15 is formed from a rubber plate, but is not limited to the example provided that it is flexible and can be deformed along the surface of the installation target. For example, it may be a fibrous sheet or a flexibly deformable plastic. The same applies to the above-described fourth and fifth embodiments.

[0271] Furthermore, although the sensor arrangement flexible member 15 has been described as having a strip shape, it may be rectangular or another polygonal shape as long as it has a width and area large enough to accommodate a plurality of object detection sensor units 11. The same applies to the above-described fourth and fifth embodiments.

[0272] (2) Sensor placement flexible member 25: In the above-described second embodiment, the sensor placement flexible member 25 uses an intermediate flexible member 253 having an adjustable extension mechanism 253b. However, the sensor placement flexible member 25 is not limited to the illustrated example, as long as it is possible to adjust the length between adjacent sensor placement members 251. For example, the extension mechanism 253b may not be provided, and the belt 253a may be formed from an elastic material, such as a predetermined rubber material. The same applies to the above-described fourth and fifth embodiments.

[0273] (3) Sensor placement flexible member 35: In the unit flexible member 351 of the third embodiment described above, multiple types with different lengths in the connecting direction may be prepared, and by appropriately selecting and connecting them, it may be possible to adjust the placement position of the object detection sensor unit 13. Since the overall length of the sensor placement flexible member 35 can be adjusted, it can be easily adapted to the target object.

[0274] (4) Shape of detection region R13: In the above-described first to third embodiments, a cylindrical lens is used as the projection lens 13b to form a linear detection region R13, but any projection lens 13b may be used as long as it can form a desired detection region. For example, as shown in Fig. 10, a circular projection lens 143b that is a circular convex lens may be used to form a circular detection region R143.

[0275] The light projection direction of light projection lens 143b may be adjustable. In this case, for example, as shown in Fig. 10, light projection element 13a and light projection lens 143b of object detection sensor unit 143 may be rotated up, down, left, and right in the direction of arrow a6.

[0276] Furthermore, instead of forming the detection regions R143 in the same direction for all object detection sensor units 143, the detection regions R143 may be formed in a plurality of directions as shown in FIG. 11A.

[0277] Similarly, the object detection device 10 in the first embodiment may also be configured to form a detection region R153 in a plurality of directions as shown in Fig. 11B by using an object detection sensor unit 153 that can rotate the light-emitting element 13a and the light-emitting lens 13b (see Fig. 2). The same applies to the object detection device 20 in the second embodiment and the object detection device 30 in the third embodiment. The same applies to the above-described fourth and fifth embodiments.

[0278] (5) Arrangement of the object detection sensor unit 13: In the above-described first to third embodiments, the object detection sensor unit 13 is arranged in a straight line, and the detection region R11 is formed on the sensor arrangement flexible member 15. However, the object detection sensor unit 13 may be arranged in a matrix or in accordance with some other regularity, or may be arranged randomly without regularity, as long as a desired detection range can be formed. This is also true for the above-described fourth and fifth embodiments.

[0279] Furthermore, the arrangement of the object detection sensor unit 13 of the object detection device 10 in Example 1 may not be fixed but may be changeable as appropriate. For example, a plurality of mounting recesses may be formed in the sensor arrangement flexible member 15, and a desired mounting recess may be selected and engaged with the mounting protrusion of the object detection sensor unit 13 to arrange the object detection sensor unit 13. Also, a rail may be arranged in the sensor arrangement flexible member 15, and the object detection sensor unit 13 may be arranged by engaging the rail at a desired position. The same applies to Examples 2 and 3.

[0280] (6) Intermediate flexible member 253: In the above-described second embodiment, the intermediate flexible member 253 is disposed separately from the connection harness 19. However, if the object detection sensor units 13 are cascade-connected, the intermediate flexible member 253 and the connection harness 19 may be integrally formed, and an expandable and contractible connection harness (intermediate connection harness) having an expansion and contraction mechanism may be used as the intermediate flexible member. The same applies to the above-described fourth and fifth embodiments.

[0281] (7) Function of the object detection sensor unit 13: In the above-described first to third embodiments, the object detection sensor unit 13 detects the presence of an object, but it may also detect the distance and direction to the object. By detecting the distance using the object detection sensor unit 13, it is possible to detect an object or person that has entered within an arbitrary set distance from the object on which the object detection sensor unit 13 is placed. This makes it possible to control the operation of the object based on the distance from the object. The same applies to the above-described fourth and fifth embodiments.

[0282] Furthermore, although the object detection sensor unit 13 detects the presence of an object using a predetermined detection light, other detection waves such as infrared rays, sound waves, etc. may be used as long as they can detect the presence of an object. The same applies to the above-described fourth and fifth embodiments.

[0283] (8) Configuration of control unit 17: In the above-described first to third embodiments, the operation of control unit 17 is realized using CPU 17a, but the configuration is not limited to the illustrated one as long as it can realize the operation of control unit 17. For example, a dedicated logic circuit may be designed and used. The same applies to the above-described fourth and fifth embodiments.

[0284] (9) Connection of object detection sensor units 13: In the above-described first to third embodiments, each object detection sensor unit 13 is connected in parallel to the control unit 17. However, each object detection sensor unit 13 may be cascade-connected to each other, and the object detection sensor unit 13 at the end may be connected to the control unit 17.

[0285] Furthermore, in the object detection device 10, each object detection sensor unit 11 and the control unit 17 are connected by the connection harness 19, but they may be connected wirelessly. The same applies to the object detection device 20 of the second embodiment and the object detection device 30 of the third embodiment. The same applies to the fourth and fifth embodiments described above.

[0286] Furthermore, in the object detection device 10, the object detection sensor units 13 and the control unit 17 are connected using the connection harness 19, but a plurality of object detection sensor units 13 may be connected to one intermediate interface unit, and the intermediate interface unit may be connected to the control unit 17, that is, the object detection sensor units 13 and the control unit 17 may be connected via the intermediate interface unit. The same applies to the object detection device 20 of Example 2 and the object detection device 30 of Example 3. The same applies to the above-mentioned Examples 4 and 5.

[0287] (10) Use of a light filter: In the above-described first to third embodiments, a light filter may be further used to detect an object using only predetermined light. The same applies to the above-described fourth and fifth embodiments.

[0288] (11) Sensor Connection Information: In the first embodiment described above, the sensor connection information is stored in memory in advance. However, the sensor connection information may be acquired when the object detection device 10 is used. For example, when the control unit 17 is started, the control unit 17 may transmit and receive information to and from each object detection device 10 via the sensor communication circuit 13d, determine whether the object detection device 10 is connected, and generate the sensor connection information. Also, the connection position (e.g., connection port) of the object detection device 10 in the sensor communication circuit 13d may be determined. The same applies to the object detection device 20 of the second embodiment and the object detection device 30 of the third embodiment. The same applies to the fourth and fifth embodiments described above.

[0289] (12) Separation of light-emitting element 13a and light-receiving element 13c: In the above-described fourth embodiment, a partition wall may be disposed inside unit arrangement section 433 to separate the detection light emitted from light-emitting element 13a from the reflected light received by light-receiving element 13c so that the detection light emitted by light-emitting element 13a is not reflected inside unit arrangement section 433 and received by light-receiving element 13c.

[0290] Similarly, a partition wall that separates the detection light emitted from the light-emitting element 13 a and the reflected light received by the light-receiving element 13 c may be disposed inside each of the sensor-to-sensor connection line protection unit 59 in Example 5 and the sensor-to-sensor connection line protection unit 69 in Example 6. The same applies to the sensor-to-sensor connection line protection unit 69 in Example 6.

[0291] (13) Number of divisions of sensor-to-sensor connection line protection units 59, 69: In the above-described fifth embodiment, sensor-to-sensor connection line protection unit 59 is formed of two units, first housing 591 and second housing 592, but it may be formed of three or more housings. The same applies to sensor-to-sensor connection line protection unit 69.

[0292] (14) Number of light-emitting elements and light-receiving elements in object detection sensor unit: In the above-described first embodiment, each object detection sensor unit 13 has one pair of light-emitting element 13a and light-receiving element 13c, but multiple pairs of light-emitting element 13a and light-receiving element 13c may be arranged. This, for example, can reduce manufacturing costs. Also, the number of connection harnesses 19 connecting the object detection sensor unit 13 and the control unit 17 can be reduced. The same applies to the second to sixth embodiments. Note that in the fourth to sixth embodiments, the number of connecting wires between the sensors can be reduced.

[0293] Visualization of detection status The object detection sensor unit 13 in the first embodiment may further include a detection status display unit that displays the object detection status. For example, an LED and an LED light emission control circuit are used as the detection status display unit. When the object detection sensor unit detects an object, the LED lights up. Illumination Make sure to do so.

[0294] The light emitted by the LED may also be changed depending on the object detection situation. For example, by using a multicolor LED and a light emission control circuit that controls the light color, the LED may emit blue light when no object is detected, and when an object is detected, the LED may change color from yellow to red depending on the distance to the detected object.

[0295] The brightness of the light emitted may also be changed depending on the distance to the detected object. For example, a light emission control circuit that controls the current flowing through the LED may be used to turn off the light when no object is detected, and change the brightness from dark to bright when an object is detected depending on the distance to the detected object.

[0296] This allows the object detection state to be easily known, and also allows malfunctions in the object detection sensor to be easily detected. The same applies to the object detection sensor units of Examples 2 to 6. (16) Shape of each housing: In the above-described Examples 7 to 9, each housing is in a hollow cylindrical shape, but is not limited to the illustrated shapes as long as it can be attached to the surface of a predetermined installation object. For example, it may be in a linear shape or a hollow prismatic shape.

[0297] Furthermore, the installation target on which each housing unit is attached does not have to be cylindrical like the arms AM11 to AM13 of the industrial robot RBT. For example, even if the arm is prismatic, each object detection sensor unit may be attached by supporting the apex of the cross section on each inner periphery of each object detection sensor unit. Furthermore, the object detection sensor units may be attached to the installation target by placing a predetermined spacer between the installation target and the inner periphery of each object detection sensor unit.

[0298] (17) Light-emitting and receiving opening forming end portions 131b, 132b: In the above-described seventh embodiment, the light-emitting and receiving opening forming end portions 131b, 132b have the light-emitting and receiving opening R131a so that the detection light can be emitted and received. However, the light-emitting and receiving opening forming end portions 131b, 132b are not limited to the illustrated example as long as they can emit and receive the detection light. For example, the light-emitting and receiving opening forming end portions 131b, 132b may not be formed with the light-emitting and receiving opening R131a, but may be formed as a semitransparent ring shape that can emit and receive the detection light. The same applies to the eighth and ninth embodiments.

[0299] Furthermore, instead of forming the light projecting and receiving aperture R131a only on the light projecting and receiving aperture forming end portions 131b and 132b, the axial light projecting portion X15 and the axial light receiving portion X17 may also be disposed on the end faces P131b and P132b to form corresponding light projecting and receiving apertures.

[0300] (18) Presence of Reflector X200: In the above-described eighth embodiment, the object detection sensor unit X21 has a reflector X200 that reflects the detection light projected from the axial light-projecting unit X15. However, the object detection device X40 shown in Fig. 39 may not use the reflector X200. In this case, the control unit X19 of the object detection sensor unit X21 determines that the object X is present when it receives reflected light of the projected detection light.

[0301] (19) Adjustment of Light Projection Direction: In the above-described seventh to ninth embodiments, the axial light-projecting unit X15 may be made rotatable so that the direction in which the axial light-projecting unit X15 projects the detection light may be adjusted. The same applies to the axial light-receiving unit X17.

[0302] (20) Arrangement of the axial light-projecting unit X15 and the axial light-receiving unit X17: In the above-mentioned seventh embodiment, the axial light-projecting unit X15 and the axial light-receiving unit X17 are arranged alternately in the same object detection sensor unit X11. However, it is also possible to arrange only the axial light-projecting unit X15 in one of the paired object detection sensor units X11 and only the axial light-receiving unit X17 in the other.

[0303] (21) Arrangement of the Radial Direction Light-Projecting Unit X35 and the Radial Direction Light-Receiving Unit X37: In the above-described ninth embodiment, the radial direction light-projecting unit X35 and the radial direction light-receiving unit X37 are arranged in the object detection sensor unit X21 of the eighth embodiment. However, the radial direction light-projecting unit X35 and the radial direction light-receiving unit X37 may be arranged in the object detection sensor unit X11 of the seventh embodiment.

[0304] (22) Function of the object detection sensor unit X21: In the above-described eighth embodiment, the object detection sensor unit X21 detects the presence of an object, but it may also detect the distance and direction to the object. This makes it possible to control the operation of the control target based on the distance and direction to the detected object. The same applies to the above-described ninth embodiment.

[0305] (23) Detection Light: In the above-described Examples 7 to 9, a predetermined detection light is used to detect the presence of an object. However, other detection waves such as sound waves may be used in addition to infrared rays as long as they can detect the presence of an object.

[0306] (24) Configuration of the control unit X19: In the above-described seventh to ninth embodiments, the operation of the control unit X19 is realized using the CPU 19a, but the configuration is not limited to the illustrated one as long as it can realize the operation of the control unit X19. For example, a dedicated logic circuit may be designed and used.

[0307] (25) Connection of Object Detection Sensor Units: In the seventh to ninth embodiments, each object detection sensor unit is connected to the control unit X19 using a predetermined connection line, but it may be connected wirelessly.

[0308] (26) Use of a light filter: In the above-described seventh to ninth embodiments, a light filter may be further used to detect an object using only predetermined light.

[0309] (27) Separation of the axial light-projecting unit X15 and the axial light-receiving unit X17: In the above-described seventh to ninth embodiments, a partition wall may be disposed inside each housing unit to separate the detection light projected from the axial light-projecting unit X15 and the reflected light received by the axial light-receiving unit X17 so that the detection light projected by the axial light-projecting unit X15 is not reflected inside each housing unit and received by the axial light-receiving unit X17.

[0310] (28) Number of divisions of each housing unit: In the above-described seventh embodiment, the housing unit X13 is formed of two housing units, the first housing unit 131 and the second housing unit 132, but it may be formed of three or more housing units. The same applies to the eighth and ninth embodiments.

[0311] Visualization of detection status: Each object detection sensor unit in the above-mentioned Examples 7 to 9 toIn addition, a detection status display unit that indicates the object detection status may be provided. The detection status display unit may be, for example, an LED and an LED light emission control circuit. When the object detection sensor unit detects an object, the LED lights up. Illumination Make sure to do so.

[0312] The light emitted by the LED may also be changed depending on the object detection situation. For example, by using a multicolor LED and a light emission control circuit that controls the light color, the LED may emit blue light when no object is detected, and when an object is detected, the LED may change color from yellow to red depending on the distance to the detected object.

[0313] The brightness of the light emitted may also be changed depending on the distance to the detected object. For example, a light emission control circuit that controls the current flowing through the LED may be used to turn off the light when no object is detected, and change the brightness from dark to bright when an object is detected depending on the distance to the detected object.

[0314] This makes it possible to easily know the object detection state and any malfunctions in the object detection sensor.

[0315] (30) Board S: In the object detection sensor unit in the seventh embodiment described above, multiple boards S are connected by connecting wires W within the housing X13. However, the present invention is not limited to the illustrated example, as long as the axial light-projecting unit X15 and the axial light-receiving unit X17 can be electrically connected. For example, a circular board that can be placed within the housing X13 may be formed, and the axial light-projecting unit X15 and the axial light-receiving unit X17 may be arranged thereon and electrically connected by wiring formed on the board. The same applies to the other embodiments.

[0316] (31) Stacked Installation of Object Detection Devices X10: The object detection devices X11 in the seventh embodiment described above may be stacked on the installation target, as shown in Fig. 40. In this case, the inner object detection device X11-S is disposed along the surface of the installation target, similar to the object detection device X11 shown in Fig. 28, and the outer object detection device X11-L is disposed so that its inner periphery 131d (see Fig. 29) is aligned with the outer periphery 131a (see Fig. 29) of the object detection device X11-S. As a result, by stacking the paired object detection devices X11-S and X11-L as shown in Figs. 41a and 41b, it is possible to form a multi-layered detection area, such as the detection area of ​​the object detection device X11-S (solid arrow) and the detection area of ​​the object detection device X11-L (dotted arrow), depending on the distance from the surface of the installation target, as shown in Fig. 41c. In other words, the control operation for the installation target can be changed depending on the distance from the surface of the installation target. For example, an alarm can be issued when an object is detected by the outer object detection device X11-L, and the operation of the installation target can be stopped when an object is detected by the inner object detection device X11-S. When the object detection devices X11-S and X11-L are stacked, the hinge portions 133 (see FIG. 29) may be formed in a position that does not protrude from the outer periphery 131a (see FIG. 29), as shown in FIG. 40, so that they do not hinder stacking.

[0317] 42a and 42b, the inner object detection device X11-S in Fig. 40 may be a height adjustment unit X500 that does not have an axial light-projecting unit X15 or an axial light-receiving unit X17, like the reflecting unit X200 shown in Fig. 33. This allows the distance of the object detection device X11-L from the surface of the installation target to be freely adjusted, as shown in Fig. 42c.

[0318] Furthermore, when arranging a pair of object detection devices X11, one may be arranged along the surface of the installation object as shown in FIG. 28, and the other may be installed on a height adjustment unit X500 as shown in FIG. 42a. This allows the detection area to be formed so as to be inclined along the surface of the installation object as shown in FIG. 43. Since the side where the object detection device X11-L is installed can detect objects at a position farther from the surface of the installation object than the side where the object detection device X11-S is installed, the operation of the installation object can be controlled at an earlier stage, for example, the operation can be stopped earlier. The above also applies to other embodiments.

[0319] (32) Alignment of Paired Object Detection Devices: In the object detection device X11 in the seventh embodiment described above, the positions of the paired object detection device X11, specifically, the axial light-projecting unit X15 and the axial light-receiving unit X17, are aligned by aligning the hinge portion 133. However, the present invention is not limited to the illustrated example, as long as the alignment of the two can be achieved. For example, a predetermined alignment mark may be provided on the housing X13. (33) Adjustment of Detection Area: In the above-described tenth embodiment, detection area adjustment information is generated when the estimated shape of the attachment target interferes with the estimated detection areas of the first object detection sensor unit 111 and the second object detection sensor unit 113. However, the case in which detection area adjustment information is generated is not limited to the example. For example, as shown in Fig. 60, detection area adjustment information may also be generated when the estimated detection areas of the first object detection sensor unit 111 and the second object detection sensor unit 113 are generated toward the ground.

[0320] In this case, in the arms AM3 and AM5 facing the ground (see Fig. 60), as shown in Fig. 61, in the object detection sensor unit 110_3 of the arm AM5, it is determined that the detection area formed by the first object detection sensor unit 111 and / or the second object detection sensor unit 113 located within 45 degrees to the left and right of the generatrix located at the lowest position in the target arm on the surface F5 facing the ground interferes with the ground. The same determination is made for the other arms and other object detection sensor units 110.

[0321] Furthermore, in the above-described tenth embodiment, if it is determined that an opposing arm exists in the shape estimation of the industrial robot RBT to be attached, the detection area interfering with the opposing arm is reduced to a predetermined range, but for the first object detection sensor unit 111 and the second object detection sensor unit 113 that form the interfering detection area, the detection area may be set to 0 (zero), and even if reflected light is received, it may not be determined that an object has been detected, that is, the received reflected light may be invalidated. This eliminates the need for the second object detection sensor unit 113 to adjust the detection area each time in accordance with the estimated shape of the attachment target, thereby reducing the processing load on the control unit 170. Furthermore, even if the detection areas of the first object detection sensor unit 111 and the second object detection sensor unit 113, which form interfering detection areas, are set to 0 and the reception of reflected light is disabled, it is often possible to detect, for example, a person or object approaching from outside by either the first object detection sensor unit 111 or the second object detection sensor unit 113, which are arranged in a ring shape around the object to be attached.

[0322] Furthermore, in the above-described tenth embodiment, the detection area is reduced to a predetermined range, but if it is determined by estimating the shape of the attachment target that there are arms positioned opposite each other, the detection area may be adjusted using the inter-arm distance calculated from the estimated shape. For example, if an object is detected at a distance shorter than the inter-arm distance, detection result information indicating that an object has been detected is generated, and if an object is detected at a distance greater than the inter-object distance, detection result information indicating that no object has been detected is generated.

[0323] (34) Estimation of Detection Area: In the above-described tenth embodiment, the shape of the attachment target and the detection areas of the first object detection sensor unit 111 and the second object detection sensor unit 113 are specifically estimated, and interference between the two is determined before generating detection area adjustment information. However, the present invention is not limited to the above example, as long as it is possible to generate detection area adjustment information that can prevent unintended object detection. For example, as shown in FIG. 62, for arms AM3 and AM7 positioned opposite each other, detection area adjustment information may be generated for the first object detection sensor unit 111 and / or the second object detection sensor unit 113 located in a predetermined area F13 on the surface of arm AM3 facing arm AM7. In this case, as shown in FIG. 63, the predetermined area F13 on the surface of arm AM3 facing arm AM7 may be determined by the central angle β of arm AM3.

[0324] (35) Acceleration Sensor Unit: In the above-described tenth embodiment, the three-axis acceleration sensor unit 111g is used to detect acceleration and generate movement information, but any other unit capable of generating movement information may be used. For example, a three-axis angular velocity sensor may be provided in addition to a three-axis acceleration sensor. This allows the shape of the industrial robot RBT to be estimated, even for an industrial robot RBT whose arm operates by rotating around its long axis, and also allows the positions of the first object detection sensor unit 111 and the second object detection sensor unit 113 and their respective detection areas to be estimated.

[0325] Furthermore, in the above-described tenth embodiment, the acceleration sensor unit 111g is arranged in the first object detection sensor unit 111, but it may also be arranged in the second object detection sensor unit 113.

[0326] Furthermore, in the above-mentioned Example 10, two object detection sensor units 110 are arranged on each arm, each having a first object detection sensor section 111, but it is also possible to arrange for an acceleration sensor section 111g to be arranged on some of the object detection sensor units 110 arranged on each arm, for example, on any one of them.

[0327] (36) Control of Acquisition of Movement Information: In the above-described tenth embodiment, the first object detection sensor unit 111 acquires acceleration information after generating detection result information (see FIG. 58), but regardless of the generation of detection result information, the acceleration may be acquired at an appropriate timing as needed, and the movement information may be transmitted to the control unit 170. This allows the control unit 170 to follow the operating state of the industrial robot RBT to which the sensor is attached in real time, and achieves high-speed processing.

[0328] 64, in the control unit 170, the CPU 170a executes a shape estimation process for the attachment target (S909) every time movement information is acquired (S2101). Furthermore, when the CPU 170a acquires sensor information from all of the first object detection sensor units 111 and second object detection sensor units 113 (S905), the CPU 170a may acquire an estimated shape of the industrial robot RBT at that time estimated by the shape estimation process (S2109), and execute a detection area information generation process (S911).

[0329] In the above-described tenth embodiment, the sensor control unit 111e of the first object detection sensor unit 111 controls the timing of acquiring movement information from the acceleration sensor unit 111g. However, the present invention is not limited to the illustrated example, as long as it can control the timing of acquiring movement information. For example, the CPU 170a of the control unit 170 may control the timing of acquiring movement information from the acceleration sensor unit 111g. This reduces communication overhead between the control unit 170 and the first object detection sensor unit 111. The same applies to the second object detection sensor unit 113.

[0330] (37) First object detection sensor unit 111, second object detection sensor unit 113: In the above-mentioned Example 10, the first object detection sensor unit 111 and the second object detection sensor unit 113 are formed on respective substrates and connected by inter-sensor connection lines, but both may also be arranged on the same substrate.

[0331] (38) Housing 119: In the above-described tenth embodiment, the housing 119 of the object detection sensor unit 110 has a hollow cylindrical shape, but is not limited to the illustrated shape as long as it can be attached to an attachment target. For example, it may have a hollow rectangular prism shape. Also, the object detection sensor unit 110 may not have a housing 119, and the first object detection sensor 111 and the second object detection sensor 113 may be attached to an attachment target.

[0332] (39) Functions of the first object detection sensor unit 111 and the second object detection sensor unit 113: In the above-described embodiment 10, the first object detection sensor unit 111 and the second object detection sensor unit 113 are configured to detect the presence of an object, but they may also be configured to detect the distance and direction to an object. By detecting the distance using the object detection sensor unit 13, it is possible to detect an object or person that has entered within an arbitrary set distance from the mounting target. This makes it possible to control the operation of the mounting target based on the distance from the mounting target.

[0333] Furthermore, the first object detection sensor unit 111 and the second object detection sensor unit 113 are configured to detect the presence of an object using a predetermined detection light, but other detection waves such as infrared rays, sound waves, etc. may also be used as long as they can detect the presence of an object.

[0334] (40) Configuration of the control unit 170: In the above-described tenth embodiment, the operation of the control unit 170 is realized using the CPU 170a, but the configuration is not limited to the illustrated one as long as it can realize the operation of the control unit 170. For example, a dedicated logic circuit may be designed and used.

[0335] (41) Connection of object detection sensor units 110: In the above-mentioned embodiment 10, each object detection sensor unit 110 is connected in parallel to the control unit 170, but each object detection sensor unit 110 may be cascade-connected to each other, and the object detection sensor unit 110 at the end may be connected to the control unit 170.

[0336] Furthermore, in the object detection device 100, each object detection sensor unit 110 and the control unit 170 are connected by the connection harness 190, but they may also be connected wirelessly.

[0337] Furthermore, in the object detection device 100, the object detection sensor unit 110 and the control unit 170 are connected using the connection harness 190, but it is also possible to connect multiple object detection sensor units 110 to one intermediate interface unit and connect the intermediate interface unit to the control unit 170, that is, to connect the object detection sensor unit 110 and the control unit 170 via the intermediate interface unit.

[0338] (42) Use of an optical filter: In the above-described tenth embodiment, an optical filter may be further used in the light projecting lens 111b so that an object can be detected using only predetermined light.

[0339] (43) Number of divisions of housing unit 119: In the above-mentioned Example 10, housing unit 119 is formed of two parts, first housing unit 1191 and second housing unit 1192, but it may also be formed of three or more housings.

[0340] (44) Configuration of the control unit 170: In the above-described embodiment 10, the control unit 170 executes the detection area adjustment process using the CPU 170a. However, the configuration is not limited to the example described above as long as it executes the detection area adjustment process. For example, a logic circuit may be designed to execute the detection area adjustment process.

[0341] (45) Detection Area Adjustment Processing: In the above-described tenth embodiment, the flowcharts of FIGS. 52 to 54 are shown as the detection area adjustment processing, but the present invention is not limited to the illustrated flowcharts as long as the same processing can be executed.

[0342] (46) Processing of the first object detection sensor unit 111 and the second object detection sensor unit 113: In the above-mentioned Example 10, the flowcharts of Figures 58 and 59 were shown as the processing of the first object detection sensor unit 111 and the second object detection sensor unit 113, respectively, but the processing is not limited to the example flowcharts as long as it can execute similar processing. [Industrial Applicability]

[0343] The object detection device according to the present invention can be used in, for example, an industrial robot. [Explanation of symbols]

[0344] 10. Object detection device 11 Object detection sensor unit 13 Object detection sensor unit 13a Light-emitting element 13b Projection lens 13c Photodetector 13d Sensor communication circuit 15 Flexible sensor placement member J15 long shaft 17 Control Unit 17a CPU 17b memory 17g Sensor control communication circuit 17h Operation control communication circuit 19 Connection harness R11 detection area R13 detection area 20 Object detection device 21 Object detection sensor unit 25 Flexible sensor placement member 251 Sensor placement member 253 Intermediate flexible member 253a Belt 253b Telescoping mechanism 30 Object detection device 31 Object detection sensor unit 35 Flexible sensor placement member 351 Unit flexible member 40 Object detection device 41 Object detection sensor unit 43 Object detection sensor unit 431 Sensor Board 433 Unit Placement Section 433a Unit protection housing 433a1 Internal space for placing sensor board 433a2 Light projection opening 433a3 Light receiving aperture 433a4 Opening for connecting wire between sensors 433a5 Opening for connecting harness 433b Sensor placement flexible member locking part 433b1 Flexible member insertion space 433b2 Flexible member placement space 45 Flexible sensor placement member 45T1 end 45T2 end 47 Sensor connection wire 49 Sensor connection line protection section 49a Covered part of connecting wire between sensors 49b Sensor placement flexible member locking portion 49b1 Flexible member insertion space 49b2 Space for arranging connecting wires between sensors and flexible members 50 Object detection device 51 Object detection sensor unit 59 Sensor connection line protection section 591 1st cabinet 591a Sensor connection wire coating 591a1 Sensor placement opening 591b End 591c Inner circumference 591d End 592 Second cabinet 592a Sensor connection wire coating 592d End 593 Hinge part 60 Object detection device 61 Object detection sensor unit 63 Object detection sensor unit 631 Sensor Board 65 Flexible sensor placement member 67 Sensor connection wire 69 Sensor connection line protection section 691 1st cabinet 691a Sensor connection wire coating 691a1 Light projection opening 691a2 Light receiving aperture 691b End 691c Inner circumference 691d End 692 Second cabinet 692d End L1 distance 143 Object detection sensor unit 143b Projection lens R143 Detection area 153 Object detection sensor unit R153 Detection area RBT Industrial Robot AM1~AM7 Arm J1~J13 Movable rotary joints B1 Base H1 Hand X10 Object Detector X11 Object Detection Sensor Unit X13 housing 131 First Housing Section 131a outer periphery 131b Aperture forming end for light emission and reception N13 Normal direction P131b end face R131a Light emitting / receiving aperture 131c end 131d Inner circumference 132 Second housing section 133 Hinge part X15 Axial light emitter X17 Axial light receiving section X19 control unit 19a CPU 19b memory 19g Sensor control communication circuit 19h Operation control communication circuit X20 Object Detector X21 Object Detection Sensor Unit X23 housing 231 First Housing Section 231b Aperture forming end for light emission and reception P231b end face R231a light projection opening R231a Light emitting / receiving aperture R231b Light receiving aperture 232 Second Housing Section X200 Reflector X30 Object Detector X31 Object Detection Sensor Unit X33 housing 331 First Housing Section 331a outer periphery R331a Radial light projection opening R331b Radial receiving aperture 332 Second Housing Section X35 Radiation light projection unit X37 Radial receiver X40 Object Detector X11-L Object Detector X11-S Object Detector 100 Object detection device 110 Object detection sensor unit 111 First object detection sensor unit 111a Light-emitting element 111b Projection lens 111c Photodetector 111d Sensor Communication Interface 111e Sensor control unit 111f Communication interface for control unit 111g Acceleration sensor part R111 detection area 113 Second object detection sensor unit 113a Light-emitting element 113b Projection lens 113c Photodetector 113d Sensor Communication Interface 113e Sensor control unit R113 Detection area 117 Sensor connection wire 119 Housing J119 Long shaft 1191 1st Housing Section 1191a outer periphery 1191a1 Light emitting / receiving aperture 1191b End 1191c Inner circumference 1191d End 1192 Second Housing Section 1192a outer periphery 1192a1 Light emitting / receiving aperture 1192b End 1192c inner circumference 1192d End 1193 Hinge part J1193 Rotation axis 170 Control Unit 170a CPU 170b memory 170g Sensor control communication circuit 170h Operation control communication circuit 190 Connection harness

Claims

1. An object detection device that is installed on a surface of a columnar installation object having a surface that follows an inner surface of a predetermined annular structure and detects a predetermined object on the surface, at least one of a light-projecting unit that projects detection light along an axial direction of the installation object that intersects with a normal direction to the surface, and a light-receiving unit that receives the detection light along an axial direction of the installation object that intersects with a normal direction to the surface; and moreover, a housing having the annular structure, the housing having the light-emitting unit and / or the light-receiving unit located therein; An object detection device having:

2. 2. The object detection device according to claim 1, The housing part is an end face having a normal direction intersecting the normal direction of the surface; and The end surface is an opening for emitting the detection light and / or an opening for receiving the detection light; having An object detection device characterized by:

3. In the object detection device according to claim 1 or claim 2, The light projecting unit is projecting the detection light onto the light receiving unit of another object detection device; The light receiving unit receiving the detection light emitted by the light-emitting unit of another object detection device; An object detection device characterized by:

4. In the object detection device according to claim 1 or claim 2, The light-emitting unit and the light-receiving unit are paired together, The light receiving unit receiving the detection light emitted by the pair of light-emitting units; An object detection device characterized by:

5. In the object detection device according to claim 3 which cites claim 2, The light-emitting unit and the light-receiving unit are paired together, The light receiving unit receiving the detection light emitted by the pair of light-emitting units; It is characterized by moreover, a reflecting section having a reflecting surface positioned opposite the end surface, the reflecting surface reflecting the detection light emitted by the light-emitting section toward the light-receiving section paired with the light-emitting section that emitted the detection light; having An object detection device characterized by:

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