Object detection device and mobile body on which object detection device is mounted

Abstract

Provided is an object detection device that is mounted on a moving body, the object detection device detecting, on the basis of reflected light for measurement light that has been scanned toward a monitoring region set in proximity to the moving body, whether an object entering the monitoring region is present, wherein the object detection device comprises: a signal input unit to which there is inputted a signal from a sensor installed in the moving body; a movement information calculation unit that calculates, from the signal inputted to the signal input unit, the straight-ahead-direction velocity of the moving body and the turning-direction or rotational-direction angular velocity of the moving body; a monitoring region setting unit that variably sets the monitoring region on the basis of the combination of the velocity and the angular velocity calculated by the movement information calculation unit; and a signal output unit that outputs an object detection signal when entry of an object into the monitoring region is detected.

Description

Object detection device and mobile body equipped with object detection device

[0001] The present invention relates to an object detection device mounted on a mobile body that detects the presence or absence of an object entering a monitoring area set close to the mobile body based on reflected light from measurement light scanned toward the monitoring area, and to a mobile body on which the object detection device is mounted.

[0002] Distance measuring devices employing the TOF (Time of Flight) method or the AM (Amplitude Modulation) method have been installed as visual sensors on moving objects such as automated guided vehicles (hereinafter referred to as "AGVs"). These distance measuring devices are used as object detection devices that detect the intrusion of people into a monitoring area set in the moving direction of the moving object in order to prevent collision accidents and the like.

[0003] The TOF method calculates the distance D from the distance measuring device to an object within the monitored area based on the detection time difference Δt between the measurement light, which is a pulsed laser beam emitted toward the monitored area, and the light reflected from the object. The distance D is calculated using the following formula: D = Δt C / 2, where C is the speed of light.

[0004] In the AM method, measurement light is amplitude-modulated, and the distance D from the distance measuring device to an object within the monitored area is calculated based on the phase difference Δφ between the measurement light output toward the monitored area and the light reflected from the object. The distance D is calculated using the following formula: D = Δφ C / (4π f) where C is the speed of light and f is the modulation frequency.

[0005] Patent Document 1 discloses a laser sensor that can variably set an optimal monitoring area based on the traveling state of each AGV when multiple AGVs are traveling, thereby shortening the inter-vehicle distance.

[0006] The laser sensor is mounted on a moving body and detects the presence or absence of an object entering the monitoring area based on reflected light from measurement light scanned toward the monitoring area, and is equipped with a signal input unit that inputs a signal from a speed sensor mounted on the moving body, a movement information calculation unit that calculates the speed and acceleration of the moving body from the signal input to the signal input unit, a monitoring area setting unit that variably sets the monitoring area based on the speed and acceleration calculated by the movement information calculation unit, and a signal output unit that outputs an intrusion object detection signal when it detects an object entering the monitoring area.

[0007] Japanese Patent Application Laid-Open No. 2015-230527

[0008] However, in the laser sensor described in Patent Document 1, the movement information calculation unit is configured to detect the speed and acceleration of the moving body in the straight-line direction, so there was a problem in that it was not possible to switch to the appropriate management area when the moving body turned or rotated to the left or right.

[0009] In view of the above-mentioned problems, the object of the present invention is to provide an object detection device that can set a more appropriate monitoring area in response to not only the movement of a moving body in a straight line but also the movement in a turning or rotational direction, and a moving body on which an object detection device is mounted.

[0010] In order to achieve the above-mentioned object, a first characteristic configuration of the object detection device according to the present invention is an object detection device that is mounted on a moving body and detects the presence or absence of an object entering a monitoring area set close to the moving body based on reflected light from measurement light scanned toward the monitoring area, and is equipped with a signal input unit that inputs a signal from a sensor installed on the moving body, a movement information calculation unit that calculates the speed of the moving body in the straight-line direction and the angular velocity in the turning or rotation direction from the signal input to the signal input unit, a monitoring area setting unit that variably sets the monitoring area based on the combination of the speed and the angular velocity calculated by the movement information calculation unit, and a signal output unit that outputs an object detection signal when it detects an object entering the monitoring area.

[0011] Based on signals input to the signal input unit from sensors installed on the moving object, the movement information calculation unit calculates the moving object's speed in the straight line direction and angular velocity in the turning or rotation direction. The monitoring area setting unit variably sets the monitoring area according to the moving object's direction of travel based on the speed and angular velocity calculated by the movement information calculation unit, making it possible to appropriately detect the intrusion of an object.

[0012] The second characteristic configuration is, in addition to the first characteristic configuration described above, in that the signals from the sensors are signals from a pair of two-phase encoders installed on each axle of a left wheel and a right wheel that are arranged at a distance apart in the vehicle width direction of the moving body and that can rotate independently, and the movement information calculation unit calculates the velocity and the angular velocity of the moving body based on the rotational speeds of the left wheel and the right wheel that are obtained based on the signals from the pair of two-phase encoders.

[0013] By using a pair of two-phase encoders installed on each axle of the left and right wheels of the moving body as sensors, the movement information calculation unit can calculate the straight-line speed and turning or rotational angular velocity of the moving body based on the rotational speed of the left and right wheels, i.e., the rotational direction of the left and right wheels and their scalar quantity.

[0014] The third characteristic configuration is, in addition to the first characteristic configuration described above, that the monitoring area is provided with table data that defines the monitoring area that is variably set based on a combination of the speed and the angular velocity that the moving body can take, and the monitoring area setting unit sets the monitoring area by referring to the table data based on the speed and the angular velocity calculated by the movement information calculation unit.

[0015] Since an appropriate monitoring area is pre-defined as table data based on the combination of the speed and angular velocity that the moving body can assume, the monitoring area setting unit can easily obtain the monitoring area corresponding to the speed and angular velocity calculated by the movement information calculation unit by referring to the table data.

[0016] The fourth characteristic configuration is that, in addition to the third characteristic configuration described above, the monitoring area setting unit displays the speed and angular velocity of the moving body specified by the user on a display unit, and is equipped with a GUI that generates the table data by setting the monitoring area in a data cell of the table data corresponding to the combination of the speed and the angular velocity displayed on the display unit, and the GUI displays the direction of travel of the moving body corresponding to the combination of the speed and the angular velocity displayed on the display unit in a display manner that can be conceptually recognized by the user.

[0017] The GUI provided in the monitoring area setting unit displays the speed and angular velocity of the moving object specified by the user on the display unit. The user can generate table data by setting an appropriate monitoring area in the data cells corresponding to the speed and angular velocity of the moving object displayed on the display unit. In this case, the moving direction of the moving object is displayed in a manner that the user can conceptually recognize, so the user can set the monitoring area appropriately without making any mistakes about the moving direction of the moving object.

[0018] The fifth characteristic configuration is that, in addition to the fourth characteristic configuration described above, the GUI has a first mode in which the speed and angular velocity of the moving body are displayed on the display unit based on the rotational speeds of the left and right wheels of the moving body input by the user, and the corresponding data cell is displayed in a display manner that is recognizable to the user, and a second mode in which the speed and angular velocity of the moving body are displayed on the display unit corresponding to any data cell specified by the user, and the rotational speeds of the left and right wheels of the moving body are displayed in a recognizable manner, and is configured to allow selection of either the first mode or the second mode when generating the table data.

[0019] When a user sets a monitoring area in each data cell of table data via a GUI, the user must specify the speed and angular velocity of the moving object to identify the data cell. In the first mode, the user inputs the rotational speeds of the left and right wheels of the moving object, and the speed and angular velocity of the moving object are calculated and displayed from the input rotational speeds of the left and right wheels. The corresponding data cell is guided and displayed in a manner that is recognizable to the user. In the second mode, the user specifies the data cell for which the monitoring area is to be set. The speed and angular velocity of the corresponding moving object are displayed on the display unit, and the rotational speeds of the left and right wheels of the moving object are recognizable. Users who have a thorough understanding of the running characteristics of the moving object can efficiently proceed with their work by selecting the first mode, while users who do not have a thorough understanding of the running characteristics of the moving object can efficiently proceed with their work by selecting the second mode.

[0020] The sixth characteristic configuration is that, in addition to the first characteristic configuration described above, the monitoring area setting unit sets the monitoring area to an area obtained by expanding or contracting the reference monitoring area in the straight-ahead direction and the turning direction based on the ratio of the speed to the reference speed and the ratio of the angular velocity to the reference angular velocity, for a reference monitoring area determined in accordance with a predetermined reference speed and a reference angular velocity.

[0021] The monitoring area set by the monitoring area setting unit can be set to an appropriate monitoring area by expanding or contracting the monitoring area based on a reference monitoring area determined in advance in accordance with a predetermined reference speed and reference angular velocity, in accordance with the ratio of the speed of the actual moving body in the straight-line direction to the reference speed and the ratio of the angular velocity of the actual moving body in the turning or rotation direction to the reference angular velocity. For example, if the ratio of the speed in the straight-line direction increases, the monitoring area is expanded in the straight-line direction, and if the ratio of the angular velocity in the turning or rotation direction increases, the monitoring area is expanded in the turning or rotation direction.

[0022] A first characteristic configuration of a moving body according to the present invention is that it is equipped with an object detection device having any one of the first to sixth characteristic configurations described above, and is equipped with an object detection signal input unit that inputs the object detection signal output from the signal output unit.

[0023] The object detection signal output from the signal output unit provided in the object detection device is input to the object detection signal input unit provided in the moving body, so that the moving body can respond appropriately.

[0024] The second characteristic configuration is that, in addition to the first characteristic configuration described above, it is equipped with a driving control unit that controls the speed and angular velocity of the moving body based on the object detection signal input to the object detection signal input unit.

[0025] The travel control unit provided on the moving body controls the moving body's speed in the straight line direction and the angular velocity in the turning or rotation direction based on the object detection signal, thereby making it possible to avoid collision accidents with objects entering the monitoring area.

[0026] As described above, according to the present invention, it is possible to provide an object detection device that can set a more appropriate monitoring area in response to not only the movement of a moving body in a straight line but also the movement in a turning or rotational direction, and a moving body on which an object detection device is mounted.

[0027] FIG. 1A is an explanatory diagram of the monitoring area by the object detection device when a moving object moves straight ahead. FIG. 1B is an explanatory diagram of the monitoring area by the object detection device when a moving object turns left. FIG. 1C is an explanatory diagram of the monitoring area by the object detection device when a moving object turns right. FIG. 2A is a perspective view showing the appearance of the object detection device. FIG. 2B is an explanatory diagram showing the internal structure of the object detection device. FIG. 3A is a functional block diagram of the control circuit of the object detection device. FIG. 3B is a functional block diagram of the signal processing unit and system control unit of the object detection device. FIG. 4 is an explanatory diagram of the monitoring area by the object detection device when a moving object moves straight ahead. ０ and angular velocity W in the turning or rotation direction ０ 5 is an explanatory diagram of variables used when calculating the speed V of the moving object in the straight line direction. ０ and angular velocity W in the turning or rotation direction ０FIG. 6 is a diagram illustrating a monitoring area divided by the reference numerals. FIG. 6 is a first diagram illustrating a GUI used to set a monitoring area. FIG. 7 is a second diagram illustrating a GUI used to set a monitoring area. FIG. 8 is a third diagram illustrating a GUI used to set a monitoring area. FIG. 9 is a fourth diagram illustrating a GUI used to set a monitoring area.

[0028] 1A, 1B, and 1C illustrate an example of an object detection device according to the present invention and a mobile body equipped with the object detection device. The example illustrates a mobile body 1, which is an automated guided vehicle (AGV), an object detection device 2 mounted on the front of the mobile body 1 in the direction of travel, and a monitoring area R in which the object detection device 2 monitors for the presence or absence of obstacles.

[0029] The monitoring area R is variably set based on the traveling state of the mobile object 1, i.e., the speed V in the straight-line direction and the angular velocity ω in the turning or rotation direction. Turning refers to rotational movement when the axis of rotation is outside the mobile object 1, and rotation refers to rotational movement when the axis of rotation is inside the mobile object 1. Fig. 1A shows the monitoring area R when traveling straight, Fig. 1B shows the monitoring area R when turning left, and Fig. 1C shows the monitoring area R when turning right.

[0030] To ensure a sufficient braking distance when an obstacle is detected, each monitoring area R is set to expand or contract stepwise or continuously according to the speed V and angular velocity ω. The greater the speed V, the greater the monitoring area R in the traveling direction, and the greater the angular velocity ω, the greater the monitoring area R in the turning direction. For example, when traveling straight, the monitoring area R is set in the area ahead in the traveling direction, when turning left, the monitoring area R is set in the area ahead to the left, which is the turning direction, and when turning right, the monitoring area R is set in the area ahead to the right, which is the turning direction.

[0031] The vehicle 1 has a left wheel LW and a right wheel RW arranged at a distance D in the vehicle width direction of the body frame F. Drive units L1 and R1 are connected to the axles L2 and R2 of the left wheel LW and the right wheel RW so that they can be rotated independently. Electric motors are preferably used as the drive units L1 and R1. Although not shown, driven wheels are provided on the left and right sides of the body frame F.

[0032] Incremental encoders EC1 and EC2 (hereinafter also referred to as two-phase encoders EC1 and EC2) are incorporated into the axles L2 and R2, respectively, and signal lines are provided so that the rotation direction and rotation speed of the left and right wheels LW and RW are input to the object detection device 2.

[0033] The mobile object 1 is equipped with a control circuit C1 including an object detection signal input unit that inputs an object detection signal output from the object detection device 2 and a travel control unit that controls the speed V of the mobile object 1 in a straight-line direction and the angular velocity ω of the turning or rotation direction based on the input object detection signal. The control circuit C1 controls the drive units L1 and R1, thereby adjusting the travel state of the mobile object 1. For example, when an obstacle is detected in the monitoring area R, the speed V of the mobile object 1 in a straight-line direction and the angular velocity ω of the turning or rotation direction are adjusted to avoid a collision between the mobile object 1 and the obstacle. The travel state changes between straight-line travel, turning, or rotation by adjusting the rotational speeds of the left and right wheels LW and RW. A steering mechanism for steering the left and right wheels LW and RW may also be provided.

[0034] Fig. 2A shows the external appearance of object detection device 2 mounted on moving body 1, and Fig. 2B shows the internal structure of object detection device 2. As shown in Fig. 2C, object detection device 2 comprises a lower casing 2A having a substantially rectangular parallelepiped shape and an upper casing 2B having a substantially cylindrical optical window 20. A signal connection unit 2C and a display unit 2D are provided in lower casing 2A.

[0035] As shown in FIG. 2B, the object detection device 2 includes a light emitting unit 3, a light receiving unit 4, a polarizing mirror 5, a scanning mechanism 6, a light receiving lens 7, a control board 8, and the like.

[0036] The scanning mechanism 6 is configured with a motor 60 installed on the inner top wall of the upper casing 2B and an encoder 61 that detects the rotation state of the motor 60. The polarizing mirror 5 is rotatably attached to the rotation shaft of the motor 60 at an inclination angle of 45 degrees relative to the rotation shaft of the motor 60. The encoder 61 functions as a scanning angle detector for the measurement light.

[0037] The light-emitting unit 3 and the light-receiving unit 4 are arranged coaxially with the rotational axis of the motor 60. The light-emitting unit 3 includes a laser diode 3a that emits light in the near-infrared region and a light-projecting lens 31. The light-receiving unit 4 includes a photodiode 4a and is mounted on a control board 8 that is located at the bottom of the lower casing 2A.

[0038] The control board 8 also has a control circuit 9 that controls the drive of the motor 60 based on a signal from the encoder 61, controls the emission of the laser diode 3a at a predetermined time, and processes the signal received by the light receiving unit 4.

[0039] The peripheral portion of the light-receiving lens 7 is fixed to the flange 72 of the lens holder 70 having four legs 71, and a cylindrical projection lens holder 3B is inserted into a cylindrical notch 7a formed at the center of the optical axis of the light-receiving lens 7, and the projection lens 3l is held in the projection lens holder 3B and fixed from above by a lens holder 3C.

[0040] The laser diode 3a is disposed at the lower end of the light projecting lens holder 3B, and the end of the rectangular substrate 3d on which the laser diode 3a is mounted is fixed with bolts to the flange 72 of the lens holder 70. In addition, the control substrate 8 is fixed by the four legs 71 of the lens holder 70.

[0041] The pulsed measurement light output from the light-emitting unit 3 is shaped into a beam by the light-projecting lens 3l and enters the polarizing mirror 5. The measurement light is polarized and reflected by the polarizing mirror 5, which is driven to rotate by the motor 60, passes through the optical window 20, and is scanned toward the monitoring area R.

[0042] Reflected light of the measurement light enters the polarizing mirror 5 through the optical window 20 and is focused by the light receiving lens 7 toward the light receiving unit 4, where the optical signal is converted into an electrical signal and input to the signal processing unit 10.

[0043] The control circuit 9 calculates the distance from the object detection device 2 to the reflection position of the reflected light, i.e., the position of the object, based on the time difference between when the laser diode 3a emits light and when the reflected light received by the light receiving unit 4 is detected.

[0044] Furthermore, the control circuit 9 determines whether or not an obstacle is present in a preset monitoring area R based on the scanning direction of the measurement light ascertained based on the pulse signal from the encoder 61 and the distance to the object position, and if it detects that an obstacle is present in the monitoring area R, an object detection signal is output from a signal output unit provided in the control circuit 9 to the mobile body 1. A travel control unit incorporated in the mobile body 1 executes braking control to prevent collisions based on the obstacle detection signal output from the object detection device 2.

[0045] The monitoring area R includes at least two areas: a nearby area close to the moving body and a distant area at a distance from the moving body; if an obstacle is detected in the nearby area, the driving control unit brings the moving body 1 to an emergency stop; and if an obstacle is detected in the distant area, the driving control unit controls the moving body 1 to decelerate.

[0046] 3A shows functional blocks of the control circuit 9 incorporated in the object detection device 2. The control circuit 9 includes a drive circuit 3b that drives the laser diode 3a, a light receiving unit 4 consisting of a photodiode 4a and an amplifier circuit 4b, a signal processing unit 10 equipped with a digital signal processor that performs distance measurement calculations to calculate the distance to an object from which reflected light is detected, a system control unit 11 equipped with a microcomputer, a motor control circuit 12 that drives the motor 60, and the like.

[0047] As shown in Figure 3B, the signal processing unit 10 includes a pulse signal generating unit 10E that calculates the scanning angle at which measurement light is output based on a pulse signal from the scanning angle detection unit (encoder 61) and outputs an emission request signal to the light emitting unit 3 for every predetermined scanning angle, a distance measurement calculation unit 10A that uses the TOF method, a correction data memory unit 10B that stores correction data for correcting calculation errors caused by variations in sensor components such as the light receiving unit, a correction processing unit 10C that corrects the calculation results by the distance measurement calculation unit 10A based on the correction data, and a distance information memory unit 10D that stores the corrected distance measurement data.

[0048] The light emission request signal is also input to the distance measurement calculation unit 10A as a reference timing signal for distance measurement calculation. In addition, correction data is determined so that when the measurement light rotates and scans by the polarizing mirror 5 scans the reference position in the upper casing 2B where the optical window 20 ends, the distance measurement value calculated based on the light reflected from the reflecting member provided at the reference position becomes a preset reference value.

[0049] The system control unit 11 includes a scanning angle calculation unit 11A, a motor control unit 11B, an area determination unit 11C, a monitoring area setting unit 11D, a movement information calculation unit 11E, and the like.

[0050] The scanning angle calculation unit 11A is a functional block that calculates the rotation speed and scanning angle based on a pulse signal from the scanning angle detection unit (encoder 61), and the motor control unit 11B is a functional block that drives and controls the motor 60 at a constant rotation speed based on the rotation speed calculated by the scanning angle calculation unit 11A.

[0051] The movement information calculation unit 11E is a functional block including a velocity calculation unit CLV that calculates the velocity V of the moving body 1 in the straight-line direction based on pulse signals from two incremental encoders EC1 and EC2 installed on the axles L2 and R2 of the moving body 1, and an angular velocity calculation unit CLω that calculates the angular velocity ω in the turning or rotation direction. Each incremental encoder EC1 and EC2 is configured to output pulses with two different phases (phase A and phase B). The rotation directions of the left and right wheels LW and RW can be determined from the phases of the two phases, and the rotation speeds of the left and right wheels LW and RW can be calculated from the number of pulses. The rotation speeds of the left and right wheels LW and RW are calculated as positive values ​​when the moving body 1 is moving forward in the straight line, and as negative values ​​when the moving body 1 is moving backward in the opposite direction.

[0052] As shown in FIGS. 4 and 5, the speed calculation unit CLV calculates the rotational speeds V of the left and right wheels LW and RW based on signals from a pair of left and right two-phase encoders EC1 and EC2. Ｌ , V Ｒ Based on this, the speed V of the moving body 1 ０ is calculated based on the following formula: ０ = (V Ｌ+V Ｒ ) / 2 However, V ０ >0: forward, V ０ <0: Reverse

[0053] The angular velocity calculation unit CLω calculates the rotational speeds V of the left and right wheels LW and RW based on signals from a pair of two-phase encoders EC1 and EC2. Ｌ , V Ｒ and the angular velocity W of the moving body 1 based on the distance D between the wheels LW and RW. ０ is calculated based on the following formula: Ｒ and R Ｌ is the radius of curvature from the center point around which the moving body 1 turns or rotates, and t is the time required to turn or rotate the angle θ. ０ = 180 (V Ｌ -V Ｒ ) / πD where W ０ <0: Counterclockwise, W ０ If it is >0, it is clockwise. Here, t*V Ｒ = 2πR Ｒ (θ / 360) t*V Ｌ = 2πR Ｌ (θ / 360) R Ｌ =R Ｒ -D.W. ０ = θ / t

[0054] The monitoring area setting unit 11D calculates the speed V ０ and angular velocity W ０ The area determination unit 11C variably sets the monitoring area R based on a combination of the above. If any of the distance measurement data for each cycle stored in the distance information storage unit 10D belongs to the monitoring area R set by the monitoring area setting unit 11D, the area determination unit 11C determines that an object has entered the monitoring area R, and operates as a signal output unit that outputs an object detection signal to the control circuit C1 of the mobile unit 1 when it detects that an object has entered the monitoring area R.

[0055] The control circuit C1 provided in the moving body 1 has an object detection signal input unit that receives an object detection signal, and when an object detection signal is input to the object detection signal input unit, the driving control unit provided in the control circuit C1 controls the drive units L1 and R1, thereby adjusting the driving state so that the moving body 1 does not collide with an object that has entered.

[0056] If no object is detected entering the monitoring area R, the travel control unit controls the travel of the mobile object 1 along a preset travel route.

[0057] The monitoring area setting unit 11D calculates the speed V that the moving object 1 can take. ０ and angular velocity W ０ The monitoring area setting unit 11D is provided with a memory that stores table data that defines a plurality of patterns of monitoring areas to be variably set based on a combination of the speed V calculated by the movement information calculation unit 11E. ０ and angular velocity W ０ The monitoring area R can be set by referring to the table data based on the above.

[0058] The speed V that the moving body 1 can take ０ and angular velocity W ０ Since an appropriate monitoring area R is determined in advance as table data based on the combination of the above, the monitoring area setting unit 11D can determine the speed V at that time simply by referring to the table data. ０ and angular velocity W ０ Therefore, the monitoring area R corresponding to the above can be easily obtained.

[0059] The movement information calculation unit 11E receives signals from the two-phase encoders EC1 and EC2 and calculates the velocity V at a predetermined calculation period that is at least equal to or greater than the scanning period of the measurement light. ０ and angular velocity W ０ The monitoring area setting unit 11D is configured to calculate the distance R, and the monitoring area setting unit 11D is configured to update the monitoring area R in synchronization with the calculation period. Note that the monitoring area setting unit 11D may be configured to update the monitoring area R at the timing when the distance information for one scanning period is updated in the distance information storage unit 10D.

[0060] A GUI (Graphical User Interface) can be provided to enable a user to freely set the table data in the monitoring area setting unit 11D. A tablet computer, laptop computer, or the like can be suitably used as the computer that configures the GUI. The computer that configures the GUI is communicably connected to the control board 8 via a connector installed on the back surface of the lower casing 2A.

[0061] The GUI is configured to calculate the speed V of the moving object 1 specified by the user. ０ and angular velocity W ０ is displayed on the display unit (computer display screen), and the velocity V ０ and angular velocity W ０ The table data is generated by the user setting a monitoring area in a data cell of the table data corresponding to the combination of the above.

[0062] 6 to 9 show examples of computer display screens that constitute the GUI. The screen configuration will be described with reference to FIG. 6. A basic information setting area is located in the upper left corner of the screen, including the specification values ​​of encoders EC1 (corresponding to encoder 1 shown in the figure) and EC2 (corresponding to encoder 2 shown in the figure), the distance D between the wheels LW and RW of the mobile object 1, and the size of the table data (number of velocity divisions, number of angular velocity divisions). Depending on the configuration of the mobile object 1, the distance D between the wheels LW and RW can be changed by the dimensional value of the AGV width, as shown in the figure.

[0063] At the bottom of the screen, the speed V of moving object 1 is displayed. ０ and angular velocity W ０ Table data is arranged in which monitoring areas are set corresponding to the ranges of values ​​that can be set for each of the above.

[0064] The upper right part of the screen has an input field for inputting the rotation direction and rotation speed (the rotation direction is indicated by a positive or negative sign) of the left and right wheels LW, RW to be measured by the encoders EC1, EC2 of the moving body 1, and a field for inputting the speed V of the moving body 1 calculated from the rotation direction and rotation speed of the left and right wheels LW, RW by the movement information calculation unit 11E. ０ and angular velocity W０ A display field for the area to be monitored and a monitoring area setting field for setting the monitoring area are provided.

[0065] When the necessary basic information is set in the basic information setting area, table data is displayed that includes data cells in the number corresponding to the input size (number of velocity divisions, number of angular velocity divisions).

[0066] As shown in the circle indicated by the dashed line in FIG. 6, when the user inputs the rotation direction and rotation speed of the encoders EC1 and EC2, the speed V of the moving body 1 in the straight direction calculated by the movement information calculation unit 11E is ０ and the angular velocity W in the rotation or turning direction ０ is calculated and displayed.

[0067] At this time, the moving direction of the moving object 1 is displayed in a manner that allows the user to conceptually recognize it, so as to be superimposed on a figure that resembles the moving object 1 in a planar view. In FIG. 6, this is illustrated by a thick arrow. The arrow indicates the velocity V ０ and angular velocity W ０ Since the area is set to change to different sizes and shapes based on the direction of travel of the moving body 1, the user can set the monitoring area appropriately without making any mistakes about the direction of travel of the moving body 1.

[0068] 7 shows a screen in which values ​​different from those in FIG. 6 are set as the rotation direction and rotation speed of the encoders EC1 and EC2. As shown by the circle with a dashed line in FIG. 7, when the rotation direction and rotation speed of the encoders EC1 and EC2 are input, the speed V of the moving body 1 in the table data is ０ and angular velocity W ０ The data cell corresponding to the target location is displayed in a recognizable manner, and the user is made aware that a monitoring area should be set for that data cell. While the display is dark in color in Fig. 7, any display manner, such as highlighting or blinking, can be used as long as it is recognizable to the user. In this case, as in Fig. 6, the traveling direction of the moving object 1 is displayed in a manner that the user can conceptually recognize, superimposed on a figure that resembles the moving object 1 in a planar view.

[0069] As shown in the lower right area of ​​FIG. 7 , each data cell in the table data is partitioned to correspond to either the counterclockwise or clockwise rotation direction described in FIG. 5 . To specifically set a monitoring area in the displayed data cell, the user operates a monitoring area setting field for setting the monitoring area. As shown in FIG. 8 , the monitoring area setting field displays multiple monitoring areas in a pull-down menu format, and one of the monitoring areas can be set using a set switch below the menu. In this example, "Area 3" is selected, and "Area 3" is set in the corresponding data cell in the table data. The actual shape of the monitoring area corresponding to each option displayed in the pull-down menu may be separately prepared for the user's reference, or the monitoring area may be displayed graphically to correspond to a figure that resembles the mobile object 1 in a planar view.

[0070] 9 shows another aspect of the GUI. When the user selects an arbitrary data cell of the table data, the velocity V of the corresponding moving object 1 is displayed as shown by the dashed-dotted circle in the figure. ０ and angular velocity W ０ is displayed, and furthermore, the rotation direction and rotation speed of the left and right encoders EC1 and EC2 are displayed. As in Fig. 6, the traveling direction of the mobile object 1 is displayed in a manner that allows the user to conceptually recognize it, superimposed on a figure that resembles the mobile object 1 in a planar view. The user visually checks this data and sets the monitoring area of ​​the corresponding data cell.

[0071] That is, the GUI calculates the speed V of the moving body 1 based on the rotational speeds of the left wheel LW and the right wheel RW of the moving body 1 input by the user. ０ and angular velocity W ０ a first mode in which the speed V of the moving body 1 is displayed on the display unit and the corresponding data cell is displayed in a display manner that can be recognized by the user; ０ and angular velocity W ０and a second mode in which the rotation speeds of the left wheel LW and the right wheel RW of the moving body 1 are displayed on the display unit in a recognizable manner. When generating table data, either the first mode or the second mode can be selected.

[0072] When the user sets a monitoring area for each data cell of the table data via the GUI, the speed V of the moving object 1 is used to identify the data cell. ０ and angular velocity W ０ Therefore, in the first mode, if the user inputs the rotational speeds of the left wheel LW and the right wheel RW of the moving body 1, the speed V of the moving body 1 can be calculated from the input rotational speeds of the left wheel LW and the right wheel RW. ０ and angular velocity W ０ are calculated and displayed, and the corresponding data cells are guided and displayed in a display manner that is recognizable to the user.

[0073] In the second mode, if the user designates a data cell for setting a monitoring area, the speed V of the corresponding moving object 1 is calculated. ０ and angular velocity W ０ is displayed on the display unit, and the rotational speeds of the left wheel LW and the right wheel RW of the moving body 1 are clearly displayed. A user who has a sufficient understanding of the running characteristics of the moving body 1 can proceed with the work efficiently by selecting the first mode, and a user who does not have a sufficient understanding of the running characteristics of the moving body 1 can proceed with the work efficiently by selecting the second mode. Furthermore, the rotational speeds V of the left wheel LW and the right wheel RW input by the user in the first mode are Ｌ , V Ｒ This allows the user to obtain an estimate of the value, improving usability when setting the monitoring area.

[0074] In the second mode, the speed V of the moving body 1 corresponding to the data cell designated by the user is ０ and angular velocity W ０ The median value is selected from the range of possible values ​​of V Ｌ , V ＲThe value of is calculated backward. The GUI may switch between the first mode and the second mode by displaying an explicit button on the screen, or may automatically switch to one of the modes depending on the field that the user is about to input first.

[0075] The monitoring area setting unit 11D refers to the table data when updating the monitoring area R, and the predetermined reference speed V Ｂ and the reference angular velocity W Ｂ The reference monitoring area R Ｂ For the reference speed V Ｂ Velocity V relative to ０ and the reference angular velocity W Ｂ Angular velocity W ０ Based on the ratio of Ｂ It is preferable to configure the system so that the monitoring area R is defined as an area obtained by expanding or contracting the above in the straight-ahead direction and the turning or rotation direction.

[0076] For example, the ratio of the speed in the straight line direction V ０ / V Ｂ When the ratio W of the angular velocity in the turning or rotation direction increases, the monitoring area R expands in the straight-line direction. ０ / W Ｂ When the value of the rotational direction increases, the monitoring area R is expanded in the turning or rotational direction.

[0077] Instead of table data, the reference monitoring area R Ｂ Based on the speed ratio V ０ / V Ｂ or the ratio of angular velocities W ０ / W Ｂ The monitoring area R may be set by calculation processing according to the speed ratio V ０ / V Ｂ and the ratio of angular velocities W ０ / W Ｂ The monitoring area R may be set to have a size that varies stepwise based on the speed ratio V ０ / V Ｂ and the ratio of angular velocities W ０ / W Ｂ The monitoring area R may be set so that the size varies continuously based on the above.

[0078] The monitoring area R set by the monitoring area setting unit 11D may be configured to set two areas: a protection area that monitors the area near the moving body 1 and performs stopping control immediately when an obstacle is detected, and an alarm area that monitors the area far from the moving body 1 and performs braking control when an obstacle is detected, or three areas may be set, including an area between the near area and the far area.

[0079] In the above-described embodiment, an example has been described in which the object detection device 2 for monitoring the space ahead of the moving body 1 is provided at the front of the moving body 1. However, in the case of a moving body 1 having an object detection device 2 for monitoring the entire area around the moving body 1, ０ and angular velocity W ０ It is also possible to variably set the monitoring area R based on the above.

[0080] Alternatively, the moving body 1 may be provided with an object detection device 2 at the front thereof for monitoring the space ahead, and another object detection device 2 at the rear thereof for monitoring the space behind, and the signals of the two-phase encoders EC1 and EC2 may be input to the object detection devices 2, respectively. ０ and angular velocity W ０ Even if the values ​​are the same, the table data stored in the monitoring area setting unit 11D of each object detection device 2 will have different values.

[0081] In the above example, the sensor signals input to the movement information calculation unit 11E are pulse signals from the two-phase encoders EC1 and EC2. ０ and angular velocity W ０ The sensors are not limited to the two-phase encoders EC1 and EC2, but may be other sensors as long as they can calculate the above. Furthermore, the sensors may each have a duplicated interface circuit for inputting two-phase signals for fail-safe purposes that meet safety standards.

[0082] In the above-described embodiment, the monitoring area setting unit 11D, the movement information calculation unit 11E, and the area determination unit 11C are integrally incorporated into the control board 8 built into the object detection device 2, but any one of the monitoring area setting unit 11D, the movement information calculation unit 11E, and the area determination unit 11C may be configured separately from the object detection device 2.

[0083] The object detection device and moving body described above are examples of the present invention, and the specific configurations of the object detection device and moving body are not limited by the description, and it goes without saying that they can be modified and designed as appropriate within the scope of the effects of the present invention.

[0084] 1: Moving object 2: Object detection device 11C: Area determination unit 11D: Monitoring area setting unit 11E: Movement information calculation unit EC1, EC2: Sensor (incremental encoder)

Claims

1. An object detection device that is mounted on a moving body and detects the presence or absence of an object entering a monitoring area set close to the moving body based on reflected light of measurement light scanned toward the monitoring area, the object detection device comprising: a signal input unit that inputs a signal from a sensor installed on the moving body; a movement information calculation unit that calculates the straight-line speed and turning or rotational angular velocity of the moving body from the signal input to the signal input unit; a monitoring area setting unit that variably sets the monitoring area based on the combination of the speed and angular velocity calculated by the movement information calculation unit; and a signal output unit that outputs an object detection signal when it detects an object entering the monitoring area.

2. An object detection device as described in claim 1, wherein the signal from the sensor is a signal from a pair of two-phase encoders installed on each axle of the left and right wheels of the moving body, which are arranged at a distance apart in the vehicle width direction and can rotate independently, and the movement information calculation unit calculates the velocity and the angular velocity of the moving body based on the rotational speeds of the left and right wheels obtained based on the signals from the pair of two-phase encoders.

3. An object detection device as described in claim 1, further comprising table data defining the monitoring area which is variably set based on a combination of the speed and angular velocity which the moving body can assume, and the monitoring area setting unit sets the monitoring area by referring to the table data based on the speed and angular velocity calculated by the movement information calculation unit.

4. An object detection device as described in claim 3, wherein the monitoring area setting unit displays the speed and angular velocity of the moving body specified by a user on a display unit, and is equipped with a GUI that generates the table data by setting the monitoring area in a data cell of the table data corresponding to the combination of the speed and angular velocity displayed on the display unit, and the GUI displays the traveling direction of the moving body corresponding to the combination of the speed and angular velocity displayed on the display unit in a display manner that can be conceptually recognized by the user.

5. The object detection device of claim 4, wherein the GUI has: a first mode in which the speed and angular velocity of the moving body are displayed on the display unit based on the rotational speeds of the left and right wheels of the moving body input by the user, and the corresponding data cells are displayed in a display manner recognizable by the user; and a second mode in which the speed and angular velocity of the moving body are displayed on the display unit corresponding to any data cell designated by the user, and the rotational speeds of the left and right wheels of the moving body are displayed in a recognizable manner, and wherein either the first mode or the second mode is selectable when generating the table data.

6. An object detection device as described in claim 1, wherein the monitoring area setting unit sets the monitoring area to an area obtained by expanding or reducing a reference monitoring area in a straight-line direction and a turning direction based on a ratio of the speed to the reference speed and a ratio of the angular velocity to the reference angular velocity, for a reference monitoring area defined corresponding to a predetermined reference speed and a reference angular velocity.

7. A moving object equipped with an object detection device according to any one of claims 1 to 6 and comprising an object detection signal input section for inputting the object detection signal output from the signal output section.

8. A moving body according to claim 7, further comprising a travel control section that controls the speed and the angular velocity of the moving body based on the object detection signal input to the object detection signal input section.

Images