JP2017151570A - Optical safety system, setting assistance device for safety scanner, and setting assistance program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an optical safety system with which it is possible to easily grasp a correspondence between a scan image and a real space.SOLUTION: An optical safety system comprises: light projection means for projecting detection light toward an object; light-receiving means for receiving reflected light from the object and generating a light reception signal; distance calculation means for finding the distance to the object on the basis of the light reception signal; scanning means for causing the detection light to scan in the circumferential direction centering around a rotation axis; entrance detection means for detecting an object entering a protection area on the basis of distance measurement information consisting of the distance and the scanning angle of detection light, and outputting a detection signal; imaging means for photographing the protection area and generating a camera image; scan mage generation means for generating a scan image in which a plurality pieces of distance measurement information obtained by scanning with the detection light are indicated as a plurality of distance measurement positions of the detection light on the scanning surface; and image display means for displaying the camera image and the scan image side by side in a screen.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an optical safety system, a setting support device for a safety scanner, and a setting support program, and more particularly, an improvement of an optical safety system that receives reflected light from an object and detects an intruder in a protection area. About.

  An area monitoring sensor is a safety device that detects an intruder that has entered a protected area, such as a person, and outputs a safety control signal for emergency stop of a machine tool, an industrial robot, or the like (for example, Patent Document 1). And 2). For example, a safety scanner includes a light projecting unit that projects detection light toward an object, a light receiving unit that receives reflected light from the object and generates a light reception signal, and a target based on the light reception signal. It is an optical area monitoring sensor provided with the distance calculation part which calculates | requires this distance, and the scanning part which scans a detection light to the circumferential direction centering on a rotating shaft. Detection of an intruder is performed by specifying the position of the object from the distance to the object and the scanning angle of the detection light and collating it with the protection area.

JP 2009-296087 A JP 2009-294734 A

  Some conventional safety scanners display distance measurement information including a scanning angle and a distance as a scanned image. The scan image is an image in which a plurality of distance measurement information obtained by scanning the detection light is two-dimensionally displayed, and each distance measurement information is indicated as a distance measurement position on the scan plane of the detection light. By displaying such a scanned image, a large amount of distance measurement information can be quickly grasped.

  However, it is not easy to grasp the correspondence between the scanned image and the real space, and it is not easy to grasp what the distance measurement position shown in the scanned image corresponds to in the real space. There was a problem. For example, even when an intruder in a protected area is detected, there is a case where it is difficult to grasp what the intruder corresponds to in the real space. In addition, when a protection area is designated on a scanned image, the protection area may not be correctly designated.

  In addition, with a conventional safety scanner, it is difficult to visually recognize a scan surface on which detection light is scanned. For this reason, even if the safety scanner is installed with the rotating shaft tilted and the scanning surface is tilted with respect to the installation surface such as the floor, it is difficult to notice this. Moreover, it is difficult for the conventional safety scanner to visually recognize the scanning range of the detection light. For this reason, even if the safety scanner is installed in a state where the front direction is deviated and is installed in a state where the protection area cannot be correctly covered, there is a problem that it is difficult to notice that.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an optical safety system and a setting support device for a safety scanner that can easily grasp the correspondence between a scanned image and a real space. To do.

  It is another object of the present invention to provide an optical safety system and a setting support device for a safety scanner that can identify whether or not the safety scanner is correctly installed. In particular, an object of the present invention is to provide an optical safety system and a setting support device for a safety scanner that can suppress an error in the orientation of the safety scanner and an inclination of the scanning surface with respect to the installation surface.

  Another object of the present invention is to provide a setting support device for a safety scanner that can easily identify whether or not a protection area has been set correctly. It is another object of the present invention to provide a setting support program for a safety scanner that allows a computer to function as the above-described setting support device.

  An optical safety system according to a first aspect of the present invention includes: a light projecting unit that projects detection light toward an object; a light receiving unit that receives reflected light from the object and generates a light reception signal; Distance calculation means for obtaining a distance to the object based on a received light signal, scanning means for scanning the detection light in the circumferential direction around the rotation axis, and distance measurement comprising the distance and a scanning angle of the detection light Intrusion detection means for detecting an intruder in the protection area based on the information and outputting a detection signal; an imaging means for photographing the protection area to generate a camera image; and scanning the detection light Scan image generation means for generating a scan image in which a plurality of distance measurement information is indicated as a plurality of distance measurement positions on the scan plane of the detection light, and the camera image and the scan image are displayed side by side on the screen. And a image display unit.

  A setting support device for a safety scanner according to a second aspect of the present invention is a setting support device for a safety scanner, in which the safety scanner projects detection light toward a detection region, and the detection A light receiving means for receiving a reflected light from the area and generating a light receiving signal; a distance calculating means for obtaining a distance to the detection area based on the light receiving signal; and the detection light in the circumferential direction about a rotation axis. Intrusion detection that detects the intruder in the protection area and outputs a safety control signal for controlling the safety control device based on the scanning means to be scanned and the distance measurement information including the distance and the scanning angle of the detection light. And a plurality of distance measurement information obtained by scanning the detection light from the safety scanner and the camera. Picture And scanner information for displaying the scan images in which the plurality of distance measurement information are indicated as the plurality of distance measurement positions on the scan plane of the detection light and the camera images side by side on the screen. Display means.

  According to such a configuration, since the protection image is included in the camera image captured by the imaging unit, it is possible to check the protection area and its surroundings from the camera image. In addition, by checking the camera image, it can be easily identified whether or not the safety scanner is inclined with respect to the installation surface. For this reason, it can suppress that a safety scanner is installed in the state inclined with respect to the installation surface. Further, since the camera image and the scanned image are displayed side by side on the screen, the positional relationship between the surrounding environment of the safety scanner and the scanning range of the detection light can be easily identified.

  According to a third aspect of the present invention, in addition to the above configuration, the scanner information display unit updates the scan image in synchronization with the scan period of the safety scanner, and the scan image is displayed on the scan scanner. It is configured to display as a moving image. According to such a configuration, a change in the surrounding environment of the safety scanner can be identified in real time by checking the scan image.

  A setting support device for a safety scanner according to a fourth aspect of the present invention is configured such that, in addition to the above configuration, the imaging unit of the safety scanner includes two or more fixed cameras arranged in different directions, When the fixed camera generates the camera image and the scanner information display means displays at least two of the camera images taken by the different fixed cameras together with the scan image, the horizontal direction in the camera image is scanned. The camera image is displayed so as to match the image, and each camera image is arranged so that the left-right direction of the array of camera images matches the array of fixed cameras in the scan image.

  According to such a configuration, since the left and right directions of the images can be matched, the positional relationship in the left and right direction can be easily grasped when the camera image and the scanned image are compared. Further, since each camera image can be arranged so as to match the arrangement of the fixed cameras, the position of the subject in each camera image can be easily associated with the position in the scan image.

  A setting support device for a safety scanner according to a fifth aspect of the present invention includes a switching instruction receiving unit that receives a viewpoint switching instruction in addition to the above-described configuration, and the scanner information display unit displays based on the viewpoint switching instruction. The left and right sides of the camera image in the image are reversed, the scan image being displayed is vertically and horizontally reversed, and the left and right direction of the camera image array is also reversed.

  According to such a configuration, regardless of whether the safety scanner is arranged in the depth direction of the screen display or the safety scanner is arranged in the front direction of the screen display, The positional relationship in the left-right direction in the scan image can be intuitively associated with the positional relationship in the left-right direction of the subject in the camera image.

  A setting support device for a safety scanner according to a sixth aspect of the present invention includes, in addition to the above configuration, area designation means for designating the position of the protection area for the scanned image based on a user operation, and the scanner An information display means is configured to display the protection area on the camera image.

  According to such a configuration, since the positional relationship between the subject and the protection area can be confirmed by the camera image, it can be easily identified whether or not the protection area is set correctly.

  A setting support device for a safety scanner according to a seventh aspect of the present invention includes a selection tab display means for displaying a display target selection tab for selecting a measurement unit to be displayed, in addition to the above configuration, A safety scanner includes two or more measurement units, and the measurement unit includes the light projecting unit, the light receiving unit, the distance calculating unit, the scanning unit, and the imaging unit, and the scanner information display unit is The camera image and the scan image corresponding to the measurement unit selected by operating the display target selection tab are displayed. According to such a configuration, by operating the display target selection tab, it is possible to select an arbitrary measurement unit as a display target and display a corresponding camera image and scan image.

  The setting support device for a safety scanner according to the eighth aspect of the present invention is configured such that, in addition to the above configuration, the scanner information display means displays the output state of the detection signal for each measurement unit. According to such a configuration, the user can easily identify the output state of the detection signal for each measurement unit.

  A setting support device for a safety scanner according to a ninth aspect of the present invention includes a detailed confirmation image for display and a privacy image with a lower image quality than the detailed confirmation image based on the camera image, in addition to the above configuration. Display image generation means for generating, and display image selection means for selecting one of the detail confirmation image and the privacy image as a display image, and the scanner information display means is selected by the display image selection means When the display image is displayed as the camera image and the display image selection unit selects the detailed confirmation image as the display image when the user authentication is successful, the user authentication fails or is not authenticated. In addition, the privacy image is selected as a display image. According to such a configuration, by displaying the privacy image, it is possible to protect the privacy of the worker reflected in the camera image or to conceal the security information. On the other hand, by displaying the detailed confirmation image, it is possible to analyze the surrounding environment of the safety scanner and the subject in detail.

  A setting support device for a safety scanner according to a tenth aspect of the present invention, in addition to the above configuration, includes a plurality of measurement information corresponding to the plurality of distance measurement information obtained by the scanner information display means scanning the detection light. The distance position is displayed on the camera image. According to such a configuration, the boundary of the detection area can be easily identified by the distance measurement position on the camera image.

  According to an eleventh aspect of the present invention, in addition to the above-described configuration, the safety scanner setting support apparatus includes two or more grid lines parallel to a coordinate axis for specifying the position in the scan image. It is comprised so that it may display on the said camera image. According to such a configuration, the position on the camera image can be easily associated with the position on the scan image.

  A setting support apparatus for a safety scanner according to a twelfth aspect of the present invention, in addition to the above configuration, the safety scanner includes a scan image generation unit that generates the scan image based on the distance measurement information, and the scanner An information acquisition means is configured to acquire the scanned image from the safety scanner. According to such a configuration, the processing load on the setting support apparatus side can be reduced.

  A setting support program for a safety scanner according to a thirteenth aspect of the present invention is a setting support program for a safety scanner, wherein the safety scanner projects detection light toward an object, and A light receiving means for receiving a reflected light from the object and generating a light reception signal, a distance calculation means for obtaining a distance to the object based on the light reception signal, and a direction of the detection light around the rotation axis Scanning means for scanning, intrusion detection means for detecting an intruder in the protection area and outputting a detection signal based on distance measurement information comprising the distance and the scanning angle of the detection light, and photographing the protection area Imaging means for generating a camera image, and the setting support program obtains the plurality of distance measurement information and the camera image obtained by scanning the detection light from the safety scanner. A canner information acquisition procedure, and a scanner information display procedure in which the plurality of distance measurement information is displayed as a plurality of distance measurement positions on the scan surface of the detection light and the camera image is displayed side by side on the screen. Prepare.

  According to the present invention, since the camera image and the scanned image are displayed side by side on the screen, the correspondence between the scanned image and the real space can be easily grasped. In addition, since the protection area and the surrounding area can be confirmed by the camera image, it is possible to identify whether or not the safety scanner is correctly installed. In particular, an error in the orientation of the safety scanner and an inclination of the scan surface with respect to the installation surface can be suppressed. In addition, since the positional relationship between the subject and the protection area can be confirmed by the camera image, it can be easily identified whether or not the protection area is set correctly.

1 is a system diagram showing a configuration example of an optical safety system 1 according to an embodiment of the present invention. It is the figure which showed the structural example of the safety scanner 10 of FIG. It is the block diagram which showed an example of the function structure in the measurement unit 12 of FIG. It is the block diagram which showed an example of the function structure in the display unit 11 of FIG. It is the block diagram which showed an example of the function structure in the setting assistance apparatus 20 of FIG. FIG. 6 is a diagram showing an example of the operation of the setting support apparatus 20 in FIG. 5, and shows a system screen 4 when a monitor function is selected. It is the figure which showed the camera image 53 currently displayed on the system screen 4, and the case where the function to display the protection area 7 in an overlay display is selected. FIG. 6 is a diagram showing an example of the operation of the setting support apparatus 20 of FIG. 5, and shows a system screen 4 when a function for inverting a display image is selected. FIG. 6 is a diagram illustrating an example of the operation of the setting support apparatus 20 in FIG. 5, in which a detailed confirmation image 531 is displayed as a camera image 53. FIG. 6 is a diagram illustrating an example of the operation of the setting support apparatus 20 in FIG. 5, in which a privacy image 532 is displayed as the camera image 53. It is the figure which showed an example of operation | movement of the setting assistance apparatus 20 of FIG. 5, and the system screen 4 at the time of selecting an area setting function is shown.

  First, a schematic configuration of an optical safety system assumed by the present invention will be described below with reference to FIGS.

<Optical safety system 1>
FIG. 1 is a system diagram showing a configuration example of an optical safety system 1 according to an embodiment of the present invention. The optical safety system 1 includes a safety scanner 10 that detects an intruder in a protection area and outputs a detection signal, and a setting support device 20 that creates setting data including the protection area. The safety scanner 10 and the setting support device 20 are connected to each other via the communication cable 2.

  The detection signal is a safety control signal for controlling a safety control device (not shown). The safety control device is a control device that controls a machine tool, an industrial robot, or the like, for example, a PLC (programmable logic controller). By switching the output state of the detection signal to the off state, the operation of the machine controlled by the safety control device can be stopped.

  The protection area is an area to be monitored for intrusion detection. For example, areas around machine equipment, such as work areas for machine tools and industrial robots, and movement areas for transport vehicles, are designated as protection areas.

  The safety scanner 10 is an optical scanning safety sensor that optically detects an intruder in a protection area, and includes a display unit 11 and a measurement unit 12. The display unit 11 is a user interface unit that receives a user operation and displays an operation state, setting data, and the like, and is provided with a connection port of the communication cable 2, an output port of a safety control signal, and the like.

  The measurement unit 12 is a sensor head unit that projects detection light onto a detection area and receives reflected light from an object in the detection area to detect an intruder. The detection area is the maximum area that can be detected by the measurement unit 12. The protection area is an area designated in the detection area. The measurement unit 12 is provided with a rotating optical system that scans detection light in the circumferential direction around the rotation axis, a camera that captures a protection area and generates a camera image, and the like.

  In the safety scanner 10, a warning area can be set in addition to the protection area. If the safety scanner 10 detects an intruder in the warning area, the safety scanner 10 outputs an auxiliary output signal and notifies the user by lighting the indicator lamp or the like.

  For example, the measurement unit 12 is installed on a horizontal floor surface. The display unit 11 has an OSSD (Output Signal Switching Device). When there is no intruder in the protected area, the OSSD is turned on, and an on-state detection signal is output. On the other hand, when there is an intruder in the protected area, the OSSD is turned off, and an off state detection signal is output.

  The setting support apparatus 20 is an information processing terminal including a display 21, a keyboard 22, and a mouse 23, for example, a personal computer. For example, in the setting support apparatus 20, setting data for specifying a protection area and measurement conditions is created. Further, the setting support apparatus 20 performs an operation of acquiring distance measurement information and a camera image from the safety scanner 10 and displaying them on the display 21.

  For example, the setting support device 20 can be realized by operating a computer based on a setting support program for a safety scanner. Such a setting support program is provided by being recorded on a computer-readable recording medium such as a CD-ROM, or provided via a network.

<Safety scanner 10>
FIG. 2 is a diagram illustrating a configuration example of the safety scanner 10 of FIG. 1, and shows a separation-type safety sensor that can separate the display unit 11 from the measurement unit 12. In the figure, a case where the safety scanner 10 is viewed from the front is shown. The display unit 11 and the measurement unit 12 are connected to each other via a wiring cable (not shown). Two or more measurement units 12 can be connected to the display unit 11 at the same time.

  The scanner housing 120 of the measurement unit 12 is a housing that houses a rotating optical system that emits detection light in the horizontal direction and scans the detection light along the horizontal scanning plane 3. A protective cover 121 for protecting the rotating optical system is attached to the part. The scan surface 3 is a plane orthogonal to the rotation axis of the rotating optical system.

  For example, laser light having a wavelength in the infrared region is used as the detection light. The detection light is repeatedly scanned at a constant scanning cycle. The scanner housing 120 is provided with two fixed cameras 122 and 123 and an indicator 124 that displays the output state of the detection signal. The fixed cameras 122 and 123 and the indicator 124 are disposed above the housing portion of the rotating optical system.

  Each of the fixed cameras 122 and 123 is an imaging device that captures a protection area and generates a camera image, and is arranged in a different direction. The fixed camera 122 is disposed on the left side of the indicator 124 when viewed from the direction toward the measurement unit 12. On the other hand, the fixed camera 123 is disposed on the right side of the indicator 124 when viewed from the direction toward the measurement unit 12. That is, the fixed cameras 122 and 123 are arranged with different positions in the circumferential direction with respect to the rotation axis of the rotating optical system, and the fixed camera 122 has a field angle on the right side of the front-rear direction when viewed from the measurement unit 12. The fixed camera 123 is a camera that houses the region on the left side of the front-rear direction when viewed from the measurement unit 12 within the angle of view. Since the fixed cameras 122 and 123 are arranged above the scan plane 3, a camera image overlooking the scan plane 3 can be obtained.

  The fixed cameras 122 and 123 preferably photograph not only the protected area but also the periphery of the protected area. Alternatively, the fixed cameras 122 and 123 more preferably capture an area that can be set as a warning area and its surroundings.

  The indicator 124 is an indicator lamp that displays the output state and operation state of the detection signal. The indicator 124 lights up with a different display color depending on the output state of the detection signal. For example, the indicator 124 lights in red when the OSSD is in an off state, and lights in green when the OSSD is in an on state.

  The display unit 11 is disposed on the upper surface of the measurement unit 12. The display unit 11 is provided with a display panel 111, an indicator 112, an operation key 113, and a cable connection port 114.

  The display panel 111 is a display device that displays an operation state, distance measurement information, a camera image, setting data, and the like on a screen. For example, the display panel 111 is an LCD (liquid crystal display) panel. The indicator 112 is an indicator lamp for displaying an operation state, an output state of a detection signal, and the like. The cable connection port 114 is an input / output terminal portion to which the communication cable 2 is detachably connected. The display unit 11 communicates with the measurement unit 12 and can check the monitoring target area and the intruder detection history even at a position away from the measurement unit 12.

<Measurement unit 12>
FIG. 3 is a block diagram showing an example of a functional configuration in the measurement unit 12 of FIG. The measurement unit 12 includes a light projection control unit 30, a light projection light source unit 31, a scanning unit 32, a rotary encoder 33, a light receiving unit 34, a distance calculation unit 35, an intrusion detection unit 36, an input / output port 37, an area storage unit 38, The scan image generating unit 39 and the fixed cameras 122 and 123 are configured.

  The light projecting light source unit 31 includes a light emitting element such as an LD (laser diode) or an LED (light emitting diode), and generates detection light. The light projection control unit 30 controls the light projection light source unit 31 to generate pulsed detection light at regular time intervals. The scanning unit 32 emits detection light toward an object, and includes a rotation optical system that scans the detection light in the circumferential direction around the rotation axis, and a drive unit that rotates the rotation optical system around the rotation axis. Composed. For example, the rotating optical system of the scanning unit 32 includes a light projecting mirror that reflects detection light toward the object, a light receiving lens that makes the reflected light from the object incident, and reflected light that has passed through the light receiving lens. And a light receiving mirror that reflects toward the screen.

  The light receiving unit 34 includes a light receiving element such as a PD (photodiode), and receives light reflected from the object to generate a light reception signal. The rotary encoder 33 is a rotation detection device that detects the rotation of the rotating optical system and generates a pulse signal whose pulse repetition interval corresponds to the rotation speed. The light projection control unit 30 controls the light projection light source unit 31 based on the pulse signal of the rotary encoder 33 to adjust the light projection timing of the detection light. For example, detection light is emitted each time the rotating optical system of the scanning unit 32 rotates by 360 ° / 1000.

  The distance calculation unit 35 obtains the distance to the object based on the light reception signal from the light reception unit 34. The distance calculation unit 35 is a distance measurement unit that performs distance measurement by a TOF (Time Of Flight) method. The distance calculation unit 35 compares the light reception signal with the pulse signal of the rotary encoder 33 and emits the detection light. By specifying the delay time until the reflected light corresponding to the detection light is received, the distance to the object is calculated as the detection distance.

  The intrusion detection unit 36 detects an intruder in the protection area based on distance measurement information including the detection distance obtained by the distance calculation unit 35 and the scanning angle of the detection light, and outputs a detection signal. The scanning angle of the detection light is specified based on the pulse signal of the rotary encoder 33. Whether or not the intruder exists in the protection area is determined by specifying the two-dimensional position of the intruder from the detection distance and the scanning angle of the detection light.

  The detection signal is transmitted to the display unit 11 via the input / output port 37. The input / output port 37 is a communication interface unit that communicates with the display unit 11. The input / output port 37 receives setting data from the display unit 11. Send to. The area storage unit 38 holds position information indicating a two-dimensional position of a monitoring target area such as a protection area. The position information of the monitoring target area is acquired from the display unit 11 via the input / output port 37.

  The scan image generation unit 39 generates a scan image based on distance measurement information including a scan angle and a detection distance acquired when detecting reflected light. The scanned image is an image in which a plurality of distance measurement information obtained within the scanning period of the detection light is two-dimensionally displayed. Each distance measurement information is measured on the scan plane 3 specified by the scanning angle and the detection distance. It is shown as a distance position. The scan image and the camera images taken by the cameras 122 and 123 are transmitted to the display unit 11 via the input / output port 37.

  Although an example of the safety scanner 10 in which one measurement unit 12 is connected to one display unit 11 is shown, a plurality of measurement units 12 are connected to one display unit 11. May be possible. In this case, the OSSD of the display unit 11 is turned on when all the target measurement units 12 confirm that the OSSD should be turned on in each protection area. In other cases, the OSSD is turned on. The OSSD is turned off. By providing the scan image generation unit 39 in the measurement unit 12, the load of the scan image generation process can be distributed.

<Display unit 11>
FIG. 4 is a block diagram showing an example of a functional configuration in the display unit 11 of FIG. The display unit 11 includes an operation unit 40, a control unit 41, an input / output port 42, a display unit 43, an external communication port 44, a memory 45, and an external output port 46. The input / output port 42 is a communication interface unit that communicates with the measurement unit 12. The input / output port 42 transmits setting data to the measurement unit 12, while operating state, distance measurement information, detection signal, scan image, and camera image from the measurement unit 12. Receive.

  The external communication port 44 is a communication interface unit that communicates with the setting support device 20, and receives setting data from the setting support device 20, while setting an operation state, distance measurement information, a scanned image, and a camera image. Send to. The external output port 46 is an interface unit that outputs an OSSD output signal (on state or off state) as a detection signal (safety control signal) to the safety control device. The external output port 46 is configured to transmit an OSSD output signal (ON state or OFF state) as a detection signal (safety control signal) to the safety control device by bidirectional communication with the safety control device. May be.

  The operation unit 40 generates an operation signal based on the pressing operation of the operation key 113 and outputs the operation signal to the control unit 41. The display unit 43 drives the display panel 111 and the indicator 112 to display setting data, an operation state, distance measurement information, a scanned image, and a camera image.

  The control unit 41 performs scanning control of detection light on the measurement unit 12, display control of a camera image and a scanned image, and the like. The memory 45 holds setting data, distance measurement information, a scanned image, and a camera image. In addition, although the scan image generation part 39 showed the example of the safety scanner 10 provided in the measurement unit 12, it may replace with this and the structure which provides the scan image generation part 39 in the display unit 11 may be sufficient. Alternatively, the scan image generation unit 39 may be provided in each of the display unit 11 and the measurement unit 12. In this case, instead of transmitting / receiving a scan image between the measurement unit 12 and the display unit 11, distance measurement information is transmitted / received, and display of the scan image is facilitated even when the communication speed is low. .

  Next, the further detailed structure of the optical safety system 1 by this invention is demonstrated below using FIGS.

<Setting support apparatus 20>
FIG. 5 is a block diagram showing an example of a functional configuration in the setting support apparatus 20 of FIG. The setting support apparatus 20 includes a communication unit 201, a scanner information acquisition unit 202, a scanner information storage unit 203, a scanner information display unit 204, an operation unit 205, a switching instruction reception unit 206, a display image selection unit 207, and a selection tab display unit 208. , An area designation unit 209, an area storage unit 210, and a display image generation unit 211.

  The communication unit 201 is an interface unit that communicates with the display unit 11 of the safety scanner 10. The communication unit 201 transmits setting data to the safety scanner 10, while the operation status, distance measurement information, scan image, and camera image are transmitted from the safety scanner 10. Receive. The operation unit 205 generates an operation signal based on the operation of the keyboard 22 and the mouse 23.

  The scanner information acquisition unit 202 acquires distance measurement information, a camera image, and a scan image from the safety scanner 10 and stores them as scanner information in the scanner information storage unit 203. The distance measurement information consists of detection distances calculated for each constant scanning angle.

  The scanner information display unit 204 drives the display 21 to display the scan image and the camera image side by side in the system screen. The scanned image and the camera image are simultaneously displayed on the same screen. For example, a first display sub-region and a second display sub-region are provided in the system screen so as not to overlap each other, a scanned image is displayed in the first display sub-region, and a camera is displayed in the second display sub-region. An image is displayed. Further, when the scan image and the camera image are displayed simultaneously, the camera image is displayed at a position corresponding to the scan image.

  The scanned image is a moving image that is updated at a constant frame rate corresponding to the scanning period of the detection light. The scanner information display unit 204 displays the scanned image as a moving image by updating the scanned image in synchronization with the scanning cycle of the safety scanner 10. The camera image is a moving image that is updated at a constant frame rate. The scanner information display unit 204 displays the camera image as a moving image by updating the camera image being displayed on the system screen at a constant frame rate.

  For example, the frame rate of the camera image is 8 frames / second. Further, the frame rate of the scanned image is approximately the same as the frame rate of the camera image. For example, the frame rate of the scanned image is 8 to 20 frames / second.

  In addition, when the scanner information display unit 204 displays at least two camera images taken by different fixed cameras 122 and 123 on the system screen together with the scan image, the left-right direction in the camera image matches the scan image. Display the camera image. In addition, the scanner information display unit 204 arranges each camera image so that the left-right direction of the arrangement of the camera images matches the arrangement of the fixed cameras in the scan image.

  The switching instruction receiving unit 206 receives a viewpoint switching instruction based on an operation signal from the operation unit 205. Based on the viewpoint switching instruction from the switching instruction receiving unit 206, the scanner information display unit 204 inverts the left and right of the camera image displayed on the system screen, and inverts the upper and lower and left and right of the scan image displayed on the system screen. Further, the horizontal direction of the camera image array is also reversed. For example, a camera image whose left and right are reversed and a scan image whose left and right are reversed are created as display images when a viewpoint switching instruction is received.

  When two or more measurement units 12 are connected to the common display unit 11, the selection tab display unit 208 displays a display target selection tab for selecting the display target measurement unit 12 on the system screen. The scanner information display unit 204 displays a camera image and a scanned image corresponding to the measurement unit 12 selected by operating the display target selection tab on the system screen.

  The area designating unit 209 designates the position of the monitoring target area with respect to the scanned image being displayed on the system screen based on the user operation. The monitoring target area includes a protection area where a detection signal is output when an intruder is detected, and a warning area where a user notification is performed without detecting a detection signal when an intruder is detected.

  The area storage unit 210 holds area setting information indicating the monitoring target area specified by the area specifying unit 209. The scanner information display unit 204 displays the monitoring target area on the camera image based on the area setting information in the area storage unit 210.

  The display image generation unit 211 generates a detailed confirmation image and a privacy image for display based on the camera image acquired from the safety scanner 10. The detail confirmation image is a display image obtained by reducing the camera image taken by the camera 122 or 123. The privacy image is a display image that makes it difficult to identify individual workers and security information, and is obtained by lowering the image quality compared to the detailed confirmation image.

  Various image filters can be employed for the filter processing for obtaining the privacy image. For example, the image area is divided into a large number of processing blocks, and for each pixel in the processing block, the pixel value is replaced with a representative value, so that mosaic processing is performed on the camera image to reduce the physical resolution and blur the image. Is called.

  The shape and size of the processing block and the arrangement mode of the processing block can be arbitrarily designated. The representative value is a pixel value that represents the processing block, and is determined by an average value, a median value, or a mode value of the pixel values regarding the pixels in the processing block.

  The display image selection unit 207 selects either the detail confirmation image or the privacy image as a display image. The scanner information display unit 204 displays the display image selected by the display image selection unit 207 as a camera image. When the user authentication is successful, the display image selection unit 207 selects the detail confirmation image as the display image. On the other hand, the display image selection unit 207 selects the privacy image as the display image when the user authentication fails or is unauthenticated. User authentication is performed by acquiring authentication registration information from the safety scanner 10 and collating it with input information such as a password.

  The scanner information display unit 204 displays the output state of the safety control signal for each measurement unit 12 on the system screen. Based on the distance measurement information, the scanner information display unit 204 displays a distance measurement position where a position corresponding to the detection distance is indicated for each scanning angle on the camera image. Further, the scanner information display unit 204 displays two or more grid lines parallel to the coordinate axis for designating a position in the scan image on the camera image.

  A parameter that associates the positions of the cameras 122 and 123 within the angle of view with the scanning angle of the detection light is held in the safety scanner 10. The setting support apparatus 20 acquires such parameters from the safety scanner 10 and displays a distance measurement line on the camera image.

<System screen 4>
FIG. 6 is a diagram showing an example of the operation of the setting support apparatus 20 of FIG. 5, and shows the system screen 4 when the monitor function is selected. The system screen 4 is a screen for setting the operation of the safety scanner 10 and displaying the operation state of the safety scanner 10 and distance measurement information. An image display area 50 is provided on the system screen 4, and camera images 53 and 54 and a scan image 58 are displayed in the image display area 50. The camera images 53 and 54 are arranged above the scan image 58.

  The system screen 4 displays an operation state 51 of the safety scanner 10, a display target selection tab 52, an OSSD state 55, a bank number 56, and a measurement unit detection state 57. The display target selection tab 52 is arranged above the image display area 50. Further, the operation state 51, the OSSD state 55, the bank number 56, and the detection state 57 are arranged on the left side of the image display area 50.

  The camera image 53 is a photographed image photographed by the camera 123 whose photographing direction is directed to an area on the left side of the front when the measurement unit 12 is viewed from above. On the other hand, the camera image 54 is a photographed image photographed by the camera 122 whose photographing direction is directed to a region on the right side of the front when the measurement unit 12 is viewed from above.

  In the camera images 53 and 54, mechanical equipment, building walls, ceilings, floor surfaces, and the like are shown as subjects. A distance measuring line 5 is superimposed on the camera images 53 and 54. The distance measuring line 5 is composed of a large number of dots in which the distance measuring positions corresponding to the detected distances are plotted for each constant scanning angle. Such a distance measuring line 5 specifies the position of the object in the three-dimensional space based on the detection distance and the scanning angle of the detection light, and the position between the three-dimensional position and the angle of view of the cameras 122 and 123. Based on the relationship, it is displayed by specifying the two-dimensional position of the object in the camera images 53 and 54. The position of the scan plane 3 can be easily identified by the distance measurement line 5 on the camera images 53 and 54.

  The scan image 58 is a distance measurement line image in which a distance measurement line is drawn in a plane parallel to the scan plane 3. The distance measurement line on the scanned image 58 is a figure indicating the boundary of the detection area, and is constituted by a polygonal line in which the distance measurement position corresponding to the detection distance is plotted for each fixed scanning angle. In the scanned image 58, orthogonal coordinates are arranged with the measurement unit 12 as the center, the front-rear direction as the y-axis, and the left-right direction as the x-axis, and a figure indicating the protection area 7 is superimposed.

  In the camera images 53 and 54, the display mode of the distance measuring line 5, for example, the dot color is different between the inside and the outside of the protection area 7. For example, the distance measurement line 5 is displayed in red inside the protection area 7, and the distance measurement line 5 is displayed in green outside the protection area 7. Thus, the intruder 6 in the protection area 7 can be easily identified by changing the display mode of the distance measurement line.

  The camera images 53 and 54 are both displayed so that the left-right direction matches the scan image 58. When the scan image 58 is displayed with the front direction of the measurement unit 12, that is, the positive direction of the y-axis facing the upper side of the system screen 4, the camera image 53 and 54 has the left region in the image as the scan image 58. Are displayed so that the right area corresponds to the right area of the scanned image 58.

  The camera images 53 and 54 are arranged so that the left and right arrangement in the system screen 4 matches the arrangement of the fixed cameras 122 and 123 in the scan image 58. For example, the camera image 53 corresponds to the fixed camera 123 that captures the left region of the scan image 58 and is arranged on the left side in the system screen 4. On the other hand, the camera image 54 corresponds to the fixed camera 122 that captures the area on the right side of the scan image 58 and is arranged on the right side in the system screen 4.

  Further, an enlargement / reduction button 59, a full screen button 60, and a reverse button 61 are arranged adjacent to the scanned image 58. The enlargement / reduction button 59 is an operation icon for enlarging or reducing the scan image 58. The full screen button 60 is an operation icon for enlarging and displaying the scanned image 58 up to the entire image display area 50. The reverse button 61 is an operation icon for viewpoint switching. By operating the reverse button 61, the left and right and the top and bottom of the scan image 58 are reversed. In addition, the camera images 53 and 54 are arranged below the scan image 58 corresponding to the reversely displayed scan image 58 and the left and right arrangements are switched, and the left and right of the camera images 53 and 54 are also inverted.

  In the operation state 51, any one of a normal state, an error state, and an active state is displayed as the operation state of the safety scanner 10. The display target selection tab 52 is an operation icon for selecting the measurement unit 12 to be displayed. By operating the display target selection tab 52, an arbitrary measurement unit 12 can be selected as a display target, and the corresponding camera image and scan image can be displayed.

  In the OSSD state 55, the output state of the detection signal is displayed. The display of the OSSD state 55 indicates whether the detection signal is on or off, whether delay processing for delaying the detection output is in progress, and whether the safety scanner 10 is interlocked. The heel can be easily identified.

  The bank number 56 displays a bank number indicating a set bank used for intrusion detection when the bank function is valid. The setting bank consists of setting data for specifying the protection area 7 and scanning conditions. In the safety scanner 10, two or more setting banks can be registered for one measurement unit 12. In the detection state 57, the detection state for each measurement unit 12 is displayed. In this example, the presence / absence of an intruder in the protection area 7 and the presence / absence of an intruder in the warning area are individually displayed. The user can easily identify the output state of the detection signal of each measurement unit 12.

  A check box 62 for selecting an area overlay display function for displaying the protection area 7 overlapping the camera images 53 and 54 is arranged in the image display area 50. By inputting a check mark in the check box 62, the protection area 7 can be displayed overlapping the camera images 53 and 54 being displayed on the system screen 4.

  By displaying such a system screen 4, it is possible to confirm the state of the protection area 7 and its surroundings with the camera images 53 and 54. Further, by checking the camera images 53 and 54, it is possible to easily identify whether the safety scanner 10 is inclined with respect to the installation surface. Further, since the camera images 53 and 54 and the scan image 58 are simultaneously displayed on the same screen, the positional relationship between the surrounding environment of the safety scanner 10 and the scanning range of the detection light can be easily identified.

  FIG. 7 is a diagram showing a camera image 53 being displayed on the system screen 4, and shows a case where a function for displaying the protection area 7 in an overlay manner is selected. On the camera image 53, a graphic indicating the protection area 7 is superimposed. The positional relationship between the subject and the protection area 7 can be easily identified by the camera image 53.

  FIG. 8 is a diagram showing an example of the operation of the setting support apparatus 20 of FIG. 5, and shows the system screen 4 when the function for inverting the display image is selected. By operating the reverse button 61, the left and right and top and bottom of the scan image 58 are reversed, and the left and right of the camera images 53 and 54 are reversed in accordance with the reversal of the scan image 58. 58 arrays are adjusted.

  On the system screen 4, the camera images 53 and 54 are arranged below the scan image 58. Further, the scan image 58 is displayed with the front direction of the measurement unit 12 facing the lower side of the system screen 4. The camera images 53 and 54 are displayed such that the left area in the image corresponds to the left area of the scan image 58 and the right area corresponds to the right area of the scan image 58.

  Further, the camera image 53 corresponds to the fixed camera 123 that captures the area on the right side of the scan image 58 and is arranged on the right side in the system screen 4. On the other hand, the camera image 54 corresponds to the fixed camera 122 that captures the left region of the scan image 58 and is arranged on the left side in the system screen 4.

  By configuring in this way, the left and right directions of the images can be matched, so that when the camera images 53 and 54 and the scan image 58 are compared, the left and right positional relationship can be easily grasped. In addition, since the camera images 53 and 54 are arranged so as to match the arrangement of the fixed cameras 122 and 123, the horizontal position of the subject in the camera images 53 and 54 and the horizontal position of the scan image 58 are easily associated with each other. Can be attached.

  Furthermore, whether the safety scanner 10 is arranged toward the depth direction of the screen display of the setting support apparatus 20 or the case where the safety scanner 10 is arranged toward the near side of the screen display. The positional relationship in the scan image 58 and the positional relationship of the subject in the camera images 53 and 54 can be intuitively associated with each other.

  FIGS. 9 and 10 are diagrams illustrating an example of the operation of the setting support apparatus 20 of FIG. 5, in which the privacy protection function is selected. FIG. 9 shows a case where the detail confirmation image 531 is displayed on the system screen 4 as the camera image 53. FIG. 10 illustrates a case where the privacy image 532 is displayed as the camera image 53 on the system screen 4.

  The privacy image 532 is a display image with a lower image quality than the detail confirmation image 531, and is created by mosaic processing that lowers the resolution of the camera image. In this example, mosaic processing is applied to the entire image.

  By displaying such a privacy image 532, the privacy of the worker 6 reflected in the camera image can be protected or security information can be concealed. On the other hand, by displaying the detail confirmation image 531, the surrounding environment of the safety scanner 10 and the subject can be analyzed in detail.

  FIG. 11 is a diagram showing an example of the operation of the setting support apparatus 20 of FIG. 5, and shows the system screen 4 when the area setting function is selected. The system screen 4 is provided with an image display area 50, a display target selection tab 52, and a work procedure display area 63. The work procedure display area 63 displays a work procedure for area setting.

  A scanned image 58 is displayed in the image display area 50. The scanned image 58 is displayed enlarged on the entire image display area 50. In the scan image 58, a coordinate axis whose origin is the position of the measurement unit 12 and two or more grid lines parallel to the coordinate axis are drawn. The two or more grid lines parallel to the x-axis and the two or more grid lines parallel to the y-axis are all arranged at equal intervals. In the scanned image 58, a graphic indicating the monitoring target area 9 and a region indicating the limit of the scanning range are drawn.

  On the system screen 4, a live video screen 8 for displaying the camera images 53 and 54 is displayed on the image display area 50. The live video screen 8 is displayed superimposed on the scanned image 58. The live video screen 8 is provided with a display target selection tab 71 for selecting the measurement unit 12 to be displayed and an image display area 72 for displaying the camera images 53 and 54.

  The camera images 53 and 54 are both displayed so that the left-right direction matches the scan image 58. The camera images 53 and 54 are arranged so that the left and right arrangement in the system screen 4 matches the arrangement of the fixed cameras 122 and 123 in the scan image 58. By operating the display target selection tab 71, the measurement target unit 12 to be displayed can be changed.

  On the camera image 54, a graphic indicating the monitoring target area 9 is superimposed. The positional relationship between the subject and the monitoring target area 9 can be easily identified by the camera image 54. By displaying such a system screen 4, the positional relationship between the subject and the monitoring target area 9 can be confirmed by the camera image 54. Therefore, it is easily identified whether or not the monitoring target area 9 is set correctly. be able to.

  The protection area 7 and the warning area designated as the monitoring target area 9 are displayed in the scan image 58 and the camera images 53 and 54 with different display colors. For example, the protection area 7 is displayed as a red area, while the warning area is displayed as a yellow area. Further, the protection area 7 and the warning area are displayed on the camera image 53 or 54 as a translucent area so that the background can be seen through.

  According to the present embodiment, it is possible to easily identify the scanning range of the detection light, and to prevent the safety scanner 10 from being installed in a tilted state with respect to the installation surface. In addition, it is possible to easily identify whether the monitoring target area 9 is set correctly.

  In the present embodiment, an example in which two camera images 53 and 54 are displayed in the system screen 4 together with the scanned image 58 has been described. However, the present invention limits the display form of the camera image to this. It is not a thing. For example, a configuration in which three or more camera images are displayed in the system screen 4 together with the scanned image 58 may be employed. If the measurement unit is provided with a wide-angle camera whose angle of view covers the scanning range of the detection light, one camera image captured by the wide-angle camera is displayed in the system screen 4 together with the scan image 58. It may be a simple configuration.

  In the present embodiment, an example in which the safety scanner 10 generates the scan image 58 has been described. However, the present invention is based on distance measurement information acquired from the safety scanner 10 by the setting support device 20. It may be configured to generate the image 58.

DESCRIPTION OF SYMBOLS 1 Optical safety system 10 Safety scanner 11 Display unit 111 Display panel 112 Indicator 113 Operation key 114 Cable connection port 12 Measuring unit 120 Scanner housing 121 Protective cover 122,123 Fixed camera 124 Indicator 20 Setting support apparatus 21 Display 22 Keyboard 23 Mouse 30 Projection control unit 31 Projection light source unit 32 Scan unit 33 Rotary encoder 34 Light reception unit 35 Distance calculation unit 36 Intrusion detection unit 37 Input / output port 38 Area storage unit 39 Scan image generation unit 50 Image display area 52 Display target selection tab 53, 54 Camera image 531 Detailed confirmation image 532 Privacy image 58 Scanned image 201 Communication unit 202 Scanner information acquisition unit 203 Scanner information storage unit 204 Scanner information display unit 205 Operation unit 206 Switching finger Reception unit 207 Display image selection unit 208 Selection tab display unit 209 Area designation unit 210 Area storage unit 211 Display image generation unit 2 Communication cable 3 Scan plane 4 System screen 5 Distance measurement line 6 Intruder 7 Protected area 8 Live video screen 9 Monitoring Target area

Claims (13)

A light projecting means for projecting detection light toward an object;
A light receiving means for receiving a reflected light from the object and generating a light reception signal;
A distance calculating means for obtaining a distance to the object based on the received light signal;
Scanning means for scanning the detection light in the circumferential direction around the rotation axis;
Based on the distance measurement information consisting of the distance and the scanning angle of the detection light, intrusion detection means for detecting an intruder in the protection area and outputting a detection signal;
Imaging means for capturing the protected area and generating a camera image;
A scan image generating means for generating a scan image in which a plurality of distance measurement information obtained by scanning the detection light is indicated as a plurality of distance measurement positions on the scan surface of the detection light;
An optical safety system comprising image display means for displaying the camera image and the scanned image side by side on a screen. A setting support device for a safety scanner,
The safety scanner includes a light projecting unit that projects detection light toward an object, a light receiving unit that receives reflected light from the object and generates a light reception signal, and the object based on the light reception signal. Based on the distance calculation means for obtaining the distance to the object, scanning means for scanning the detection light in the circumferential direction around the rotation axis, and distance measurement information comprising the distance and the scanning angle of the detection light, the inside of the protection area An intrusion detection means for detecting an intruding object and outputting a detection signal, and an imaging means for photographing the protection area and generating a camera image,
The setting support device includes a scanner information acquisition unit that acquires a plurality of the distance measurement information and the camera image obtained by scanning the detection light from the safety scanner;
A scanner information display means for displaying the scan image in which the plurality of distance measurement information is indicated as a plurality of distance measurement positions on the scan surface of the detection light and the camera image side by side on a screen. Setting support device for safety scanner.   3. The setting support for a safety scanner according to claim 2, wherein the scanner information display means updates the scan image in synchronization with a scanning cycle of the safety scanner and displays the scan image as a moving image. apparatus. The imaging means of the safety scanner is composed of two or more fixed cameras arranged in different directions, and each fixed camera generates the camera image,
The scanner information display means displays the camera image so that the left-right direction in the camera image coincides with the scan image when displaying at least two of the camera images taken by the different fixed cameras together with the scan image. 4. The safety scanner setting support device according to claim 2, wherein the camera images are arranged such that the left-right direction of the arrangement of the camera images coincides with the arrangement of the fixed cameras in the scan image. A switching instruction receiving means for receiving a viewpoint switching instruction;
The scanner information display means inverts the left and right of the camera image being displayed based on the viewpoint switching instruction, and also inverts the top and bottom and the left and right of the scan image being displayed, so that the horizontal direction of the camera image array is also changed. The setting support device for a safety scanner according to claim 4, wherein the setting support device is reversed. An area designating unit for designating a position of the protection area for the scanned image based on a user operation;
6. The safety scanner setting support apparatus according to claim 2, wherein the scanner information display means displays the protection area on the camera image. A selection tab display means for displaying a display target selection tab for selecting a measurement unit to be displayed;
The connected safety scanner is composed of two or more measuring units,
The measurement unit includes the light projecting unit, the light receiving unit, the distance calculating unit, the scanning unit, and the imaging unit.
7. The scanner information display unit displays a camera image and a scan image corresponding to the measurement unit selected by operating the display target selection tab. Setting support device for safety scanners.   8. The setting support device for a safety scanner according to claim 7, wherein the scanner information display means displays an output state of the detection signal for each measurement unit. Display image generating means for generating a display detail confirmation image and a privacy image with a lower image quality than the detail confirmation image based on the camera image;
Display image selection means for selecting either the detail confirmation image or the privacy image as a display image,
The scanner information display means displays the display image selected by the display image selection means as the camera image,
The display image selection means selects the detail confirmation image as the display image when the user authentication is successful, and selects the privacy image as the display image when the user authentication fails or is unauthenticated. The setting support device for a safety scanner according to claim 2, wherein the setting support device is a safety scanner.   The scanner information display means displays a plurality of ranging positions corresponding to the plurality of ranging information obtained by scanning the detection light on the camera image. A setting support device for a safety scanner according to claim 1.   11. The scanner information display unit displays two or more grid lines parallel to a coordinate axis for designating a position in the scan image on the camera image. Setting support device for safety scanners. The safety scanner includes scan image generation means for generating the scan image based on the distance measurement information,
The safety scanner setting support apparatus according to claim 2, wherein the scanner information acquisition unit acquires the scanned image from the safety scanner. A setting support program for a safety scanner,
The safety scanner includes a light projecting unit that projects detection light toward an object, a light receiving unit that receives reflected light from the object and generates a light reception signal, and the object based on the light reception signal. Based on the distance calculation means for obtaining the distance to the object, scanning means for scanning the detection light in the circumferential direction around the rotation axis, and distance measurement information comprising the distance and the scanning angle of the detection light, the inside of the protection area An intrusion detection means for detecting an intruding object and outputting a detection signal, and an imaging means for photographing the protection area and generating a camera image,
The setting support program includes a scanner information acquisition procedure for acquiring a plurality of the distance measurement information and the camera image obtained by scanning the detection light from the safety scanner,
Causing the computer to execute a scanner information display procedure in which the plurality of distance measurement information is displayed as a plurality of distance measurement positions on the scan plane of the detection light and the camera image is displayed side by side on the screen. Feature support program for safety scanners.

Images