JP7702682B2 - Monitoring device, setting support device, area setting method, and setting support method - Google Patents

Description

This disclosure relates to a monitoring device, a setting assistance device, an area setting method, and a setting assistance method.

Conventionally, a safety scanner that grasps the correspondence between the distance measurement position on the scan surface and the real space is known (see Patent Document 1). This safety scanner includes a light projection means that projects a detection light onto a detection area, a light receiving means that receives reflected light from an object in the detection area and generates a light reception signal, a distance calculation means that calculates the distance to the object based on the light reception signal, a scanning means that scans the detection light in a circumferential direction around a rotation axis, a distance measurement means that calculates distance measurement information corresponding to the distance and the scanning angle of the detection light, an area designation information receiving means that receives area designation information that designates a protection area within the detection area from a setting support device, an intrusion detection means that detects an intruder within the protection area based on the distance measurement information and the area designation information, a marker discrimination means that discriminates a marker that is movably arranged within the detection area, and an area generation information transmission means that transmits the distance measurement information of the marker to the setting support device as area generation information for determining the protection area.

JP 2017-151569 A

In the safety scanner of Patent Document 1, a PC (Personal Computer) serving as a setting assistance device is connected to the safety scanner via a communication cable. Also, the setting of the protected area is assisted by a person moving around holding the marker position. Therefore, when setting a monitoring area corresponding to a protected area using the safety scanner of Patent Document 1, the following situations are assumed.

Specifically, when setting up a monitoring area, the area setter is required to carry a marker in the detection area and move around the site where the protection area is to be set. In addition, when setting up a monitoring area, the area setter is required to be present at the site at all times, and the time spent in the monitoring area tends to be long. This places a heavy burden on the area setter when setting up the area.

The present disclosure has been made in consideration of the above circumstances, and provides a monitoring device, a setting assistance device, an area setting method, and a setting assistance method that can reduce the burden on an area setter who sets a monitoring area.

One aspect of the present disclosure is a monitoring device that monitors entry into a monitoring area, the monitoring device including: a receiving unit that receives radio waves from an IC tag fixedly placed in a detection area detectable by the monitoring device; a tag information detection unit that detects, for each IC tag, tag position information indicating the position of the IC tag relative to the monitoring device based on the radio waves; an output unit that outputs tag detection information including the tag position information for each IC tag to a setting support device that supports setting of the monitoring area; a receiving unit that receives area setting information for setting the monitoring area from the setting support device; and a control unit that sets the monitoring area based on the area setting information.

One aspect of the present disclosure is a setting assistance device that assists in setting a monitoring area monitored by a monitoring device, comprising: a receiving unit that receives tag detection information including tag position information indicating the position of an IC tag relative to the monitoring device for each IC tag fixedly placed in a detection area detectable by the monitoring device; and a control unit that determines the monitoring area with the position of each IC tag as a point on the periphery of the monitoring area based on the tag detection information for each IC tag.

One aspect of the present disclosure is an area setting method for setting a monitoring area, the area setting method including the steps of receiving radio waves from an IC tag fixedly placed in a detection area detectable by a monitoring device that monitors entry into the monitoring area, detecting tag position information indicating the position of the IC tag relative to the monitoring device for each IC tag based on the radio waves, outputting tag detection information including the tag position information for each IC tag to a setting support device that supports setting of the monitoring area, acquiring area setting information for setting the monitoring area from the setting support device, and setting the monitoring area based on the area setting information.

One aspect of the present disclosure is a setting support method for supporting the setting of a monitoring area monitored by a monitoring device, the setting support method including the steps of: acquiring, for each IC tag fixedly placed in a detection area detectable by the monitoring device, tag detection information including tag position information indicating the position of the IC tag relative to the monitoring device; and determining the monitoring area in which the position of each IC tag is a point on the perimeter of the monitoring area based on the tag detection information for each IC tag.

This disclosure can reduce the burden on area setters who set monitoring areas.

FIG. 1 is a schematic diagram illustrating an example of the configuration of a monitoring system according to a first embodiment; FIG. 1 is a schematic diagram showing an example of the appearance of a monitoring device as viewed from the side; FIG. 1 is a schematic diagram showing an example of the external appearance of a monitoring device as viewed from above. FIG. 1 is a block diagram showing an example of the configuration of a monitoring device. FIG. 1 is a block diagram showing a configuration example of a setting support device; A sequence diagram showing a first example of setting a monitoring area when a production line is introduced FIG. 13 is a diagram for explaining derivation of distance information taking into account the installation height of a monitoring device; FIG. 1 is a diagram showing an example of tag detection information including a tag ID, tag distance information, and tag angle information; A flowchart showing an example of a monitoring area determination process of FIG. 5 . FIG. 1 is a diagram showing an example of a virtual monitoring device, a virtual tag, and a virtual detection area mapped onto a virtual plane. A diagram showing an example of connecting arbitrary virtual tags with line segments. Diagram to explain trilateration method A diagram showing an example of adding a line segment to the perimeter of a virtual detection area. A diagram showing an example in which the type of a closed region is determined. A sequence diagram showing a second example of setting a monitoring area when introducing the production line FIG. 13 is a diagram showing an example of tag detection information including tag ID and tag distance information. A flowchart showing an example of a monitoring area determination process of FIG. 14. 16A is a flowchart showing an example of the monitoring area determination process of FIG. 14; FIG. 13 is a diagram showing an example of an initial display in a second setting example. FIG. 13 is a diagram showing an example of tag distance information; FIG. 13 is a diagram showing an example of determining a monitoring area in a second setting example; A diagram showing that the position of each virtual tag in a tag group is indefinite. A diagram showing a robot device moving between multiple machine tools. A flowchart showing a first example of a simple setting of a monitoring area when a robot device moves between a plurality of machine tools. A flowchart showing an example of a monitoring area determination process of FIG. 22. An example of comparing tag detection information with area setting information for each machine tool is shown. FIG. 13 is an image diagram showing arrangement information indicating the position of each IC tag based on tag detection information and arrangement information indicating the position of each IC tag based on selected area setting information; A diagram showing an example of correcting the position of a monitoring area. FIG. 11 is a sequence diagram showing a second example of a simple setting of a monitoring area when a robot device moves between a plurality of machine tools.

Below, the embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed explanations than necessary may be omitted. For example, detailed explanations of already well-known matters or explanations of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following explanation are provided to enable those skilled in the art to fully understand this disclosure, and are not intended to limit the subject matter described in the claims.

<Overview of the surveillance system>
1 is a schematic diagram showing an example of the configuration of a monitoring system 5 according to a first embodiment. The monitoring system 5 includes a monitoring device 10 and a setting assistance device 20.

The monitoring device 10 optically monitors the monitoring area MR. The monitoring device 10 is placed, for example, in a factory and monitors whether work is being done safely. The monitoring device 10 is a lidar (LiDAR) device, for example an electric photomechanical lidar device, but other types of lidar devices may also be used. The monitoring device 10 monitors according to the set monitoring area MR.

The monitoring device 10 is placed at the monitoring site C1. At the monitoring site C1, for example, the monitoring device 10 and the robot device 30 are placed. In FIG. 1, the monitoring device 10 is placed at a lower corner of the base 31 of the robot device 30, but this is not limited to this. For example, the monitoring device 10 may be placed above the base 31 of the robot device 30 and placed near the robot arm 32 of the robot device 30. The robot device 30 may be fixed in position and not move, or may be movable and have a variable position.

A machine tool 70 is also installed at the monitored site C1. The machine tool 70 performs various processes (e.g., cutting, drilling, grinding, or bending) on various materials (e.g., metal, wood, or stone). The robot device 30 is placed near the machine tool 70 and uses the robot arm 32 to perform predetermined tasks on the machine tool 70 and assist in various processes. One or more machine tools 70 may be installed at the monitored site C1. When multiple machine tools 70 are installed, the robot device 30 may be movable between the multiple machine tools 70. The position of the robot device 30 relative to one machine tool 70 may be variable. The positions of the machine tools 70 are fixed.

In addition, a worker H1 and other objects may be present at the monitored site C1. The worker H1 includes a tag installer who installs an IC tag 50 for setting the monitored area MR at the monitored site C1. The worker H1 may also include, for example, a supervisor who visually checks the monitored site C1, checks the robot device 30 or machine tool 70, or checks products manufactured by the robot device 30 or machine tool 70. Other objects may be, for example, objects or vehicles required for work in a factory.

The IC tag 50 is installed, for example, around the machine tool 70. The IC tag 50 serves as an index for setting the monitoring area MR. For example, when the monitoring device 10 is installed on the robot device 30 and the robot device 30 is installed at a predetermined position relative to the machine tool 70, the IC tag 50 is installed within a detection area that can be detected by the monitoring device 10. The IC tag 50 may be, for example, a tag sticker as a sticker, or may be something other than a sticker. The IC tag 50 may be fixedly arranged at a predetermined position around the machine tool 70, or may be arranged at a different position by, for example, replacing the sticker. A plurality of IC tags 50 may be installed. The IC tag 50 has a transmitting unit that oscillates radio waves and a memory unit that stores the identification information (tag ID) of the IC tag 50, etc. The IC tag 50 transmits the identification information (tag ID) of the IC tag 50 superimposed on the radio wave signal. The IC tag 50 may be, for example, an RFID tag, or an IC tag capable of Bluetooth (registered trademark) communication.

The setting support device 20 is a device that supports the setting of the monitoring area MR. The setting support device 20 is a PC (Personal Computer), a mobile terminal, a tablet terminal, or the like. The setting support device 20 is operated by a user and is capable of determining the monitoring area MR desired by the user. The setting support device 20 is capable of communicating with the monitoring device 10 via wired or wireless communication.

The monitoring device 10 and the setting assistance device 20 work together to set the monitoring area MR. For example, when a worker H1 approaches the robot device 30, the operation of the robot device 30 may pose a danger to the worker H1. Therefore, the monitoring area MR may be set based on, for example, the operable range of the robot device 30 (for example, the range that the robot arm 32 can reach). The robot device 30 is an example of a source of danger.

The monitoring area MR may include multiple types of monitoring areas. The monitoring area MR may include, for example, a protection area MR1 and a warning area MR2, and may also include other types of monitoring areas. The protection area MR1 is an area where entry is prohibited in order to protect against the robot device 30. The warning area MR2 is an area where entry is recommended. For example, the protection area MR1 is formed so as to include, for example, part or all of the operational range of the robot device 30. The warning area MR2 is formed around the protection area MR1, for example, because it is relatively close to the robot device 30. In this way, the monitoring area MR can be divided.

The monitoring device 10 monitors the monitoring area MR and detects whether an object such as a worker H1 is present within the monitoring area MR. When the presence of an object is detected within the monitoring area MR, the monitoring device 10 can output warning information (alarm output) indicating the presence of an object that has entered the monitoring area. The monitoring device 10 can operate as an area scanner (scanner device).

<Configuration of monitoring device>
Fig. 2A is a schematic diagram showing an example of the external appearance of the monitoring device 10 as viewed from the side. Fig. 2B is a schematic diagram showing an example of the external appearance of the monitoring device 10 as viewed from above.

In this embodiment, the x-direction, y-direction, and z-direction are defined. The x-direction is any direction in the xy plane parallel to the installation surface P1 on which the monitoring device 10 is installed. The y-direction is a direction perpendicular to the x-direction in the xy plane. The z-direction is a direction perpendicular to the xy plane. The xy plane is, for example, parallel to the horizontal direction. The z-direction is, for example, parallel to the direction of gravity. The positive side of the z-direction is also referred to as the top, and the negative side of the z-direction is also referred to as the bottom. This definition of directions is similar in other embodiments.

The monitoring device 10 has a lower housing 15 and an upper housing 16. The lower housing 15 has, for example, a rectangular parallelepiped shape (box-shaped shape), but may have other shapes. The lower housing 15 has no translucency and may be made of metal, for example. The upper housing 16 has a circular shape when viewed from above, and has a shape that expands in diameter from the side closer to the installation surface P1 of the monitoring device 10 to the side farther from the installation surface P1, but may have other shapes (for example, a rectangular parallelepiped shape). The upper housing 16 can be made of, for example, resin, and has a translucent window that is at least partially translucent. The translucent window can transmit, for example, invisible light (for example, infrared light) from the inside to the outside of the monitoring device 10 and from the outside to the inside, and may also transmit visible light. In addition, when the entire upper housing 16 has translucency, the upper housing 16 may be a colored or colorless cover that has translucency.

Figure 3 is a block diagram showing an example configuration of the monitoring device 10. The monitoring device 10 includes an intrusion detection unit 110, an IC tag information processing unit 120, a memory unit 130, an input/output unit 140, and a rotation mechanism unit 150. The monitoring device 10 may also include the rotation mechanism unit 150.

The entry detection unit 110 includes a light projection unit 111, a light projection control unit 112, a light receiving unit 113, a distance calculation unit 114, a distance measurement unit 115, and an entry detection unit 116. The entry detection unit 110 includes, for example, a processor, and has various functions as the control unit 160 by executing programs stored in the storage unit 130 or executing various information. The processor may include an MPU (Micro Processing Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), etc. The control unit 160 includes the light projection control unit 112, the distance calculation unit 114, the distance measurement unit 115, and the entry detection unit 116. The control unit 160 also controls, for example, an area setting operation for setting the monitoring area MR, an object detection operation, or a rotation operation by the rotation mechanism unit 150.

The rotation mechanism 150 rotates the optical system (e.g., a mirror and a lens not shown) along the xy plane around the rotation axis. The rotation axis is, for example, an axis that passes through the center of a surface (e.g., a bottom surface) of the monitoring device 10 along the xy plane and is parallel to the z axis. The optical system changes (scans) the light projection direction by the light projecting unit 111 and the light receiving direction (detection direction) by the light receiving unit 113 along the xy plane by the rotation of the rotation mechanism 150. In other words, the optical system changes the detection direction of the object 25, which is an object to be detected by the monitoring device 10, over the entire circumference or a part of the entire circumference of the monitoring device 10. The optical system may include, for example, a light projecting mirror that reflects the light projected by the light projecting unit 111 toward the object 25, a light receiving lens that receives the detection light from the object 25, and a light receiving mirror that reflects the detection light that has passed through the light receiving lens toward the light receiving unit 113. The rotation mechanism 150 may rotate the light projector 111 and the light receiver 113 along the xy plane together with or instead of the optical system, thereby allowing the detection direction to be freely changed.

The light-projecting unit 111 includes a light-emitting element such as a laser diode, and projects a predetermined light. The light-projecting unit 111 projects at least invisible light (e.g., infrared light), and may also project visible light. The light projected by the light-projecting unit 111 (projected light) may be reflected or scattered, for example, by the object to be detected. A plurality of light-projecting units 111 may be provided.

The light-projection control unit 112 controls the light-projection unit 111. The light-projection control unit 112 adjusts the timing of projecting the detection light based on an encoder signal (e.g., a pulse signal) from a rotary encoder. The light-projection control unit 112 generates pulsed projected light at regular time intervals, for example, in response to the rotation of the optical system of the rotation mechanism unit 150.

The light receiving unit 113 includes a light receiving element such as a photodiode, and receives a predetermined light. The light receiving unit 113 may receive at least invisible light (e.g., infrared light), or may receive visible light. The light received by the light receiving unit 113 (received light) may include, for example, detection light that is the projected light projected by the light projecting unit 111 and reflected or scattered by the object 25. The light receiving unit 113 generates a received light signal from the received light.

The distance calculation unit 114 calculates the distance between the monitoring device 10 and the target object 25 based on the light reception signal from the light receiving unit 113, for example according to the TOF (Time Of Flight) method. In the TOF method, the time it takes for the projected light projected from the light projecting unit 111 to be reflected or scattered by an object, return to the monitoring device 10, and be received as detection light by the light receiving unit 113 is calculated, and the detection distance is calculated based on this time. In this case, the distance calculation unit 114 may time the light reception timing of the light reception signal based on the timing of the encoder signal of the rotary encoder.

The distance measurement unit 115 calculates distance measurement information corresponding to the distance (detection distance) calculated by the distance calculation unit 114 and the angle (detection angle) corresponding to the encoder signal when light is projected or received. The two-dimensional position of the target object 25 is identified by the distance measurement information.

The entry detection unit 116 detects entry into the monitoring area MR based on the set monitoring area MR and the distance measurement information of the distance measurement unit 115. In this case, the entry detection unit 116 determines whether or not the object 25 is located within the monitoring area MR. If the object 25 is located within the monitoring area MR, the entry detection unit 116 detects the entry of the object 25 into the monitoring area MR. If the object 25 is not located within the monitoring area MR, the entry detection unit 116 detects that the object 25 has not entered the monitoring area MR.

When the intrusion detection unit 116 detects the intrusion of an object 25 into the monitoring area MR, it sends an intrusion detection signal indicating that the intrusion of the object 25 has been detected to the input/output unit 140. The intrusion detection unit 116 may also detect intrusion into the protection area MR1 and send a protection detection signal indicating that intrusion into the protection area MR1 has been detected to the input/output unit 140 as an intrusion detection signal. The intrusion detection unit 116 may detect intrusion into the security area MR2 and send a security detection signal indicating that intrusion into the security area MR2 has been detected to the input/output unit 140 as an intrusion detection signal.

The IC tag information processing unit 120 includes an IC tag detection unit 121, an area recognition unit 122, and a data transmission unit 123.

The IC tag detection unit 121 receives radio signals from the IC tag 50. Based on the received radio signals, the IC tag detection unit 121 detects, for each IC tag 50, a tag ID that identifies the IC tag 50 and tag position information that indicates the position of the IC tag 50 relative to the monitoring device 10. The tag position information includes tag distance information that indicates the distance between the monitoring device 10 and the IC tag 50. The tag position information may include tag angle information that indicates the angle of the IC tag 50 relative to the monitoring device 10 in addition to the tag distance information. The angle of the tag angle information may be an angle corresponding to the encoder signal, as in the case where the target object 25 is detected by the intrusion detection unit 110. The information detected by the IC tag detection unit 121 is also referred to as tag detection information. The tag detection information includes at least a tag ID and tag position information.

The IC tag detection unit 121 may detect distance information based on, for example, the signal strength (RSSI: Received Signal Strength Indicator) of the received radio signal. The IC tag detection unit 121 may detect distance information and angle information by, for example, the communication boundary method. The IC tag detection unit 121 may also detect angle information according to, for example, AOA (Angle Of Arrival) or AOD (Angle Of Departure). In this case, for example, the IC tag detection unit 121 may have two or more antennas that receive radio signals, and may detect angle information of the IC tag 50 that has emitted a radio signal based on the phase difference of the radio signals received by the multiple antennas.

The area recognition unit 122 compares the tag ID of the IC tag 50 with the tag ID information in the area setting information stored in the memory unit 130 to recognize the location of the machine tool 70 in which the monitoring device 10 is located.

The data transmission unit 123 sends data, information, signals, etc. detected by the IC tag detection unit 121 to the input/output unit 140. The data transmission unit 123 sends, for example, tag detection information to the input/output unit 140.

The storage unit 130 includes a primary storage device (e.g., a random access memory (RAM) or a read only memory (ROM)). The storage unit 130 may include a secondary storage device (e.g., a hard disk drive (HDD) or a solid state drive (SSD)) or a tertiary storage device (e.g., an optical disk or an SD card). The storage unit 130 may include other storage devices. The storage unit 130 stores various data, information, programs, etc.

The memory unit 130 may store area setting information for setting the monitoring area MR. The area setting information includes information on the form of the determined monitoring area (e.g., the position, range, size, or shape relative to the monitoring device 10), information indicating which machine tool 70 the monitoring area MR has been determined for (identification information of the machine tool 70), and the like. The area setting information is acquired from the setting assistance device 20 via the input/output unit 140. The memory unit 130 may store multiple different area setting information corresponding to the monitoring area MR set for each machine tool 70.

The memory unit 130 may store tag setting information. The tag setting information is information related to the IC tag 50, and may include, for example, the communication method of the IC tag 50 (e.g., RFID, Bluetooth (registered trademark), frequency used) and the power supply method (e.g., power supply to the IC tag 50 or not). The tag setting information may be obtained, for example, from an external device 80 (e.g., an external server) via the input/output unit 140, or may be stored in advance in the memory unit 130.

The input/output unit 140 inputs and outputs data, information, signals, etc., between the external device 80 outside the monitoring device 10. The external device 80 includes a PLC device (Programmable Logic Controller) or a setting support device 20, etc. The input/output unit 140 may have, for example, a communication unit, and transmit and receive signals by wire or wirelessly. The input/output unit 140 may have, for example, an audio input unit (microphone) or an audio output unit (speaker), and input and output signals by audio.

For example, when the input/output unit 140 acquires an entry detection signal from the entry detection unit 110, it outputs the entry detection signal to the PLC device. For example, the input/output unit 140 outputs tag detection information acquired from the IC tag information processing unit 120 to the setting assistance device 20. For example, the input/output unit 140 inputs area setting information from the setting assistance device 20.

When the input/output unit 140 acquires the intrusion detection signal from the intrusion detection unit 110, it may output an alarm output signal including warning information. The alarm output signal may be output to an external device 80 (e.g., a display, a speaker, or other alarm device) capable of issuing an alarm based on the alarm output signal. The safety of the worker H1 and others can be ensured by having the external device 80 capable of issuing an alarm based on the alarm output signal.

The PLC device instructs the control of the operation of the robot device 30. When the PLC device receives an intrusion detection signal from the monitoring device 10, it transmits a signal (operation restriction instruction signal) to the robot device 30 to restrict the operation of the robot device 30 based on the intrusion detection signal. When the robot device 30 receives the operation restriction instruction signal from the PLC device, it restricts the operation of the robot device 30. Restrictions on the operation of the robot device 30 may include stopping the operation of the robot device 30, reducing the operating range of the robot device 30, reducing the operating speed, or restricting other operations. In this way, when a worker H1 is present as an object 25 within the monitoring area MR, the monitoring device 10 can restrict the operation of a hazard source such as the robot device 30, and the safety of the worker H1 can be ensured. In addition, when the operation restriction instruction signal is based on a protection detection signal, the PLC device may stop the operation of the robot device 30, and when the operation restriction instruction signal is based on a warning detection signal, it may restrict the operation of the robot device 30 in a manner other than stopping it.

<Configuration of the setting assistance device>
4 is a diagram showing an example of the configuration of the setting support device 20. The setting support device 20 includes a control unit 210, a communication unit 220, a storage unit 230, an operation unit 240, and a display unit 250.

The control unit 210 realizes various functions by executing the programs stored in the memory unit 230. The control unit 210 may include an MPU, a CPU, a DSP, a GPU, etc. The control unit 210 comprehensively controls each part of the setting assistance device 20 and performs various processes. For example, based on the tag detection information (at least the tag position information) for each IC tag 50, the control unit 210 determines a monitoring area MR in which the position of each IC tag 50 is a point on the outer periphery of the monitoring area MR.

The communication unit 220 communicates various data or information. The communication method used by the communication unit 220 may include, for example, a wide area network (WAN), a local area network (LAN), power line communication, infrared communication, short-range wireless communication (e.g., Bluetooth (registered trademark) communication), mobile communication for mobile phones, and other communication methods.

The storage unit 230 includes a primary storage device (e.g., RAM or ROM). The storage unit 230 may include a secondary storage device (e.g., HDD or SSD) or a tertiary storage device (e.g., optical disk, SD card). The storage unit 230 may include other storage devices. The storage unit 230 stores various data, information, programs, etc.

The operation unit 240 may include a mouse, a keyboard, a touchpad, a touch panel, a microphone, or other input unit. The operation unit 240 accepts input of various data or information, etc. The display unit 250 may include a liquid crystal display unit, an organic EL unit, or other display unit. The display unit 250 displays various data or information, etc.

<Operation of the surveillance system>
Next, an example of the operation of the monitoring system 5 will be described.

First, an example of setting the monitoring area MR when a production line is introduced will be described. The production line is placed at the monitoring site C1. The production line is introduced, for example, when a machine tool 70 and a robot device 30 that is placed on the machine tool 70 are introduced.

A tag installer who installs the IC tag 50 goes to the monitoring site C1 and installs the IC tag 50 on the floor or the like. The IC tag 50 is installed within the range of the detection area DR of the monitoring device 10 that is placed corresponding to the machine tool 70. The IC tag 50 is, for example, affixed to a point (e.g., a vertex) on the perimeter of the area to be monitored. For example, the IC tags 50 are installed at positions "A", "B", "C", "D", "E", and "F" shown in Figure 1.

Here, two setting examples of the monitoring area MR when introducing a production line are explained. The first setting example is a setting example when the tag detection information includes tag angle information indicating the angle of the IC tag 50. The second setting example is a setting example when the tag detection information does not include tag angle information indicating the angle of the IC tag 50.

Figure 5 is a sequence diagram showing a first example of setting the monitoring area MR when introducing a production line. At the start of Figure 5, the installation of the IC tag 50 at the monitoring site C1 described above has been completed.

First, the IC tag detection unit 121 of the monitoring device 10 receives radio signals from each IC tag 50 (S11), and detects the tag ID, tag distance information, and tag angle information based on the radio signals (S12).

When the IC tag detection unit 121 takes into account the installation height of the monitoring device 10, the tag distance information may differ from the distance between the monitoring device 10 and the IC tag 50 in the horizontal direction. Fig. 6 is a diagram for explaining the derivation of distance information taking into account the installation height of the monitoring device. As shown in Fig. 6, assuming that the installation height of the monitoring device 10 is h and the distance between the monitoring device 10 and the IC tag 50 obtained as the tag distance information is _RA , the distance _RA ' between the monitoring device 10 and the IC tag 50 in the horizontal direction is calculated as follows. This calculation is performed by, for example, the IC tag detection unit 121.

Figure 7 is a diagram showing an example of tag detection information including a tag ID, tag distance information, and tag angle information. The label shown in Figure 7 corresponds to the tag ID. As shown in Figure 7, tag detection information is obtained for each IC tag 50.

The input/output unit 140 acquires the tag detection information for each IC tag 50 from the data transmission unit 123, and outputs (e.g., transmits) the tag detection information to the setting support device 20 (S13). The distance in the distance information included in the tag detection information may be the distance _RA or the distance _RA '. In the case of the distance _RA , the setting support device 20 uses the distance _RA ' between the monitoring device 10 and the IC tag 50 along the horizontal direction to determine the monitoring area MR, thereby improving the accuracy of determining the monitoring area MR as a region on a plane.

In the setting assistance device 20, the communication unit 220 receives (acquires) tag detection information for each IC tag 50 from the monitoring device 10 (S13). The control unit 210 executes a monitoring area determination process that determines the monitoring area MR based on the acquired tag detection information for each IC tag 50 (S14). The monitoring area determination process will be described in detail later. In the monitoring area determination process, area setting information is generated. The communication unit 220 transmits the area setting information to the monitoring device 10 (S15).

In the monitoring device 10, the input/output unit 140 acquires (receives) the area setting information, and the memory unit 130 stores the area setting information (S16). The control unit 160 sets the monitoring area MR based on the area setting information (S17). The entry detection unit 110 uses the projected light and the detection light to detect whether or not an object 25 has entered the monitoring area MR (S18).

In step S16, the input/output unit 140 receives the area setting information and stores it in the storage unit 130, but this is not limited to the above. For example, the storage unit 130 as a removable storage medium may acquire and store the area setting information generated by the setting assistance device 20, and import it into the monitoring device 10. In this way, the input/output unit 140 and the storage unit 130 can operate as an acquisition unit that acquires the area setting information.

Figure 8 is a flowchart showing an example of the monitoring area determination process shown in step S14 of Figure 5.

First, the control unit 210 acquires information on the detection area DR by the monitoring device 10 (S31). The detection area DR may be stored in the memory unit 230 and acquired from the memory unit 230, or may be received from the monitoring device 10 via the communication unit 220, or may be acquired from a server other than the monitoring device 10 via the communication unit 220. The detection area DR is formed, for example, taking into account the installation positions of the machine tool 70 or the robot device 30, etc. Also, the control unit 210 may acquire, for example, mapping information of the production line and information on the detectable distance using the detection light by the monitoring device 10 via the communication unit 220. The mapping information of the production line includes the installation positions of the machine tool 70 or the robot device 30, etc. Then, the control unit 210 may calculate and acquire the detection area DR based on the mapping information and the detectable distance information.

Based on the tag detection information of each IC tag 50 and the information of the detection area DR, the control unit 210 arranges the virtual monitoring device 10v, the virtual tag 50v, and the virtual detection area DRv on a virtual plane and displays them on the display unit 250 (S32). The tag ID is also displayed when displaying the virtual tag 50v. The virtual monitoring device 10v corresponds to the monitoring device 10 at the monitoring site C1. The virtual tag 50v corresponds to the IC tag 50 at the monitoring site C1. The virtual detection area DRv corresponds to the detection area DR at the monitoring site C1. In other words, the virtual tag 50v and the virtual detection area DRv are mapped based on the position of the virtual monitoring device 10v, taking into account the distance from the monitoring device 10 and the angle with respect to the monitoring device 10. Therefore, the control unit 210 adjusts each distance by expanding or contracting according to the size ratio between the monitoring site C1 and the virtual plane. Therefore, the control unit 210 reproduces the positional relationship between the monitoring device 10, the IC tag 50, and the detection area DR at the monitoring site C1 on a virtual plane by mapping the virtual monitoring device 10v, the virtual tag 50v, and the virtual detection area DRv on the virtual plane.

Figure 9 is a diagram showing an example of a virtual monitoring device 10v, a virtual tag 50v, and a virtual detection area DRv mapped onto a virtual plane. "A", "B", "C", ... shown at the position of the virtual tag 50v indicate the tag ID. Also shown in Figure 9 for reference are a range 70p corresponding to the machine tool 70 at the monitoring site C1 and a range 30p corresponding to the robot device 30 at the monitoring site C1. Note that at the monitoring site C1, the machine tool 70 is fixedly installed at an absolute position, and the robot device 30 is installed at a relative position to the machine tool 70. The virtual plane is, for example, the screen of the display unit 250.

Returning to FIG. 8, the control unit 210 connects two virtual tags 50v desired by the user out of the multiple virtual tags 50v with a line segment sb via the operation unit 240 (S33). The connected line segment sb and the two virtual tags 50v on either end of it correspond to part of the outer periphery of the monitoring area MR. The control unit 210 may repeatedly connect various pairs of virtual tags 50v together via the operation unit 240. The control unit 210 causes the display unit 250 to display the line segment sb.

Figure 10 is a diagram showing an example in which arbitrary virtual tags 50v are connected by a line segment sb. In Figure 10, two virtual tags 50v with tag IDs "A" and "B" are connected by a line segment sb, and two virtual tags 50v with tag IDs "B" and "C" are connected by a line segment sb. Similarly, two virtual tags 50v with tag IDs "D" and "E" are connected by a line segment sb, and two virtual tags 50v with tag IDs "E" and "F" are connected by a line segment sb. In this embodiment, a series of two or more virtual tags 50v connected in sequence (in series) by one or more line segments and the line segments are also referred to as a tag group TG. In Figure 10, the tag group TGA includes the virtual tags 50v of "A", "B", and "C", and the tag group TGB includes the virtual tags 50v of "D", "E", and "F".

If there is a virtual tag 50v that is not connected by the line segment sb after the processing of step S33, the control unit 210 may cause the display unit 250 to display a warning message. This allows the setting assistance device 20 to prevent the line segment sb from missing from connecting to the virtual tag 50v.

Returning to FIG. 8, the control unit 210 corrects the position (coordinate position) of each virtual tag 50v placed in step S32 (S34). The tag position information obtained from the tag detection information is shown as a relative position with respect to the monitoring device 10. In addition, the position information detected from the radio signal of the IC tag 50 at the monitoring site C1 may generally contain some error (e.g., about ±10 cm for distance, about ±5 degrees for angle). Therefore, the relative positional relationship between the mapped virtual monitoring device 10v and each virtual tag 50v may be inaccurate. In response to this, the control unit 210 corrects the position of each virtual tag 50v using various calculation methods such as trilateration.

Figure 11 is a diagram to explain the trilateration method.

In the first setting example shown in Fig. 11, the tag position information for each IC tag 50 includes tag distance information and tag angle information for each IC tag 50. Point Q in Fig. 11 is the position of the virtual monitoring device 10v, and points A and B are the positions of the virtual tags 50v, for example, "A" and "B". In this case, the control unit 210 can calculate the length La between QA, the length Lb between QB, the length Lc between AB, the angle of QAC, the angle of QBA, and the angle of AQB, based on the tag distance information and tag angle information for each IC tag 50. Therefore, all of this length and angle information is known. In FIG. 11 , if the angle of QAB is θ, the coordinates of point Q are ( _xQ ', _yQ '), the coordinates of point A are ( _xa ', 0), and the coordinates of point B are ( _xb ', 0), and the angle between X and X' in the X'Y' coordinate system and the XY coordinate system is φ, the following relationship holds:

The control unit 210 may derive the calculated position of each virtual tag 50v according to the above-mentioned trilateration method. Then, the control unit 210 may correct the position of the virtual tag 50v on the virtual plane so that the difference (positional deviation) between the placement position of each virtual tag 50v based on the tag position information and the calculated position of each virtual tag 50v is reduced. In this case, the control unit 210 may give priority to correcting the distance of the virtual tag 50v to the virtual monitoring device 10v, or may give priority to correcting the angle of the virtual tag 50v to the virtual monitoring device 10v. For example, when the above-mentioned virtual monitoring device 10v, the virtual tag 50v of "A", and the virtual tag 50v of "B" form a triangle, the control unit 210 may correct the position of the virtual tag 50v of "B" based on the position of the virtual monitoring device 10v and the virtual tag 50v of "A". In this way, the control unit 210 may calculate the relative positional relationship of each virtual tag 50v based on each tag position information, which is individual positional information for each IC tag 50, and correct at least one position of each virtual tag 50v based on the relative positional relationship of each virtual tag 50v.

Returning to FIG. 8, the control unit 210 determines for each tag group TG whether the tag group TG forms a closed area within the virtual detection area DRv (S35). For example, it may be determined whether a closed area CA is formed by the virtual tag 50v and line segment sb included in the tag group TG and the outer periphery DRl of the virtual detection area DR. The closed area CA is, for example, an area in which the virtual tag 50v included in the tag group TG, line segment sb, and part of the outer periphery DRl of the virtual detection area DR form a ring shape, and the start point and end point of a series of connection lines are connected. The closed area CA may also be formed by the virtual tag 50v and line segment sb included in the tag group TG without including the outer periphery DRl of the virtual detection area DR.

If a closed area is not formed by the virtual tag 50v of the tag group TG and the line segment sb, the control unit 210 adds a line segment sbl to generate a closed area CA (S36). The control unit 210 adds a line segment sbl from the virtual tag 50v located at the end of a series of line segments sb of the tag group TG, which is not on the outer periphery of the virtual detection area DRv, toward an arbitrary point on the outer periphery of the virtual detection area DRv. In other words, the line segment sbl is a periphery connecting line segment that connects to the outer periphery of the virtual detection area DRv. In this case, the control unit 210 may add a line segment sbl with the shortest length to the outer periphery line DRl of the virtual detection area DRv from the virtual tag 50v to which the line segment is to be added. In this case, the line segment sbl and the outer periphery line DRl of the virtual detection area DRv are perpendicular. In this way, the control unit 210 performs boundary interpolation using the line segment sbl.

Figure 12 is a diagram showing an example in which a line segment sbl is added to the outer periphery of the virtual detection area DRv. In Figure 12, there are two tag groups TGA and TGB, and the virtual tags 50v located at the ends of the tag group TG that are not on the outer periphery of the virtual detection area DRv are the virtual tag 50v of "C" and the virtual tag 50v of "F". In Figure 12, a line segment sbl is added perpendicular to the virtual detection area DRv from the virtual tag 50v of "C", and the tag group TGA is made into a closed area CA. Also, a line segment sbl is added perpendicular to the virtual detection area DRv from the virtual tag 50v of "F", and the tag group TGB is made into a closed area CA.

Returning to FIG. 8, the control unit 210 determines the type of closed area CA for each closed area CA (S37). The control unit 210 may determine the type of closed area CA via the operation unit 240, for example, or may determine the type of closed area CA based on the position relative to the virtual monitoring device 10v. The type of closed area CA indicates the degree of monitoring of the monitoring area MR corresponding to the closed area, and includes, for example, protection and vigilance. The protection closed area CA1, whose type is protection, corresponds to the protection area MR1. The protection closed area CA2, whose type is protection, corresponds to the protection area MR2. The control unit 210 determines the protection closed area CA1 and vigilance closed area CA2, for example, in order of proximity to the virtual monitoring device 10v. FIG. 13 is a diagram showing an example in which the type of closed area CA is determined.

The control unit 210 determines the monitoring area MR based on the form (e.g., position, range, size, or shape) of the closed area CA. For example, the control unit 210 may determine the monitoring area MR by enlarging or reducing the closed area CA while maintaining the positional relationship between the virtual monitoring device 10v and the closed area CA. The control unit 210 may determine the type of the monitoring area MR based on the type of the closed area CA. In this case, the control unit 210 may set the monitoring area MR corresponding to the protected closed area CA1 as the protected area MR1, and the monitoring area MR corresponding to the alert closed area CA2 as the alert area MR2. The control unit 210 may also specify the dimensions of the monitoring area MR at the monitoring site C1, for example, via the operation unit 240. The control unit 210 may also specify, for example, via the operation unit 240, the identification information of the machine tool 70 around which the determined monitoring area MR is set. The control unit 210 may specify, for example, via the operation unit 240, or may specify using the identification information of the machine tool 70 included in the mapping information. In this way, the control unit 210 may determine the monitoring area MR based on each closed area CA and the type of each closed area CA (S38).

The control unit 210 generates area setting information based on the determined monitoring area MR (S39). The area setting information includes information on the form of the determined monitoring area MR (e.g., position, range, size, or shape relative to the monitoring device 10), information indicating which machine tool 70 the monitoring area MR has been determined for (identification information of the machine tool 70), the type of monitoring area MR, etc. The generated area setting information is transmitted to the monitoring device 10 in step S15 of FIG. 5.

The control unit 210 may perform such monitoring area determination processing for each machine tool 70. The surroundings of the machine tool 70 at the monitoring site C1 differ for each machine tool 70. Furthermore, the characteristics of the machine tool 70 also differ for each machine tool 70. Therefore, a different monitoring area MR is set for each machine tool 70. Thus, the control unit 210 may determine a monitoring area MR for each machine tool 70 and notify the monitoring device 10.

According to this first setting example of the monitoring area MR, the monitoring device 10 can set the monitoring area MR using the IC tag 50. Furthermore, the monitoring device 10 can provide the setting assistance device 20 with tag detection information required to determine the monitoring area MR. Furthermore, even if the setting assistance device 20 takes the lead in determining the monitoring area MR, the monitoring device 10 can receive area setting information from the setting assistance device 20 and easily set the monitoring area MR based on the area setting information.

The configuration assistance device 20 can easily connect the virtual tags 50v as desired based on user operation on the screen (on a virtual plane) and freely determine the monitoring area so that it takes the form (e.g., position, range, size, or shape) desired by the user. In addition, since the monitoring area is set using a UI such as the display unit 250 and the operation unit 240, the user can easily intuitively understand the monitoring area.

Figure 14 is a sequence diagram showing a second setting example of the monitoring area MR when introducing a production line. At the start of Figure 14, the installation of the IC tags 50 at the monitoring site C1 described above has been completed. In the second setting example, at least one of the IC tags 50 is placed on the outer periphery of the detection area DR, i.e., on the outer periphery line DRl. Note that in Figure 14, the same process as that shown in Figure 5 is given the same step number, and the description thereof is omitted or simplified.

First, in the monitoring device 10, the IC tag detection unit 121 receives a radio signal from each IC tag 50 (S11A), and detects the tag ID and tag distance information based on the radio signal (S12A). Note that the IC tag detection unit 121 may calculate the distance R _A ' between the monitoring device 10 and the IC tag 50 in the horizontal direction, similar to the first setting example.

Figure 15 is a diagram showing an example of tag detection information including a tag ID and tag distance information. The label shown in Figure 15 corresponds to the tag ID. As shown in Figure 15, tag detection information is obtained for each IC tag 50.

The input/output unit 140 acquires the tag detection information for each IC tag 50 from the data transmission unit 123, and outputs (e.g., transmits) the tag detection information to the setting assistance device 20 (S13A). As in the first setting example, the distance in the tag distance information included in the tag detection information may be the distance _RA or the distance _RA '.

In the setting assistance device 20, the communication unit 220 receives tag detection information for each IC tag 50 from the monitoring device 10 (S13A). The control unit 210 executes a monitoring area determination process that determines a monitoring area MR based on the acquired tag detection information for each IC tag 50 (S14A). Details of the monitoring area determination process will be described later. In the monitoring area determination process, area setting information is generated. The communication unit 220 transmits the area setting information to the monitoring device 10 (S15).

In the monitoring device 10, the input/output unit 140 acquires (receives) the area setting information, and the memory unit 130 stores the area setting information (S16). The control unit 160 sets the monitoring area MR based on the area setting information (S17). The entry detection unit 110 uses the projected light and the detection light to detect whether or not an object 25 has entered the monitoring area MR (S18).

Figure 16 is a flow chart showing an example of the monitoring area determination process shown in step S14 of Figure 14. Note that in Figure 16, the same steps as those shown in Figure 8 are given the same step numbers, and their explanations are omitted or simplified.

First, the control unit 210 acquires information on the detection area DR by the monitoring device 10 (S31).

Based on the tag detection information of each IC tag 50 and the information of the detection area DR, the control unit 210 arranges the virtual monitoring device 10v, the virtual tag 50v, and the virtual detection area DRv on a virtual plane and displays them on the display unit 250 (S32A). When displaying the virtual tag 50v, the tag ID is also displayed. Here, the tag detection information does not include tag angle information. Therefore, at this stage, the position of each virtual tag 50v relative to the virtual monitoring device 10v is indefinite, and the display unit 250 does not arrange each IC tag 50 in a specific position. In step S32A, the control unit 210 may roughly specify the arrangement position of the virtual tag IC on the virtual plane, for example, via the operation unit 240. For example, the user performing this designation operation knows the installation positions of each IC tag 50 at the monitoring site C1 by the tag installer, and roughly specifies the arrangement position of the virtual tag IC via the operation unit 240 so as to correspond to the installation positions of each IC tag 50.

In step S32A, the control unit 210 places at least one virtual tag 50v on the outer periphery of the virtual detection area DVr in response to at least one IC tag 50 being placed on the outer periphery of the detection area DR.

Figure 17 is a diagram showing an example of the initial display in the second setting example. In Figure 17, each virtual tag 50v is displayed at the edge of the screen displayed on the display unit 250. From this display state, the control unit 210 may roughly specify the placement position of the virtual tag IC by user operation via the operation unit 240. This results in a display state similar to that of Figure 9 described above. In this case, the "A" virtual tag 50v and the "D" virtual tag 50v are placed on the outer periphery of the virtual area DVr.

Returning to FIG. 16, the control unit 210 connects two virtual tags 50v desired by the user among the multiple virtual tags 50v with a line segment sb (S33) via the operation unit 240. As a result, one or more tag groups TG are formed, similar to the first setting example.

The control unit 210 acquires tag-to-tag distance information, which is the distance between two adjacent IC tags 50 corresponding to both ends of the connected line segment sb (S33A). Since tag-to-tag distance information is obtained for each line segment sb, more than one piece of information is obtained. Here, the method of acquiring tag-to-tag distance information may be a first acquisition example or a second acquisition example. Note that the control unit 210 may acquire not only tag-to-tag distance information between two IC tags 50 connected by a line segment, but also tag-to-tag distance information between two IC tags 50 that are not connected by a line segment.

The first acquisition example of the tag distance information can be adopted when the distance between any two IC tags 50 can be measured (detected) at the monitoring site C1. For example, the IC tag 50 includes a non-powered IC tag 50 and a powered IC tag 50. The powered IC tag 50 can communicate with other IC tags 50 by radio signals (for example, Bluetooth (registered trademark) communication). Therefore, for example, the IC tag 50 of "A" communicates with the IC tag 50 of "B", detects the distance between the IC tag 50 of "A" and the IC tag 50 of "B" based on the radio signal from the IC tag 50 of "B", and transmits the detected distance information to the monitoring device 10 as tag distance information. The input/output unit 140 acquires the tag detection information including the tag distance information and transmits it to the setting support device 20. Therefore, the setting support device 20 may acquire the tag distance information included in the tag detection information from the monitoring device 10 via the control unit 220.

In a second example of obtaining inter-tag distance information, even if it is impossible to detect the distance between any two IC tags 50, it is possible to obtain inter-tag distance information. For example, when installing the IC tags 50, a tag installer measures the distance between any two IC tags 50 using a tape measure or the like. The user inputs this measurement information into the setting assistance device 20 as inter-tag distance information. In other words, the setting assistance device 20 may obtain inter-tag distance information by having the control unit 210 accept user operations via the operation unit 240.

Figure 18 is a diagram showing an example of tag-to-tag distance information. In Figure 18, for example, "A-B" indicates the tag IDs of two IC tags 50 corresponding to two virtual tags 50v connected by a line segment sb, and "L1" indicates that the distance between IC tag 50 "A" and IC tag 50 "B" is L1. Such tag-to-tag distance information is obtained for each of the two IC tags 50 connected by a line segment sb.

Returning to FIG. 16, the control unit 210 corrects the position (coordinate position) of each virtual tag 50v placed in step S32A (S34A). The control unit 210 acquires tag distance information based on the monitoring device 10 and tag-to-tag distance information. Therefore, the control unit 210 can acquire the lengths of three sides of a triangle formed by the virtual monitoring device 10v and the two virtual tags 50v connected by a line segment. Thus, the control unit 210 can calculate each interior angle of the triangle. Thus, the control unit 210 may correct the position (coordinate position) of each virtual tag 50v based on the derived lengths of the three sides and three angles according to a trilateration method or the like. The method of position correction using the trilateration method may be the same as in the first embodiment.

For each tag group TG, the control unit 210 fixes the placement position on the virtual plane of the virtual tag 50v (also referred to as the reference virtual tag 50vr) (see FIG. 19) that is located at the end of the tag group TG and is not on the outer periphery of the virtual detection area DRv (S34B). This fixes the distance and angle of the reference virtual tag 50vr relative to the virtual monitoring device 10v.

For each tag group TG, the control unit 210 determines the position of each virtual tag 50v included in the tag group TG based on the reference virtual tag 50vr and the tag distance information of each virtual tag 50v included in the tag group TG (S34C). This makes it possible to determine the placement position of each virtual tag 50v based on the placement position of the reference virtual tag 50vf even if the tag detection information does not include angle information.

Proceeding to FIG. 16B, the control unit 210 performs the processes of steps S35 to S39 shown in FIG. 8. As a result, as shown in FIG. 19, a closed area CA similar to that of the first embodiment can be formed, and the monitoring area MR can be determined. FIG. 19 is a diagram showing an example of determining the monitoring area MR in the second setting example.

Similar to the first embodiment, the monitoring area determination process may be performed for each machine tool 70, and a different monitoring area MR may be set for each machine tool 70. Therefore, the control unit 210 may determine the monitoring area MR for each machine tool 70 and notify the monitoring device 10.

Here, the reason for fixing the position of reference virtual tag 50vf will be considered.
FIG. 20 is a diagram showing that the position of each virtual tag 50v belonging to a tag group TG is indefinite.

The control unit 210 acquires tag distance information and tag-to-tag distance information for each IC tag 50 corresponding to each virtual tag 50v. If the position of the reference virtual tag TG is not fixed, the control unit 210 only knows information related to the distance, and therefore determines the position of each virtual tag 50v based on the distance from the monitoring device 10. In this case, since the angle is not determined while maintaining the distance between the virtual monitoring device 10v and the virtual tag 50v, it can be placed at any position around a circle with a radius centered on the virtual monitoring device 10v. In contrast, by fixing the position of the reference virtual tag 50vf, the control unit 210 can determine the positions of the other virtual tags 50v in the same tag group TG based on their positional relationship with the position of the reference virtual tag 50vf.

Note that, although an example has been given here in which the position of the reference virtual tag 50vf is located on the outer periphery of the virtual detection area DRv, this is not limited to the above. For example, the reference virtual tag 50vf may be located at any position within the range of the virtual detection area DRv. For example, the virtual tag 50v of "B" or the virtual tag 50v of "E" in FIG. 19 may become the reference virtual tag 50vf and its position may be fixed. Even in this case, the setting support device 20 can determine the positions of the other virtual tags 50v in the same tag group TG based on their positional relationship with the position of the reference virtual tag 50vf.

According to this second setting example of the monitoring area MR, the monitoring device 10 provides the setting assistance device 20 with tag detection information that does not include tag angle information, so it is only necessary to detect the minimum amount of information required to determine the monitoring area MR, thereby reducing the burden on the IC tag information processing unit 120.

The setting assistance device 20 can place each virtual tag 50v even if the tag detection information does not include tag angle information. The setting assistance device 20 can also prevent the placement position of the virtual tag 50v placed on the outer periphery of the virtual detection area DVr from being uncertain about where on a circle whose radius is the distance indicated by the distance information. It can also prevent the positions of the other virtual tags 50v connected by line segments sb from being uncertain because one point is determined on the outer periphery of the virtual detection area DVr.

<Simple monitoring area settings>
Next, a simple setting of the monitoring area MR will be described.

When the production line is introduced, the monitoring device 10 stores area setting information for setting the monitoring area MR in the memory unit 130. At any time after the production line is introduced, the monitoring device 10 can perform simple setting of the monitoring area MR using the area setting information stored in the memory unit 130.

As an example, the following mainly describes the simple setting of the monitoring area MR when the robot device 30 is used by moving between multiple machine tools 70 included in a production line. Figure 21 is a diagram showing the robot device 30 moving between multiple machine tools 70.

When simply setting the monitoring area MR, the monitoring area determination process may be performed by the monitoring device 10 or by the setting assistance device 20.

First, we will explain how the monitoring device 10 performs simple setting of the monitoring area MR, including the monitoring area determination process.

Figure 22 is a flowchart showing a first example of a simple setting of a monitoring area MR when a robot device 30 moves between multiple machine tools 70. At the start of Figure 22, installation of the IC tag 50 at the above-mentioned monitoring site C1 has been completed. In addition, the memory unit 130 holds area setting information for each machine tool 70.

First, in steps S41 and S42, the monitoring device 10 performs the same processes as steps S11 and S12A shown in Fig. 14. Note that the IC tag detection unit 121 may calculate the distance R _A ' between the monitoring device 10 and the IC tag 50 in the horizontal direction, as in the first setting example shown in Fig. 5. The control unit 160 executes a monitoring area determination process (S50).

The control unit 160 stores the determined area setting information in the storage unit 130 (S43). The control unit 160 sets the monitoring area MR based on the area setting information (S44). The entry detection unit 110 uses the projected light and the detection light to detect whether or not an object 25 has entered the monitoring area MR (S45).

Figure 23 is a flowchart showing an example of the monitoring area determination process shown in step S50.

First, the area recognition unit 122 acquires tag detection information including tag IDs and tag distance information from the IC tag information processing unit 120 (S51). The area recognition unit 122 determines area setting information corresponding to one machine tool 70 based on the tag IDs of each IC tag 50 included in the tag detection information (S52). In this case, the area recognition unit 122 may determine whether any tag ID included in the acquired tag detection information matches any tag ID included in the area setting information for each machine tool held in the storage unit 130. The control unit 160 acquires area setting information including the tag IDs that are determined to match from the storage unit 130. In other words, in step S52, it can be said that the area recognition unit 122 identifies the surroundings of which machine tool 70 is the object of monitoring.

Figure 24 is a diagram showing an example of comparing tag detection information I1 with area setting information I21, I22 for each machine tool 70. Tag detection information I1 has tag IDs "A" to "F". Area setting information I21 has tag IDs "A" to "F". Area setting information I22 has tag IDs "G" to "L". Therefore, the control unit 160 acquires area setting information I21 including, for example, "A", which has a matching tag ID, from the memory unit 130. Note that the tag IDs of IC tags 50 installed around machine tools 70 are different for each machine tool 70 so that it is possible to determine which machine tool 70 they are installed around.

Returning to FIG. 23, the control unit 160 corrects the position (detection position) of each IC tag 50 detected (this time) based on the tag detection information (S53). This correction is similar to the position correction in the second setting example described above (e.g., step S34A in FIG. 16). For example, the control unit 160 may obtain tag-to-tag distance information, and correct the detection position of each IC tag 50 according to the trilateration method based on the tag detection information and the tag-to-tag distance information.

Figure 25 is an image diagram showing placement information P1 indicating the position of each IC tag 50 based on tag detection information I1, and placement information P21 indicating the position of each IC tag 50 based on selected area setting information I21. As shown in Figure 24, the positions of each IC tag 50 differ slightly between placement information P1 based on tag detection information I1 and placement information P21 based on tag detection information I21. This is because, for example, when the robot device 30 moves from the position of machine tool 70A to the position of machine tool 70B and then returns to the position of machine tool 70A, the robot device 30 is installed in a position slightly shifted from the position where it was installed on machine tool 70A before the movement.

Returning to FIG. 23, the control unit 160 calculates the positional deviation between the position (registered position) of each IC tag 50 based on the area setting information I21 and the position (detected position) of each detected IC tag 50 (S54). As described above, the position of the robot device 30 relative to the machine tool 70 may deviate slightly. Also, the installation position of the IC tag 50 remains unchanged after installation. Therefore, the registered position and the detected position of each IC tag 50 will deviate in the same manner. Therefore, it is sufficient for the control unit 160 to detect the positional deviation between the registered position and the detected position of at least one IC tag 50.

Based on the calculated positional deviation, the control unit 160 determines a new monitoring area MR by correcting the position of the monitoring area MR while maintaining the positional relationship of the shape of the monitoring area MR included in the area setting information I21 (S55). In other words, the control unit 160 determines the monitoring area MR corresponding to the detection position of each IC tag 50 by correcting the position of the monitoring area MR so that the registered position of each IC tag 50 moves in the direction of the detection position. In this case, when the control unit 160 corrects the position of the monitoring area MR so that the registered position of each IC tag 50 coincides with the detection position, for example, the detection position of each IC tag 50 will be located on the outer periphery of the new monitoring area MR. Note that the control unit 160 may correct the angle of the monitoring area MR instead of or in addition to the position of the monitoring area MR.

Figure 26 is a diagram showing an example of correcting the position of the monitoring area MR. Figure 26 shows that the placement information P21 is corrected to placement information P31. The placement information P21 is the same as the placement information P21 in Figure 25. The placement information P31 shows that the positions of each IC tag 50 and the monitoring area MR (protection area MR1 and alert area MR2) shown in the placement information P21 have moved due to correction. This allows the monitoring device 10 to easily determine the monitoring area MR that was located at the position of each IC tag 50 relative to the currently detected monitoring device 10.

The control unit 160 generates new area setting information based on the determined new monitoring area MR. The generated new area setting information is stored in the storage unit 130 in step S43 of FIG. 22.

According to this simplified setting of the monitoring area MR, the monitoring device 10 can easily determine a monitoring area MR suitable for the current position of the monitoring device 10 by using the tag detection information of the IC tag 50 detected this time and the area setting information for each machine tool 70 generated in the past. Furthermore, since the monitoring device 10 performs the specific monitoring area determination process, the simplified setting of the monitoring area MR can be completed with one device. Furthermore, the monitoring device 10 can eliminate the need to perform all the processing such as the first setting example or the second setting example described above when setting a new monitoring area MR. Furthermore, since it is no longer necessary for the monitoring site C1 to accurately move the position of the monitoring device 10 relative to the machine tool 70 every time, the burden on the worker can be reduced.

Next, we will explain how the setting assistance device 20 performs a monitoring area determination process, and how the monitoring device 10 and the setting assistance device 20 work together to perform simple setting of the monitoring area MR.

Figure 27 is a sequence diagram showing a second example of a simple setting of the monitoring area MR when the robot device 30 moves between multiple machine tools 70. At the start of Figure 22, installation of the IC tag 50 at the monitoring site C1 described above has been completed. In addition, the memory unit 130 holds area setting information for each machine tool 70. Note that in Figure 27, the same processes as those shown in Figure 22 are given the same step numbers, and their explanations are omitted or simplified.

First, the monitoring device 10 performs the processes of steps S41 and S42 shown in FIG. 22. The input/output unit 140 transmits the obtained tag detection information for each IC tag 50 and the area setting information for each machine tool 70 to the setting assistance device 20 (S61).

In the setting assistance device 20, the communication unit 220 receives tag detection information for each IC tag 50 and area setting information for each machine tool 70 from the monitoring device 10 (S61). Then, the control unit 210 executes a monitoring area determination process (S50A). This monitoring area determination process is different from the monitoring area determination process shown in FIG. 23 in that the subject of operation for each process is different. In other words, the control unit 210 of the setting assistance device 20 performs the monitoring area determination process, not the control unit 160 of the monitoring device 10. Other than the difference in the subject of operation, this is the same as step S50, i.e., steps S51 to S55, and therefore a detailed description will be omitted.

The communication unit 220 transmits the new area setting information generated by the monitoring area determination process to the monitoring device 10 (S62). After that, the monitoring device 10 performs the processes of steps S43 to S45 shown in FIG. 22.

By using this simplified setting of the monitoring area MR, the setting assistance device 20 can easily determine a monitoring area MR suitable for the current position of the monitoring device 10 by using the tag detection information of the currently detected IC tag 50 and the area setting information for each machine tool 70 that was previously generated. In addition, this eliminates the need for the monitoring device 10 to perform a specific monitoring area determination process, reducing the burden on the monitoring device 10 and supporting the simplified setting of the monitoring area MR.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or revised examples within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components in the above embodiments may be combined in any manner as long as it does not deviate from the spirit of the invention.

In the above embodiment, the monitoring device 10 is described as having an IC tag information processing unit 120, but this is not limited to the above. The monitoring system 5 may also have an information processing device that is separate from the monitoring device 10 and has an IC tag information processing unit 120. In this case, it is sufficient that the monitoring device 10 and the information processing device are communicatively connected, the monitoring device 10 can obtain various information obtained from the IC tag 50, and the various information for the IC tag 50 can be transmitted from the monitoring device 10 to the IC tag 50 via the information processing device.

In the above embodiment, correction of the coordinate position is described as an example, but this is not limited to this. For example, the processing of step S34 in FIG. 8, step S34 in FIG. 16, and step S53 in FIG. 23 may be omitted.

The simplified setting of the monitoring area MR is not only applicable when moving between multiple machine tools 70, but can also be applied when moving between multiple work positions for one machine tool 70. In addition, the operation example in FIG. 22 and other figures shows an example in which tag angle information is not included in the tag detection information, but it can also be applied when tag angle is included in the tag detection information, as in the first setting example in FIG. 8 and other figures.

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

The order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings, is not specifically stated as "before" or "prior to," and can be realized in any order, unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, it does not mean that it is necessary to perform it in that order.

As described above, the monitoring device 10 of the above embodiment monitors entry into the monitoring area MR. The monitoring device 10 includes a receiver (e.g., IC tag detection unit 121) that receives radio waves from an IC tag 50 fixedly placed in a detection area DR that can be detected by the monitoring device 10, a tag information detector (e.g., IC tag detection unit 121) that detects tag position information indicating the position of the IC tag 50 relative to the monitoring device 10 for each IC tag 50 based on the radio waves, an output unit (e.g., input/output unit 140) that outputs tag detection information including the tag position information for each IC tag 50 to a setting support device 20 that supports the setting of the monitoring area MR, a receiver (e.g., input/output unit 140) that receives (obtains) area setting information for setting the monitoring area MR from the setting support device 20, and a control unit 160 that sets the monitoring area MR based on the area setting information.

This allows the monitoring device 10 to set the monitoring area MR using the IC tag 50. Furthermore, since the monitoring device 10 can easily obtain tag position information that serves as the reference point of the monitoring area MR using the fixedly placed IC tag 50, for example, it is not necessary for the area setter to move around the monitoring site C1 when setting the monitoring area MR, which reduces the burden on the area setter.

The tag information detection unit may detect tag identification information that identifies the IC tag 50, and the tag detection information may include the tag identification information. It may also include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50. It may also include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50, and tag angle information indicating the angle of the IC tag 50 relative to the monitoring device 10. This makes it possible to provide the setting assistance device 20 with information required for setting the monitoring area MR.

The monitoring device 10 may also include a memory unit 130. The receiving unit may receive multiple pieces of area setting information corresponding to each of the multiple machine tools 70 on which the monitoring device 10 is placed. The memory unit 130 may store multiple pieces of area setting information. This allows the monitoring device 10 to set a different monitoring area for each machine tool 70.

In addition, when any tag identification information detected by the tag information detection unit matches the identification information of any IC tag included in the multiple area setting information stored in the memory unit 130, the control unit 160 may obtain area setting information including the identification information of the matching IC tag 50 from the memory unit 130, and set the monitoring area MR based on the obtained area setting information.

The positions of the IC tags 50 placed around each machine tool 70 have not been changed. In this case, when the monitoring device 10 is placed near a machine tool 70 where a monitoring area MR was previously set, the monitoring device 10 can easily re-set the monitoring area MR by selecting the area setting information of the previous monitoring area MR.

The control unit 160 may also correct the monitoring area MR while maintaining the shape of the set monitoring area MR based on the tag position information for each IC tag 50 detected by the tag information detection unit and the tag position information for each IC tag 50 included in the acquired area setting information.

As a result, the monitoring device 10 can compare and correct the detection information (current detection information) for each IC tag 50 with the registration information (past detection information) for the same IC tag 50, thereby suppressing positional deviation between the detection information and the registration information, for example. Therefore, the monitoring device 10 can set a monitoring area MR that is more suitable for the current position of each IC tag 50 relative to the monitoring device 10.

The monitoring device 10 may also include a light-projecting unit 111 that projects a projected light in each detection direction around the monitoring device 10, a light-receiving unit 113 that receives detection light that is the projected light reflected or scattered by the object 25, a recognition unit (e.g., a distance measuring unit 115) that recognizes the position of the object 25 based on the detection light, and an entry detection unit 110 that detects the entry of the object 25 into the monitoring area MR when the object 25 is located within the monitoring area MR.

This allows the monitoring device 10 to detect entry into the set monitoring area MR, ensuring safety within the monitoring area MR.

The setting support device 20 of the above embodiment supports the setting of the monitoring area MR monitored by the monitoring device 10. The setting support device 20 includes a receiving unit (e.g., a communication unit 220) that receives (acquires) tag detection information including tag position information indicating the position of the IC tag 50 relative to the monitoring device 10 for each IC tag 50 fixedly placed in the detection area DR that can be detected by the monitoring device 10, and a control unit 210 that determines the monitoring area MR in which the position of each IC tag 50 is a point on the outer periphery of the monitoring area MR based on the tag detection information for each IC tag 50.

As a result, the setting assistance device 20 can determine the monitoring area MR using information from the IC tag 50 (e.g., tag position information) and assist in setting the monitoring area MR. The setting assistance device 20 can easily obtain tag position information that serves as the reference point for the monitoring area MR using the fixedly placed IC tag 50, so that, for example, the area setter does not need to move around the monitoring site C1 when setting the monitoring area MR, reducing the burden on the area setter.

The setting support device 20 may also include an operation unit 240 and a display unit 250. The tag detection information for each IC tag 50 may include tag identification information that identifies the IC tag 50. The control unit 210 may acquire information on the detection area MR that can be detected by the monitoring device 10. Based on the information on the detection area DR and the tag detection information, the control unit 210 may arrange the virtual monitoring device 10v corresponding to the monitoring device 10, each virtual tag 50v corresponding to each IC tag 50, and the virtual detection area DRv corresponding to the detection area DR on a virtual plane and display them on the display unit 250. The control unit 210 may connect at least two virtual tags 50v of the arranged multiple virtual tags 50v with a line segment sb via the operation unit 240. The control unit 210 may generate a closed area CA in which the line segment sb and each virtual tag 50v connected by the line segment sb form at least a part of the perimeter of the closed area CA, and determine the monitoring area MR based on the closed area CA.

This allows the setting assistance device 20 to easily connect the virtual tags 50v as desired based on user operation on the screen, and freely determine the monitoring area MR so that it takes the form (e.g., position, range, size, or shape) desired by the user. In addition, since the user determines the monitoring area MR using a UI such as the display unit 250 or the operation unit 240, it is easy for the user to intuitively understand the monitoring area MR.

The tag position information may also include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50, and tag angle information indicating the angle of the IC tag 50 relative to the monitoring device 10. The control unit 210 may position each virtual tag 50v based on the tag distance information and tag angle information for each IC tag 50, and determine the monitoring area MR based on the position of each virtual tag 50v.

As a result, the setting assistance device 20 can use the tag angle information and tag distance information to determine the placement position of each virtual tag 50v to a single point through calculations, reducing the burden on the user.

The tag position information may also include tag distance information indicating the distance between the monitoring device 10 and the IC tag 50. The control unit 210 may acquire tag-to-tag distance information indicating the distance between each of the multiple virtual tags 50v connected by line segments sb. The control unit 210 may specify, via the operation unit 240, that at least one virtual tag 50v of the virtual tags 50v arranged on the virtual plane be arranged on the outer periphery of the virtual detection area DRv. The control unit 210 may arrange each virtual tag 50v based on the tag distance information, tag-to-tag distance information, and the position of the virtual tag 50v arranged on the outer periphery of the virtual detection area DRv, and may determine the monitoring area MR based on the position of each virtual tag 50v.

This allows the setting support device 20 to prevent the placement position of the virtual tag 50v placed on the outer periphery of the virtual detection area DRv from being uncertain as to which position on a circle whose radius is a length corresponding to the distance indicated by the tag distance information of the IC tag 50 corresponding to this virtual tag 50v. Furthermore, the setting support device 20 can prevent the positions of the other virtual tags 50v connected by line segments sb from being uncertain by determining at least one point of the virtual tags 50v on the outer periphery of the virtual detection area DVr. Therefore, the setting support device 20 can place each virtual tag 50v on a virtual plane without acquiring tag angle information, reducing the burden on the user.

In addition, the control unit 210 may calculate the relative positional relationship of each virtual tag 50v based on the individual tag position information of each IC tag 50 included in the tag detection information, and correct at least one position of each virtual tag 50v based on the relative positional relationship of each virtual tag 50v.

As a result, the setting support device 20 can detect the deviation in the relative positional relationship of each virtual tag 50v by various calculations such as trilateration. The setting support device 20 can determine the shape of the monitoring area MR with even higher accuracy by correcting the placement position of each virtual tag 50v so as to reduce the deviation in the relative positional relationship.

The perimeter of the closed area CA may include at least a portion of the perimeter of the virtual detection area DRv. This allows the setting assistance device 20 to generate the closed area CA using the perimeter line DRl of the virtual detection area DRv as well, reducing the burden on the user of connecting the line segments sb.

In addition, when a closed area CA is not formed by the line segment sb, the virtual tag 50v connected by the line segment sb, and at least a part of the outer periphery of the virtual detection area DRv, the control unit 210 may generate the closed area CA by adding a periphery connecting line segment (line segment sbl), which is a line segment sb that connects the virtual tag 50v that corresponds to the end of the line segment sb and is not located on the outer periphery of the virtual detection area DRv to a point on the outer periphery of the virtual detection area DRv.

As a result, even if the closed area CA is not formed by the line segment sb generated by the user's operation alone, the setting assistance device 20 can generate the closed area CA by automatically adding a perimeter connecting line segment from the virtual tag 50v at the end of the line segment sb. Therefore, the setting assistance device 20 can reduce the burden on the user who connects the line segments sb.

The monitoring area MR may include multiple monitoring areas MR1, MR2 with different monitoring methods within the monitoring area MR. When multiple closed areas CA are formed, the control unit 210 may determine multiple monitoring areas MR1, MR2 with different monitoring methods based on the multiple closed areas CA.

As a result, the setting assistance device 20 can generate multiple closed areas CA by connecting any virtual tags 50v with line segments sb through user operation. In addition, the setting assistance device 20 can determine multiple closed areas CA as monitoring areas MR that comply with a monitoring method, and can easily generate monitoring areas MR of various monitoring methods.

The setting assistance device 20 may also include an output unit (e.g., a communication unit 220) that outputs area setting information for setting the monitoring area MR determined by the control unit 210 to the monitoring device 10.

This allows the monitoring device 10 to set the monitoring area MR determined by the setting support device 20 and monitor the inside of the monitoring area MR.
By taking the initiative in determining the above, the processing load associated with setting the monitoring area MR by the monitoring device 10 can be reduced.
[Additional Notes]
[Item 1]
A monitoring device for monitoring entry into a monitoring area,
a receiving unit that receives radio waves from an IC tag fixedly disposed in a detection area that can be detected by the monitoring device;
a tag information detection unit that detects, for each of the IC tags, tag position information indicating a position of the IC tag relative to the monitoring device based on the radio waves;
an output unit that outputs tag detection information including the tag position information for each of the IC tags to a setting support device that supports setting of the monitoring area;
a receiving unit that receives area setting information for setting the monitoring area from the setting assistance device;
A control unit that sets the monitoring area based on the area setting information;
A monitoring device comprising:
[Item 2]
The tag information detection unit detects tag identification information for identifying the IC tag,
the tag detection information includes the tag identification information;
2. The monitoring device according to item 1.
[Item 3]
The tag location information is
or including tag distance information indicating the distance between the monitoring device and the IC tag;
tag distance information indicating a distance between the monitoring device and the IC tag, and tag angle information indicating an angle of the IC tag with respect to the monitoring device.
3. The monitoring device according to item 1 or 2.
[Item 4]
A storage unit,
the receiving unit receives a plurality of area setting information corresponding to each of a plurality of machine tools on which the monitoring device is installed,
The storage unit stores a plurality of pieces of area setting information.
Item 4. The monitoring device according to item 2 or 3.
[Item 5]
The control unit is
When any tag identification information detected by the tag information detection unit matches any identification information of an IC tag included in a plurality of pieces of area setting information stored in the storage unit, the area setting information including the matching identification information of the IC tag is acquired from the storage unit;
setting the monitoring area based on the acquired area setting information;
5. The monitoring device according to item 4.
[Item 6]
the control unit corrects the monitoring area while maintaining the shape of the set monitoring area based on the tag position information for each of the IC tags detected by the tag information detection unit and the tag position information for each of the IC tags included in the acquired area setting information.
Item 6. The monitoring device according to item 5.
[Item 7]
a light projection unit that projects light in each detection direction around the monitoring device;
a light receiving unit that receives detection light that is the projected light reflected or scattered by an object;
a recognition unit that recognizes a position of the object based on the detection light;
and an entry detection unit that detects, when the object is located within the monitoring area, the entry of the object into the monitoring area.
7. The monitoring device according to any one of items 1 to 6.
[Item 8]
A setting support device that supports setting of a monitoring area to be monitored by a monitoring device,
a receiving unit that receives tag detection information including tag position information indicating a position of the IC tag relative to the monitoring device for each IC tag fixedly disposed in a detection area detectable by the monitoring device;
a control unit that determines a monitoring area in which the positions of the IC tags are points on the periphery of the monitoring area based on the tag detection information for each of the IC tags;
A setting support device comprising:
[Item 9]
Further comprising an operation unit and a display unit,
The tag detection information for each of the IC tags includes tag identification information for identifying the IC tag,
The control unit is
Obtaining information about a detection area detectable by the monitoring device;
Based on the detection area information and the tag detection information, a virtual monitoring device corresponding to the monitoring device, each virtual tag corresponding to each IC tag, and a virtual detection area corresponding to the detection area are arranged on a virtual plane and displayed on the display unit;
via the operation unit, connecting at least two of the arranged virtual tags with a line segment;
generating a closed area in which the line segment and each virtual tag connected by the line segment form at least a part of the periphery of the closed area;
determining the monitoring area based on the closed region;
Item 9. A setting support device according to item 8.
[Item 10]
the tag position information includes tag distance information indicating a distance between the monitoring device and the IC tag, and tag angle information indicating an angle of the IC tag with respect to the monitoring device,
the control unit arranges each virtual tag based on the tag distance information and the tag angle information for each IC tag,
determining the monitoring area based on the position of each of the virtual tags;
Item 9. A setting support device according to item 9.
[Item 11]
the tag position information includes tag distance information indicating a distance between the monitoring device and the IC tag,
The control unit is
acquiring inter-tag distance information indicating a distance between each of the plurality of virtual tags connected by the line segments;
via the operation unit, designating at least one of the virtual tags arranged on the virtual plane to be arranged on an outer periphery of the virtual detection area;
arranging each virtual tag based on the tag distance information, the tag-to-tag distance information, and the positions of the virtual tags arranged on the outer periphery of the virtual detection area;
determining the monitoring area based on the position of each of the virtual tags;
Item 9. A setting support device according to item 9.
[Item 12]
The control unit is
Calculating a relative positional relationship between each virtual tag based on the individual tag position information of each IC tag included in the tag detection information;
correcting at least one position of each of the virtual tags based on the relative positional relationship of each of the virtual tags;
12. A setting support device according to any one of items 9 to 11.
[Item 13]
The periphery of the closed region includes at least a part of the periphery of the virtual detection area.
Item 13. The setting support device according to any one of items 9 to 12.
[Item 14]
when the closed area is not formed by the line segment, the virtual tag connected by the line segment, and at least a part of the periphery of the virtual detection area, the control unit adds a periphery connecting line segment which is a line segment connecting a virtual tag that corresponds to an end of the line segment and is not located on the periphery of the virtual detection area to a point on the periphery of the virtual detection area, thereby generating the closed area.
Item 14. The setting support device according to item 13.
[Item 15]
The monitoring area includes a plurality of monitoring areas with different monitoring methods within a monitoring region,
When a plurality of the closed regions are formed, the control unit determines a plurality of monitoring areas having different monitoring methods based on the plurality of the closed regions.
Item 15. A setting support device according to any one of items 9 to 14.
[Item 16]
An output unit that outputs area setting information for setting the monitoring area determined by the control unit to the monitoring device.
Item 16. A setting support device according to any one of items 8 to 15.
[Item 17]
An area setting method for setting a monitoring area, comprising the steps of:
receiving radio waves from an IC tag fixedly disposed in a detection area that can be detected by a monitoring device that monitors entry into the monitoring area;
detecting tag position information indicating a position of the IC tag relative to the monitoring device for each of the IC tags based on the radio waves;
outputting tag detection information including the tag position information for each of the IC tags to a setting support device that supports setting of the monitoring area;
acquiring area setting information for setting the monitoring area from the setting assistance device;
setting the monitoring area based on the area setting information;
An area setting method having the above-mentioned features.
[Item 18]
A setting support method for supporting setting of a monitoring area to be monitored by a monitoring device, comprising:
acquiring tag detection information including tag position information indicating a position of the IC tag relative to the monitoring device for each IC tag fixedly disposed in a detection area detectable by the monitoring device;
determining a monitoring area in which the positions of the IC tags are points on the periphery of the monitoring area based on the tag detection information for each of the IC tags;
A setting support method having the above configuration.

The present disclosure is useful for a monitoring device, a setting assistance device, an area setting method, and a setting assistance method that can reduce the burden on an area setter who sets a monitoring area.

10 Monitoring device 10v Virtual monitoring device 20 Setting support device 25 Target object 30 Robot device 31 Base 32 Robot arm 50 IC tag 50v Virtual tag 50vf Reference virtual tag 70, 70A, 70B Machine tool 80 External device 110 Entry detection unit 111 Light projection unit 112 Light projection control unit 113 Light receiving unit 114 Distance calculation unit 115 Distance measurement unit 116 Entry detection unit 120 IC tag information processing unit 121 IC tag detection unit 122 Area recognition unit 123 Data transmission unit 130 Memory unit 140 Input/output unit 150 Rotation mechanism unit 160 Control unit 210 Control unit 220 Communication unit 230 Memory unit 240 Operation unit 250 Display unit C1 Monitoring site CA Closed area CA1 Protective closed area CA2 Alert closed area DR Detection area DRv Virtual detection area H1 Worker I1 Tag detection information I21, I22 Area setting information MR Monitoring area MR1 Protection area MR2 Alert areas P1, P21, P31 Placement information sb, sbl Line segments TG, TGA, TGB Tag group

Claims (18)

A monitoring device for monitoring entry into a monitoring area,
a receiving unit that receives radio waves from an IC tag fixedly disposed in a detection area that can be detected by the monitoring device;
a tag information detection unit that detects, for each of the IC tags, tag position information indicating a position of the IC tag relative to the monitoring device based on the radio waves;
an output unit that outputs tag detection information including the tag position information for each of the IC tags to a setting support device that supports setting of the monitoring area;
a receiving unit that receives area setting information for setting the monitoring area from the setting assistance device;
A control unit that sets the monitoring area based on the area setting information;
A monitoring device comprising: The tag information detection unit detects tag identification information for identifying the IC tag,
the tag detection information includes the tag identification information;
The monitoring device according to claim 1. The tag location information is
or including tag distance information indicating the distance between the monitoring device and the IC tag;
tag distance information indicating a distance between the monitoring device and the IC tag, and tag angle information indicating an angle of the IC tag with respect to the monitoring device.
3. A monitoring device according to claim 1 or 2. A storage unit,
the receiving unit receives a plurality of area setting information corresponding to each of a plurality of machine tools on which the monitoring device is installed,
The storage unit stores a plurality of pieces of area setting information.
The monitoring device according to claim 2 . The control unit is
When any tag identification information detected by the tag information detection unit matches any identification information of an IC tag included in a plurality of area setting information stored in the storage unit, the area setting information including the matching identification information of the IC tag is acquired from the storage unit;
setting the monitoring area based on the acquired area setting information;
5. The monitoring device according to claim 4. the control unit corrects the monitoring area while maintaining the shape of the set monitoring area based on the tag position information for each of the IC tags detected by the tag information detection unit and the tag position information for each of the IC tags included in the acquired area setting information.
The monitoring device according to claim 5. a light projection unit that projects light in each detection direction around the monitoring device;
a light receiving unit that receives detection light that is the projected light reflected or scattered by an object;
a recognition unit that recognizes a position of the object based on the detection light;
and an entry detection unit that detects, when the object is located within the monitoring area, the entry of the object into the monitoring area.
The monitoring device according to claim 1 . A setting support device that supports setting of a monitoring area to be monitored by a monitoring device,
a receiving unit that receives tag detection information including tag position information indicating a position of the IC tag relative to the monitoring device for each IC tag fixedly disposed in a detection area detectable by the monitoring device;
a control unit that determines a monitoring area in which the positions of the IC tags are points on the periphery of the monitoring area based on the tag detection information for each of the IC tags;
A setting support device comprising: Further comprising an operation unit and a display unit,
The tag detection information for each of the IC tags includes tag identification information for identifying the IC tag,
The control unit is
Obtaining information about a detection area detectable by the monitoring device;
Based on the detection area information and the tag detection information, a virtual monitoring device corresponding to the monitoring device, each virtual tag corresponding to each IC tag, and a virtual detection area corresponding to the detection area are arranged on a virtual plane and displayed on the display unit;
via the operation unit, connecting at least two of the arranged virtual tags with a line segment;
generating a closed area in which the line segment and each virtual tag connected by the line segment form at least a part of the periphery of the closed area;
determining the monitoring area based on the closed region;
The setting support device according to claim 8. the tag position information includes tag distance information indicating a distance between the monitoring device and the IC tag, and tag angle information indicating an angle of the IC tag with respect to the monitoring device,
the control unit arranges each virtual tag based on the tag distance information and the tag angle information for each IC tag,
determining the monitoring area based on the position of each of the virtual tags;
The setting support device according to claim 9. the tag position information includes tag distance information indicating a distance between the monitoring device and the IC tag,
The control unit is
acquiring inter-tag distance information indicating a distance between each of the plurality of virtual tags connected by the line segments;
via the operation unit, designating at least one of the virtual tags arranged on the virtual plane to be arranged on an outer periphery of the virtual detection area;
arranging each virtual tag based on the tag distance information, the tag-to-tag distance information, and the positions of the virtual tags arranged on the outer periphery of the virtual detection area;
determining the monitoring area based on the position of each of the virtual tags;
The setting support device according to claim 9. The control unit is
Calculating a relative positional relationship between each virtual tag based on the individual tag position information of each IC tag included in the tag detection information;
correcting at least one position of each of the virtual tags based on the relative positional relationship of each of the virtual tags;
The setting support device according to claim 9 . the periphery of the closed region includes at least a part of the periphery of the virtual detection area,
The setting support device according to claim 9 . when the closed area is not formed by the line segment, the virtual tag connected by the line segment, and at least a part of the periphery of the virtual detection area, the control unit adds a periphery connecting line segment which is a line segment connecting a virtual tag that corresponds to an end of the line segment and is not located on the periphery of the virtual detection area to a point on the periphery of the virtual detection area, thereby generating the closed area.
The setting support device according to claim 13. The monitoring area includes a plurality of monitoring areas with different monitoring methods within a monitoring region,
When a plurality of the closed regions are formed, the control unit determines a plurality of monitoring areas having different monitoring methods based on the plurality of the closed regions.
The setting support device according to claim 9 . An output unit that outputs area setting information for setting the monitoring area determined by the control unit to the monitoring device.
The setting support device according to claim 8 . An area setting method for setting a monitoring area, comprising the steps of:
receiving radio waves from an IC tag fixedly disposed in a detection area that can be detected by a monitoring device that monitors entry into the monitoring area;
detecting tag position information indicating a position of the IC tag relative to the monitoring device for each of the IC tags based on the radio waves;
outputting tag detection information including the tag position information for each of the IC tags to a setting support device that supports setting of the monitoring area;
acquiring area setting information for setting the monitoring area from the setting assistance device;
setting the monitoring area based on the area setting information;
An area setting method having the above-mentioned features. A setting support method for supporting setting of a monitoring area to be monitored by a monitoring device, comprising:
acquiring tag detection information including tag position information indicating a position of the IC tag relative to the monitoring device for each IC tag fixedly disposed in a detection area detectable by the monitoring device;
determining a monitoring area in which the positions of the IC tags are points on the periphery of the monitoring area based on the tag detection information for each of the IC tags;
A setting support method having the above configuration.

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