JP2019144040A - センサを用いた物体監視装置 - Google Patents
センサを用いた物体監視装置 Download PDFInfo
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- JP2019144040A JP2019144040A JP2018026919A JP2018026919A JP2019144040A JP 2019144040 A JP2019144040 A JP 2019144040A JP 2018026919 A JP2018026919 A JP 2018026919A JP 2018026919 A JP2018026919 A JP 2018026919A JP 2019144040 A JP2019144040 A JP 2019144040A
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- 238000012806 monitoring device Methods 0.000 title abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 157
- 238000005259 measurement Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 description 26
- 238000012545 processing Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013056 hazardous product Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V99/00—Subject matter not provided for in other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/28—Processing seismic data, e.g. for interpretation or for event detection
- G01V1/282—Application of seismic models, synthetic seismograms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0008—Industrial image inspection checking presence/absence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Acoustics & Sound (AREA)
- Robotics (AREA)
- Quality & Reliability (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Geophysics And Detection Of Objects (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Alarm Systems (AREA)
Abstract
Description
12、32 空間領域
14、44、68a−68c センサ
16、34、50、52、54、66a−66c 監視領域
18、46 判断部
20、36、40 中間領域
22 危険物
24 作業者
19、48 出力部
26 死角
30 制御装置
64a−64d 作業者領域
Claims (7)
- 所定の空間領域を測定するセンサと、
前記センサの測定データに基づき、前記空間領域内に予め定めた監視領域内の物体の有無を判断する判断部と、を備え、
前記判断部は、前記センサが該センサから前記監視領域までの中間領域内に物体が存在することを検知した場合、前記中間領域内の前記物体の存在を以て前記監視領域内に物体が有るとする判断を行うか否かを予め設定可能に構成されている、物体監視装置。 - 前記空間領域内に前記監視領域が複数定められ、前記複数の監視領域毎に前記中間領域が規定される、請求項1に記載の物体監視装置。
- 前記判断部は、前記中間領域を分割して得られる領域の各々について、各領域内の前記物体の存在を以て前記監視領域内に物体が有るとする判断を行うか否かを予め設定可能に構成されている、請求項1又は2に記載の物体監視装置。
- 前記判断部の判断結果を出力する出力部をさらに備え、前記出力部は、前記判断部が定めた複数の監視領域毎に、又は複数の監視領域を統合した群毎に、前記判断部の判断結果を出力する、請求項1〜3のいずれか1項に記載の物体監視装置。
- 前記センサは、第1のセンサと、該第1のセンサとは異なる位置に配置された第2のセンサを含み、前記判断部は、前記第1のセンサが該第1のセンサから前記監視領域までの中間領域内に物体が存在することを検知した場合に前記監視領域内に物体が有るとする判断を行わないように設定されているときは、前記第2のセンサの測定データに基づいて前記監視領域内の物体の有無を判断する、請求項1〜4のいずれか1項に記載の物体監視装置。
- 前記第1のセンサによって物体が有るとする判断を行わないように設定されている監視領域は、該第1のセンサから該監視領域までの中間領域内の物体の存在によって該監視領域内に死角が生じ得る領域であり、前記第2のセンサは該中間領域内の物体の存在によって該監視領域内に死角が発生しない位置に配置される、請求項5に記載の物体監視装置。
- 前記判断部は、前記第2のセンサが該第2のセンサから前記監視領域までの中間領域内に物体が存在することを検知した場合は、前記監視領域内に物体が有るとする判断を行う、請求項6に記載の物体監視装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018026919A JP6626138B2 (ja) | 2018-02-19 | 2018-02-19 | センサを用いた物体監視装置 |
US16/245,260 US20190257978A1 (en) | 2018-02-19 | 2019-01-11 | Object monitoring device using sensor |
DE102019001036.1A DE102019001036B4 (de) | 2018-02-19 | 2019-02-12 | Objektüberwachungsvorrichtung, die einen Sensor verwendet |
CN201910118291.7A CN110174706B (zh) | 2018-02-19 | 2019-02-14 | 使用了传感器的物体监视装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018026919A JP6626138B2 (ja) | 2018-02-19 | 2018-02-19 | センサを用いた物体監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019144040A true JP2019144040A (ja) | 2019-08-29 |
JP6626138B2 JP6626138B2 (ja) | 2019-12-25 |
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JP2018026919A Active JP6626138B2 (ja) | 2018-02-19 | 2018-02-19 | センサを用いた物体監視装置 |
Country Status (4)
Country | Link |
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US (1) | US20190257978A1 (ja) |
JP (1) | JP6626138B2 (ja) |
CN (1) | CN110174706B (ja) |
DE (1) | DE102019001036B4 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020069572A (ja) * | 2018-10-31 | 2020-05-07 | ファナック株式会社 | ロボットシステム |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11210536B2 (en) | 2020-01-06 | 2021-12-28 | Toyota Jidosha Kabushiki Kaisha | Moving object recognition system, moving object recognition method, and program |
JP7484758B2 (ja) * | 2021-02-09 | 2024-05-16 | トヨタ自動車株式会社 | ロボット制御システム |
DE102022112728A1 (de) * | 2022-05-20 | 2023-11-23 | Evocortex Gmbh | Sensoreinrichtung, Anordnung, Roboter, stationärer Aufbau und Verfahren |
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JP2003162776A (ja) * | 2001-11-27 | 2003-06-06 | National Institute Of Advanced Industrial & Technology | 空間マーキング装置 |
JP2011215772A (ja) * | 2010-03-31 | 2011-10-27 | Secom Co Ltd | 物体検出センサ |
JP2017217726A (ja) * | 2016-06-07 | 2017-12-14 | トヨタ自動車株式会社 | ロボット |
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2018
- 2018-02-19 JP JP2018026919A patent/JP6626138B2/ja active Active
-
2019
- 2019-01-11 US US16/245,260 patent/US20190257978A1/en not_active Abandoned
- 2019-02-12 DE DE102019001036.1A patent/DE102019001036B4/de active Active
- 2019-02-14 CN CN201910118291.7A patent/CN110174706B/zh active Active
Patent Citations (3)
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JP2003162776A (ja) * | 2001-11-27 | 2003-06-06 | National Institute Of Advanced Industrial & Technology | 空間マーキング装置 |
JP2011215772A (ja) * | 2010-03-31 | 2011-10-27 | Secom Co Ltd | 物体検出センサ |
JP2017217726A (ja) * | 2016-06-07 | 2017-12-14 | トヨタ自動車株式会社 | ロボット |
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JP2020069572A (ja) * | 2018-10-31 | 2020-05-07 | ファナック株式会社 | ロボットシステム |
Also Published As
Publication number | Publication date |
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CN110174706B (zh) | 2021-10-22 |
DE102019001036B4 (de) | 2022-08-04 |
JP6626138B2 (ja) | 2019-12-25 |
DE102019001036A1 (de) | 2019-08-22 |
CN110174706A (zh) | 2019-08-27 |
US20190257978A1 (en) | 2019-08-22 |
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