Monitoring apparatus including sensors

Patent metadata

Field	Value
Publication number	US-10408611-B2
Application number	US-201816167555-A
Country	US
Kind code	B2
Filing date	Oct 23, 2018
Priority date	Oct 27, 2017
Publication date	Sep 10, 2019
Grant date	Sep 10, 2019

Abstract

An object monitoring apparatus including sensors. The apparatus includes first and second sensors that measure mutually corresponding spatial areas; a first judging unit that judges whether an object is present in a predetermined monitored area, based on measurement data of the first sensor; a second judging unit that judges whether an object is present in an extended area extending toward an outside of the monitored area, based on measurement data of the second sensor; a first signal-output unit that outputs a first object-sensing signal, when the first judging unit judges that an object is present in the monitored area; and a second signal-output unit that outputs a second object-sensing signal, when the first judging unit judges that an object is present in the monitored area and in a case where the second judging unit judges that an object is present in the extended area.

First claim

The invention claimed is:

1. An object monitoring apparatus, comprising:
a first sensor that measures a spatial area and a second sensor that measures a spatial area corresponding to the spatial area measured by the first sensor;
a first judging unit that judges whether an object is present in a monitored area defined within the spatial area, based on measurement data of the first sensor;
a second judging unit that judges whether an object is present in an extended area extending toward an outside of the monitored area to a predetermined outside range, based on measurement data of the second sensor;
a first signal-output unit that outputs a first object-sensing signal as a result of judgement of the monitored area based on the measurement data of the first sensor, when the first judging unit judges that an object is present in the monitored area; and
a second signal-output, unit that outputs a second object-sensing signal as a result of judgement of the monitored area based on the measurement data of the second sensor, when the first judging unit judges that an object is present in the monitored area and in a case where the second judging unit judges that an object is present in the extended area.

2. The object monitoring apparatus of claim 1 , wherein the second judging unit judges whether an object is present in the monitored area, based on measurement data of the second sensor;
the first judging unit judges whether an object is present in the extended area, based on measurement data of the first sensor;
the second signal-output unit outputs the second object-sensing signal, when the second judging unit judges that an object is present in the monitored area; and
the first signal-output unit outputs the first object-sensing signal, when the second judging unit judges that an object is present in the monitored area and in a case where the first judging unit judges that an object is present in the extended area.

3. An object monitoring apparatus, comprising:
a first sensor that measures a spatial area and a second sensor that measures a spatial area corresponding to the spatial area measured by the first sensor;
a first judging unit that judges whether an object is present in a monitored area defined within the spatial area and whether an object is present in an extended area extending toward an outside of the monitored area to a predetermined outside range, based on measurement data of the first sensor;
a second judging unit that judges whether an object is present in the monitored area and whether an object is present in the extended area, based on measurement data of the second sensor;
a first signal-output unit that outputs a first object-sensing signal as a result of judgement of the monitored area executed by the first judging unit, when the first judging unit judges that an object is present in the monitored area;
a second signal-output unit that outputs a second object-sensing signal as a result of judgement of the monitored area executed by the second judging unit, when the second judging unit judges that an object is present in the monitored area; and
a judgement adjusting unit that makes the second signal-output unit output the second object-sensing signal, when the first judging unit judges that an object is present in the monitored area and in a case where the second judging unit judges that an object is present in the extended area, and makes the first signal-output unit output the first object-sensing signal, when the second judging unit judges that an object is present in the monitored area and in a case where the first judging unit judges that an object is present in the extended area.

4. The object monitoring apparatus of claim 2 , further comprising a malfunction determining unit that determines a malfunction of the object monitoring apparatus, when the first judging unit judges that an object is present in the monitored area and in a case where the second judging unit judges that an object is not present in the extended area, or when the second judging unit judges that an object is present in the monitored area and in a case where the first judging unit judges that an object is not present in the extended area.

5. The object monitoring apparatus of claim 4 , further comprising a malfunction signal output unit that outputs a malfunction signal for informing the malfunction, when the malfunction determining unit determines the malfunction.

6. The object monitoring apparatus of claim 4 , further comprising a signal-output adjusting unit that makes the second signal-output unit output the second object-sensing signal, the second signal-output unit related to the second judging unit judging that an object is not present in the extended area, or makes the first signal-output unit output the first object-sensing signal, the first signal-output unit related to the first judging unit judging that an object is not present in the extended area, when the malfunction determining unit determines the malfunction.

7. The object monitoring apparatus of claim 2 , wherein each of the first judging unit and the second judging unit judges whether an object is present in the monitored area and concurrently therewith whether an object is present in the extended area.

8. The object monitoring apparatus of claim 2 , wherein, at an instant when one of the first judging unit and the second judging unit judges that an object is present in the monitored area, the other of the first judging unit and the second judging unit starts judgement as to whether an object is present in the extended area.

9. The object monitoring apparatus of claim 2 , wherein the first judging unit or the second judging unit determines a distance between the monitored area and an object present outside the monitored area, based on the measurement data, and judges that the object is present in the extended area when the distance is equal to or less than the predetermined outside range.

10. The object monitoring apparatus of claim 1 , further comprising a judgment-result-display processing unit that executes a process for displaying a judgment result by each of the first judging unit and the second judging unit.

11. The object monitoring apparatus of claim 1 , further comprising an environment-display processing unit that executes a process for displaying an object measured by each of the first sensor and the second sensor together with the monitored area and the extended area.

12. The object monitoring apparatus of claim 1 , wherein the predetermined outside range is a function of a judgment error that is possibly caused between the first judging unit and the second judging unit.

13. The object monitoring apparatus of claim 1 , wherein the first sensor and the second sensor are disposed so as to face in a mutually identical direction.

14. The object monitoring apparatus of claim 1 , comprising a first monitoring system that includes the first sensor, the first judging unit and the first signal-output unit, and a second monitoring system that includes the second sensor, the second judging unit and the second signal-output unit.

15. The object monitoring apparatus of claim 11 , wherein the first judging unit further judges whether an object is present in a first space defined from the first sensor to the monitored area;
the first signal-output unit further outputs the first object-sensing signal when the first judging unit judges that an object is present in the first space;
the second judging unit further judges whether an object is present in a second space defined from the second sensor to the monitored area; and
the second signal-output unit furth

Assignees

• Fanuc Corp

Inventors

• Nakamura Minoru
• Watanabe Atsushi
• Takahashi Yuuki

Classifications

• G01C3/18

  with one observation point at each end of the base (G01C3/20 takes precedence) · CPC title

• G01B9/02089

  Displaying the signal, e.g. for user interaction · CPC title

• G01B11/28 Primary

  for measuring areas · CPC title

• G01B9/02041

  characterised by particular imaging or detection techniques · CPC title

• G01B11/002 Primary

  for measuring two or more coordinates · CPC title