Intrusion detection device, robot system, intrusion detection method, and intrusion detection program

Patent metadata

Field	Value
Publication number	US-9131121-B2
Application number	US-201313897513-A
Country	US
Kind code	B2
Filing date	May 20, 2013
Priority date	May 30, 2012
Publication date	Sep 8, 2015
Grant date	Sep 8, 2015

Abstract

An intrusion detection device includes: a light emitting unit which forms a plurality of light emitting marks arranged on a boundary of an intrusion monitoring area; an imaging device which images an area including the plurality of light emitting marks, and outputs the captured image; and a detection unit which detects predetermined marks which are different from the light emitting marks, from the output image, sets a masking area on the image based on the detected marks, and detects an intrusion material in the intrusion monitoring area based on the image in an area other than the masking area.

First claim

What is claimed is:

1. An intrusion detection device that is configured to execute processes by a processor, the intrusion detection device comprising:
a light emitting unit which forms a plurality of light emitting marks arranged on a boundary area between a safety area and an intrusion monitoring area;
an imaging device configured to take an image of the boundary area including the plurality of light emitting marks, the imaging device configured to output the image in first through fourth states, wherein
the first state corresponds to a reference image of the boundary area where no object exists,
the second state corresponds to an intrusion image of the boundary area where a first object exists, the first object having no exception mark,
the third state corresponds to an exceptional intrusion image of the boundary area where a second object exists, the second object having the exception mark, and
the fourth state corresponds to a mixed image of the boundary area where the first and second objects exist; and

a detector configured to detect the exception mark within the image in the third and fourth states, the detector configured to set a masking area corresponding to a shape of the second object existing in the boundary area based on a location of the exception mark, wherein
the detector is configured to detect whether the first object is located outside the masking area in the fourth state, and
the detector is configured to detect whether the first object is located in any part of the boundary area in the second state.

2. The intrusion detection device according to claim 1 , wherein
the second object is a moving body which is permitted to intrude into the intrusion monitoring area.

3. The intrusion detection device according to claim 1 , wherein the exception mark has information corresponding to a location and a direction of the second object.

4. The intrusion detection device according to claim 1 , wherein the detector is configured to detect the exception mark and the plurality of light emitting marks from the image, and the detector is configured to detect the first object based on the plurality of light emitting marks that are located outside the masking area.

5. A robot system that is configured to execute processes by a processor, the robot system comprising:
movable components which manipulate a workpiece;
a light emitting unit which forms a plurality of light emitting marks arranged on a boundary area between a safety area and an intrusion monitoring area, the movable components being located in the intrusion monitoring area;
an imaging device configured to take an image of the boundary area including the plurality of light emitting marks, the imaging device configured to output the image in first through fourth states, wherein
the first state corresponds to a reference image of the boundary area where no object exists,
the second state corresponds to an intrusion image of the boundary area where a first object exists, the first object having no exception mark,
the third state corresponds to an exceptional intrusion image of the boundary area where a second object exists, the second object having the exception mark, and
the fourth state corresponds to mixed image of the boundary area where the first and second objects exist; and

a detector configured to detect the exception mark within the image in the third and fourth states, the detector configured to set a masking area corresponding to a shape of the second object existing in the boundary area based on a location of the exception mark, wherein
the detector is configured to detect whether the first object is located outside the masking area in the fourth state, and
the detector is configured to detect whether the first object is located in any part of the boundary area in the second state.

6. The robot system according to claim 5 , wherein
the second object is a moving body which is permitted to intrude into the intrusion monitoring area.

7. A computer-implemented intrusion detection method for causing a processor to execute a process, the method comprising executing on the processor the steps of:
acquiring an image by imaging a plurality of light emitting marks arranged on a boundary area between a safety area and an intrusion monitoring area with an imaging device, the image of the boundary area including first through fourth states, wherein
the first state corresponds to a reference image of the boundary area where no object exists,
the second state corresponds to an intrusion image of the boundary area where a first object exists, the first object having no exception mark,
the third state corresponds to an exceptional intrusion image of the boundary area where a second object exists, the second object having the exception mark, and
the fourth state corresponds to a mixed image of the boundary area where the first and second objects exist; and

detecting the exception mark within the image in the third and fourth states, the detector configured to set a masking area corresponding to a shape of the second object existing in the boundary area based on a location of the exception mark, wherein
the detector is configured to detect whether the first object is located outside the masking area in the fourth state, and
the detector is configured to detect whether the first object is located in any part of the boundary area in the second state.

8. A non-transitory computer-readable medium for causing a computer to execute a process, comprising an instruction detection program thereon, that, when executed on a processor, causes the computer to function as:
an image acquiring unit which acquires an image by imaging a plurality of light emitting marks arranged on a boundary area between a safety area and an intrusion monitoring area with an imaging device, the image of the boundary area including first through fourth states, wherein
the first state corresponds to a reference image of the boundary area where no object exists,
the second state corresponds to an intrusion image of the boundary area where a first object exists, the first object having no exception mark,
the third state corresponds to an exceptional intrusion image of the boundary area where a second object exists, the second object having the exception mark, and
the fourth state corresponds to a mixed image of the boundary area where the first and second objects exist; and

detector configured to detect the exception mark within the image in the third and fourth states, the detector configured to set a masking area corresponding to a shape of the second object existing in the boundary area based on a location of the exception mark, wherein
the detector is configured to detect whether the first object is located outside the masking area in the fourth state, and
the detector is configured to detect whether the first object is located in any part of the boundary area in the second state.

Assignees

• Seiko Epson Corp

Inventors

• Matsudo Tatsuya

Classifications

• G01V8/20

  using multiple transmitters or receivers · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• F16P3/142

  using image capturing devices · CPC title

• G05B2219/40203

  Detect position of operator, create non material barrier to protect operator · CPC title

• H04N7/18 Primary

  Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast · CPC title