To provide a monitoring area setting device that eliminates the need for cumbersome work of moving a fence for measurement on site, or of repeatedly entering numerical values while determining the appropriateness of a monitoring area using a jig, even when the installation accuracy of a safety fence has some dispersion.SOLUTION: A monitoring area setting device comprises: a point cloud data acquisition unit for acquiring point cloud data that shows movable fences and floor surfaces acquired by LiDAR; a surface acquisition unit for acquiring multiple surfaces based on the point cloud data; a labeling unit for distinguishing the movable fence from the floor surface by labeling the acquired multiple surfaces under a predetermined condition; and a monitoring area setting unit for setting a monitoring area for detecting an obstacle on the basis of the multiple surfaces including the labeled movable fence and floor surface. The monitoring area setting unit includes: matching a rising angle of each door surface with respect to the floor surface on the basis of a normal vector of the multiple door surfaces labeled by the labeling unit and a reference vector set on the floor surface; and setting the monitoring area on the basis of each matched door surface.SELECTED DRAWING: Figure 3
【課題】安全柵の設置精度にばらつきがあっても、現場で柵を作動させながら測定し、或いは、治具を用いて監視領域の適正度を判定しながら数値入力を繰り返す煩雑な作業を不要とする監視領域設定装置を提供する。【解決手段】LiDARにより得られる可動柵と床面の表面を示す点群データを取得する点群データ取得部と、点群データに基づいて複数の面を取得する面取得部と、取得した複数の面を所定の条件下でラベリングして可動柵と床面を識別するラベリング部と、ラベリングされた可動柵と床面を含む複数の面に基づいて支障物を検知するための監視領域を設定する監視領域設定部とを備え、監視領域設定部は、ラベリング部によりラベリングされた複数の扉面の法線ベクトルと床面に設定した基準ベクトルとに基づいて、床面に対する各扉面の立上り角度を整合させ、整合させた各扉面に基づいて前記監視領域を設定する監視領域設定装置。【選択図】図3
MONITORING AREA SETTING DEVICE AND MONITORING AREA SETTING METHOD
監視領域設定装置および監視領域設定方法
2025-02-14
Patent
Electronic Resource
Japanese
AREA SETTING DEVICE, AREA SETTING SYSTEM, AREA SETTING METHOD, AND COMPUTER PROGRAM
European Patent Office | 2018
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