距離-電圧変換方式安全エリアセンサによる二次元監視に関する研究

Abstract

The number of the industrial robot used in Japan is increasing. In the area where the robot is operated, the contact accident between a robot and a human may happen. Therefore, the robot has to be equiped with some safety device to avoid such a accident. It is necessary that the surveillant area can be varied following the movement of the robot. Then, the safety area sensor using the distance-voltage transfer method is studied. The device consists of a semiconductor laser, a scanning mirror, a photodiode and a computer. The signal received with a photodiode is amplified and the voltage proportional to distance is obtained by the distance-voltage transfer method in the operational circuit. This voltage is monitored with micro-computer, and the robot is suspended when the obstacle enter into the dangerous area. This device is low cost and compact, and it is able to watch the obstacle in two-dimension at high speed.