JP2017090408A - Window contamination discrimination device, window contamination discrimination method and window contamination discrimination program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a window contamination discrimination device, a window contamination discrimination method and a window contamination discrimination program for discriminating whether contamination of a window unit of a laser rader device is naturally attached or intentionally attached.SOLUTION: A monitoring device 1 as discrimination device for window contamination includes: a wind information acquisition processing unit (controller 30) for carrying out a process for acquiring wind information capable of specifying wind direction in an installation place of a laser radar device 2; and a determination processing unit (controller 30) for carrying out processing of whether or not matter detected in a position of a window unit 26 is contamination attached naturally based on the wind direction specified by the wind information when the matter is detected in the position of the window unit 26 of the laser radar device 2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a window dirt determining apparatus, a window dirt determining method, and a window dirt determining program for detecting dirt on a window portion of a laser radar device.

  The laser radar device irradiates laser light and receives reflected light reflected by an object at predetermined scanning angles, and detects an object at each scanning angle based on the time until the reflected light is received. Measuring distance. Such a laser radar device is provided with a window for transmitting laser light. At this time, if snow adheres to the window part, that is, if it snows on the window part, the reflection at the window part increases, while the intensity of the laser light irradiated into the measurement area decreases, or the laser light or reflected light is reflected. Is blocked by snow adhering to the window, the accuracy of object detection and distance measurement decreases. For this reason, for example, in Patent Document 1, the dirt on the window is detected by providing a dedicated sensor or the like.

JP 2002-6039 A

However, in the conventional laser radar apparatus including the above-described Patent Document 1, it is possible to detect that an object is attached to the position of the window itself, but it is intentionally attached whether the object is naturally attached. It was not possible to determine whether it was a product.
The present invention has been made in view of the above circumstances, and an object of the present invention is to determine whether the window of the laser radar device is naturally attached or intentionally attached. An object of the present invention is to provide a dirt discrimination device, a window dirt discrimination method, and a window dirt discrimination program.

The dirt on the window of the laser radar device is considered to be attached due to some natural phenomenon if it is attached naturally. For this reason, if it is possible to identify the occurrence of a natural phenomenon that may be contaminated, it is possible to determine whether the window portion is naturally attached or intentionally attached.
Therefore, in the invention according to claim 1, the window dirt determination device includes a wind information acquisition processing unit that performs processing for acquiring wind information that can specify a wind direction at a place where the laser radar device is installed, and a window unit of the laser radar device. A determination processing unit that performs a process of determining whether or not the object detected at the position of the window part is naturally attached dirt based on the wind direction specified by the wind information when the object is detected at the position; .

  When dirt naturally adheres to the window of the laser radar device, the dirt is considered to be caused by the object flying toward the window or as a result of the object hitting the window. . And if it is a natural phenomenon, it is reasonable to think that it has been blown by the wind. On the other hand, when an object is detected at the position of the window part in weather or wind direction where dirt is not easily attached naturally, it can be considered that the object is not naturally attached.

  Therefore, the window dirt determination device determines whether an object detected at the position of the window part is naturally attached dirt by determining whether or not the object may hit the window part based on the wind direction. It is determined whether the dirt is attached to the target. As a result, it is possible to determine whether the window of the laser radar device is naturally attached or intentionally attached.

  If it can be discriminated whether it is attached naturally or intentionally, it can be added intentionally when, for example, a laser radar device is used as an intrusion detection in a security zone to be monitored. If the optical window is dirty, there is a high possibility that it has been made by an intruder and a highly urgent intrusion detection notification can be made. On the other hand, if the optical window is naturally attached, there is a possibility that the intrusion detection performance may be degraded, but the intrusion into the security zone has not occurred, and it is necessary to clean it separately from the intrusion detection notification. Can be kept informed. In this way, by determining the type of dirt on the window, the administrator can flexibly select the subsequent response.

  According to a second aspect of the present invention, the window dirt determination apparatus includes a weather information acquisition processing unit that performs a process of acquiring weather information that can specify the occurrence of rainfall, snowfall, and fog at the installation location of the laser radar device. When the wind direction is in the direction of the window, the window dirt determination device determines that the dirt is naturally attached, while the wind direction is not in the direction of the window and when the wind is not blowing. Evaluates the possibility that dirt naturally adheres based on the weather specified by the weather information, and determines whether the dirt naturally adheres based on the evaluation result.

If the wind direction is not toward the window, the possibility that an object will hit the window is considered to be relatively low. For example, if there are walls or fences around the laser radar device, the surroundings of the laser radar device It is assumed that it is difficult to accurately capture the pinpoint wind direction. In other words, the wind direction specified by the wind information may not necessarily match the wind direction around the laser radar device.
Therefore, if the wind direction is not in the direction toward the window, including the windless state, evaluate the possibility that dirt will naturally adhere based on the weather information, and whether or not it is natural dirt based on the determination result It is possible to improve the accuracy of the determination.

  In the invention according to claim 3, the window dirt determination device sets the period A during which the occurrence of rainfall, snowfall or fog is not specified for a predetermined determination time or longer as the period A, and specifies the occurrence of rain, snowfall or fog. Assuming that the period until the determination time elapses after no longer being generated is period B and the period in which the occurrence of rain, snowfall or fog is specified is period C, the period B is more naturally soiled than period A. It is evaluated that the possibility is high, and it is evaluated that the period C is more likely to be contaminated naturally than the period B.

  In the period A, there is a possibility that dust, fallen leaves, etc. that are blown by the wind adhere. In period B, it is assumed that the window is wet immediately after rain and snow have settled, so there is a possibility that dust, fallen leaves, water droplets, dust, mud, etc. will be attached to the wind. In addition, there is a possibility that the snow that has snowed on the window portion is not melted, or that mud dirt is scattered from the puddle. Further, in the period C, rain, snow, and fog are generated, so there is a possibility that fallen leaves, water droplets, snow, dust, mud, and the like may adhere.

Considering the pinpoint wind direction around the laser radar device described above, there is a possibility that an object blown in the wind will be attached more when the wind is blowing than when the wind is not blowing. Is assumed to be expensive.
Therefore, by adding the weather information, it can be determined whether the weather is naturally difficult to get dirty, and the object detected in such a situation is not naturally attached dirt, that is, intentionally The accuracy that is attached can be increased. In other words, it is possible to increase the accuracy in determining whether the window portion is naturally attached or intentionally attached.

In the invention which concerns on Claim 4, a window dirt discrimination | determination apparatus acquires weather information based on the data which the laser radar apparatus measured. Thereby, it is not necessary to provide a sensor or the like, and the cost can be reduced. It can also be applied to existing laser radar devices.
In the invention which concerns on Claim 5, a window dirt discrimination | determination apparatus acquires wind information based on the data which the laser radar apparatus measured. Thereby, wind information can be acquired without providing a sensor or the like. The present invention can also be applied to existing laser radar devices.

In the invention which concerns on Claim 6, a window dirt discrimination | determination apparatus is provided with the alerting | reporting process part which performs the process which alert | reports the determination result by a determination process. As a result, it is possible to obtain a determination result as to whether the dirt on the window part is naturally attached or intentionally attached. However, it is possible to grasp whether the situation is relatively low in urgency because it is merely naturally soiled and can be cleaned. The manager can take a flexible action such as dispatching a guard when the urgency level is relatively high and dispatching a cleaning staff when the urgency level is low.
In addition, for example, when there is a notification from a location at the same time, the laser radar device has sufficient detection performance until the treatment priority is determined at each notification level or until the dirt on the window of the laser radar device is cleaned. Since there is a possibility that it cannot be exhibited, it is possible to take measures such as setting the surveillance camera to an auto patrol state.

  In the invention according to claim 7, the window dirt determination method includes a wind information acquisition process for performing a process of acquiring wind information capable of specifying a wind direction at a place where the laser radar apparatus is installed, and an object at the position of the window of the laser radar apparatus. And a determination process for performing a process of determining whether or not the object detected at the position of the window is naturally attached dirt based on the wind direction specified by the wind information. Also by such a window dirt determination method, the same effect as the above-mentioned window dirt determination apparatus can be obtained.

  In the invention according to claim 8, the window dirt determination program includes a wind information acquisition process in which the window dirt determination apparatus performs a process of acquiring wind information capable of specifying a wind direction at a place where the laser radar apparatus is installed, and a laser radar apparatus. Determination to determine whether or not the object detected at the window position is naturally attached dirt based on the wind direction specified by the wind information when the object is detected at the window position Process. Also by such a window dirt discrimination program, it is possible to obtain the same effect as the above window dirt discrimination apparatus.

The figure which shows typically the structure of the monitoring apparatus to which the window dirt discrimination | determination apparatus in one Embodiment is applied. The figure which shows the flow of the window dirt discrimination processing typically A diagram that schematically shows the difference in the way the reference object shakes depending on the wind direction in plan view A diagram schematically showing the difference in intensity of reflected light depending on the weather The figure which shows typically an example of the evaluation value of possibility that dirt adheres naturally

Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the monitoring device 1 that also functions as a window dirt determination device includes a laser radar device 2 and a control device 3 that controls the laser radar device 2. In the present embodiment, an example in which the window dirt determination device is configured by the laser radar device 2 and the control device 3 is shown. However, by performing window stain determination processing to be described later on the laser radar device 2 side, the laser radar device is provided. It is also possible to configure a window dirt discrimination device with two units.

  The laser radar device 2 includes a control unit 20, an irradiation unit 21, a rotating mirror 22, a light receiving unit 23, a storage unit 24, and the like. These parts are accommodated in the housing 25. The control unit 20 of the laser radar device 2 is configured by a microcomputer having a CPU, a ROM, a RAM, and the like (not shown), and the entire laser radar device 2 is executed by executing a computer program stored in the storage unit 24 or the like. To control.

  The laser radar device 2 irradiates the laser light emitted from the irradiation unit 21 toward the target area at every predetermined scanning angle by rotating the rotating mirror 22. Then, the laser radar device 2 determines the distance to the object for each scanning angle based on the elapsed time from the irradiation of the laser light to the reflected light reflected by the object indicated by reference numeral 4 being received by the light receiving unit 23. taking measurement. For this reason, a window portion 26 is provided in the casing 25 of the laser radar device 2. In the case of this embodiment, the laser radar device 2 scans a range of approximately 180 ° on the front side where the window portion 26 is provided. Therefore, the window part 26 has covered the front side of the housing | casing 25 in 180 degree arc shape.

When an object is detected by the laser radar device 2, intrusion detection processing is performed as is well known based on the scanning angle and distance of the detected object. In the intrusion detection process, it is notified that an intruder has been detected, for example, by voice or a signal.
The control device 3 includes a control unit 30 and a notification unit 31 that notifies the user of intrusion and the like. The control device 3 is constituted by a so-called personal computer, and although not shown in the figure, a display unit for displaying a monitoring status by the laser radar device 2, an image taken by the camera 5, and a user operation such as a mouse or a keyboard. Is also provided. The camera 5 is assumed to be a so-called PTZ camera having a pan / tilt / zoom function.

In the case of the monitoring apparatus 1 of the present embodiment, processing for detecting an object is basically performed on the laser radar apparatus 2 side. The control apparatus 3 side determines whether or not there is an intruding object, and details will be described later. By executing the discrimination program, wind information acquisition processing, determination processing, weather information acquisition processing, or notification processing is performed. That is, in this embodiment, the control unit 30 configures a wind information acquisition processing unit, a determination processing unit, and a weather information acquisition processing unit.
The control device 3 is connected to a camera 5 that captures an image of the measurement area of the laser radar device 2. In addition, the control device 3 is connected to an external network 6 and can acquire wind information and weather information described later from the network 6.

Next, the operation of the above configuration will be described.
When dirt naturally adheres to the window 26 of the laser radar device 2, the dirt is caused by an object flying toward the window 26 or as a result of an object hitting the window 26. It is believed that there is. And if it is a natural phenomenon, it is reasonable to think that it has been blown by the wind.

  Therefore, when an object is detected at the position of the window portion 26, the monitoring device 1 executes the window dirt determination process shown in FIG. This window dirt determination process is realized by causing the control unit 30 of the control device 3 to execute a window dirt determination program. As a premise, the monitoring device 1 performs a process of detecting an intruding object into the measurement area based on the detection result of the object by the laser radar device 2 as in the conventional case. It is also determined whether or not an object is detected at the position. Moreover, the detection result in which the object was detected is memorize | stored as a detection history, and the monitoring apparatus 1 can obtain from the detection history what kind of detection result was obtained in the period before a certain time. it can.

  The monitoring device 1 acquires wind information capable of specifying the wind direction in the window dirt determination process (S1). At this time, the monitoring device 1 acquires the wind direction by the following method based on data that can be acquired by the laser radar device 2 alone. Moreover, the monitoring apparatus 1 has also acquired the strength of the wind. For this reason, in this embodiment, the wind direction and the strength of the wind, that is, the standard of the wind speed, are acquired as the wind information. The processing in step S1 corresponds to wind information acquisition processing.

  As shown in FIG. 3A, a reference object 7 serving as a reference when wind information is acquired is installed in advance at a position where the distance from the laser radar device 2 is L10. The reference object 7 may be a natural object such as a tree or an artificial object such as a windsock or a weathercock as long as its position changes depending on the wind. In this embodiment, a tree is assumed. A straight line passing through the laser radar device 2 and the reference object 7 with the shortest distance is defined as a virtual line S1, and a straight line orthogonal to the virtual line S1 on the surface of the reference object 7 on the laser radar device 2 side is defined as a virtual line S2. Hereinafter, the side where the window 26 of the laser radar device 2 is provided, that is, the side where the reference object 7 is installed when viewed from the laser radar device 2 is referred to as the front of the laser radar device 2, and the opposite side is referred to as the laser. The description will be made by referring to the back surface of the radar apparatus 2.

  First, it is assumed that a relatively weak wind is blowing from an obliquely left front as seen from the laser radar device 2 side as indicated by an arrow H1. Note that “relatively weak” means that it is relatively weak compared to the state shown in FIG. At this time, it is assumed that the reference object 7 blown by the wind swings with a swing width of D1 from a reference position in a windless state indicated by a broken line to a position shifted in an oblique direction indicated by a solid line.

  When the distance to the reference object 7 is measured by the laser radar device 2 in such a situation, the wind direction can be easily obtained. That is, for example, when the distance to the reference object 7 is measured as L11, if L11 <L10, it indicates that the reference object 7 is being beaten toward the laser radar device 2 by the wind. In this case, the wind direction can be specified as a direction toward the window portion 26 of the laser radar device 2, that is, a direction in which an object riding on the wind hits the window portion 26 and is relatively likely to adhere.

  On the other hand, as shown in FIG. 2B, it is assumed that a relatively strong wind is blowing from the diagonally left rear as viewed from the laser radar device 2 side as indicated by an arrow H2. At this time, when the distance to the reference object 7 is measured as L12, if L12> L10, the reference object 7 indicates that the laser radar apparatus 2 is being turned in the reverse direction by the wind. . In this case, the wind direction is opposite to the direction toward the window portion 26 of the laser radar device 2, that is, the direction in which the possibility that an object riding on the wind hits the window portion 26 and is attached is relatively low. Can be identified.

  However, the window portion 26 of the laser radar device 2 is formed in an arc shape with a little over 180 ° as described above. Therefore, for example, even when the wind is blowing from the side along the imaginary line S2, that is, from the side of the laser radar device 2, there is a possibility that an object riding on the wind hits and adheres to the window portion 26. In this case, it is considered that the distance to the reference object 7 is slightly longer than L10 because the reference object 7 swings along the virtual line S2. Furthermore, there is a possibility that the reference object 7 cannot be installed directly in front of the laser radar device 2 at the actual installation location.

  Therefore, in the present embodiment, in order to obtain more accuracy, the distance to the reference object 7 is measured in time series to identify the vibration direction in which the vibration width of the reference object 7 is maximum, and the identified vibration direction is determined. It is specified as the wind direction. In this case, if the reference object 7 does not move from the reference position in time series, it can be specified that there is no wind, that is, no wind.

That is, in this embodiment, the monitoring device 1 is a distance to the reference object 7 whose position changes depending on the wind direction and wind speed, such as a tree, and a reference beaten by the wind from the position of the reference object 7 in a no-wind state. Based on the detection mode / ranging mode of the reference object 7 such as the direction in which the object 7 swings and the amount of the swing, the wind direction is specified, that is, the wind information is acquired.
In addition, the fluctuation width of the reference object 7 shown as D1 and D2 from the deviation angle from the virtual line S1 of the reference object 7 shown as α1 and α2 in FIG. 2 and the deviation of the measured distance of the reference object 7 from L10. Can also be estimated. If the reference object 7 has a large swing width, it can be specified that the wind is relatively strong. If the reference object 7 has a small swing width, it can be specified that the wind is relatively weak.

As described above, the monitoring device 1 specifies the wind direction based on the data measured by the laser radar device 2. That is, in the present embodiment, the data measured by the laser radar device 2 corresponds to wind information that can specify the wind direction.
Now, if the monitoring apparatus 1 acquires wind information, it will acquire weather information (S2). At this time, similarly to the wind information, the monitoring device 1 acquires weather information by the following method based on data that can be acquired by the laser radar device 2 alone. The process of step S2 corresponds to a weather information acquisition process.

  As shown in FIGS. 4A to 4D, it is assumed that there is a fixed object in the measurement area of the laser radar device 2 whose position does not change due to wind, such as a wall surface 8 or the like. Instead of using the wall surface 8 or the like, a reference fixed object may be newly installed. 4A to 4D show the difference in weather. FIG. 4A shows a sunny or cloudy state, FIG. 4B shows a rainy state, and FIG. 4C. ) Schematically shows a foggy state, and FIG. 4D schematically shows a snowy state.

  Now, when the weather is clear or cloudy, it is considered that there is basically nothing that interferes with the laser beam. Therefore, as shown in FIG. Suppose X. The intensity of the wall reflection is a reference for determining the weather. In other words, in this embodiment, the monitoring device 1 receives the reflected light reflected by the reference object whose position does not change depending on the wind direction or weather such as the wall surface 8, and the reflected light is received. The weather is determined, that is, weather information is acquired based on the light receiving mode such as the distance and the range.

  When the weather is rain, it is considered that the gap between the grains is larger than that of fog having the same moisture content. Therefore, it is considered that the possibility that the laser light directly hits raindrops is relatively low. In addition, since the particle size of rain is relatively large, about 0.5 to 3 mm, compared to fog, the particle size parameter obtained from the particle size and the wavelength of the laser beam (for example, about 905 nm) becomes large. When the particle size parameter is large, the scattering intensity is small, so that the light is almost forward scattered, and the laser light is almost scattered forward, as if it is transmitted through raindrops. Therefore, as shown in FIG. 4B, although the intensity of the wall surface reflection is lower than that of clear or cloudy, it is considered that there is little possibility that raindrops are detected between the wall surface 8 and the wall surface 8.

  When the weather is fog, the fog is considered to have a smaller gap between the grains than the rain with the same moisture content. The possibility that the laser beam hits the fog is considered to be relatively high when the rain is combined. Moreover, since the particle diameter of fog is relatively small, for example, about 10 μm, compared with raindrops, the particle diameter parameter is small. If the particle size parameter is small, the scattering intensity increases, and it is considered that the forward scattering and the backward scattering become comparable. That is, in the case of fog, when the laser beam hits, the laser beam is considered to be scattered to the same extent forward and backward. For this reason, as shown in FIG. 4C, reflection by fog is widely observed between the wall surface reflection and the intensity of the wall surface reflection is considered to be greatly reduced as compared with clear or cloudy. Further, when the weather is fog, although it depends on the distance to the wall surface 8, it is considered that the fog is detected widely up to the wall surface 8 when it is considered that the fog has a substantially uniform density.

  When the weather is snow, it is considered that the snow is reflected when it hits the laser beam because the transparency is low. However, since the gap between the grains of snow is considerably larger than that of fog having the same water content, the possibility that the laser beam directly hits snow is considered to be lower than that of fog. Therefore, it is considered that snow is detected in a state of flickering like noise in the measurement area. Further, it is considered that the snow occupies the area occupied by the laser light irradiation area as it is farther from the laser radar device 2 and does not reflect enough to be detected. Therefore, although snow depends on the distance to the wall surface 8, it is considered that the snow is not detected in an area away from the laser radar device 2 to some extent.

In addition, the reflection on the wall surface is considered to be almost the same intensity as that when it is clear in the case of laser light passing through snow, while the reflection on the wall surface is greatly reduced when it hits snow. It is thought that a phenomenon of increasing or decreasing like noise is observed.
As described above, the data measured by the laser radar device 2 includes the intensity of the wall reflection, the presence / absence of an object detected until the wall reflection, and the situation when the object is detected depending on the difference in weather. Considered different. For this reason, it is thought that the weather can be specified based on the data measured by the laser radar device 2. That is, in the present embodiment, the data measured by the laser radar device 2 corresponds to weather information that can identify the weather.

  When the weather information is acquired, the monitoring device 1 determines whether or not wind is blowing in the direction of the window portion 26 based on the wind information (S3). That is, the monitoring device 1 determines whether or not there is a possibility that the object will naturally hit the window portion 26 and adhere to it. At this time, the monitoring apparatus 1 determines whether there is a possibility that the object naturally hits and adheres to the window portion 26 based on a predetermined determination condition.

Specifically, a total of nine evaluation values obtained by dividing the wind information and the weather information as shown in FIG. In this evaluation value, when there is a wind, that is, when the wind is blowing, and the direction of the wind is the direction of the window portion 26, there is a possibility that the object naturally hits and adheres to the window portion 26. Rated highest. Note that the direction of the wind is the direction of the window portion 26 means that the wind is blowing toward the window portion 26 in the range of slightly over 180 ° as described above.
Here, a period in which the occurrence of rainfall, snowfall or fog is not specified for a predetermined determination time or longer is set as period A, and the determination time elapses after the occurrence of rain, snowfall or fog is no longer specified. Is a period B, and a period in which the occurrence of rainfall, snowfall or fog is specified is a period C.

  In this period A, there is a possibility that dust, fallen leaves, etc. that are blown by the wind adhere. In addition, in the period B, it is assumed that the window 26 is wet immediately after the rain and snow are settled, so there is a possibility that dust, fallen leaves, water droplets, sand dust, mud, etc. attached to the wind will adhere. In addition, there is a possibility that the snow that has snowed on the window portion 26 is not melted, or that mud dirt is scattered from the puddle. Further, in the period C, rain, snow, and fog are generated, so there is a possibility that fallen leaves, water droplets, snow, dust, mud, and the like may adhere.

That is, when the wind direction is the direction of the window portion 26, it is considered that an object that has been blown by the wind may hit the window portion 26 and become dirty regardless of the weather. Therefore, when the wind direction is the direction of the window portion 26, it is evaluated that the possibility that dirt is attached is the highest.
On the other hand, when the wind direction is not in the direction of the window portion 26 and when the wind is not blowing, in principle, it is evaluated that the possibility that an object blown by the wind adheres is low. However, for example, if there is a wall in the vicinity of the laser radar device 2, it is difficult to accurately detect the pinpoint wind direction around the laser radar device 2, or it is specified based on data measured by the laser radar device 2. There is a possibility that the wind direction is different at the installation position of the laser radar device 2.

  Therefore, in the present embodiment, the possibility that natural dirt adheres even when the wind direction is not the direction toward the window portion 26 of the laser radar device 2 is evaluated. Specifically, it is assumed that there is a higher possibility that an object that has been blown by the wind is attached more when the wind is blowing than when the wind is not blowing. Further, in the period B, since it is assumed that the window portion 26 wetted by rain or the like is not dry, it is assumed that there is a higher possibility that an object adheres than in the period A. In the period C, it is assumed that the window portion 26 is currently wet in a progressive manner. Therefore, it is assumed that there is a higher possibility that an object adheres than in the period B.

For this reason, the possibility that an object will adhere is rated relatively high when there is wind, and the period B is rated higher than the period A, and the period C is rated relatively higher than the period B. Has been.
Based on such determination conditions, the monitoring apparatus 1 determines the possibility that an object will naturally hit the window 26 and adhere to it.
If the monitoring device 1 determines that there is wind toward the window 26 (S3: YES), it determines that the object detected at the position of the window 26 is natural dirt (S4). ).

On the other hand, if the monitoring device 1 determines that there is no wind in the direction of the window portion 26 including the windless state (S3: NO), it determines whether there is no wind and the period A (S6), When it is determined that there is no wind and the period is A (S6: YES), it is determined that it is not natural dirt but intentionally applied dirt (S7).
Moreover, when the monitoring apparatus 1 determines that there is no wind and is not in the period A (S6: NO), dirt can naturally adhere depending on which of the above-described determination conditions the weather information is. When the evaluation result indicates that there is a high possibility of natural contamination (S8: YES), it is determined that the contamination is natural (S9). On the other hand, when the evaluation result that the possibility of being naturally soiled is low is obtained (S8: NO), the monitoring device 1 determines that it is intentionally soiled (S7). The processes of steps S3, S4, S6, S7, S8, and S9 correspond to the determination process.

And the monitoring apparatus 1 will alert | report the determination result, if any determination result is obtained (S4, S7, or S9) (S5). As a result, the user is notified whether the object detected at the position of the window 26 is naturally attached dirt or intentionally attached dirt.
As described above, the monitoring device 1 is based on the wind direction specified by the wind information, and based on the weather specified by the weather information when the wind direction is not the direction of the window part 26 including the windless state. It is determined whether the dirt is naturally attached or intentionally attached.

According to the embodiment described above, the following effects can be obtained.
A monitoring device 1 as a window dirt determination device includes a wind information acquisition processing unit (control unit 30 in the embodiment) that performs processing for acquiring wind information that can specify the wind direction at the installation location of the laser radar device 2, and a laser radar device. When an object is detected at the position of the second window portion 26, it is determined whether or not the object detected at the position of the window portion 26 is naturally attached dirt based on the wind direction specified by the wind information. And a determination processing unit (control unit 30 in the embodiment) that performs processing.

When dirt naturally adheres to the window 26 of the laser radar device 2, the dirt is caused by an object flying toward the window 26 or as a result of an object hitting the window 26. It is believed that there is. And if it is a natural phenomenon, it is reasonable to think that it has been blown by the wind.
Therefore, whether or not the object detected at the position of the window 26 is naturally attached dirt is intentionally attached by determining whether or not the object may collide with the window 26 based on the wind direction. It can be determined whether it is dirty. That is, it is possible to determine whether the window 26 of the laser radar device 2 is naturally soiled or intentionally attached.

  If it can be discriminated whether it is attached naturally or intentionally, it is added intentionally when the laser radar device 2 is used as an intrusion detection of the security zone to be monitored. If the optical window is dirty, there is a high possibility that it has been made by an intruder and a highly urgent intrusion detection notification can be made. On the other hand, if the optical window is naturally attached, there is a possibility that the intrusion detection performance may be degraded, but the intrusion into the security zone has not occurred, and it is necessary to clean it separately from the intrusion detection notification. Can be kept informed. That is, by discriminating the type of dirt on the window 26, the administrator can flexibly select the subsequent response depending on the notification level.

The monitoring device 1 acquires the weather information and determines that the dirt is naturally attached when the wind direction is toward the window 26, while the wind direction is not toward the window 26 and the wind is When not blowing, the possibility that dirt naturally adheres is evaluated based on the weather specified by the weather information, and it is determined whether the dirt is naturally attached based on the evaluation result.
When the wind direction is not directed toward the window 26, it is considered that the possibility that an object will hit the window 26 is relatively low, but it is difficult to accurately capture the pinpoint wind direction around the laser radar device 2. There is also a possibility that the wind direction specified based on the data measured by the laser radar device 2 is different at the installation position of the laser radar device 2.

Therefore, in the case where the wind direction is not the direction toward the window part 26 including the windless state, the possibility that dirt naturally adheres is evaluated based on the weather information, and whether the dirt is natural dirt based on the determination result. By determining whether or not, the accuracy of the determination can be increased.
More specifically, a period in which the occurrence of rainfall, snowfall or fog is not specified for a predetermined determination time or longer is defined as period A, and the determination time after the occurrence of rain, snowfall or fog is no longer specified. Assume that period B is a period B, and period C is a period in which the occurrence of rainfall, snowfall or fog is specified, and period B evaluates that there is a higher possibility that dirt naturally adheres than period A. In the period C, it is possible to improve the accuracy of the determination by evaluating that the possibility that dirt is naturally attached is higher than that in the period B.

The monitoring device 1 acquires wind information based on the data measured by the laser radar device 2. Thereby, it is not necessary to provide a sensor or the like, and the cost can be reduced. The present invention can also be applied to the existing laser radar device 2.
The monitoring device 1 acquires weather information based on the data measured by the laser radar device 2. Thereby, it is not necessary to provide a sensor or the like, and the cost can be reduced. The present invention can also be applied to the existing laser radar device 2.

  The monitoring device 1 includes a notification processing unit that performs a process of notifying a determination result as to whether or not natural dirt is present. As a result, in addition to being able to make flexible selection as described above, for example, when there are notifications from two locations at the same time, the treatment priority is determined at each notification level, or the window portion of the laser radar device 2 The camera 5 can be set to an auto patrol state because the laser radar device 2 may not be able to exhibit sufficient detection performance until the dirt 26 is cleaned.

  In addition, the wind information acquisition process for performing the process of acquiring the wind information capable of specifying the wind direction at the installation location of the laser radar apparatus 2 and the wind information when the object is detected at the position of the window 26 of the laser radar apparatus 2 And a window dirt determination method including a determination process for determining whether or not the object detected at the position of the window portion 26 is naturally attached dirt based on the specified wind direction. An effect similar to that of the monitoring device 1 as the window dirt determination device can be obtained.

  Further, for example, the monitoring apparatus 1 as a window dirt determination apparatus performs a wind information acquisition process for performing a process of acquiring wind information capable of specifying the wind direction at the installation location of the laser radar apparatus 2, and the window 26 of the laser radar apparatus 2. A determination process for performing a process of determining whether or not the object detected at the position of the window portion 26 is naturally attached dirt based on the wind direction specified by the wind information when the object is detected at the position; The same effect as that of the monitoring apparatus 1 as the window dirt determination apparatus described above can also be obtained by the window dirt determination program that executes.

The present invention is not limited to the embodiment described above and illustrated in the drawings, and various modifications and extensions can be made without departing from the scope of the invention.
The numerical values and the like shown in each embodiment are examples and are not limited thereto.
In the embodiment, an example in which the wind information acquisition processing unit, the determination processing unit, and the weather information acquisition processing unit are configured by the control unit 30 of the control device 3 is shown. However, the window dirt determination program is executed by the control unit 20 of the laser radar device 2. By doing so, you may comprise a wind information acquisition process part, a determination process part, a weather information acquisition process part, an alerting | reporting part, etc.

In the embodiment, the wind information and the weather information are acquired based on the data measured by the laser radar device 2. However, a sensor that can measure the wind direction and the weather may be provided. Moreover, it is good also as a structure which acquires a wind direction and a weather via the network 6. FIG.
In the embodiment, the laser radar device 2 that scans the measurement area in a planar manner is illustrated, but the present invention is applicable to a laser radar device that can scan in the height direction by tilting the rotating mirror 22. Can be applied.

  In the drawings, 1 is a monitoring device (window dirt discrimination device), 2 is a laser radar device (window dirt discrimination device), 3 is a control device (window dirt discrimination device), and 5 is a camera (wind information acquisition processing unit, weather information acquisition). Processing unit), 7 is a reference object (object), 8 is a wall surface (object), 20 is a control unit (wind information acquisition processing unit, determination processing unit, weather information acquisition processing unit), 26 is a window unit, and 30 is a control unit. (Wind information acquisition processing unit, determination processing unit, weather information acquisition processing unit).

Claims (8)

A window dirt discrimination device for discriminating dirt on a window portion of a laser radar device that measures a distance to an object for each predetermined scanning angle,
A wind information acquisition processing unit for performing processing for acquiring wind information capable of specifying a wind direction at an installation location of the laser radar device;
Whether or not the object detected at the position of the window portion is a dirt naturally attached based on the wind direction specified by the wind information when the object is detected at the position of the window portion of the laser radar device A determination processing unit that performs a process of determining
A window dirt discrimination device comprising: A weather information acquisition processing unit that performs processing for acquiring weather information that can specify the occurrence of rainfall, snowfall, and fog at the installation location of the laser radar device,
When the specified wind direction is a direction toward the window, the determination processing unit determines that the object detected at the position of the window is dirt that is naturally attached, while the wind direction is the window. When the direction is not to the direction and the wind is not blowing, the possibility that dirt is naturally attached is evaluated based on the weather specified by the weather information, and the dirt naturally attached is determined based on the evaluation result. The window dirt judging device according to claim 1, wherein it is determined whether or not it is. A period in which the occurrence of rainfall, snowfall or fog is not specified for a predetermined determination time or longer is set as period A, and the period from the occurrence of the occurrence of rain, snowfall or fog to the determination time elapses is determined. Let period B be period C and the period in which the occurrence of rainfall, snowfall or fog is specified is period C.
The determination processing unit evaluates that the period B is more likely to be contaminated naturally than the period A, and evaluates that the period C is more likely to adhere dirt naturally than the period B. The window dirt discrimination device according to claim 2.   4. The window dirt determination apparatus according to claim 2, wherein the weather information acquisition processing unit performs weather information based on data measured by the laser radar device.   The window dirt determination device according to any one of claims 1 to 4, wherein the wind information acquisition processing unit acquires wind information indicating a wind direction based on data measured by the laser radar device.   The window dirt determination apparatus according to claim 1, further comprising a notification processing unit that performs a process of notifying a determination result by the determination process. A window dirt determination method for determining dirt on a window portion of a laser radar device that measures a distance to an object for each predetermined scanning angle,
Wind information acquisition processing for performing processing for acquiring wind information capable of specifying the wind direction at the installation location of the laser radar device;
Whether or not the object detected at the position of the window portion is a dirt naturally attached based on the wind direction specified by the wind information when the object is detected at the position of the window portion of the laser radar device Determination processing for performing determination processing;
The window dirt discrimination method characterized by including. In the window dirt discrimination device for discriminating the dirt of the window portion of the laser radar device that measures the distance to the object for each predetermined scanning angle,
Wind information acquisition processing for performing processing for acquiring wind information capable of specifying the wind direction at the installation location of the laser radar device;
Whether or not the object detected at the position of the window portion is a dirt naturally attached based on the wind direction specified by the wind information when the object is detected at the position of the window portion of the laser radar device Determination processing for performing determination processing;
The window dirt discrimination program characterized by performing this.

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