JP2018146249A - Dangerous object detector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that the time needed for detecting a dangerous object included in an image is extended.SOLUTION: A dangerous object detector of the present invention comprises a flight vehicle that can fly, a plurality of first receiving antennas, a plurality of second receiving antennas, a first drive unit, a synthesis processing unit, and a determination unit. The plurality of first receiving antennas are provided in the flight vehicle and arrayed in a first direction, and receives a millimeter wave. The plurality of second receiving antennas are provided in the flight vehicle and arrayed in a second direction intersecting the first direction, and receives a millimeter wave. The first drive unit causes the plurality of first receiving antennas and the plurality of second receiving antennas to be scanned in a first scan direction. The synthesis processing unit synthesizes a first image from the millimeter wave received by the plurality of first receiving antennas being scanned by the first drive unit and a second image from the millimeter wave received by the plurality of second receiving antennas and generates a synthesized image. The determination unit determines whether or not the image of a dangerous object is included in the synthesized image.SELECTED DRAWING: Figure 1

Description

  Embodiments relate to a dangerous substance detection apparatus.

  2. Description of the Related Art Dangerous object detection devices that scan a search target such as a person with millimeter waves and detect a dangerous object carried inside a person's clothes are known.

JP 2011-227654 A JP 2004-191131 A JP-A-2006-119627

  However, since the above-described dangerous substance detection device only displays an image generated from the received millimeter wave, there is a problem that it takes a long time to detect a dangerous substance included in the image.

  In order to solve the above-described problems and achieve the object, a dangerous object detection device according to an embodiment includes a flying object, a plurality of first reception antennas, a plurality of second reception antennas, and a first drive unit. And a synthesis processing unit and a determination unit. The plurality of first receiving antennas are provided on the flying object and are arranged in a first direction to receive millimeter waves. The plurality of second receiving antennas are provided on the flying object and are arranged in a second direction intersecting the first direction, and receive millimeter waves. The first driving unit scans the plurality of first reception antennas and the plurality of second reception antennas in a first scanning direction. The synthesis processing unit receives a first image by millimeter waves received by the plurality of first reception antennas being scanned by the first driving unit, and a second image by millimeter waves received by the plurality of second reception antennas. A composite image is generated by combining. The determination unit determines whether or not the composite image includes an image of a dangerous substance.

FIG. 1 is a diagram illustrating an overall configuration of the dangerous goods detection device according to the first embodiment. FIG. 2 is an overall perspective view of the main body of the dangerous substance detection apparatus. FIG. 3 is a block diagram showing an electrical configuration of the dangerous goods detection apparatus of the first embodiment. FIG. 4 is a block diagram showing the configuration of the radar signal processing circuit. FIG. 5 is a diagram for explaining generation of a composite image by the composite processing unit. FIG. 6 is a flowchart of the dangerous substance detection process executed by the control unit of the apparatus main body according to the first embodiment. FIG. 7 is a front view of a person explaining a scanning range by mechanical scanning. FIG. 8 is a block diagram showing an electrical configuration of the dangerous goods detection apparatus of the second embodiment. FIG. 9 is a block diagram showing an electrical configuration of the dangerous goods detection apparatus of the third embodiment.

  Similar components are included in the following exemplary embodiments and modifications. Therefore, below, the same code | symbol is attached | subjected to the same component, and the overlapping description is partially abbreviate | omitted. Portions included in the embodiments and modifications can be configured by replacing corresponding portions in other embodiments and modifications. In addition, the configuration, position, and the like of the parts included in the embodiments and modifications are the same as those in the other embodiments and modifications unless otherwise specified.

<First Embodiment>
FIG. 1 is a diagram illustrating an overall configuration of a dangerous goods detection apparatus 10 according to the first embodiment. The dangerous substance detection device 10 detects a dangerous substance that the person 92 has inside the clothes or the like while flying in a place (for example, an airport or a stadium) where many people 92 gather. As shown in FIG. 1, the dangerous substance detection device 10 of the first embodiment includes a flying object 11 and an apparatus main body 12.

  The flying object 11 is a drone that has a propeller that is rotated by, for example, a motor and can fly. The flying body 11 flies while holding the apparatus main body 12.

  The apparatus body 12 is provided on the flying body 11. The apparatus main body 12 flies with the flying object 11, irradiates the person 92 to be searched with a millimeter wave, and detects a dangerous object that the person 92 has in his clothes.

  FIG. 2 is an overall perspective view of the apparatus main body 12 of the dangerous substance detection apparatus 10. As shown in FIG. 2, the apparatus main body 12 includes a storage case 20, an imaging unit 21, a first millimeter wave module 22 a, a second millimeter wave module 22 b, a laser pointer 24, a holding member 26, and a horizontal drive. A unit 32, a vertical drive unit 33, a horizontal driver 34, a vertical driver 35, an information processing device 36, and a power source 39 are provided.

  The housing case 20 is configured in a hollow rectangular parallelepiped shape. The housing case 20 houses and holds the first millimeter wave module 22a, the second millimeter wave module 22b, and the laser pointer 24. The upper surface of the housing case 20 is preferably about 1500 mm high from the ground.

  The imaging unit 21 captures the person 92 and the surroundings of the person 92 as information for detecting the person 92 to be searched, and generates a captured image. The imaging unit 21 is installed on the front side of the holding member 26 toward the front. The imaging unit 21 is a digital camera having, for example, a CMOS (Complementary Metal-oxide Semiconductor) or a CCD (Charge-Coupled Device) sensor. It is preferable that the imaging unit 21 is provided so as to be able to capture images in substantially the same direction as the direction in which the millimeter wave modules 22a and 22b emit millimeter waves. The imaging unit 21 outputs the captured image to the information processing device 36.

  The first millimeter wave module 22a is an active millimeter wave module that transmits millimeter waves. The first millimeter-wave module 22a transmits a millimeter wave to the person 92 to be searched, and receives the millimeter wave reflected from the inside of the clothes of the person 92. Thereby, the first millimeter wave module 22a generates an image for detecting a dangerous object that the person 92 has inside the clothes based on the received millimeter wave. The first millimeter wave module 22a includes a plurality (for example, two) of transmission antennas 40a and a plurality of (for example, four) reception antennas 42a.

  The plurality of transmission antennas 40a transmit millimeter waves. The plurality of transmission antennas 40a transmit millimeter waves toward the person 92 who is a search target.

  The plurality of receiving antennas 42a receive the millimeter wave transmitted by the transmitting antenna 40a. The plurality of receiving antennas 42a are arranged in the horizontal direction, which is an example of the first arrangement direction, and are directed to the person 92 who is transmitting millimeter waves from the transmitting antenna 40a.

  The second millimeter wave module 22b is an active millimeter wave module. The second millimeter wave module 22b transmits a millimeter wave to the person 92 to be searched, and receives the millimeter wave reflected from the inside of the clothes of the person 92 and the like. Accordingly, the second millimeter wave module 22b generates an image for detecting a dangerous object that the person 92 has inside the clothes based on the received millimeter wave. The second millimeter-wave module 22b includes a plurality (for example, two) of transmission antennas 40b and a plurality of (for example, four) reception antennas 42b.

  The plurality of transmission antennas 40b transmit millimeter waves. The plurality of transmission antennas 40b transmit millimeter waves toward the person 92 who is a search target.

  The plurality of receiving antennas 42b receive the millimeter wave transmitted by the transmitting antenna 40b. The plurality of receiving antennas 42b are arranged in the vertical direction, which is an example of the second arrangement direction. That is, the plurality of receiving antennas 42b are arranged in a direction intersecting with the arrangement direction of the plurality of receiving antennas 42a. The plurality of reception antennas 42b are in the same direction as the plurality of reception antennas 42a of the same apparatus main body 12, and are directed to the front surface of the person 92 from which the millimeter wave is transmitted from the transmission antenna 40b.

  The laser pointer 24 irradiates a search target with a laser and adjusts the position at which the millimeter wave is transmitted when the millimeter wave modules 22a and 22b are installed.

  The holding member 26 has a hollow rectangular parallelepiped shape. The depth and width of the holding member 26 are preferably about 1000 mm. The holding member 26 holds the horizontal drive unit 32, the vertical drive unit 33, the horizontal driver 34, the vertical driver 35, the information processing device 36, and the power source 39. The upper part of the holding member 26 supports the imaging unit 21 and the housing case 20.

  The horizontal drive unit 32 rotates the millimeter wave modules 22a and 22b together with the housing case 20 around a rotation axis RAh parallel to the vertical direction. Accordingly, the horizontal drive unit 32 scans the transmission antennas 40a and 40b and the reception antennas 42a and 42b of the millimeter wave modules 22a and 22b in the horizontal direction (example of the first scanning direction). The horizontal drive unit 32 is, for example, a motor.

  The vertical drive unit 33 rotates the millimeter wave modules 22a and 22b together with the housing case 20 around a rotation axis RAv parallel to the horizontal direction. Accordingly, the vertical drive unit 33 scans the transmission antennas 40a and 40b and the reception antennas 42a and 42b of the millimeter wave modules 22a and 22b in a vertical direction (example of the second scanning direction) different from the horizontal direction. The vertical drive unit 33 is, for example, a motor.

  The horizontal driver 34 is a circuit that controls the horizontal drive unit 32 in accordance with an instruction from the information processing device 36.

  The vertical driver 35 is a circuit that controls the vertical drive unit 33 in accordance with instructions from the information processing device 36.

  The information processing device 36 controls the millimeter wave modules 22a and 22b, the laser pointer 24, the horizontal drive unit 32, and the vertical drive unit 33, and generates a composite image from images generated from the millimeter waves by the millimeter wave modules 22a and 22b. Generate.

  The power source 39 supplies power to the millimeter wave modules 22 a and 22 b, the laser pointer 24, the horizontal drive unit 32, the vertical drive unit 33, the horizontal driver 34, the vertical driver 35, and the information processing device 36.

  FIG. 3 is a block diagram illustrating an electrical configuration of the dangerous goods detection apparatus 10 according to the first embodiment. As shown in FIG. 3, the first millimeter wave module 22a includes a plurality of transmission antennas 40a, a plurality of reception antennas 42a, a transmitter 44a, a plurality of mixers 46a, an RF (Radio Frequency) unit 48a, an A A / D converter 50a, a radar signal processing circuit 52a, and an image processing circuit 54a.

  The transmitter 44a generates a millimeter-wave transmission signal, outputs it to the plurality of transmission antennas 40a and the plurality of mixers 46a, and transmits the millimeter wave to the person 92 via the plurality of transmission antennas 40a.

  The plurality of mixers 46a are provided corresponding to the plurality of reception antennas 42a, respectively. Each mixer 46a mixes the transmission signal output from the transmitter 44a and the reception signal acquired from the corresponding reception antenna 42a, and outputs the mixed signal to the RF unit 48a.

  The RF unit 48a receives the received signal, generates a converted signal obtained by down-converting the received signal by frequency conversion, and outputs the converted signal to the A / D converter 50a.

  The A / D converter 50a converts the analog reception signal received from the RF unit 48a into a digital signal.

  The radar signal processing circuit 52a displays the intensity of the received signal together with information on the polar coordinates to the search target and the direction in the polar coordinates of the search target calculated based on the distance measurement and the angle measurement based on the digitally converted received signal. Output to the processing circuit 54a.

  The image processing circuit 54a converts the distance and direction in polar coordinates acquired from the radar signal processing circuit 52a into two-dimensional orthogonal coordinates, and generates a first image.

  The second millimeter wave module 22b includes a plurality of transmission antennas 40b, a plurality of reception antennas 42b, a plurality of mixers 46b, a transmitter 44b, an RF unit 48b, an A / D conversion unit 50b, and a radar signal processing circuit. 52b and an image processing circuit 54b. Each configuration of the second millimeter wave module 22b has the same function as each configuration of the first millimeter wave module 22a. In other words, in the second millimeter wave module 22b, the plurality of reception antennas 42b receive the millimeter waves transmitted from the transmitter 44b to the person 92 via the transmission antenna 40b. In the second millimeter wave module 22b, the received millimeter wave is processed by the mixer 46b, the RF unit 48b, the A / D conversion unit 50b, and the radar signal processing circuit 52b, and then the second millimeter wave is processed from the millimeter wave signal-processed by the image processing circuit 54b. Generate an image.

  The information processing device 36 is a computer such as a microcomputer, for example. The information processing apparatus 36 includes a control unit 56, a dangerous goods database 58, and a face image database 60.

  The control unit 56 is a hardware processor including a processor such as a CPU (Central Processing Unit). The control unit 56 includes a synthesis processing unit 68, a determination unit 70, a mechanical scanning unit 66, a captured image processing unit 62, and a recognition unit 64. For example, the control unit 56 may realize the functions of the synthesis processing unit 68, the determination unit 70, the mechanical scanning unit 66, the captured image processing unit 62, and the recognition unit 64 by reading a dangerous substance detection program. Note that some or all of the functions of the synthesis processing unit 68, the determination unit 70, the mechanical scanning unit 66, the captured image processing unit 62, and the recognition unit 64 are PLC (Programmable Logic Controller) or ASIC (Application Specific Integrated Circuit). You may comprise by hardware, such as a circuit containing.

  The dangerous goods database 58 is stored in a storage device such as a hard disk drive (HDD), a solid state drive (SSD), and a read only memory (ROM). The dangerous goods database 58 may be provided on a network. The dangerous goods database 58 stores image data of a plurality of dangerous goods.

  The face image database 60 is stored in a storage device such as an HDD, SSD, or ROM. The face image database 60 is a database for determining a person 92 that transmits millimeter waves. The face image database 60 includes face image data of a person 92 who is highly likely to have a dangerous object. The face image database 60 may be provided on a network.

  The captured image processing unit 62 specifies the outer shape of the person 92 based on the captured image acquired from the imaging unit 21 and is a person who is highly likely to have a dangerous substance among the bodies of the person 92 to be searched. The region 92 is specified as a scanning region in which the millimeter waves of the transmission antennas 40a and 40b are transmitted and scanned. The captured image processing unit 62 outputs the captured image to the composition processing unit 68 and the recognition unit 64 and outputs the part of the person 92 specified as the scanning region to the mechanical scanning unit 66.

  Based on the face image stored in the face image database 60, the recognition unit 64 determines whether or not the person 92 included in the captured image is a person 92 who has a high possibility of having a dangerous object. Based on the determination result, it is determined whether or not the person 92 to be searched is scanned. The recognizing unit 64 outputs the position of the person 92 identified as having a high possibility of having a dangerous substance to the mechanical scanning unit 66.

  The mechanical scanning unit 66 controls the flying object 11. For example, the mechanical scanning unit 66 acquires the position of the person 92 identified as having a high possibility of having a dangerous object, and causes the flying object 11 to fly near the position.

  The mechanical scanning unit 66 activates the transmitters 44a and 44b to irradiate the millimeter wave, and controls the driving units 32 and 33 to scan the millimeter wave on the person 92. Specifically, the mechanical scanning unit 66 controls the horizontal driving unit 32 via the horizontal driver 34 to rotate the millimeter wave modules 22a and 22b around the rotation axis RAh parallel to the vertical direction, thereby causing the person 92 Scan the front of the. The mechanical scanning unit 66 controls the vertical driving unit 33 via the vertical driver 35 to rotate the millimeter wave modules 22a and 22b around the rotation axis RAv parallel to the horizontal direction to scan the front surface of the person 92. Let Here, the mechanical scanning unit 66 may control the driving units 32 and 33 based on the captured image to cause the transmission antennas 40a and 40b to scan the person 92 that is the search target. Specifically, the mechanical scanning unit 66 determines that the recognition unit 64 is likely to carry a dangerous object based on the captured image and determines that the person 92 identified to be scanned scans the millimeter wave, and performs scanning. It is determined not to scan the millimeter wave for the person 92 who has determined that it should not be. Furthermore, the mechanical scanning unit 66 scans the body of the person 92 specified to be scanned by irradiating the millimeter wave to the part specified by the captured image processing unit 62 as the scanning region based on the captured image. The drive units 32 and 33 are controlled.

  The synthesis processing unit 68 includes the first image by the millimeter wave received by the receiving antenna 42a of the first millimeter wave module 22a being scanned by the driving units 32 and 33, and the second millimeter wave being scanned by the driving units 32 and 33. The second image by the millimeter wave received by the receiving antenna 42b of the module 22b is synthesized to generate a synthesized image. For example, the composition processing unit 68 generates a composite image by multiplying the pixel value of the first image by the pixel value of the second image. The pixel value may be, for example, 256 gradations. The composition processing unit 68 displays the composite image on the display unit 37 described later and outputs the composite image to the determination unit 70. Note that the composition processing unit 68 may superimpose the composite image on the captured image of the search target person 92 acquired from the captured image processing unit 62 and display the composite image on the display unit 37. Further, the synthesis processing unit 68 may display the determination result of the presence / absence of dangerous materials by the determination unit 70 described later together with the synthesized image.

  The determination unit 70 refers to the dangerous material database 58 to determine whether or not the composite image includes a dangerous material. If the determination unit 70 determines that there is a dangerous substance in the combined image, the determination unit 70 outputs the determination result to the combination processing unit 68. The determination unit 70 may learn the determination of dangerous goods by deep learning or the like and update the dangerous goods database 58. The determination unit 70 also receives user information from the input unit 38 to be described later. For example, the determination unit 70 receives a determination result of presence / absence of a dangerous substance by a user who has seen the composite image.

  The dangerous substance detection apparatus 10 may further include a display unit 37 and an input unit 38. The display unit 37 and the input unit 38 may be installed on the ground or the like so as to be able to communicate with the information processing device 36 separately from the flying object 11 and the apparatus main body 12, for example.

  The display unit 37 displays an image based on the image data acquired from the information processing device 36. For example, the display unit 37 displays the composite image generated by the information processing device 36.

  The input unit 38 is a touch panel provided on the display surface of the display unit 37, for example. The input unit 38 outputs information received from the user of the dangerous goods detection device 10 to the information processing device 36.

  FIG. 4 is a block diagram showing the configuration of the radar signal processing circuit 52a. The radar signal processing circuit 52b has the same configuration as the radar signal processing circuit 52a. As shown in FIG. 4, the radar signal processing circuit 52 a includes a plurality of FFT units 72, a DBF (Digital BeamForming) unit 74, and a distance measuring and angle measuring unit 76.

  The plurality of FFT units 72 are associated with one of the plurality of reception antennas 42a. The FFT unit 72 converts the received signal that is digitally converted and output by the A / D conversion unit 50 a into a signal on the frequency axis, and outputs the signal to the DBF unit 74.

  The DBF unit 74 generates a Σ beam and a Δ beam for each frequency using the frequency axis reception signal, and outputs the Σ beam and the Δ beam to the distance measuring and angle measuring unit 76.

  The ranging angle measuring unit 76 calculates the intensity of the received signal, the distance to the search target, and the direction of the search target based on the Σ beam and the Δ beam, and outputs the calculated signal to the image processing circuit 54a.

  FIG. 5 is a diagram for explaining generation of a composite image by the composite processing unit 68. The composition processing unit 68 acquires the first image 94a shown in the upper left of FIG. 5 from the first millimeter wave module 22a. Since the first millimeter wave module 22a includes the receiving antennas 42a arranged in the horizontal direction, the resolution of the first image 94a in the vertical direction is high and the resolution in the horizontal direction is low. The composition processing unit 68 acquires the second image 94b shown in the upper right of FIG. 5 from the second millimeter wave module 22b. Since the second millimeter wave module 22b includes the receiving antennas 42b arranged in the vertical direction, the resolution of the second image 94b in the horizontal direction is high and the resolution in the vertical direction is low.

  The synthesis processing unit 68 uses a predetermined range (indicated by a bold line in FIG. 5) based on information acquired from the millimeter wave modules 22a and 22b (the intensity of the received signal, the distance to the search target, and the direction of the search target). A pixel having the maximum reflection intensity (hereinafter referred to as the maximum reflection point) within the square area shown) is extracted. The composition processing unit 68 calculates the pixel value of each pixel of the composite image 94c shown in the lower part of FIG. 5 by multiplying the pixel values of the first image 94a and the second image 94b at the maximum reflection point. This increases the resolution of the pixel value at the center (see hatched hatching) of the composite image 94c. The composition processing unit 68 performs the multiplication on each pixel to generate a high-resolution composite image 94c. The composition processing unit 68 may set a pixel value equal to or less than a predetermined pixel threshold among the multiplied pixel values to zero. Thereby, the composition processing unit 68 can remove noise. Furthermore, the composition processing unit 68 may learn and update the pixel threshold value by deep learning or the like.

  FIG. 6 is a flowchart of the dangerous substance detection process executed by the control unit 56 of the apparatus main body 12 according to the first embodiment. The control unit 56 executes the dangerous substance detection process by reading the dangerous substance detection program.

  As shown in FIG. 6, in the dangerous object detection process, the mechanical scanning unit 66 controls the flying object 11 and starts flying (S102). The captured image processing unit 62 controls the imaging unit 21 to start imaging, and acquires a captured image from the imaging unit 21 (S104).

  The captured image processing unit 62 identifies, as a scanning region, a part that has a high possibility of having a dangerous substance in the body of the person 92 included in the acquired captured image (S106). The captured image processing unit 62 outputs the captured image to the recognition unit 64 and outputs the position of the person 92 and the position of the part of the person 92 to the mechanical scanning unit 66 as a scanning region.

  Based on the face image database 60, the recognizing unit 64 identifies a person 92 who has a high possibility of having a dangerous object among the persons 92 included in the captured image (S108). When the recognizing unit 64 cannot identify a person who is likely to have a dangerous substance (S108: No), the recognition unit 64 repeats step S102 and subsequent steps to acquire new detection information and generate a captured image. Execute the same process.

  When the recognizing unit 64 identifies a person 92 who is likely to have a dangerous substance (S108: Yes), the recognizing unit 64 outputs information on the position of the person 92 to the machine scanning unit 66.

  The mechanical scanning unit 66 controls the flying object 11 based on the information on the position of the person 92 who has a high possibility of possessing dangerous materials, and flies to the vicinity of the person 92 (S109). When the mechanical scanning unit 66 reaches the vicinity of the person 92, the machine scanning unit 66 of the person 92 who has a high possibility of carrying the dangerous substance acquired from the recognition unit 64 of the person 92 acquired from the captured image processing unit 62. The horizontal drive unit 32 or the vertical drive unit 33 is controlled via the horizontal driver 34 or the vertical driver 35 so as to irradiate the part with millimeter waves, and mechanical scanning is started and the transmitters 44a and 44b are activated. Then, the millimeter wave transmission is started (S110). Thereby, the transmitters 44a and 44b and the receiving antennas 42a and 42b of the millimeter wave modules 22a and 22b rotate around the rotation axis RAh or the rotation axis RAv, and the person 92 to be searched along the horizontal direction or the vertical direction. The region specified as the scanning region is irradiated with millimeter waves and scanned.

  The composition processing unit 68 sequentially acquires the data of the images 94a and 94b from the millimeter wave modules 22a and 22b being scanned (S112).

  The mechanical scanning unit 66 determines whether or not scanning should be terminated (S114). For example, the mechanical scanning unit 66 may determine whether or not to end the scanning based on whether or not the entire region of the person 92 acquired as the scanning region from the recognition unit 64 has been scanned by irradiating millimeter waves. . If the mechanical scanning unit 66 determines that the scanning is not finished yet (S114: No), the scanning is continued, and the composition processing unit 68 continues to acquire data of the images 94a and 94b.

  If the mechanical scanning unit 66 determines that the scanning should be terminated (S114: Yes), the horizontal driving unit 32 and the vertical driving unit 33 are stopped, and the mechanical scanning is terminated (S116).

  FIG. 7 is a front view of a person 92 explaining a scanning range by mechanical scanning. As shown in FIG. 7, the mechanical scanning unit 66 controls the horizontal driving unit 32 to transmit the transmission antennas 40a and 40b and the reception on the part of the person 92 to be searched, for example, as indicated by a dashed-dotted line. When the antennas 42a and 42b are scanned and reach the horizontal end of the part, the vertical drive unit 33 is controlled to change the scanning positions in the vertical direction of the transmission antennas 40a and 40b and the reception antennas 42a and 42b. Thereafter, the mechanical scanning unit 66 controls the horizontal driving unit 32 and the vertical driving unit 33 to execute the same processing, and transmits a specific part of the person 92 as shown by a thick line in FIG. The antennas 40a and 40b and the receiving antennas 42a and 42b are scanned.

  Returning to FIG. 6, the synthesis processing unit 68 extracts the maximum reflection point based on the images 94a and 94b acquired from the millimeter wave modules 22a and 22b (S118). The synthesis processing unit 68 uses the pixel value of the first image 94a generated from the millimeter wave received by the first millimeter wave module 22a and the pixel value of the second image 94b generated from the millimeter wave received by the second millimeter wave module 22b. The pixel value of the maximum reflection point is calculated by multiplication. The synthesis processing unit 68 multiplies the pixel values of all the pixels by multiplying the pixel values of the images 94a and 94b generated from the millimeter waves received by the millimeter wave modules 22a and 22b with respect to the other maximum reflection points. Calculation is performed to generate a composite image 94c of the scanned portion of the person 92 (S120).

  The determination unit 70 determines whether or not the dangerous material is included in the image generated by the composition processing unit 68 based on the dangerous material database 58 (S122). The determination unit 70 outputs the determination result of the dangerous substance to the synthesis processing unit 68.

  The synthesis processing unit 68 calculates the pixel values of all the pixels by multiplication, out of the pixel values, the synthesized image 94c in which the pixel value equal to or lower than the pixel threshold is set to 0 and noise is deleted together with the determination result of the determination unit 70. It is displayed on the display unit 37 (S124). Here, the composition processing unit 68 may superimpose and display a composite image 94c that is an image of a specific part of the person 92 on a captured image that is an image of the whole body of the person 92 generated from the detection information. .

  The composition processing unit 68 receives a determination as to whether or not the composite image 94c is optimal from the user of the dangerous substance detection device 10 via the input unit 38 (S126). When the composite processing unit 68 receives a determination from the user that the composite image 94c is not optimal (S126: No), the composite processing unit 68 optimizes the composite image 94c (S128). For example, the composition processing unit 68 may optimize a composite image 94c by receiving a new pixel threshold value from the user via the input unit 38. The composition processing unit 68 repeats steps S126 and S128 until receiving a determination from the user that the composite image 94c is optimal via the input unit 38. When the composition processing unit 68 acquires a determination result that the composite image 94c is optimal from the user (S126: Yes), the determination unit 70 determines whether or not the optimized composite image 94c includes a dangerous substance. The user's determination is accepted (S130). The determination unit 70 outputs and displays the determination result on whether or not the dangerous material received from the user is included on the display unit 37, and stores an image of the dangerous material in the dangerous material database 58 based on the determination result. Update (S132) and end the dangerous goods detection process.

  As described above, in the hazardous material detection apparatus 10, the composition processing unit 68 displays the composite image 94c together with the determination result that the determination unit 70 determines whether or not the composite image includes a dangerous material. The user of the detection device 10 can more quickly determine whether or not a dangerous substance is included in the composite image 94c.

  In the dangerous substance detection apparatus 10, since the millimeter wave modules 22a and 22b emit the millimeter wave while flying by the flying object 11, even if there are many people 92, the millimeter wave module 22a and 22b can search by irradiating the millimeter wave from an appropriate position. It can be suppressed that the target person 92 becomes a shadow of another person 92. Thereby, the dangerous goods detection apparatus 10 can improve the detection precision of dangerous goods.

  Based on the detection information of the imaging unit 21, the dangerous object detection device 10 determines whether or not the person 92 transmits millimeter waves, and the scanning area to be scanned by irradiating millimeter waves. The transmission antennas 40a and 40b and the reception antennas 42a and 42b are scanned. Thereby, since the dangerous substance detection apparatus 10 can reduce the scanning to the person 92 who does not need the scanning and the scanning to the part of the person 92 which does not need the scanning, the dangerous substance detection apparatus 10 can perform the detection of the dangerous substance. The time required can be reduced and the time required for image processing can be reduced.

  In the hazardous material detection apparatus 10, the synthesis processing unit 68 receives the first image 94a generated from the millimeter wave received by the receiving antenna 42a arranged in the horizontal direction and the receiving antenna 42b arranged in the vertical direction. A composite image 94c is generated by multiplying the pixel values of the respective pixels of the second image 94b generated from the millimeter wave. Thereby, the dangerous substance detection apparatus 10 can generate the high-resolution composite image 94c with a simple configuration in which the arrangement directions of the receiving antennas 42a and 42b of the millimeter wave modules 22a and 22b are different.

Second Embodiment
FIG. 8 is a block diagram showing an electrical configuration of the dangerous goods detection device 110 of the second embodiment.

  As shown in FIG. 8, the dangerous substance detection device 110 of the second embodiment further includes an odor sensor 80. The odor sensor 80 flies with the flying object 11, detects the odor around the apparatus main body 12, and outputs odor information, which is information related to the odor, to the determination unit 70. Based on the odor information, the determination unit 70 can detect dangerous substances such as liquid, gas, and explosives that the person 92 has inside the clothes.

<Third Embodiment>
Next, the dangerous material detection apparatus 210 of 3rd Embodiment is demonstrated. FIG. 9 is an overall perspective view of the dangerous goods detection device 210 of the third embodiment. As shown in FIG. 9, in the dangerous substance detection device 210, the drivers 34 and 35, the information processing device 36, and the power source 39 are provided above the holding member 26 and in the vicinity of the millimeter wave modules 22a and 22b. . In this case, the storage case 20 may be omitted. Further, the holding member 26 may be downsized.

  The function, arrangement, connection relationship, number, and the like of the configuration of the above-described embodiment may be changed as appropriate. You may change suitably the order of the step of the above-mentioned flowchart.

  In the above-described embodiment, the imaging unit 21 has been described by taking an imaging device such as a digital camera as an example. However, the imaging unit 21 is not limited to this. For example, the imaging unit 21 may be a passive millimeter wave module. Even in this case, the same effect can be obtained by processing substantially similar to that of the above-described embodiment.

  The imaging unit 21 and the millimeter wave modules 22 a and 22 b may be stored in one holding member 26 or may be stored in separate holding members 26. In addition, the information processing device 36 may be provided on the ground or the like separately from the device main body 12 together with the display unit 37 and the input unit 38. The captured image processing unit 62 and the recognition unit 64 that process the captured image of the imaging unit 21 may be provided separately from the information processing device 36.

  In the dangerous substance detection apparatus 10 described above, one receiving antenna 42a is arranged in the horizontal direction and the other receiving antenna 42b is arranged in the vertical direction, but both arrangement directions are not limited thereto. For example, the arrangement direction of one receiving antenna 42a only needs to intersect the arrangement direction of the other receiving antenna 42b.

  In the dangerous substance detection apparatus 10 described above, the example in which the millimeter wave modules 22a and 22b irradiate the person 92 with the millimeter wave from one direction is given, but the present invention is not limited thereto. For example, the millimeter wave modules 22a and 22b may generate an image by irradiating the person 92 with millimeter waves from a plurality of directions (for example, four directions at 90 ° intervals).

  In the dangerous substance detection apparatus 10 described above, the example in which the vertical driving unit 33 scans the vertical direction by rotating the millimeter wave modules 22a and 22b has been described, but the present invention is not limited thereto. For example, the millimeter wave may be scanned by moving the flying object 11 in the vertical direction and moving the millimeter wave modules 22a and 22b. In this case, the vertical drive unit 33 may be omitted.

  In the above-described embodiment, the millimeter wave modules 22a and 22b have been described by taking the active type having the transmitters 44a and 44b that transmit millimeter waves as an example, but the passive millimeter wave module in which the transmitters 44a and 44b are omitted. May be adopted.

  In the above-described embodiment, the example in which the composite processing unit 68 displays the composite image 94c regardless of the presence or absence of a dangerous substance has been described. However, the present invention is not limited to this. For example, the composition processing unit 68 may display the composite image 94c together with the determination result only when the determination unit 70 determines that the composite image 94c includes a dangerous substance.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

10, 110: Dangerous object detection device 11: Aircraft 21: Imaging unit 22a: First millimeter wave module 22b: Second millimeter wave module 32: Horizontal drive unit (first drive unit)
33: Vertical drive unit (second drive unit)
40a, 40b: transmission antennas 42a, 42b: reception antenna 66: mechanical scanning unit 68: composition processing unit 70: determination unit 92: person 94a: first image 94b: second image 94c: composite image

Claims (3)

A flying object,
A plurality of first receiving antennas provided on the flying body, arranged in a first direction, and receiving millimeter waves;
A plurality of second receiving antennas provided on the flying body, arranged in a second direction intersecting the first direction, and receiving millimeter waves;
A first driving unit configured to scan the plurality of first reception antennas and the plurality of second reception antennas in a first scanning direction;
A synthesized image obtained by synthesizing a first image by millimeter waves received by the plurality of first reception antennas being scanned by the first driving unit and a second image by millimeter waves received by the plurality of second reception antennas. A synthesis processing unit for generating
A determination unit for determining whether an image of a dangerous substance is included in the composite image;
Dangerous goods detection device comprising. The dangerous substance detection device according to claim 1, wherein the synthesis processing unit generates the synthesized image by multiplying a pixel value of the first image by a pixel value of the second image. An imaging unit that captures the periphery of the search target and generates a captured image;
A second driving unit configured to scan the plurality of first reception antennas and the plurality of second reception antennas in a second scanning direction different from the first scanning direction;
A mechanical scanning unit that controls the first driving unit and the second driving unit based on information of the captured image;
The dangerous substance detection device according to claim 1, further comprising:

Images