JP2020024583A - Object detection device and object detection system - Google Patents

Abstract

To provide an object detection device and an object detection system that allow for setting a non-detection area using a simple method and reliably detecting an object in a monitoring area despite a tampering by a third party.SOLUTION: An object detection device provided with a sensor part for obtaining a distance image of an area to be monitored and detecting an object on the basis of the distance image, stores a pattern image for setting a non-detection area in advance, and sets as the non-detection area an area where the pattern image is detected when the pattern image is detected in the distance image.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an object detection device and an object detection system.

  2. Description of the Related Art Conventionally, there has been disclosed an object detection device that detects intrusion of an object such as a person into a monitoring area based on a distance image obtained based on reflected light of a laser beam applied to the monitoring area (see Patent Document 1). .

  By the way, when such an object detection device is installed on an indoor ceiling or the like and used as a security sensor, if there is a mirror or window in the monitoring area, the laser light is reflected in an unintended direction by the mirror, or There is a possibility that an object may be erroneously detected by erroneously detecting a person or the like outside the window.

  Therefore, in the related art, a person performing the installation work (hereinafter, referred to as an operator) connects a computer terminal (such as a notebook PC) in which the setting software is installed to the object detection device, and transmits a distance image to the computer terminal in real time. While being displayed, the object detection device is set and stored as a non-detection area in which a mirror, a window, or the like is excluded from the object of object detection due to factors such as erroneous detection.

JP 2006-46961 A

  According to the conventional setting method of the non-detection area, the non-detection area must be set by surrounding the non-detection area with a frame while displaying the distance image in real time on a computer terminal connected to the object detection device. According to such a setting operation, not only is it troublesome and time-consuming to set the non-detection area, but also the burden on the operator increases as the number of installed object detection devices increases.

  In addition, some conventional object detection devices update a reference image to be compared with a distance image when security of a monitoring area is started (when the monitoring area becomes unmanned). In such an object detection device, it is conceivable that a malicious third party may work by installing a shielding member (such as a seal or a cover) at a position that blocks the detection range of the laser sensor during security release. In this case, the state where the shielding member is installed is updated as the reference image, and the object detection device cannot detect a guarded intruder at a location shielded by the shielding member.

  The present invention has been made in view of the above, and it is possible to set a non-detection area by a simple method, and to ensure a reliable monitoring area even when a third party performs a tampering operation. It is an object of the present invention to provide an object detection device and an object detection system capable of detecting an object in the object.

  In order to solve the above-described problems and achieve the object, an object detection device of the present invention includes a sensor unit that obtains a distance image of a monitoring area, and detects an object based on the distance image. Storing a pattern image for setting a non-detection area in advance, and when the pattern image is detected in the distance image, setting an area where the pattern image is detected as a non-detection area. I do.

  Further, the object detection device of the present invention includes setting means for setting the object detection device to a setting mode, and the object detection device detects the pattern image in the distance image when the object image is set to the setting mode. In this case, the area where the pattern image is detected is set as a non-detection area.

  Further, the object detection device of the present invention connects a security device having a security mode and a security release mode as operation modes, and the object detection device performs the non-detection when the security device is set to the security release mode. An area is set.

  Further, the object detection device of the present invention is characterized in that when the security device is set to the security release mode, the non-detection area is set based on a short distance image.

  Further, the object detection device of the present invention connects a security device having a security mode and a security release mode as operation modes, and the object detection device is configured such that when the security device is set to the security mode, the security device is secured. If there is no change in the distance image obtained within a certain time immediately before the mode is set, the latest distance image is used as the reference image.

  In addition, the object detection device of the present invention stores the distance image at the time when the setting mode is set as a reference image, and when the setting mode is set, a distance image different from the reference image is obtained. It is characterized by outputting sound or light according to the pixel position.

  Further, the object detection device of the present invention, when the pattern image is detected in the distance image obtained when set in the setting mode, stores the area of the area where the pattern image is detected as a reference area, After the setting mode is released, the area of the area where the same image as the pattern image is detected in the newly obtained distance image is compared with the reference area to detect whether or not the two coincide. Features.

  An object detection system according to the present invention includes a sensor unit that obtains a distance image of a monitored area, and an object detection unit that receives the distance image from the sensor unit and detects an object based on the distance image. And storing a pattern image for setting a non-detection area in advance, and when the pattern image is detected in the distance image, setting an area where the pattern image is detected as a non-detection area. Features.

  According to the object detection device and the object detection system according to the present invention, a non-detection area can be set by a simple method, and a reliable monitoring area can be set even when a third party performs a crafting operation. Thus, there is an effect that the object detection can be performed in.

  In addition, when the worker sets the non-detection area, by outputting a sound corresponding to the area to be set as the non-detection area, the worker can determine the position of the area to be currently set. Can be easily confirmed.

  Further, when there is a change in the area of the non-detection area, this can be detected, and appropriate setting and updating of the non-detection area can be performed.

FIG. 1 is a diagram exemplarily showing a schematic configuration of a security system using the object detection device according to the present invention. FIG. 2 is a perspective view illustrating an example of the object detection device. FIG. 3 is a block diagram illustrating an example of a configuration of the object detection device. FIG. 4 is a flowchart illustrating the operation of the object detection device. FIG. 5 is a diagram illustrating an example of a non-detection area setting seal. FIG. 6 is a perspective view illustrating an example of an object detection device to which a non-detection area setting sticker is attached.

  Hereinafter, embodiments of an object detection device and an object detection system according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited by the embodiment.

  FIG. 1 is a diagram exemplarily showing a schematic configuration of a security system 1 using an object detection device 10 according to the present invention. As shown in FIG. 1, the security system 1 includes an object detection device 10 installed on a security target 20, a security device 40, and a monitoring center 30 remote from the security target 20. The object detection device 10 and the security device 40 constituting the object detection system are connected to each other by a network 50 such as a LAN (Local Area Network), and can communicate with each other. The communication system between the object detection device 10 and the security device 40 may be a wireless communication system or a wired communication system. The security device 40 is connected to a fire sensor and a human body detection sensor (not shown) via a network, and can receive a fire signal from the fire sensor, a detection signal from the human body detection sensor, and the like. Further, the security device 40 can communicate with the monitoring center 30 located at a remote location with respect to the security target 20 via an external network 60 such as the Internet. Here, it is assumed that the security target 20 is, for example, a building such as a store, an office, a tenant building, a condominium, and a house.

  The security device 40 has at least a “security mode” and a “security release mode” as operation modes, and notifies the object detection device 10 of an operation mode set in accordance with an operation by a manager or the like of the security target 20. The operation mode will be described later.

  The object detection device 10 transmits detection information of an object in the security target 20 to the security device 40 via the network 50 according to the operation mode notified from the security device 40.

  Upon receiving the object detection information from the object detection device 10, the security device 40 notifies the monitoring center 30 of the abnormality of the security target 20 including the received object detection information via the external network 60 according to the operation mode. report. Further, upon receiving a fire signal from a fire sensor, a detection signal from a human body detection sensor, and the like, the security device 40 notifies the monitoring center 30 of the received signal as abnormal according to the operation mode.

  Next, an operation mode of the security device 40 will be described.

  The “security mode” is an operation mode in which the uninhabited guard target 20 is guarded. When the security device 40 set to the “security mode” receives the detection information of the object from the object detection device 10, the fire signal from the fire sensor, the detection signal from the human body detection sensor, and the like, the detection information of the object and the The received signal is reported to the monitoring center 30 as abnormal. In addition, the security device 40 may perform an operation of notifying the abnormality and leaving an operation history, or may notify the security target 20 of the abnormality with a notification sound or light.

  The “security release mode” is an operation mode when there is a person involved in the security target 20 and no security is required. The security device 40 set to the “security release mode” determines that the security target 20 has an abnormality even when receiving the detection information of the object from the object detection device 10 or the detection signal from the human body detection sensor. No operation of notifying the monitoring center 30 of the abnormality is performed. This is because even if the presence of an object is detected by the object detection device 10 or the like, it is determined that a related person has been detected.

  In the monitoring center 30, when an abnormality is reported from the security device 40, the content of the report is displayed on the monitor. For example, an observer monitors the security target 20 for the occurrence of an abnormality based on the display on these monitors. When the observer recognizes that an anomaly has occurred within the security target 20, the guard instructs the standby security guard to head to the security target 20 for which the abnormality has been reported, and, if necessary, relates to the police or fire department. Notify institutions. Further, the monitoring center 30 records the contents of the report transmitted from the security device 40 in a recording device. Further, the monitoring center 30 may be configured to transmit a notification of an abnormality to a mobile terminal (a mobile phone or the like) of a user (a contractor or the like) of the security system 1.

  Next, the configuration of the object detection device 10 will be described with reference to FIGS.

  FIG. 2 is a perspective view illustrating an example of the object detection device 10. As shown in FIG. 2, the object detection device 10 includes a light-emitting unit 12a that radiates a laser beam radially to a security target 20 and a laser beam reflected by an object in a monitoring area inside a protective cover 11 that is a light-transmitting member. A light receiving unit 12b for detecting reflected light as light. Note that the object detection device 10 illustrated in FIG. 2 illustrates an installation posture when the object detection device 10 is installed on the ceiling 90. The laser light emitted from the light emitting unit 12a reaches the periphery of the object detection device 10, and the reflected light reaches the light receiving unit 12b when the laser light is reflected by an object at the position where the laser light has reached. A monitoring area, which is a region where the object is detected and the object detection device 10 can detect an object, is configured.

  FIG. 3 is a block diagram illustrating an example of the configuration of the object detection device 10. As illustrated in FIG. 3, the object detection device 10 includes a sensor unit 12, a control unit 13, a storage unit 14, a notification unit 15, and a setting switch 16.

  The sensor unit 12 includes a light emitting unit 12a that radiates laser light radially, and a light receiving unit 12b that detects reflected light that is laser light reflected by an object in the monitoring area.

  The control unit 13 has a computer configuration including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory) for storing programs, and a RAM (Random Access Memory) used as a work area. The control unit 13 performs a control operation and a calculation process for the object detection process by the object detection device 10 according to the operation mode of the security device 40, for example, by the CPU executing a program stored in the ROM.

  The control unit 13 uses the distance image obtained when the non-detection area setting seal 100 is attached to the protective cover 11 of the object detection device 10 (see FIG. 6) as a pattern image for setting the non-detection area. It is stored in the storage unit 14 in advance. The non-detection area is an area that is excluded from objects to be detected due to factors such as erroneous detection of mirrors and windows in the monitoring area.

  The control unit 13 stores the distance image obtained from the sensor unit 12 in the storage unit 14 in advance when the security device 40 is set to the security release mode or when the security mode is set to the setting mode by the setting switch 16. When the same image as the pattern image being detected is detected, an area where the same image as the pattern image is detected is set as a non-detection area and stored in the storage unit 14.

  When the security device 40 is notified by the security device 40 that the security mode has been set, if there is no change in the non-detection area and the distance image for a certain period of time, the distance image obtained from the sensor unit 12 at this time. Is stored in the storage unit 14 as a reference image.

  When the setting mode is set by the setting switch 16, the control unit 13 stores the distance image from the sensor unit 12 in the storage unit 14 as a reference image. Then, while the setting mode is set by the setting switch 16, the reference image is compared with the newly acquired latest distance image. At this time, when it is determined that there is a change, based on the sound information stored in the storage unit 14, a notification sound corresponding to the pixel position where the change has been made is output from the speaker 15a of the notification unit 15. The display unit 15b of the notification unit 15 may emit light in accordance with the pixel position where the image is detected.

  When the security device 40 is set in the security mode, the control unit 13 determines whether there is an object such as an intruder based on the distance image obtained from the sensor unit 12, the reference image stored in the storage unit 14, and the non-detection area. Judge. Then, when it is determined that there is an object, the detection information is output to the security device 40.

  The storage unit 14 is a rewritable storage unit, for example, a FlashROM. The storage unit 14 stores various information (a reference image, a newly input distance image, a pattern image for setting a non-detection area, a non-detection area, sound information, and the like) used for the object detection processing.

  The notification unit 15 includes a speaker 15a that emits a notification sound based on the output of the control unit 13, and a display unit 15b such as an LED that emits light based on the output of the control unit 13.

  The setting switch 16 sets the control unit 13 to a setting mode by an operation of an operator.

  Hereinafter, the operation of the object detection device 10 will be described. FIG. 4 is a flowchart illustrating the operation of the object detection device 10.

  When the object detection device 10 installed on the security object 20 starts operation when power is turned on or the like, the light emitting unit 12a emits laser light. Then, a distance image in the unmanned monitoring area is acquired by the output of the light receiving unit 12b that has received the laser light (hereinafter, referred to as reflected light) reflected by the object in the monitoring area, and the distance image is stored in the storage unit 14. It is stored (step S1).

  If there is a mirror, a window, or the like in the monitoring area, the object detection device 10 erroneously detects an object in the light receiving unit 12b by, for example, reflecting a laser beam emitted from the light emitting unit 12a of the sensor unit 12 in an unintended direction. there is a possibility. Therefore, if there is an area in the monitoring area that does not need to be detected, the worker performing the installation works to set a non-detection area.

  When the setting of the non-detection area is necessary, the operator operates the setting switch 16 to set the object detection device 10 to the setting mode. When the setting switch 16 is operated (Step S2, Yes), the control unit 13 stores the distance image of the unmanned monitoring area stored in the storage unit 14 in the storage unit 14 as a reference image (Step S3).

  When the setting switch 16 is operated in step S2, the control unit 13 obtains a distance image again after a sufficient time has elapsed for the operator who operated the setting switch 16 to leave the monitoring area. The distance image may be stored in the storage unit 14 as a reference image. Thereby, the distance image of the unmanned monitoring area can be reliably stored as the reference image.

  After storing the reference image in the storage unit 14 in step S3, the control unit 13 in the setting mode causes the light emitting unit 12a to emit light to acquire a new distance image (hereinafter, referred to as a current image) (step S4). ).

  The setting operation of the non-detection area by the worker is to stick the non-detection area setting seal 100 shown in FIG. 5 to a part of the protective cover 11 of the object detection device 10. The seal 100 is attached inside the object detection device 10 such that the reflection surface of the non-detection area setting reflection material faces the sensor unit 12.

  FIG. 5 is a diagram illustrating an example of a non-detection area setting seal 100, and FIG. 6 is a perspective view illustrating an example of the object detection device 10 to which the non-detection area setting seal 100 is attached. The non-detection area setting seal 100 is a combination of a reflective material and an absorbing material in a predetermined pattern. The non-detection area setting seal 100 shown in FIG. 5 shows an example of a checkerboard pattern formed by the reflector 101 and the absorber 102. The non-detection area setting seal 100 is not limited to the pattern example shown in FIG. 5, but may be a pattern in which the absorbing material 102 is surrounded by the reflecting material 101, a stripe pattern formed by the reflecting material 101 and the absorbing material 102, or the like. It may be.

  If there is an area in the monitoring area to be set as the non-detection area, the operator moves to the area to be set as the non-detection area after operating the setting switch 16. Then, the current image acquired in step S4 becomes a distance image in a state where the worker is present.

  The control unit 13 compares the current image acquired in step S4 with the reference image and the pattern image stored in the storage unit 14, and the current image has a pixel (hereinafter, referred to as a changed pixel) different from the reference image. It is determined whether the changed pixel matches the pattern image (step S5). Now, the current image is a distance image in a state where a worker is present, and a changed pixel occurs in the current image. This changed pixel does not match the pattern image stored in the storage unit 14. Therefore, when the control unit 13 determines that there is a changed pixel in the current image and that the changed pixel does not match the pattern image stored in the storage unit (Yes in step S5), the changed pixel is detected. The sound information corresponding to the position is read from the storage unit 14 and output to the speaker 15a. The speaker 15a emits a sound according to the sound information from the control unit (Step S6).

  After confirming the sound corresponding to the area to be set as the non-detection area, the worker sets the non-detection area setting seal 100 on the protective cover. Then, the current image acquired in step S4 becomes the distance image with the sticker attached. In the area where the seal 100 is attached, only the reflected light from the reflective material is received among the laser light emitted from the light emitting unit 12a, and the portion of the absorber becomes an infinite point.

  The control unit 13 compares the current image acquired in step S4 with the reference image and the pattern image stored in the storage unit 14 and determines whether there is a changed pixel different from the pattern image (step S5). Now, the current image is a distance image with the sticker 100 affixed, and a changed pixel different from the reference image occurs in the current image, but this pixel change matches the pattern image. Therefore, when the control unit 13 determines that there is a changed pixel in the current image and that the changed pixel matches the pattern image (No in step S5), the control unit 13 does not output the sound in step S6 and performs the next step. Proceed to the operation.

  After sticking the seal 100 to the object detection device 10, the worker walks in the monitoring area. Then, the control unit 13 obtains a changed pixel that matches the pattern image and a changed pixel that does not match the pattern image in the current image in step S5.

  Therefore, in step S5, if there is a changed pixel that matches the pattern image and a changed pixel that does not match the pattern image in the current image (step S5, Yes), the changed pixel that does not match the pattern image is detected. The sound information corresponding to the position is read from the storage unit 14 and output to the speaker 15a.

  The speaker 15a emits a sound according to the sound information from the control unit (Step S6).

  The worker moves within the monitoring area, and no sound is emitted from the speaker 15a when the worker is in the area to be set as the non-detection area, and no sound is emitted from the speaker 15a when the worker is in the monitoring area that is not the non-detection area. Confirm that it can be emitted. As a result, the worker who determines that the setting of the non-detection area has been properly performed operates the setting switch 16 to end the setting mode of the object detection device 10.

  Although the laser light emitted from the light emitting unit 12a of the sensor unit 12 is invisible, when a changed pixel different from the pattern image is obtained, a notification sound corresponding to the position of the changed pixel is output from the speaker 15a. In addition, it is possible to confirm by sound whether the worker has correctly set the non-detection area.

  When determining that there is no changed pixel in Step S5 (Step S5, No), the control unit 13 proceeds to the next operation (Step S7) without emitting sound from the speaker 15a.

  When the setting switch 16 is operated to end the setting mode by the setting switch 16 (step S7, Yes), the control unit 13 adds the pattern image (non-detection area setting) stored in the storage unit 14 to the distance image obtained from the sensor unit 12 in advance. It is determined whether or not there is a distance image that is the same as the distance image obtained when the application sticker 100 is attached (step S8).

  When the worker attaches the non-detection area setting seal 100 to a part of the protective cover 11 of the object detection device 10, the distance image obtained from the sensor unit 12 is the same as the pattern image stored in the storage unit 14. A range image is detected.

  Therefore, the control unit 13 stores an area where the same image as the pattern image stored in the storage unit 14 is detected in the storage unit 14 as a non-detection area, and stores the area of the non-detection area as a reference area ( Step S9).

  The control unit 13 performs the setting operation of the non-detection area (steps S8 and S9) after determining that the setting mode end operation has been performed in step S7, but is not limited thereto. The setting operation of the detection area may be performed immediately before determining whether or not the end operation of the setting mode has been performed (step S7).

  In addition, if the operation of ending the setting mode is not performed in step S7 (No in step S7), the control unit 13 returns to the operation in step S4.

  Further, when the control unit 13 determines that the distance image obtained by the sensor unit 12 in step S8 does not include the same distance image as the pattern image stored in the storage unit 14 (step S8, No), the operator determines that the distance image is not It is determined that there is no area to be set as the non-detection area because the detection area setting seal 100 is not attached, the area of the non-detection area is stored as none (step S9), and the process proceeds to the next operation (step S1). .

  When the control unit 13 determines that the operation to shift to the setting mode using the setting switch 16 has not been performed in step S2 (step S2, No), the operation mode of the security device 40 is changed based on the notification from the security device 40. It is determined whether or not it has been changed (step S10).

  When the operation mode is changed, the control unit 13 stores the newly set operation mode of the security device 40 in the storage unit 14 (Step S11).

  At this time, if the operation mode of the security device 40 is the security mode (step S12, Yes), the distance image obtained within a certain time immediately before the change to the security mode in the distance image stored in the storage unit 14 is performed. If there is no change in the image (step S13, Yes), the latest distance image among the distance images stored in the storage unit 14 is stored in the storage unit 14 as a reference image (step S14).

  If there is no change in the monitoring area for a certain period of time, the reference image is updated to the latest distance image, so the environment changes every day at the start of security, such as a store or office (chairs, luggage, etc. move) ) Even if the security target 20 is used, it is possible to prevent a change in the environment from being erroneously detected as an intruder or the like.

  In step S13, if there is a change in the distance image obtained within a predetermined time immediately before the change to the security mode among the distance images stored in the storage unit 14 (step S13, No), the control unit No. 13 does not store the reference image in the storage unit 14 and proceeds to the next operation.

  When determining that the operation mode of the security device 40 has not been changed in step S10 (step S10, No), the control unit 13 determines whether the operation mode of the security device 40 stored in the storage unit 14 is the security release mode. Is determined (step S16).

  The security device 40 installed on the security target 20 is set to the security release mode by an operation of the administrator of the security target 20 during manned operation such as in the daytime, and the intrusion detection by the object detection device 10 is not performed.

  Therefore, the control unit 13 which always emits the light emitting unit 12a at a constant interval to acquire the distance image, during the security release mode, only emits the reflected light from the vicinity of the protective cover 11 once at a predetermined number of light emission times. Light is emitted at the obtained intensity, and a distance image (hereinafter, referred to as a short distance image) is obtained by reflected light from the vicinity of the protective cover 11.

  Therefore, when the security device 40 is in the security release mode (step S16, Yes), the control unit 13 determines whether or not the light emitting unit 12a has emitted light a predetermined number of times (step S17). The number of times of light emission of the light emitting unit 12a is counted by the counter of the storage unit 14. If the number of times of light emission of the light emitting unit 12a has reached a predetermined number (step S17, Yes), the control unit 13 stores it in the storage unit 14. The counter of the number of times of light emission is reset (step S18). Then, the light-emitting unit 12a emits light at an intensity at which only reflected light from the vicinity of the protective cover 11 can be obtained, and a short-range image is obtained (step S19).

  The control unit 13 determines whether or not reflected light has been detected for pixels other than the non-detection area stored in the storage unit 14 in the short-range image acquired in Step S19 (Step S20).

  Normally, for a short-range image, reflected light is not obtained in areas other than the non-detection area, and the point is at infinity. However, if a third-party modification or the like is performed such as covering the protective cover 11, the light receiving unit 12b receives reflected light from an area where the non-detection area setting seal 100 is not attached. Become. In other words, pixels other than the non-detection area are not located at the point at infinity.

  Accordingly, the control unit 13 determines that there is a pixel that does not become an infinity point in the pixels other than the non-detection area stored in the storage unit 14 in the short-range image, that is, the reflected light is detected in the pixels except the non-detection area. (Step S20, Yes), it is determined that there has been a third-party modification such as putting a cover on the protective cover 11, and a detection signal is transmitted to the security device 40 (Step S21). This makes it possible to detect a manipulation by a third party.

  In step S20, if no reflected light is detected for pixels other than the non-detection area (step S20, No), the control unit 13 determines that the pixel is normal and proceeds to the next operation.

  If the light emission number of the light emitting unit 12a has not reached the predetermined number in step S17 (step S17, No), the control unit 13 counts up the counter of the storage unit 14 (step S22).

  Further, when the operation mode of the security device 40 shifts from the security mode to the security release mode (No at Step S12), the control unit 13 resets the counter of the storage unit 14 (Step S15).

  When the control unit 13 determines in step S20 that there is no third-party manipulation such as covering the protective cover 11, the non-detection area setting operation is performed based on the short-range image. It may be performed. That is, it is determined whether or not the close-range image obtained from the sensor unit 12 includes the same distance image as the pattern image stored in the storage unit 14 in advance, and the same image as the pattern image stored in the storage unit 14 is determined. The detected area is stored in the storage unit 14 as a non-detected area.

  Thus, it is possible to automatically set the non-detection area in the security release mode without switching to the setting mode and setting the non-detection area. In addition, by setting the non-detection area based on the short-range image, even if an object having a similar reflection pattern is placed in the surveillance area to be the security target 20, this area is erroneously set to the non-detection area. It is possible to prevent the detection area from being set.

  When the control unit 13 determines that the operation mode of the security device 40 is not the security release mode in step S16 (step S16, No), the control unit 13 compares the reference image and the current image except the non-detection area stored in the storage unit 14. Are compared to determine the presence or absence of an object such as an intruder (step S23). When a predetermined change is obtained between the reference image and the current image (step S23, Yes), it is determined that there is an object, and the detection information is transmitted to the security device 40.

  When it is determined in step S23 that there is no object (step S23, No), the control unit 13 determines that the object is normal and proceeds to the next operation.

  When the non-detection area is stored in the storage unit 14 (Step S25, Yes), the control unit 13 determines that the area of the changed pixel that matches the pattern image in the current image is the reference area stored in the storage unit 14 in Step S9. It is determined whether or not they match (step S26).

When the area of the changed pixel is different from the reference area (step S26, Yes), it is determined that the seal 100 has been peeled off or a seal or the like having a reflection pattern similar to that of the seal 100 has been attached, and the control unit 13 issues an alarm. The detection information for notifying this is transmitted to the device 40 (step S27). Thus, it is possible to detect that the non-detection area setting seal 100 has been peeled off, and to appropriately set and update the non-detection area.

  When the control unit 13 determines that the non-detection area is not stored (Step S25, No) and when the area of the changed pixel does not match the reference area (Step S26, No), the detection of Step S27 is performed. No information is transmitted, and the process proceeds to the next operation.

  As described above, according to the object detection device of the present embodiment, when a pattern for setting a non-detection area is detected in a distance image obtained using a laser sensor, the area in which the pattern is detected is determined as a non-detection area. The detection area is determined, and the reference image excluding the non-detection area is compared with the newly input distance image to output a detection signal to the security device when a predetermined change is obtained. Thus, the non-detection area can be set by a simple method, and even if a third party performs a manipulation, an object can be reliably detected in the monitoring area.

  In the present embodiment, the non-detection area setting sticker 100 is affixed to a part of the protective cover 11 of the object detection device 10, but is not limited to this as long as the pattern can be determined. is not. For example, a reflective material to which a non-detection area setting seal 100 is attached may be slidably provided in the protective cover 11, and the position of the non-detection area may be set by sliding the reflective material. This makes it easy for the worker to set the non-detection area.

  The area of the reference non-detection area may not be the one stored in the setting mode, and may be the area of the non-detection area obtained from the distance image acquired immediately before or the non-detection area when the reference image is stored. The area or the like of the area determined as the area may be set as the reference area.

  In the present embodiment, the object detection device 10 stores a reference image, a non-detection area, and the like, and performs processing such as determination of object detection and storage of the reference image. However, the present invention is not limited to this. Instead, the security device 40 may store and process.

DESCRIPTION OF SYMBOLS 10 Object detection apparatus 12 Sensor part 16 Setting switch 40 Security device

Claims (8)

An object detection device that includes a sensor unit that obtains a distance image of a monitoring area and detects an object based on the distance image,
Store a pattern image for setting a non-detection area in advance,
An object detection apparatus, wherein when the pattern image is detected in the distance image, an area where the pattern image is detected is set as a non-detection area. Setting means for setting the object detection device to a setting mode,
The object detection device sets an area where the pattern image is detected as a non-detection area when the pattern image is detected in the distance image when the setting mode is set. Item 1. The object detection device according to Item 1. Connect a security device that has a security mode and a security release mode as an operation mode,
3. The object detection device according to claim 1, wherein the object detection device sets the non-detection area when the security device is set in a security release mode. 4. The object detection device according to claim 3, wherein the object detection device sets the non-detection area based on a short distance image when the security device is set in a security release mode. . Connect a security device that has a security mode and a security release mode as an operation mode,
The object detection device, when the security device is set to the security mode, if there is no change in the distance image obtained within a certain time immediately before the security device is set to the security mode, the reference to the latest distance image The object detection apparatus according to claim 1, wherein the object detection apparatus is an image. The object detection device stores the distance image at the time set in the setting mode as a reference image,
3. The object detection device according to claim 2, wherein when the setting mode is set, sound or light corresponding to a pixel position at which a distance image different from the reference image is obtained is output. The object detection device, when the pattern image is detected in the distance image obtained when set in the setting mode, stores the area of the area where the pattern image is detected as a reference area,
After the setting mode is released, the area of the area where the same image as the pattern image is detected in the newly obtained distance image is compared with the reference area, and it is detected whether or not the two coincide. The object detection device according to claim 2 or 6, wherein An object detection system including a sensor unit that obtains a distance image of a monitoring area and an object detection unit that receives the distance image from the sensor unit and detects an object based on the distance image,
Store a pattern image for setting a non-detection area in advance,
An object detection system, wherein when the pattern image is detected in the distance image, an area where the pattern image is detected is set as a non-detection area.

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