JP2020126381A - Object detection device - Google Patents

Abstract

To provide an area monitoring system capable of accurately detecting a suspicious visitor even when multiple visitors exist in a monitoring area.SOLUTION: An area monitoring system 1 for detecting a suspicious visitor to a monitoring area includes: first positioning devices 10 each of which acquires a relative position of an arbitrary visitor with respect to a reference position as first position information based on a signal originated from a predetermined reference position; portable wireless units 20 each of which is possessed by an authenticated visitor; and second positioning devices each of which is arranged in the portable wireless unit so as to acquire a position of an authenticated visitor as second position information, or to acquire a position of an authenticated visitor as second position information based on a signal to be originated from the portable wireless unit; and a monitoring device 40 which executes suspicious person determination processing to determine that a visitor to be identified by the first position information is a suspicious visitor when positional sameness is not recognized in the first position information acquired by the first positioning device with respect to the second position information acquired by the second positioning device.SELECTED DRAWING: Figure 2

Description

The present invention relates to an area monitoring system that detects suspicious visitors to a monitoring area.

In an environment where a large number of workers with different belongings enter the monitoring area, which is the work site, and perform various tasks, such as a construction site in a wide area, an unexpected accident may occur if a general person unrelated to the work enters. There was a problem that it occurred and work was delayed to ensure safety. In addition, the materials brought into the work site could be stolen.

In Patent Document 1, when there are a plurality of intruders in one monitoring section, the situation of the intruders in the monitoring section can be surely grasped, and when a suspicious intruder is detected therein, the suspicious intruder is detected. An intruder management system that can be confirmed is proposed.

The intruder management system is a system for managing an intruder into a surveillance section equipped with a security sensor, and is an IC card possessed by an intruder into the surveillance section and having a wireless tag in which an ID number and entry permission information are written. And a human body sensor in the monitoring section for detecting an intruder entering the monitoring section, and a first wireless radio wave between the human body sensor and the wireless tag receiving the detection when the human body sensor detects an intruder. And a wireless transceiver that transmits and receives information, and an IC card that receives at least the read information received as the read information, the ID number of the wireless tag and the entry permission information read by the wireless transceiver from the IC card possessed by the intruder. It is equipped with a supervisory control side equipment that judges the card holder as a normal intruder and notifies it.

The individual who has received the entry permission has at least an IC card having a built-in RFID tag in which the ID number and entry permission information are written. In addition to the wireless transceiver that reads the number and the entry permission information, a human body sensor such as an infrared sensor that detects the human body of the intruder is provided. By the cooperation of the human body sensor and the wireless transceiver, only the intruder existing in the monitoring section can be detected, so that the entering/leaving person can be correctly confirmed.

In Patent Document 2, even if the area in front of the building entrance is not included in the monitoring area capable of detecting a person set around the building, it is possible to distinguish the user from the building and accurately enter the building. A detectable security system is disclosed.

The security system includes a human body detection sensor such as a laser distance measuring sensor and a human body identification sensor such as a tag reader that acquires information for identifying a person who has entered the surveillance area, and a tag identification code is stored. The detection range of the tag reader is set to be substantially the same as the monitoring area included in the scanning range of the human body detection sensor so that the location of the owner of the wireless tag can be captured by the human body identification sensor and the human body detection sensor.

JP, 2005-182340, A JP, 2013-77260, A

However, when the intruder management system described in Patent Document 1 is adopted, a human body sensor such as an infrared sensor is provided for each monitoring section, and the tag identification code stored in the IC card carried by the intruder is used. There is a problem that it is not possible to individually identify the intruders when multiple intruders exist in the same surveillance area because it is necessary to have a wireless transceiver for reading. It is necessary to subdivide each monitoring section and install a plurality of human body sensors and wireless transmitters/receivers so as not to be erroneously detected in adjacent sections in order to accurately detect There is a problem that it is very difficult to define a fine monitoring section.

Even in the security system described in Patent Document 2, the detection range of the tag reader needs to be set to be substantially the same as the monitoring area included in the scanning range of the human body detection sensor, and when multiple people enter the detection range of the tag reader. In the same manner as above, there is a problem that it becomes difficult to connect the position of the human body detected by the laser distance measuring sensor and the tag identification code read by the wireless transceiver, and when the size of the monitoring section becomes large, Along with this, it is necessary to define monitoring areas of small size and install human body sensors and wireless transceivers in the respective monitoring areas, which causes a problem of increased cost.

In view of the above problems, an object of the present invention is to provide an area monitoring system capable of accurately detecting suspicious visitors even when a plurality of intruders exist in the monitoring area.

In order to achieve the above object, the first characteristic configuration of the area monitoring system according to the present invention is an area monitoring system for detecting a suspicious visitor to the monitoring area, which is based on a signal transmitted from a predetermined reference position. A first positioning device that acquires a relative position of an arbitrary visitor with respect to the reference position as first position information, a portable wireless device carried by an authenticated attendant, and the portable wireless device provided in the portable wireless device. A second positioning device that acquires the position of the authenticated visitor as the second position information, or acquires the position of the authenticated visitor as the second position information based on a signal transmitted from the portable wireless device; , The first position information acquired by the first positioning device does not have the same positional position as the second position information acquired by the second positioning device, the first position The visitor specified by the information is provided with a monitoring device that executes suspicious person determination processing for determining that the visitor is a suspicious visitor.

In the suspicious person determination processing executed by the monitoring device, the first position information acquired by the first positioning device, which is the relative position of any visitor with respect to the reference position, and the portable type possessed by the authenticated visitor. Based on the signal transmitted from the wireless device, it is determined whether or not positional identity is recognized with the second position information, which is the position of the authenticated visitor acquired by the second positioning device, When the positional identity is not recognized, it is determined that the visitor identified by the first position information is a suspicious visitor because the authentication has not been obtained.

In the second characteristic configuration, in addition to the above-described first characteristic configuration, a time stamp is included in each of the first position information and the second position information, and the monitoring device includes the first position information. If any of the positional and temporal identities with the second position information is not recognized in the position information of No. 2, the visitor specified by the first position information is a suspicious visitor. The point is that a suspicious person determination process is performed.

When an intruder moves in the monitoring area without stopping at one place after entering the monitoring area, the first position information acquired by the first positioning device and the first position information acquired by the second positioning device are acquired. If the second position information is taken into the monitoring device with a time lag, the identity of the intruder will not be guaranteed even if the positional identity is maintained. Even in such a case, if each of the first position information and the second position information has a time stamp, it is appropriate to include not only the position identity but also the time identity based on the time stamp. You will be able to judge.

The third characteristic configuration is, in addition to the first or second characteristic configuration described above, admission authentication information issued to the authenticated admission person and set to either an admission valid state or an admission invalid state, The second position information acquired from the second positioning device is managed by associating the second position information with the ID information that identifies the authenticated visitor, and the monitoring device is configured to operate the second position information from the attendant management device to the second position information. Of the second location information acquired from the attendee management device, the second location information in which the entrance authentication information is set to the entry valid state is the suspicious person. This is the point that is the target of the determination process.

The entrance management information and the second position information are managed by the entrance management device in association with the ID information for identifying the authenticated entrance. Appropriately issued admission authentication information is set in the admission valid state, and is configured to be distinguishable from the admission authentication information set in the admission invalid state. Of the second location information acquired from the attendee management device, the second location information associated with the entry authentication information set in the entry valid state, that is, the authenticated attendee for which the entry authentication information has been appropriately issued. The second position information of is subject to the suspicious person determination process.

In the fourth characteristic configuration, in addition to any one of the first to third characteristic configurations described above, the admission authentication information includes area information for specifying an admitted monitoring area, and the monitoring device is The second position information included in the area specified by the area information among the second position information acquired from the attendee management device is the target of the suspicious person determination processing.

The second position information of the authenticated visitor existing in the area specified by the area information, that is, the area permitted to enter is the target of the suspicious person determination processing.

The fifth characteristic configuration is, in addition to the fourth characteristic configuration described above, the admission authentication information when the state in which the second position information deviates from the area specified by the area information continues for a predetermined time. The point is that the entry valid state can be switched to the entry invalid state.

Based on the second position information, it is identified whether or not the authenticated visitor is in the area specified by the area information permitted to enter, and if it is in the area deviating from the area continuously for a predetermined time, the entrance authentication is performed. The information is switched from the entry valid state to the entry invalid state and is excluded from the authenticated visitors.

In the sixth characteristic configuration, in addition to any one of the third to fifth characteristic configurations described above, the admission authentication information includes effective time information for specifying a time zone in which admission is permitted, and the monitoring device Among the second position information acquired from the attendee management device, the second position information generated in the time period specified by the valid time information is a target of the suspicious person determination process. There is a point.

Of the second position information acquired from the visitor management device, the second position information generated in the time period specified by the valid time information is the target of the proper authenticated visitors in the suspicious person determination process, and is effective. Except for the hours, it will be excluded from the authenticated visitors.

In the seventh characteristic configuration, in addition to any one of the third to sixth characteristic configurations described above, the entrance authentication information set in the entry valid state is added to the portable wireless device, and the attendee management is performed. An attendee registration process for registering the entrance authentication information and the ID information pre-registered in the portable wireless device to which the entrance authentication information is given to the device, and reading the ID information from the portable wireless device, The entrance management apparatus is provided with an entrance/exit receiving apparatus that executes an exit registration processing for registering the entrance authentication information and the ID information set in the entrance invalid state in the entrance management apparatus.

An entrance/exit acceptance device provided in the entrance/exit gate to the monitoring area associates the entrance authentication information corresponding to entrance/exit with the ID information for identifying the authenticated attendee, and registers them in the portable wireless device and the attendee management device. Therefore, it is possible to perform appropriate suspicious individual determination processing by collating the both.

In the eighth characteristic configuration, in addition to any one of the first to seventh characteristic configurations described above, an imaging device installed on a platform having an attitude adjusting mechanism for imaging the monitoring area and an image capturing by the imaging device If a suspicious visitor is detected by the suspicious person determination process executed by the monitoring device, a monitor device for displaying the image is displayed, and at least the suspicious attendee corresponding to the suspicious attendee is detected through the posture adjustment mechanism. The point is that the viewing direction of the imaging device is adjusted in the direction specified by the first position information.

According to the above configuration, for example, the viewing direction of the imaging device is adjusted in the direction specified by the first position information corresponding to the suspicious visitor, and for example, appropriate zooming can be performed according to the distance to the suspicious visitor. Therefore, it becomes possible to acquire a clear image to the extent that a suspicious visitor can be identified by the imaging device.

In the ninth characteristic configuration, in addition to any one of the first to eighth characteristic configurations described above, the first positioning device scans measurement light toward the monitoring area at a predetermined cycle to perform the measurement. The point is that the scanning distance measuring device is configured to generate the first position information including the distance to the visitor and the scanning direction based on the reflected light from the attendant to the light.

A scanning distance measuring device is preferably used as the first positioning device, and the first position information of each unspecified visitor is generated at a predetermined cycle.

In the tenth characteristic configuration, in addition to any one of the first to ninth characteristic configurations described above, the second positioning device is configured by a satellite positioning system receiving device included in the portable wireless device. There is a point.

The satellite positioning information is obtained based on the satellite positioning system signal received by the satellite positioning system receiving device provided in the portable wireless device, and the satellite positioning information is transmitted from the portable wireless device.

In the eleventh characteristic configuration, in addition to any one of the first to ninth characteristic configurations described above, the second positioning device is configured to receive the portable information received by a plurality of receiving devices installed at predetermined positions. It is configured by a computer that calculates the position of the portable wireless device based on the transmission field intensity of the portable wireless device.

The radio field intensity transmitted from the mobile wireless device is received by a plurality of receiving devices installed at predetermined positions, and the computer calculates the position of the mobile wireless device based on each received radio field intensity as the second position information. ..

As described above, according to the present invention, it is possible to provide an area monitoring system capable of accurately detecting a suspicious visitor even when a plurality of intruders exist in the monitoring area.

Explanatory diagram of monitoring area and components of area monitoring system Area monitoring system configuration diagram External appearance explanatory diagram of the scanning distance measuring device which is the first positioning device Explanatory drawing of the internal structure of the scanning range finder which is a 1st positioning apparatus. Explanatory drawing of the functional block of the scanning range finder which is a 1st positioning apparatus. Explanatory diagram of functional blocks of portable wireless device (A) is a flow chart of entrance acceptance processing executed by the area monitoring system, and (b) is a flow chart of exit acceptance processing executed by the area monitoring system. (A) is a flowchart of the positioning process executed by the second positioning device, (b) is a flowchart of the reception process of the second position information transmitted from the second positioning device Flowchart of positioning processing executed by the first positioning device Area monitoring process flowchart

Hereinafter, an area monitoring system according to the present invention, that is, an area monitoring system for detecting suspicious visitors to the monitoring area will be described.

As shown in FIG. 2, the area monitoring system 1 according to the present invention is an area monitoring system for detecting suspicious visitors to the monitoring area, and arbitrarily enters the reference area based on a signal transmitted from a predetermined reference position. The first positioning device 10 for acquiring the relative position of the person as the first position information and the portable wireless device 20 carried by the authenticated visitor to acquire the position of the authenticated visitor as the second position information. Or the second positioning device 20b that acquires the position of the authenticated visitor as the second position information based on the signal transmitted from the portable wireless device 20, and the first positioning device 20 that is acquired by the first positioning device 10. In the case where the position information of No. does not have the positional identity with the second position information acquired by the second positioning device 20b, the visitor specified by the first position information is a suspicious visitor. The monitoring device 40 that executes a suspicious individual determination process.

A smart phone that is a multifunctional mobile phone is preferably used as the mobile wireless device 20. A telephone function, a data communication function, a camera function, and the like are incorporated in the smartphone, and by installing the monitoring application program, the smartphone functions as the portable wireless device 20 of the present invention.

The first positioning device 10 scans the measurement light with a predetermined period toward the monitoring area, and based on the reflected light from the visitor to the measurement light, the first position including the distance to the visitor and the scanning direction. It is composed of a plurality of scanning distance measuring devices LS that generate information.

The relative position information of the visitors is calculated using the light source position of the scanning light as a reference position. By acquiring the satellite positioning information of the reference position based on the satellite positioning system or the like, it is possible to calculate the relative position information of the visitors as absolute position information.

The second positioning device is preferably configured by the satellite positioning system receiving device 20B included in the mobile wireless device 20. The satellite positioning information is obtained based on the satellite positioning system signal received by the satellite positioning system receiver 20B included in the mobile wireless device 20, and the satellite positioning information is transmitted from the mobile wireless device 20.

The second positioning device is an arithmetic process for calculating the position of the mobile wireless device 20, based on the transmitted radio field intensity of the mobile wireless device 20 received by the plurality of receiving devices installed at the predetermined position in the monitoring area. It may be configured by a computer having a unit. The radio field intensity transmitted from the mobile wireless device is received by a plurality of receiving devices installed at predetermined positions, and the computer calculates the position of the mobile wireless device 20 based on the received radio field intensity as the second position information. Become so.

A time stamp is included in each of the first position information and the second position information, and the monitoring device determines whether the first position information has the same positional or temporal identity as the second position information. When is not recognized, the visitor identified by the first position information is configured to execute the suspicious person determination process of determining that the visitor is a suspicious visitor.

By including the time stamp, it is possible to compare the position information acquired at the same time even when the time when the first position information and the second position information are transmitted to the monitoring device is deviated. When both the position information and the time stamp are considered to be the same, it is considered that the first positioning device and the second positioning device detect the same person. Then, if either one of them is different, it is considered that the two do not match, and the first position information is determined not to be the position information related to the authenticated visitor but to be a suspicious visitor.

Note that the first position information cannot be acquired when the authenticated visitor is behind another object with respect to the first positioning device, and only the second position information is acquired. Such second position information may not be considered as a suspicious visitor.

In addition, the second position information is acquired from the second positioning device, and the second position information and the admission authentication information issued to the authenticated admission person and set to either the admission valid state or the admission invalid state. In addition to the attendee management device 30 that is a cloud server that manages the authenticated attendees in association with the ID information that identifies the attendees, the monitoring device 40 is configured to obtain the second position information from the attendee management device 30. The monitoring device 40 is configured such that, of the second position information acquired from the visitor management device 30, the second position information for which the entrance authentication information is set to the entrance valid state is targeted for the suspicious person determination process. Has been done.

If the first positioning device detects a person who does not have a predetermined portable wireless device or has a portable wireless device in an entry disabled state, the corresponding second position information does not exist or the entry is not possible. The second position information is not transmitted to the monitoring device 40 because the second position information is determined to be in the invalid state. As a result, since the monitoring apparatus does not have the second position information corresponding to the first position information, the person detected by the first position information can be determined as a suspicious person who has not been authenticated.

The admission authentication information includes area information that specifies the admission permitted monitoring area, and the monitoring device is included in the area specified by the area information in the second position information acquired from the attendee management device. The second position information is configured to be the target of the suspicious person determination process.

Since the admission authentication information includes area information that specifies the monitoring area, even if the area to be monitored is an open space that is not specified by walls or other structures, the area to be monitored can be specified and the suspicious individual determination processing can be performed. It becomes feasible. Further, by setting a plurality of monitoring areas and setting the entrance valid state and the entry invalid state for each of them, it becomes possible to perform the suspicious individual determination processing in detail for each area.

Then, when the state in which the second position information deviates from the area specified by the area information continues for a predetermined time, the entry authentication information is switched from the entry valid state to the entry invalid state.

Further, the admission authentication information includes effective time information that specifies a time zone during which admission is permitted, and the monitoring device is specified by the effective time information of the second position information acquired from the visitor management device. The second position information generated in the time zone is configured to be the target of the suspicious person determination process.

Of the second position information, the second position information generated outside the time period specified by the effective time information is not transmitted to the monitoring device 40 as a target of the suspicious person determination process.
When the user is in the area specified by the area information in a time zone other than the time zone specified by the valid time information, the first position information is transmitted to the monitoring device and the second position information is not transmitted to the monitoring device. Such first position information is determined as position information of the suspicious person.

An entrance/exit reception device 31 is installed at an entrance/exit gate to the surveillance area, and the entrance/exit reception device 31 gives the entrance authentication information set in the entry valid state to the portable wireless device 20, and the entrance management device 30 An attendee registration process of registering the admission authentication information and the ID information pre-registered in the portable wireless device 20 to which the admission authentication information is given, and reading the ID information from the portable wireless device 20 to enter the admission person management device 30. It is configured to execute an exit person registration process of registering the entrance authentication information and the ID information set in the entrance disabled state.

The entrance/exit acceptance device provided at the entrance/exit gate to the surveillance area gives the entrance authentication information set to the entry enabled state to the portable wireless device, so that the entrance management information and the ID information are sent to the entrance management device. The exit registration processing for registering the ID authentication information and the entrance authentication information set in the entrance management disabled state in the entrance management device by executing the entrance registration processing for registering the ID information read from the portable wireless device. Is executed.

Since the entrance authentication information according to entrance and exit and the ID information for identifying the authenticated attendee are associated and registered in the portable wireless device and the attendee management device, it is possible to collate them and perform appropriate suspicious individual determination processing. Becomes

The suspicious person determination executed by the monitoring device 40 is provided, which is installed on the platform 2 provided with the attitude adjustment mechanism CC, and is provided with the imaging device C for imaging the monitoring area and the monitor device 32 for displaying the image captured by the imaging device C. When a suspicious visitor is detected by the processing, the viewing direction of the imaging device C is adjusted via the posture adjustment mechanism CC in at least the direction specified by the first position information corresponding to the suspicious person. ing.

The portable wireless device 20 and the attendee management device 30 are connected to each other via a mobile phone network, a gateway, and the Internet so that they can communicate with each other, and the attendee management device 30 and the monitoring device 40 can be connected to each other via the Internet. ing.

In addition, a plurality of first positioning devices (scanning type distance measuring devices) 10 are connected to the integrated control unit 12 via the hub 11, and the integrated control unit 12 causes the first positioning device (scanning type distance measuring device) 10 to be connected. Each of them is centrally controlled. First position information indicating the position of each visitor h obtained by the first positioning device 10 is input to the monitoring device 40 via the overall control unit 12. The detection areas of each first positioning device 10 can be set individually, and the areas may or may not overlap.

In FIG. 1, a construction monitoring site is used as a monitoring area MR, and an area monitoring system for detecting a suspicious person who enters by being mixed with a worker who enters and exits the monitoring area MR and a suspicious person who dresses as a worker and enters. Is illustrated. In this example, the monitoring area MR has a substantially rectangular shape with a length of about 150 m and a width of about 200 m, but it can be applied to a monitoring area having a wider area and an arbitrary shape.

A plate-shaped wall is arranged around the surveillance region MR, and an entrance/exit gate G is provided at the northwest corner. Reference symbols P1, P2, and P3 indicate a building under construction, reference symbol BE indicates a construction machine, and reference symbol M indicates a building material. Further, reference numeral c indicates a surveillance camera, reference numerals LS1 to LS4 indicate scanning distance measuring apparatuses that function as the first positioning apparatus 10, and reference numerals h1 to h6 indicate visitors such as workers. An entrance/exit acceptance device 31 is installed at the entrance/exit gate G.

In the area monitoring system, a worker or the like who enters and exits through the entrance/exit gate G is treated as an authenticated attendant, and each of the portable wireless devices 20 stores unique ID information and entry permission information. (See Figure 2). When using a mobile phone or smartphone as the mobile wireless device 20, the phone number of the mobile phone may be used as the unique ID information.

Two scanning type distance measuring devices LS1 and LS2 are arranged on the north side of the monitoring region MR so as to scan the monitoring region MR, and two scanning type distance measuring devices are also arranged on the south side of the monitoring region MR. LS3 and LS4 are arranged so as to scan inside the monitoring region MR. The scanning distance measuring device LS1 mainly monitors the northwest region of the monitoring region MR, the scanning distance measuring device LS2 mainly monitors the northeast region of the monitoring region MR, and the scanning distance measuring device LS3 mainly monitors the monitoring region MR. The scanning distance measuring device LS4 is arranged so as to mainly monitor the southwest area of the monitoring area MR.

In order to detect the visitors who cannot enter the blind spots of buildings P1, P2, P3, construction machinery BE, etc. with any one scanning type distance measuring device with another scanning type distance measuring device, the scanning type of the north side part The distance measuring devices LS1 and LS2 and the scanning type distance measuring devices LS3 and LS4 on the south side are opposed to each other. Depending on the number and arrangement of the scanning distance measuring devices, the occupant may enter the blind spot in the detection range and may not be able to acquire the first position information. In such a case, only the second position information using the portable wireless device can be obtained.

FIG. 6 shows functional blocks constituting the portable wireless device 20. A wireless communication unit 20A that performs voice or data communication processing via a mobile phone network, a satellite that receives satellite positioning system signals transmitted from satellites, and acquires positioning information such as latitude and longitude where the portable wireless device 20 is located. Positioning system receiving device 20B, image input unit 20C that drives an imaging device to capture a photographic image or a moving image, monitoring processing unit 20D that functions by activating a monitoring application program, storage unit 20E that stores various data. And so on.

The satellite positioning system receiving device 20B functions as a second positioning device, and position information such as latitude and longitude measured by the satellite positioning system receiving device 20B is transmitted to the attendee management device 30 and managed.

The monitoring processing unit 20D executes the entrance/exit processing with the entrance/exit reception device 31 and also preliminarily stores the positioning information, the time stamp, and the ID information acquired by the satellite positioning system receiving device 20B and stored in the storage unit 20E. The information is transmitted to the visitor management device 30 at a set predetermined cycle.

The positioning information and ID information managed by the visitor management device 30 are transmitted to the monitoring device 40 in response to a request from the monitoring device 40, and the monitoring device 40 executes a suspicious person determination process described later. The visitor management device 30 associates the admission authentication information issued to the authenticated admission person and set to either the admission valid state or the admission invalid state and the second position information with the ID information for identifying the authenticated admission person. Is configured to manage.

FIG. 3 shows the external appearance of the scanning distance measuring device LS functioning as the first positioning device 10, and FIG. 4 shows the internal structure of the scanning distance measuring device LS. In the present embodiment, the scanning distance measuring device LS emits measurement light with a resolution of a unit scanning angle of 0.125 degrees, has a maximum detection distance of 100 m, and is capable of scanning a scanning angle range of at most 270 degrees. Has been done. As shown in FIG. 3, the scanning distance measuring device LS includes a lower casing 10A having a substantially rectangular parallelepiped shape and an upper casing 10B having an optical window 10C having a substantially cylindrical shape. The lower casing 10A is provided with a signal connection portion CN and a display portion 10D.

As shown in FIG. 4, inside the casings 10A and 10B of the scanning distance measuring device LS, a light emitting section 51, a light receiving section 52, an optical scanning mechanism 53, a light projecting lens 54, a light receiving lens 55, The signal processing boards 60 and 61 are housed. The light scanning mechanism 53, the light projecting lens 54, and the light receiving lens 55 scan the measurement light emitted from the light emitting unit 51 into the measurement target space and guide the reflected light from the reflector for the measurement light to the light receiving unit 52. Is configured.

An optical scanning mechanism 53 is configured by the motor MOT installed on the inner wall of the upper surface of the upper casing 10B and the deflection mirror 50M fixed to the rotation shaft 50 of the motor MOT so as to be rotatable integrally with the motor MOT. The deflection mirror 50M is set at an inclination angle of 45 degrees with respect to the rotation shaft 50, and the rotation shaft 50 is further provided with an encoder ENC for measuring the rotation speed of the motor MOT. The encoder ENC functions as a scanning angle detection unit for measuring light.

On the optical axis P that is coaxial with the rotation shaft 50 of the motor MOT arranged in the vertical posture, the light receiving lens 55 and the light receiving unit 52 are vertically arranged on the side opposite to the motor MOT with the deflection mirror 50M interposed therebetween. Are arranged differently. A cylindrical hole is formed in the center of the light receiving lens 55, the light emitting portion 51 is arranged at the lower end of the hole, and the light projecting lens 54 is arranged above it.

A measuring light optical path L1 that rotates integrally with the deflecting mirror 50M and guides the measuring light deflected by the deflecting mirror 50M to the measurement target space, and a reflected light optical path L2 that deflects the reflected light by the deflecting mirror 50M and guides it to the light receiving unit 52. The dividing light guide section 56 is fixed to the deflection mirror 50M so as to rotate integrally with the deflection mirror 50M.

The light emitting unit 51 is composed of a laser diode having an infrared wavelength mounted on a substrate supported in a cantilever manner. The coherent measurement light emitted from the laser diode is shaped into parallel light by the light projecting lens 54, enters the deflection mirror 50M along the optical axis P, is deflected 90 degrees, and then is guided along the optical axis P1. The measurement target space is irradiated from the optical window 10C via the measurement light optical path L1 in the inner region partitioned by 56.

The surface of an object existing in the measurement target space is irradiated with the measurement light, and a part of the reflected light passes through the reflected light optical path L2 in the outer area defined by the optical guide portion 56 from the optical window 10C along the optical axis P1. Then, the light is incident on the deflection mirror 50M, is deflected by 90 degrees by the deflection mirror 50M, is then condensed by the light receiving lens 55, and is incident on the light receiving unit 52.

The light receiving lens 55 has a flange portion formed on the periphery thereof supported by a lens holder 57, and the lens holder 57 supports a substrate forming the light emitting portion 51. Further, the substrate on which the light receiving unit 52 is mounted and the signal processing substrates 60 and 61 are supported by the plurality of legs 58 that support the lens holder 57.

The signal processing board 60 is provided with a control section 80 for controlling the scanning distance measuring device LS, and the signal processing board 61 is mounted with LEDs and liquid crystal display elements for displaying various information on the display section 10D. ing. The signal processing board 60, the light emitting section 51, and the light receiving section 52 are connected to each other by a signal line, and a signal cable for exchanging signals with the external device from the signal processing board 60 via the signal connecting section CN provided in the lower casing 10A. Have been stretched.

FIG. 5 shows a functional block configuration of the control unit 80. The control unit 80 is configured by including a microcomputer, a digital signal processor, a storage unit, and the like, and by these, a light emission control unit 84 that controls the light emission timing of the light emitting unit 51, and the measurement light scanned by the optical scanning unit 53. A physical characteristic of reflected light from an object, for example, a distance calculator 81 that calculates a distance to the object to be detected from a time difference between an emission time of the measurement light and a detection time of the reflected light or a phase difference between the measurement light and the reflected light, and a distance. A correction calculation unit 83 for correcting the distance calculated by the calculation unit 81 and an object detection unit 82 are provided.

A method of calculating the distance based on the time difference between the measurement light and the reflected light is called the TOF method, and the distance d is calculated by the following mathematical formula 1. Here, C is the speed of light, and ΔT is the time difference.
[Equation 1]
d=(1/2)×C/ΔT

A method of calculating the distance based on the phase difference between the measurement light obtained by AM-modulating the light source at a predetermined modulation frequency and the reflected light is called the AM method, and the distance d is calculated by the following mathematical formula 2. Here, φ is the measured phase difference, C is the speed of light, and F is the modulation frequency of the light source.
[Equation 2]
d=(1/2)×(φ/2π)×C/F

The correction calculation unit 83 is a block that corrects an error caused by variations in parts of the scanning distance measuring device LS, and is calculated based on the reflected light from the reference reflection plate 59 provided on a part of the inner wall of the upper casing 10B. It is a functional block that obtains a correction coefficient so that the distance becomes a predetermined distance.

Hereinafter, the description will be continued by taking the case where the TOF method is adopted as an example. The same applies when the AM method is adopted.
The object detection unit 82 includes a reflector detection unit 82a, a human body detection unit 82b, a position information generation unit 82c, and a time stamp generation unit 82d.

The reflector detection unit 82a detects the distance from the scanning distance measuring device LS to the reflector, which is calculated by the distance calculation unit 81 and is corrected based on the correction coefficient obtained by the correction calculation unit 83, and the scanning direction of the measurement light. The reflector information associated with is output. More specifically, after the scanning angle detected by the scanning angle detection unit ENC and the distance calculated by the distance calculation unit 81 corresponding to the scanning angle are corrected by the correction coefficient calculated by the correction calculation unit 83. (Hereinafter, simply referred to as “distance calculated by the distance calculator 81 ”), the reflector including the reflection position of the measurement light, that is, the distance and direction from the scanning distance measuring device LS to the reflector. The information is output and stored in the storage unit.

The human body identification unit 82b determines whether or not the reflector is a person based on the reflector information detected by the reflector detection unit 82a. For example, if the reflector is continuous along the scanning direction for a length of about the width of the human torso, and if the distance between adjacent reflectors in the scanning direction does not change significantly, then along the scanning direction of the reflector, At the central position, the average value of each distance is registered as a representative position of the reflector, and when the representative position changes with each scanning, it is determined that the person is a person, and the change in the representative position is captured.

The position information generation unit 82c generates, as the first positioning information, the scanning direction and the distance indicating the representative position determined to be a person by the human body identification unit 82b, and the time stamp generation unit 28d generates the time stamp as the time stamp. Is added to the first positioning information. In this way, the first positioning information with time stamps is output to the central control unit 12 for all the visitors detected by each scanning distance measuring device LS.

As shown in FIG. 7A, an operator who enters the construction site activates the area monitoring authentication application installed in the portable wireless device 20 owned by the operator (SA1), and enters/exits the entrance/exit acceptance device. The entrance authentication information, which is a QR code (registered trademark) for admission, displayed on the monitor screen 31 is scanned using the camera function (SA2).

The authentication application of the mobile wireless device 20 connects to the attendee management device 30 based on the address on the Internet included in the entrance authentication information (SA3), and the work registered in advance in the entrance authentication information and the mobile wireless device 20. The ID information of the visitor is transmitted to the attendee management device 30 together with the entry time (SA4) and registered in the attendee management device 30 (SA5). The admission authentication information includes area information for specifying the admission-monitored monitoring area, admission-permitted time zone information, a flag for identifying an admission valid state and an admission invalid state, and the like. The worker who has completed the entrance acceptance process is recognized as an authenticated visitor, and moves to a work place where he/she is scheduled to work.

As shown in FIG. 7B, the worker leaving the construction site uses the exit authentication information, which is a QR code (registered trademark) for exit recognition displayed on the monitor screen of the entrance/exit acceptance device 31, as a camera function. Scan by using (SB1).

The authentication application of the mobile wireless device 20 connects to the attendance management device 30 based on the address on the Internet included in the exit authentication information (SB2), and the exit authentication information and the work registered in advance in the mobile wireless device 20. The ID information of the person is sent to the attendee management device 30 together with the exit time (SB3) and registered in the attendee management device 30 (SB4).

As shown in FIG. 8A, the satellite positioning system receiving apparatus 20B included in the portable wireless device 20 owned by the authenticated visitor receives radio waves from a plurality of satellite positioning system satellites, and a predetermined azimuth calculation algorithm. Using the, the process of calculating the second position information, which is the azimuth of the player, is performed (SC1) at a preset predetermined time interval (in this example, it is set to once per second, but can be set appropriately. Is repeated (SC2), and at a predetermined time interval, the second position information, which is the satellite positioning system positioning information, is time-stamped together with the ID information and transmitted to the visitor management device 30 (SC3). ).

As shown in FIG. 8B, when the visitor management device 30 receives the second position information from the portable wireless device 20 (SD1), the visitor management device 30 stores the ID information and the first information in the storage unit provided in the attendee management device 30. The second position information and the time stamp are registered (SD2), and it is determined whether or not the second position information is within the area defined by the area information included in the entrance authentication information (SD3, Y). If so, the process ends. When the second position information is out of the area defined by the area information included in the entrance authentication information (SD3, N), a predetermined time set in advance (in this example, 10 minutes is set, If it is continued (SD4, Y), the flag indicating the entry valid state included in the entry authentication information is switched to the entry invalid state, and the process ends (SD5).

The area information included in the entrance authentication information may be information defining the entire monitoring area MR or information defining a partial section of the monitoring area MR. It is preferable to prescribe the whole area of the monitoring area MR for a worker who uses the whole area of the monitoring area MR as a work area, and for the worker who works exclusively in a part of the monitoring area MR, It is preferable to define the area information as the entry authentication information. When it is detected by the second position information that the worker whose partial area of the monitoring area MR has been defined as the area information has moved to another area, suspicious work other than the work assumed in advance is performed. Therefore, the flag indicating the entry valid state included in the entry authentication information is switched to the entry invalid state when the user has left the area divided by the area information for a predetermined period of time.

When the worker whose flag indicating the entry valid state included in the entry authentication information is switched to the entry invalid state returns to the area partitioned by the area information, the first position information is acquired, but the second location information is acquired. The position information of is not transmitted to the monitoring device 40 because the entry is ineffective. As a result, only the first position information corresponding to the worker is transmitted to the monitoring device 40, so that the worker switched to the entry disabled state is determined to be a suspicious visitor.

FIG. 9 shows a processing procedure of the first positioning device. When the reflector data for one scan is obtained (SE1), it is determined whether or not the reflector is a human body (SE2). If the reflector is a human body, first position information is generated (SE3), After the time stamp is added, the first position information is transmitted to the monitoring device 40 via the overall control unit 12 (SE4).

FIG. 10 shows the procedure of the suspicious person determination processing executed by the monitoring device 40. The monitoring device 40 acquires the first position information in time series, acquires the second position information, and cumulatively stores the acquired second position information in the storage unit included in the monitoring device 40 (SF1, SF2.

It is determined whether the first position information has the second position information whose positional identity is recognized (SF3), and when the positional identity is not recognized, it is specified by the first position information. It is determined that the suspicious visitors are suspicious visitors (SF7), the warning information is transmitted to the monitor device 32, and the position specified by the first position information is determined with respect to the posture adjusting mechanism CC provided in the platform 2. Send (SF8). The attitude adjustment mechanism CC adjusts the attitude of the platform 2 so that the imaging device C installed on the platform 2 can capture an image of a suspicious person identified by the first position information. Symbols h1 to h3, h5, and h6 shown in FIG. 1 are determined to be authenticated visitors, and a symbol h4 filled in with black is a participant who is determined to be a suspicious person.

Further, if the zooming of the image pickup apparatus C is controllable via the posture adjustment mechanism CC, it is possible to zoom up to an appropriate size according to the distance to the suspicious visitors, so that the suspicious image is taken by the image pickup apparatus. It will be possible to obtain clear images so that visitors can be identified.

The video image captured by the imaging device C is displayed on the monitor device 32. Note that the monitor device 32 is installed in a monitor room packed by a monitor in the monitor area MR, and the monitor room can be provided near the entrance/exit gate G in which the entrance/exit acceptance device 31 is installed. The image acquired by the imaging device C may be stored in a recording medium such as a hard disk.

If positional identity is recognized in step SF3, it is determined whether or not temporal identity exists by referring to the numerical values of the time stamps added to the first and second position information (SF4). ), if the temporal identity is not recognized, the processing of steps SF7 and SF8 described above is performed, and if it is determined that the temporal identity is recognized (SF4, Y), it is determined that the person is an authorized authentication visitor. (SF6). The determination order of step SF3 and step SF4 may be interchanged.

The determination of the positional identity performed in step SF3 described above means that the second position exists in the area defined by the area information of the entrance authentication information, and the flag indicating the entry valid state included in the entry authentication information is It is preferable to be executed when the entry is valid and when the time stamp value is included in the admission permitted time zone information included in the admission authentication information, and when either is not satisfied, It is preferable to determine the worker identified by the second position information as a suspicious visitor.

As described above, the first position information is relative position information represented by the distance to the occupant and the scanning direction of the measurement light with the light source position of the scanning light as the reference position. If the latitude and longitude of the installed position are known, the latitude and longitude of the visitors can be obtained by geometrical calculation based on the position. For example, the satellite positioning system receiving device may be incorporated in the first positioning device.

The presence/absence of positional identity determines whether or not the first position information and the second position information match, but it is not required that the two completely match, and the positioning devices are not necessarily matched. In consideration of the accuracy of, it is determined whether or not it falls within a predetermined allowable range (for example, from several tens of centimeters to 1 meter).

Judgment of temporal identity is to judge whether or not the values of the time stamps added to the first position information and the second position information match each other. Is not required, but is determined based on whether or not it falls within a predetermined allowable range (for example, about several seconds) in consideration of the deviation of the measurement timing by each positioning device.

The first position information and the second position information can be accumulated in time series, and the movement of a human body or a detected object can be detected and tracked by acquiring the position information in time series. Becomes There is a case where the authenticated visitor temporarily enters the shade of the building or the radio wave condition is bad and the first position information or the second position information cannot be obtained. Even in such a case, by tracking in time series, it is possible to accurately judge the suspicious visitors, for example, in the case of a temporary disagreement, it is not considered as a suspicious person.

In the above-described embodiment, an example in which the entire monitoring area MR is set as one monitoring area has been described. However, the monitoring area MR is divided into a plurality of areas, and entrance/exit acceptance processing is performed in units of the divided sections. You may comprise.

In the above-described embodiment, an example in which a plate-shaped wall is arranged around the monitoring area MR so that a suspicious person cannot easily enter the area has been described. However, a wall is not formed around the monitoring area MR, It may be a mode in which a suspicious person can easily enter.

In the embodiment described above, the case where the first positioning device 10 specifies the human body and acquires the first position information is assumed, but the first position information may be the construction machine BE. When the authenticated visitor boards the building machine and operates the machine, the first position information and the second position information indicate the position of the building machine BE. In such a case, the first positioning device can detect the size of the object along the scanning direction, and thus the first position information can be determined as the position information of the construction machine, not the human body. On the other hand, since the first position information and the second position information are almost the same, it can be determined that the building machine BE has an authenticated visitor.

In this way, when the authenticated attendee detects the building machine BE on board, it may be dangerous if another worker is near the construction machine BE. It is also possible to send an alarm signal to a portable wireless device of a nearby worker via the management device.

In the above-described embodiment, an example in which the area monitoring system is constructed at the construction site has been described, but the present invention is not limited to the construction site, and can be applied to any monitoring area such as an amusement park that needs to be monitored.

In the above-described embodiment, the second position information, the ID information, and the entrance authentication information are given as the data to be transmitted to the attendee management device by the portable wireless device, but the data is not limited to this. By transmitting and managing the temperature and pulse rate of the visitors and other health management information of the attendees to the attendee management device or other cloud server through the portable wireless device, the health management information can be exchanged with the attendees. It can also be used for health management.

Each of the embodiments described above is merely an example of the present invention, and the scope of the present invention is not limited by the description, and the specific configuration of each functional block is within a range in which the effect of the present invention is exerted. It goes without saying that it can be changed appropriately.

1: Area monitoring system 10: First positioning device 20: Portable wireless communication device 20B: Satellite positioning system receiving device 30: Visitor management device 31: Entrance/exit receiving device 32: Monitoring device 40: Monitoring device

Claims (11)

An area monitoring system for detecting suspicious visitors to the monitoring area,
A first positioning device that acquires, as first position information, a relative position of an arbitrary visitor with respect to the reference position based on a signal transmitted from a predetermined reference position;
A portable wireless device owned by a certified visitor,
The position of the authenticated visitor is provided as the second position information provided in the portable wireless device, or the position of the authenticated visitor is set as the second position information based on a signal transmitted from the portable wireless device. A second positioning device obtained as
If the first position information acquired by the first positioning device has no positional identity with the second position information acquired by the second positioning device, the first position information A visitor specified by the monitoring device that executes the suspicious person determination process for determining that the visitor is a suspicious visitor,
Area monitoring system equipped with. Each of the first position information and the second position information includes a time stamp,
The monitoring device, if the first position information does not have any positional or temporal identity with the second position information, the admission specified by the first position information. The area monitoring system according to claim 1, wherein a suspicious person determination process for determining that a person is a suspicious visitor is performed. The authenticated visitor is identified by the admission authentication information issued to the authenticated admission person and set to either the admission valid state or the admission invalid state, and the second position information acquired from the second positioning device. Equipped with an attendee management device that manages the ID information in association with
The monitoring device is configured to acquire the second position information from the visitor management device, and the entrance authentication information in the second position information acquired from the attendee management device is in a valid entrance state. The area monitoring system according to claim 1 or 2, wherein the second position information set in (1) is set as a target of the suspicious person determination processing. The admission authentication information includes area information for specifying the admission-monitoring area,
The monitoring device sets the second position information included in the area specified by the area information among the second position information acquired from the attendee management device as a target of the suspicious individual determination process. The area monitoring system according to claim 1. The area monitoring system according to claim 4, wherein when the state in which the second position information deviates from the area specified by the area information continues for a predetermined time, the entrance authentication information is switched from the entry valid state to the entry invalid state. .. The admission authentication information includes effective time information that identifies a time zone during which admission is permitted,
Of the second position information acquired from the attendee management device, the monitoring device determines the second position information generated in the time zone specified by the valid time information in the suspicious person determination process. The area monitoring system according to any one of claims 3 to 5, which is a target. The admission authentication information set to the admission valid state is given to the portable wireless device, and the admission management information is pre-registered in the portable wireless device to which the admission authentication information and the admission authentication information are given. Visitor registration processing for registering the ID information,
An exiter registration process of reading the ID information from the portable wireless device and registering the entrance authentication information and the ID information set in the entrance invalid state in the entrance management device;
The area monitoring system according to any one of claims 3 to 6, further comprising an entrance/exit reception device that executes the step (1). An imaging device installed on a platform having an attitude adjustment mechanism for imaging the surveillance area and a monitor device for displaying an image captured by the imaging device are provided, and by the suspicious person determination processing executed by the surveillance device. 2. When a suspicious visitor is detected, the viewing direction of the image capturing apparatus is adjusted via the posture adjustment mechanism in at least the direction specified by the first position information corresponding to the suspicious visitor. 7. The area monitoring system according to any one of 7. The first positioning device scans the measurement light toward the monitoring area in a predetermined cycle, and based on the reflected light from the visitor to the measurement light, the first positioning device includes a distance to the visitor and a scanning direction. 9. The area monitoring system according to claim 1, wherein the area monitoring system comprises a scanning distance measuring device that generates position information. The area monitoring system according to any one of claims 1 to 9, wherein the second positioning device is configured by a satellite positioning system receiving device included in the portable wireless device. The second positioning device is configured by a computer that calculates the position of the portable wireless device based on the transmission field intensity of the portable wireless device received by a plurality of receiving devices installed at a predetermined position. The area monitoring system according to any one of claims 1 to 9.

Images