JP2020191507A - Foreign matter detection system - Google Patents

Abstract

To provide a foreign matter detection system capable of detecting foreign matters with high accuracy with a configuration as simple as possible.SOLUTION: A foreign matter detection system includes a first imaging apparatus 5a, disposed on one side on the left and right sides behind a shielding 1 when viewed from a transparent portion 4 in which the outside is visible from the inside of a target area A around the shielding 1 located in the target area A, for capturing a space on the other side of the left and right sides within the angle of view, a second imaging apparatus 5b, disposed in front of and to the left of the shielding 1 when viewed from the transparent portion 4, for capturing a space at the back and to the right of the shielding 1 within the angle of view, and a third imaging apparatus 5c, disposed in front of and to the right of the shielding 1 when viewed from the transparent portion 4, for capturing a space at the back and to the left of the shielding 1 within the angle of view.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a system for detecting foreign matter around a shield such as a vehicle in a target area such as a parking lot.

In a space where a vehicle enters and stops, for example, in a space for entering and exiting a mechanical parking lot, when opening and closing the door of the doorway and carrying a pallet on which the vehicle is placed, the driver in addition to the vehicle It is necessary to confirm that there are no foreign objects such as passengers, occupants, and baggage. Such confirmation work of the absence of foreign matter can be performed visually by the driver, facility staff, etc., but if only human power is relied on, the confirmation may not be thorough due to carelessness or the like. Therefore, in recent years, there has been a demand for a technique for automatically detecting a foreign substance in a target area without relying only on human power so as to reliably confirm the absence of the foreign substance.

In addition, if the automated driving technology currently being developed in each country is put into practical use in earnest, not only driving the vehicle but also various things such as opening and closing doors and transporting pallets as described above will be performed around the vehicle. It can be assumed that automation will be promoted for the operation of. For example, there may be a case where the vehicle delivers the occupant to the destination by automatic driving, then automatically moves to a nearby mechanical parking lot and is stored in the storage space. In this case, the vehicle moves in the absence of the occupants and stops in the entry / exit space. At this time, operations such as opening and closing the door and starting the movement of the pallet may be executed by the person in charge visually confirming the absence of foreign matter and inputting the operation button. However, it will be smoother if there is a mechanism to automatically confirm the absence of foreign matter and start the operation.

Such a mechanism for detecting a foreign substance may be widely required not only in a mechanical parking lot but also in a place where some operation is performed in the vicinity of a stopped vehicle such as a power supply facility for an electric vehicle. Further, the same mechanism can be widely applied not only to a vehicle but also to a situation where foreign matter is desired to be detected around some object.

As a technique for automatically detecting foreign matter in the target area, various methods have been proposed in which an image in the target area is acquired by using a camera or the like and the foreign matter reflected in the image is detected. Examples of technical documents describing such techniques include the following Patent Documents 1 to 6.

JP-A-2016-3493 JP-A-2015-55073 Japanese Unexamined Patent Publication No. 2014-80735 Japanese Unexamined Patent Publication No. 08-42184 Japanese Unexamined Patent Publication No. 62-194366 Japanese Unexamined Patent Publication No. 2012-158868

In the above-mentioned technology for detecting foreign matter, it goes without saying that the minimum accuracy is required for detection, but in addition, simplifying the device configuration as much as possible increases the cost of construction or maintenance. It is important in terms of aspects. However, all of the techniques described in Patent Documents 1 to 6 have not always sufficiently satisfied both accuracy and cost.

Therefore, in the present disclosure, a foreign matter detection system capable of detecting foreign matter with high accuracy with a structure as simple as possible will be described.

The present disclosure is arranged around a shield located in the target area on one side of the back and left and right of the shield when viewed from a transmissive portion where the outside can be visually recognized from the inside of the target area. A first image pickup device that fits the space in the angle of view, and a second image pickup device that is arranged on the front side and the left side of the shield and fits the space on the back side and the right side in the angle of view when viewed from the transmission portion. It relates to a foreign matter detection system provided with a third imaging device which is arranged on the front side and the right side of the shield when viewed from the transmission portion and which accommodates the space on the back side and the left side in the angle of view.

In the above-mentioned foreign matter detection system, in the first image pickup device, a straight line along the front edge of the angle of view of the first image pickup device when viewed from the transmission portion in a plan view is the first image pickup device. It can be arranged so as to overlap with a line segment connecting the left and right other ends of the transmissive portion, or to pass through the other left and right sides of the line segment.

The above-mentioned foreign matter detection system can be configured to detect foreign matter in the image acquired by each of the imaging devices by a program using deep learning.

In the foreign matter detection system described above, the shield can be a vehicle.

In the above-mentioned foreign matter detection system, the target area can be an entry / exit space for a mechanical parking lot.

According to the foreign matter detection system of the present invention, it is possible to obtain an excellent effect that foreign matter can be detected with high accuracy by the simplest possible configuration.

It is a schematic plan view explaining the arrangement of the apparatus in the foreign matter detection system according to the Example of this disclosure. It is a block diagram explaining the system structure of the foreign matter detection system by the Example of this disclosure. It is a schematic plan view explaining another arrangement of the apparatus in the foreign matter detection system according to the Example of this disclosure. It is a schematic plan view explaining still another arrangement of the apparatus in the foreign matter detection system according to the Example of this disclosure. It is a schematic plan view explaining the arrangement of the apparatus in the foreign matter detection system by the reference example of this disclosure. It is a figure which shows an example of the image acquired in the foreign matter detection system of a reference example. It is a figure which shows an example of the image which was acquired in the foreign matter detection system of the reference example, and was partially masked.

Hereinafter, embodiments of the embodiments in the present disclosure will be described with reference to the accompanying drawings. In the foreign matter detection system of the present embodiment shown in FIG. 1, the entry / exit space of the mechanical parking facility is assumed as the target area A, and the vehicle 1 that stops on the pallet 2 in the central portion of the target area A is used as a shield. I'm assuming. Then, when an object (foreign matter F) other than the vehicle 1 exists in the target area A, the foreign matter F is detected. The target area A, which is an entry / exit space, is a space surrounded by walls on all sides, and an entry / exit port 4 as a transparent portion is provided on the front side (lower side in the figure) so that the vehicle 1 can enter and exit from here. It has become.

In the present specification, the “shield” refers to an object other than the detection target located in the target region and which optically blocks a part of the angle of view of the imaging device 5 described later. Further, the "foreign substance" refers to an object other than a shield existing in the target area and is not an object originally arranged in the target area, and is typically a vehicle driver, occupant, or equipment. It is a person such as a staff member of. In addition, baggage and the like brought into the target area A and placed outside the vehicle 1 are also examples of "foreign substances". FIG. 1 illustrates one foreign matter F inside the target region A as an example. Further, one object O is illustrated outside the target area A.

The “transmissive portion” refers to an optical opening in which the outside can be visually recognized from the inside of the target area. That is, the transmissive portion in the present embodiment is the entrance / exit 4 that optically and materially communicates with the external space, but in addition to this, for example, a glass window through which light transmits can be assumed as the “transmissive portion”. ..

The pallet 2 for transporting the vehicle 1 enters and exits the target area A, which is a warehousing / delivery space, from a storage space (not shown) outside the target area A through a transport port (not shown). The fixed position of the pallet 2 in the target area A is the central portion of the target area A. At the time of warehousing, the vehicle 1 enters the target area A through the warehousing / delivery port 4, stops on the pallet 2, is transported to the storage space together with the pallet 2, and is stored. At the time of delivery, the vehicle 1 is transported from the storage space into the target area A together with the pallet 2, and then exits from the target area A through the entry / exit port 4.

In the target area A, an image pickup device 5 such as a camera that acquires an image in the target area A is arranged. In the case of this embodiment, as the image pickup device 5, as shown in FIG. 1, a total of three image pickup devices 5a to 5c are installed around the stop position of the vehicle 1. The arrangement of these image pickup devices 5a to 5c will be described in detail later.

An operation unit 6, a display unit 7, and an alarm unit 8 are provided on the outer wall near the entry / exit port 4. The operation unit 6 is an input device for inputting operations of each unit such as opening / closing the warehousing / delivery port 4 and transporting the pallet 2. The display unit 7 is a display configured to display the image in the target area A acquired by the image pickup apparatus 5 as needed. The alarm unit 8 is a device that issues an alarm when some situation that should call attention to personnel occurs in the target area A or somewhere in the equipment including the target area A. “Some situation that should call attention to personnel” is, for example, a case where a foreign matter F other than the vehicle 1 is detected in the target area A when the vehicle 1 is transported to a storage space outside the target area A. As for the content of the alarm, an appropriate format can be selected as long as it can call attention to personnel such as an alarm sound, lighting of a warning light, and display of a warning message.

The positions where the operation unit 6, the display unit 7, and the alarm unit 8 are installed are not limited to the positions shown here. For example, devices corresponding to these may be provided in a management room or the like (not shown), or any one of these devices may be provided in a plurality of different places. Further, although the operation unit 6, the display unit 7, and the alarm unit 8 are shown separately here for convenience of explanation, for example, a touch panel display having the functions of the operation unit 6 and the display unit 7 may be provided. Good. Further, the display unit 7 may also serve as the function of the alarm unit 8 (that is, the information corresponding to the alarm is displayed on the display unit 7). In addition, the operation unit 6, the display unit 7, and the alarm unit 8 can be appropriately changed according to the layout of the target area A and other conditions.

FIG. 2 shows an example of a system configuration related to the control of the image pickup device 5, the operation unit 6, the display unit 7, and the alarm unit 8. The image pickup device 5, the operation unit 6, and the alarm unit 8 are informationally connected to the control device 9 via a communication bus such as Ethernet (registered trademark). The control device 9 is a device that monitors the entire mechanical parking lot including the target area A, which is the warehousing / delivery space, and operates each part, and opens / closes the warehousing / delivery port 4, transports the pallet 2, and operates the image pickup device 5. Etc. are controlled.

Further, the display unit 7 is connected to the communication bus via the image processing unit 10. The image processing unit 10 is an information processing device that appropriately processes the image of the target area A acquired by the image pickup device 5, and transmits image data to the display unit 7 as necessary to send the image to the display unit 7. Is also displayed.

As the image processing performed by the image processing unit 10, the detection of foreign matter F (see FIG. 1) is particularly assumed in this embodiment. That is, the image processing unit 10 analyzes the image of the target region A acquired by the image pickup apparatus 5 and determines whether or not a foreign substance F such as a person is present in the image. When the image processing unit 10 detects a foreign matter F in the image to be processed, the control device 9 issues an alarm through the alarm unit 8.

The image processing unit 10 stores a program for detecting the foreign matter F reflected in the image. This program is configured to detect a specific type of object by a deep learning technique using a multi-layer neural network. As a deep learning algorithm, various algorithms such as R-CNN (Regional-Convolutional Neural Network), Fast R-CNN, Faster R-CNN, YOLO (You Only Look Once), and SSD (Single Shot Multibox Detector) are used. However, other suitable algorithms may be used.

The program stored in the image processing unit 10 uses such an algorithm to identify the type of an object reflected in the image, the probability that the object is an object of that type, the coordinates of the center of gravity of the object, and the object. The width and height can be output. Since the type of foreign matter F assumed in the target area A, which is the entry / exit space of the mechanical parking lot, is firstly a person, the program stored in the image processing unit 10 can at least identify a person from the image. Should be configured as follows. In addition, various objects such as animals such as pets, bags, strollers, etc. are assumed as objects that may enter the target area A together with the vehicle 1. Therefore, the program includes these objects in addition to the person. May also be detected. Further, if the type of the target area to which the foreign matter detection system is installed is different, the type of the object detected as the foreign matter may be different. The program may be configured to be capable of detecting various objects assumed according to the type of the target area, not limited to a person.

When warehousing the vehicle 1, personnel such as the driver, occupants, and facility staff of the vehicle 1 operate the operation unit 6 to instruct the start of warehousing. The control device 9 opens the entry / exit port 4 in response to an instruction. At the start of warehousing, the warehousing / delivery port 4 is opened with the empty pallet 2 deployed in the central portion, which is a fixed position in the target area A.

When the entry / exit port 4 is opened, the driver moves the vehicle 1 into the target area A and stops it on the pallet 2. After the stop, the driver and other occupants get off and exit the target area A. When all the personnel such as the driver have left, the driver or the like visually inspects the target area A, confirms whether or not a foreign object F such as a person or baggage exists in the target area A, and then operates the operation unit 6. , Input that the vehicle 1 has stopped on the pallet 2. The control device 9 closes the entry / exit port 4 and conveys the pallet 2 loaded with the vehicle 1 to the storage space outside the target area A.

When leaving the vehicle 1, personnel such as the driver, crew, and facility staff of the vehicle 1 operate the operation unit 6 to instruct the start of the delivery. The control device 9 conveys the corresponding pallet 2 into the target area A in response to an instruction, and opens the warehousing / delivery port 4. When the entry / exit port 4 is opened, the driver gets into the vehicle 1 on the pallet 2 and moves out of the target area A. When the vehicle 1 goes out, the driver, the staff, etc. of the vehicle 1 operate the operation unit 6 again, and input that the delivery is completed. The control device 9 closes the entry / exit port 4 in response to an instruction.

Although the above series of operations has been described by taking the case where the driver drives the vehicle 1 as an example, the vehicle 1 may be an autonomous driving vehicle. In that case, a part or all of the above-mentioned operation of the vehicle 1 is performed without the intervention of the driver.

The image processing unit 10 (see FIG. 2) executes foreign matter detection at an appropriate timing. For example, when the vehicle 1 stops on the pallet 2 at the time of warehousing, and the driver inputs the fact to the operation unit 6, the foreign matter is detected. At this time, the driver visually confirms the absence of the foreign matter F in the target area A, but at the same time, if the image processing unit 10 mechanically detects the foreign matter, the confirmation can be thoroughly performed. In addition, it is necessary to check the state in the target area A, for example, when an instruction to start shipping is input, when the completion of shipping is input and the loading / unloading port 4 is closed, or in normal times when no particular operation is performed. Foreign matter can be detected at any time when it is considered that there is.

When detecting a foreign object, the control device 9 first operates each image pickup device 5 to acquire an image in the target area A. The image processing unit 10 executes a foreign matter detection process on the image acquired by each image pickup apparatus 5 by the program. When an object (for example, a person) of a type assumed to be a foreign matter F is detected in at least one of the acquired images, the control device 9 activates the alarm unit 8 to issue an alarm. Report. At the same time, the operation of the pallet 2, the entrance / exit 4 or other parts is prohibited. Further, the display unit 7 may indicate that the foreign matter F has been detected.

The arrangement of the image pickup apparatus 5 will be described. In this embodiment, a total of three image pickup devices 5a to 5c are arranged around the vehicle 1 located in the target area A. When the inside of the target area A is viewed from the entrance / exit 4 which is a transmissive portion, the first imaging device 5a is located on the back side and the left and right sides of the vehicle 1 which is a shield (the left side in the example shown here). Placed in. The second and third imaging devices 5b and 5c are arranged in the target area A on the front side of the vehicle 1 and at the left and right positions of the entry / exit port 4. The height at which each image pickup apparatus 5 is installed is near the ceiling of the target area A.

As shown by the broken line in FIG. 1, each of the imaging devices 5a to 5c has an angle of view of about 90 °, and is located on the back side and the left and right sides of the stop position of the vehicle 1 when viewed from the entrance / exit port 4. The image pickup apparatus 5a provided on the left side) is arranged so as to fit the space on the other side (right side) on the left and right sides within the angle of view. Then, a straight line L1 along the front side (entrance / exit port 4 side) of the angle of view of the image pickup device 5a in a plan view connects the image pickup device 5a and the left and right other side (right side) ends of the entry / exit port 4. It is arranged so as to overlap the line segment L2 (indicated by a alternate long and short dash line in the figure) or to pass through the other side (right side) on the left and right of the line segment L2. Note that FIG. 1 illustrates a case where the straight line L1 passes through the other side on the left and right of the line segment L2. FIG. 3 shows a case where the straight line L1 overlaps with the line segment L2.

The image pickup device 5b arranged on the left side when viewed from the entrance / exit 4 is arranged so as to fit the space on the back side and the right side of the target area A when viewed from the image pickup device 5b. The image pickup device 5c arranged on the right side when viewed from the entrance / exit 4 is arranged so as to fit the space on the back side and the left side of the target area A when viewed from the image pickup device 5c within the angle of view.

In this way, the entry / exit port 4 is not located or is located at the end of the angle of view of the imaging devices 5b and 5c. Further, as shown by diagonal lines in FIGS. 1 and 3, the entry / exit port 4 which is a transmission portion is not located within the angle of view of the image pickup apparatus 5a. Here, an example is shown in which the image pickup device 5a located on the back side when viewed from the warehousing / delivery port 4 is arranged on the left side when viewed from the warehousing / delivery port 4, but the image pickup device 5a is symmetrically arranged in the warehousing / delivery port. It may be arranged on the back side and the right side when viewed from the mouth 4 (FIG. 4 shows the arrangement of the image pickup apparatus 5a in this case).

The reason for adopting such an arrangement of the image pickup apparatus 5 will be described. When it is desired to detect a foreign matter F in the target area A as shown in FIG. 1 based on the image in the target area A acquired by the image pickup apparatus 5, the following two points are necessary to ensure the detection accuracy.
・ Do not create blind spots.
-Do not detect the object O outside the target area A as a foreign substance.

If the acquired image has a blind spot, if the foreign matter F is located in the blind spot, it may not be detected (detection omission occurs). On the other hand, if the object O outside the target area A is detected, overdetection occurs.

In addition, the following matters are important from the viewpoint of reducing equipment costs and maintenance costs when constructing a system.
-Configure the system with as few devices as possible.

That is, when detecting foreign matter by image processing, it is desirable not to provide a device other than the image pickup device 5 (for example, a position sensor or the like) as much as possible. In addition, the number of image pickup devices 5 should be as small as possible within a range in which the accuracy of foreign matter detection can be ensured. In particular, when image processing is performed by a program using deep learning as described above, a considerable amount of calculation load is generated on the image processing unit 10. In FIG. 2, the image processing unit 10 is displayed as one block, but in reality, for example, one information processing device may be required for each image pickup device 5. As described above, it is very important to reduce the number of image pickup devices 5 in terms of cost, and the configuration of this embodiment including the arrangement of the image pickup devices 5 described below is based on a program using deep learning. It can be said that it is particularly suitable for a system that detects foreign matter.

When trying to acquire an image in the target area A without creating a blind spot with a small number of image pickup devices 5, it is conceivable to arrange two image pickup devices 5 as shown as a reference example in FIG. 5, for example. .. That is, the two image pickup devices 5d and 5e are arranged in front of one side (front left) and behind the other side (rear right) so as to sandwich the vehicle 1. Then, the left front imaging device 5d accommodates the space corresponding to the right rear for the imaging device 5d in the angle of view, and the right rear imaging device 5e accommodates the space corresponding to the left front for the imaging device 5e in the angle of view. In this way, the area that becomes a blind spot due to the vehicle 1 for each image pickup device 5 (the right rear of the vehicle 1 for the image pickup device 5d and the left front of the vehicle 1 for the image pickup device 5e) is complemented with each other, and the entire area in the target area A is complemented. Image can be acquired without blind spots.

However, when the image pickup device 5 is arranged as shown in FIG. 5, if the blind spot is to be eliminated, the entrance / exit port 4 will be greatly inserted into the angle of view of the image pickup device 5d located in the front left. As a result, as shown in FIG. 6, there is a possibility that the object O outside the target area A is reflected in the image through the entrance / exit 4 which is a transparent portion. When the object O is a type of object (here, a person) that can be detected by a program stored in the image processing unit 10 (see FIG. 2), over-detection may occur.

In order to prevent over-detection, for example, as shown in FIG. 7, it is conceivable to perform mask processing on the area corresponding to the transparent portion (entrance / exit port 4) reflected in the image to perform foreign matter detection. However, in this case, a part of the foreign matter F in front of the entrance / exit 4 is also masked for the image pickup apparatus 5d, and there is a possibility that the foreign matter F is not detected even though it exists in the target area A. Occurs.

In addition to the mask processing as shown in FIG. 7, for example, various mechanisms for determining the inside and outside of the target area A in the image (for example, a depth image sensor is separately provided, or another determination algorithm is used in the image processing step. It is also possible to adopt (such as introducing). However, even if this is done, it is not always possible to accurately determine the inside and outside of the target area A, another cost is incurred for the installation of the sensor and the like, and the calculation load on the image processing unit 10 increases. There is also a demerit.

Alternatively, although not shown, the image pickup device 5 is installed at a high place in the target area A with the image pickup device 5 facing downward, and the target area A is imaged from above, so that the outside of the warehousing / delivery port 4 is removed from the angle of view. It is also conceivable to cover the entire area within the target area A. However, since the entrance / exit of the mechanical parking lot usually has a low ceiling, it is difficult for the image pickup device 5 facing downward to acquire an image in a sufficiently wide range. Further, even if the image pickup device 5 can be installed in a high place, there arises a problem that the maintenance of the image pickup device 5 must be performed in a high place. Further, if some structure (for example, a mechanism for transporting the pallet 2) or the like is located between the floor of the target area A and the height at which the image pickup apparatus 5 is installed, they act as a shield and become a target. It may not be possible to image the entire area within region A. Further, considering that a person in the target area A is to be detected as a foreign substance F, there is also a problem that mechanical detection becomes difficult because the image of the person captured from above has few features as a person. is there.

On the other hand, when the three imaging devices 5 are arranged as shown in FIG. 1, the entire area in the target area A can be captured in the image without blind spots. Further, since the entry / exit port 4 does not enter the angle of view of the image pickup device 5a located on the back side, the entry / exit port 4 does not appear in the acquired image. The entrance / exit 4 does not enter the angle of view of the image pickup devices 5b and 5c located on the front side, or even if it does, it is an end within the angle of view. Therefore, the entry / exit port 4 is not reflected in the image acquired by the image pickup devices 5b and 5c, or even if it is reflected, it is the endmost portion of the image. If the position where the entry / exit port 4 is reflected is the most extreme portion, for example, even if the area of the entry / exit port 4 in the image is masked, the foreign matter F located in the target area A is masked and a detection omission occurs. It is unlikely that it will end up. As described above, according to the arrangement as in this embodiment, there is a small possibility that over-detection due to the entrance / exit 4 which is a transparent portion is reflected in the image and detection omission due to mask processing or the like occur. It is possible to eliminate foreign matter with high accuracy by eliminating it by a simple device configuration using the image pickup device 5 of the above.

Although a foreign matter detection system provided with three image pickup devices 5 is illustrated here, the number of these three image pickup devices 5 is the minimum necessary for ensuring the detection accuracy, and the detection accuracy is further improved. It does not prevent the addition of an image pickup device or other sensors for the purpose of enhancing the image.

The arrangement of the image pickup apparatus described in Patent Documents 1 to 6 listed above will also be examined. In the systems described in FIG. 2 of Patent Document 1, FIG. 8 of Patent Document 2, FIG. 3 of Patent Document 3, and FIG. 2 of Patent Document 6, four or five cameras are installed around the vehicle. The number of units is larger than that of this embodiment. In addition, when the arrangement as shown in these figures is adopted, a part of the camera captures the portion corresponding to the transmissive portion in this embodiment from the front at the angle of view, so that an external foreign substance is erroneously detected. There is a high possibility that it will be done.

In FIG. 2 of Patent Document 4, one TV camera is shown at a position corresponding to the side of the vehicle, but in such an arrangement, there is a blind spot that does not appear in the image, and detection omission occurs. Further, although FIG. 1 of Patent Document 5 shows a state in which the camera is arranged above the platform, there is a problem in providing the image pickup device above the target area as described above.

In this way, in order to cover the target area A without blind spots and accurately detect foreign matter with as few image pickup devices as possible, three image pickup devices 5 are arranged as shown in FIG. Is the best.

In this embodiment, the entry / exit space of the mechanical parking lot is assumed as the target area A, but the same foreign matter detection system can be applied regardless of the type as long as it is a space where some object is located as a shield. it can. For example, a power supply facility for an electric vehicle can be assumed, and for example, it can be applied to security in a warehouse containing some kind of goods.

As described above, the foreign matter detection system of the present embodiment has the shield 1 around the shield 1 located in the target area A as viewed from the transparent portion 4 in which the outside can be visually recognized from the inside of the target area A. The first image pickup device 5a, which is arranged on the far side and one side on the left and right, and accommodates the space on the other side on the left and right within the angle of view, and is arranged on the front side and the left side of the shield 1 when viewed from the transmission portion 4. The second imaging device 5b that fits the space on the back side and the right side in the angle of view, and the space on the back side and the left side are arranged in the front side and the right side of the shield 1 when viewed from the transmission unit 4, and the space on the back side and the left side is set in the angle of view. It is equipped with a third imaging device 5c for accommodating. In this way, the entire area within the target area A can be captured in the image without blind spots. In addition, the entry / exit port 4 is not reflected in the image acquired by each image pickup device 5, or is reflected in the endmost portion. Therefore, the possibility of over-detection caused by the transmissive portion 4 appearing in the image and detection omission due to mask processing or the like is eliminated by a simple device configuration using a small number of image pickup devices 5, and high accuracy is achieved. Foreign matter can be detected with.

In the foreign matter detection system described above, in the first image pickup device 5a, a straight line L1 along the front edge of the angle of view of the first image pickup device 5a as viewed from the transmission portion 4 in a plan view is the first. It is arranged so as to overlap with the line segment L2 connecting one image pickup apparatus 5a and the left and right other ends of the transmission portion 4, or to pass through the other left and right sides of the line segment L2. By doing so, since the entry / exit port 4 is not reflected in the image acquired by the image pickup apparatus 5a, the accuracy of foreign matter detection can be more reliably maintained.

The above-mentioned foreign matter detection system is configured to detect the foreign matter F in the image acquired by each of the imaging devices 5 by a program using deep learning. In this way, foreign matter detection can be suitably performed in a system that detects foreign matter by deep learning.

In the above-mentioned foreign matter detection system, the shield 1 can be a vehicle, and in this way, foreign matter detection can be suitably performed in the vicinity of the vehicle 1.

In the above-mentioned foreign matter detection system, the target area A can be an entry / exit space for a mechanical parking lot, and in this way, foreign matter detection can be suitably performed in the entry / exit space for a mechanical parking lot. it can.

Therefore, according to the above embodiment, the foreign matter can be detected with high accuracy by the simplest possible configuration.

It should be noted that the foreign matter detection system of the present invention described in the present disclosure is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the gist.

1 Shield (vehicle)
2 Pallet 4 Transparency (entrance / exit)
5 Imaging device 5a Imaging device (first imaging device)
5b Imaging device (second imaging device)
5c imaging device (third imaging device)
5d image pickup device 5e image pickup device 6 operation unit 7 display unit 8 alarm unit 9 control device 10 image processing unit A target area F object (foreign matter)
L line segment O object

Claims (5)

Around the shield located in the target area,
A first image pickup device, which is arranged on one side of the shield and on the left and right sides of the shield when viewed from the transparent portion where the outside can be visually recognized from the inside of the target area, and which fits the space on the other side of the left and right in the angle of view.
A second imaging device, which is arranged on the front side and the left side of the shield when viewed from the transmission portion, and which accommodates the space on the back side and the right side in the angle of view.
A foreign matter detection system including a third imaging device which is arranged on the front side and the right side of the shield when viewed from the transmission portion and which accommodates the space on the back side and the left side in the angle of view. In the first image pickup device, a straight line along the front edge of the angle of view of the first image pickup device when viewed from the transmission portion in a plan view is formed on the left and right sides of the first image pickup device and the transmission portion. The foreign matter detection system according to claim 1, wherein the foreign matter detection system overlaps with a line segment connecting the ends on the other side or is arranged so as to pass through the other side on the left and right of the line segment. The foreign matter detection system according to claim 1 or 2, which is configured to detect a foreign matter in an image acquired by each of the imaging devices by a program using deep learning. The foreign matter detection system according to any one of claims 1 to 3, wherein the shield is a vehicle. The foreign matter detection system according to any one of claims 1 to 4, wherein the target area is an entry / exit space for a mechanical parking lot.

Images