JP2021033672A - Object recognition device, program, and object recognition system - Google Patents

Abstract

To reduce labor of advanced registration for realizing appropriate object recognition.SOLUTION: An object recognition unit which includes: a detection unit which detects the position of an object; a region determination unit which determines whether or not a detected position as the position of the object detected by the detection unit is included in a previously set region; a recognition unit which recognizes to which of a plurality of kinds of objects, including a first object having a position estimation device and a second object not having the position estimation device, an object in a region as an object determined to be included in the region by the region determination unit corresponds; and a reception unit which receives position information of the first object obtained by the position estimation device possessed by the first object, in which the recognition unit performs recognition of the object in the region based on a relation between the position indicated by the position information received by the reception unit and the detection position of the object in the region.SELECTED DRAWING: Figure 2

Description

The present invention relates to an object recognition device, a program and an object recognition system.

In recent years, various mechanisms for ensuring safety at construction sites and work sites such as construction sites have been studied. For example, in Patent Document 1, a worker registration means for registering a worker who performs a work, a worker position detecting means, and a restricted area calculating means for calculating a restricted area for restricting the entry of the worker are pre-registered. A system is disclosed that comprises an alarm means for issuing an alarm when an unregistered worker enters a restricted area and when a pre-registered worker enters an area where entry is not permitted. That is, in the system, an alarm can be appropriately issued based on the pre-registration of the worker, the calculation of the restricted area according to the worker, and the like.

Japanese Patent No. 5061084

However, the number of workers often increases or decreases during the work period. Therefore, in order to properly recognize whether or not an object is subject to an alarm when an object enters the restricted area, it is necessary to review the registered contents each time the number of workers increases or decreases. There was a problem that it was complicated to do so.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is a novel and novel one capable of suppressing the labor of pre-registration for realizing appropriate recognition of an object. The purpose is to provide improved object recognition devices, programs and object recognition systems.

In order to solve the above problem, according to a certain viewpoint of the present invention, the detection unit that detects the position of the object and the detection position that is the position of the object detected by the detection unit are set in a preset area. The area determination unit that determines whether or not it is included, the first object having a position estimation device, and the position estimation device that are objects in the area that are determined to be included in the area by the area determination unit. A recognition unit that recognizes which of a plurality of types of objects including a second object that does not have a second object, and the first object obtained by the position estimation device of the first object. The recognition unit includes a receiving unit that receives the position information of the above, and the recognition unit is based on the relationship between the position indicated by the position information received by the receiving unit and the detection position of the object in the area. An object recognition device that performs recognition is provided.

The recognition unit recognizes an object in the region based on the difference between the position closest to the detection position among the positions indicated by one or more position information received by the reception unit and the detection position. You may go.

The recognition unit recognizes that the object in the region is the first object based on the difference being less than the threshold value, and the object in the region is the second object based on the difference being equal to or more than the threshold value. It may be recognized as an object of.

When the object in the area is recognized as the second object, the object recognition device transmits an alarm instruction instructing the device of each of the plurality of first objects to output an alarm. Further units may be provided.

The recognition unit recognizes that the object in the region is a third object when the history of the detection position of the object in the region satisfies a predetermined condition, and the transmission unit is in the region by the recognition unit. When the object is recognized as the third object, the alarm instruction is not transmitted, the history of the detection position of the object in the region does not satisfy a predetermined condition, and the object in the region is the first object. When it is recognized that the object is, an alarm instruction may be transmitted to the device possessed by the first object.

The predetermined condition may include the object in the region staying in the region for a predetermined time or longer.

The predetermined condition may include that the number of times the object in the region has entered the region within a predetermined period in the past is equal to or greater than the predetermined number of times.

When the recognition unit determines that the history of the detection position of the object in the region does not satisfy a predetermined condition, the recognition unit may recognize the object in the region using the detection position.

Further, in order to solve the above problem, according to another viewpoint of the present invention, the detection unit for detecting the position of the object and the detection position which is the position of the object detected by the detection unit are set in advance in the computer. The area determination unit that determines whether or not the object is included in the area set in is the area determination unit, and the object in the area that is the object determined to be included in the area by the area determination unit is a first object having a position estimation device. , And a recognition unit that recognizes which of a plurality of types of objects including a second object that does not have the position estimation device, and the position estimation device that the first object has. A receiving unit for receiving the position information of the first object is provided, and the recognition unit is based on the relationship between the position indicated by the position information received by the receiving unit and the detection position of the object in the region. , A program for functioning as an object recognition device that recognizes an object in the area is provided.

Further, in order to solve the above-mentioned problems, according to another aspect of the present invention, the position estimation device is an object recognition system including a position estimation device of the first object and an object recognition device, and the position estimation device is the above-mentioned. The object recognition device has a position estimation unit that estimates the position of the position estimation device and a transmission unit that transmits position information indicating the position estimated by the position estimation unit to the object recognition device. The detection unit that detects the above, the area determination unit that determines whether or not the detection position, which is the position of the object detected by the detection unit, is included in the preset area, and the area determination unit includes the detection position in the area. The object in the region, which is an object determined to be an object, is any object among a plurality of types of objects including the first object having the position estimation device and the second object not having the position estimation device. The recognition unit includes a recognition unit that recognizes the above, and a reception unit that receives the position information of the first object obtained by the position estimation device of the first object, and the recognition unit receives the reception. An object recognition system is provided that recognizes an object in the area based on the relationship between the position indicated by the position information received by the unit and the detection position of the object in the area.

According to the present invention described above, it is possible to suppress the trouble of pre-registration for realizing appropriate recognition of an object.

It is explanatory drawing which shows the structure of the object recognition system by one Embodiment of this invention. It is explanatory drawing which shows the structure of the object recognition apparatus 20 by one Embodiment of this invention. It is explanatory drawing which shows the history of the detection position of a person. It is explanatory drawing which shows the operation of the object recognition system by one Embodiment of this invention. It is a flowchart which shows the operation of the object recognition apparatus 20. It is a flowchart which shows the operation of the object recognition apparatus 20 by an application example. It is a block diagram which showed the hardware structure of the object recognition apparatus 20.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

Further, in the present specification and the drawings, a plurality of components having substantially the same functional configuration may be distinguished by adding different alphabets after the same reference numerals. For example, a plurality of configurations having substantially the same functional configuration or logical significance are distinguished as necessary, such as mobile terminals 10A and 10B. However, when it is not necessary to particularly distinguish each of the plurality of components having substantially the same functional configuration, only the same reference numerals are given to each of the plurality of components. For example, when it is not necessary to distinguish between the mobile terminals 10A and 10B, each mobile terminal is simply referred to as a mobile terminal 10.

<1. Overview of object recognition system>
An embodiment of the present invention relates to an object recognition system that recognizes an object that has entered a predetermined specific area and issues an alarm according to the recognition result. The object recognition system is applied to work sites such as construction sites and construction sites. At the work site, for safety reasons, there may be areas that only some workers should enter (areas that only some workers should not enter), and such areas are defined as the above-mentioned specific areas. Can be set. Hereinafter, the configuration of the object recognition system according to the embodiment of the present invention will be described with reference to FIG.

FIG. 1 is an explanatory diagram showing a configuration of an object recognition system according to an embodiment of the present invention. As shown in FIG. 1, the object recognition system according to the embodiment of the present invention includes a plurality of mobile terminals 10, an alarm 16, and an object recognition device 20.

The mobile terminal 10 is a device possessed by a worker working at the work site P. In the example shown in FIG. 1, the person XA and the person XB are workers, the person XA has a mobile terminal 10A, and the person XB has a mobile terminal 10B.

The mobile terminal 10 has a function as a position estimation device for estimating the current position. The method by which the mobile terminal 10 estimates the current position is not particularly limited. For example, the mobile terminal 10 may estimate the current position by the GPS function, or may estimate the current position by using the radio wave strength of WiFi. The mobile terminal 10 transmits the position information indicating the estimated current position to the object recognition device 20.

Further, the mobile terminal 10 has a function of issuing an alarm, and issues an alarm in response to an alarm instruction from the object recognition device 20. In this specification, an example in which the same mobile terminal 10 has a position estimation function and an alarm function will be described, but the position estimation function and the alarm function may be provided in separate devices.

At the work site P, there may be a worker who is an example of the first object and a non-worker who is an example of the second object. In the example shown in FIG. 1, the person XC is a non-worker, and the person XC who is a non-worker does not have the mobile terminal 10.

The alarm 16 is a device installed at the work site P. The alarm device 16 issues an alarm in response to an alarm instruction from the object recognition device 20.

The object recognition device 20 detects the position of each person in the work site P and recognizes whether the person (person in the area) included in the specific area Q is a worker or a non-worker. The recognition is performed based on the relationship between the detection position of a person in the area and the position indicated by the position information received from the mobile terminal 10, as will be described in detail later. Then, the object recognition device 20 transmits an alarm instruction instructing the output of the alarm to the mobile terminal 10 and the alarm device 16 according to the recognition result of the person.

(Arrangement of issues)
As a method for recognizing whether or not a person is a worker, a method in which worker information is registered in advance and the person is recognized using the registered information can be considered. For example, a person can be recognized by registering the face or clothes of each worker in advance and comparing the registered face or clothes with the person included in the captured image.

However, the number of workers often increases or decreases during the work period. In the above method, it is necessary to review the registered contents and the like each time the number of workers is increased or decreased, and there is a problem that the labor for the review is complicated.

The present inventor has come to create an embodiment of the present invention with the above circumstances as the first point of view. According to the embodiment of the present invention, it is possible to suppress the trouble of pre-registration for realizing appropriate recognition of a person. Hereinafter, the configuration and operation of the object recognition device 20 according to the embodiment of the present invention will be sequentially described in detail.

<2. Configuration of object recognition device>
FIG. 2 is an explanatory diagram showing a configuration of an object recognition device 20 according to an embodiment of the present invention. As shown in FIG. 2, the object recognition device 20 according to the embodiment of the present invention includes a communication unit 220, a detection unit 230, a display unit 240, an operation unit 250, a storage unit 260, and a control unit 270.

(Communication unit 220)
The communication unit 220 communicates various information with other devices. For example, the communication unit 220 functions as a receiving unit that receives the position information of the mobile terminal 10 (a person having the mobile terminal 10) obtained from the mobile terminal 10 from the mobile terminal 10. Further, the communication unit 220 functions as a transmission unit that transmits an alarm instruction to the mobile terminal 10 and the alarm device 16 according to the control from the control unit 270.

(Detection unit 230)
The detection unit 230 detects the position of each person. For example, the detection unit 230 may have a 360-degree camera and a LiDAR (Light Detection and Ranger).

(Display unit 240)
The display unit 240 displays various screens according to the control from the control unit 270. For example, the display unit 240 displays an image of the work site P obtained by the detection unit 230.

(Operation unit 250)
The operation unit 250 is configured to be operated by the operator of the object recognition device 20 to input instructions or information to the object recognition device 20. For example, by operating the operation unit 250, the operator can specify the movable range of the construction vehicle, the restricted entry location, and the like on the image of the work site P displayed on the display unit 240.

(Memory unit 260)
The storage unit 260 stores information used for the operation of the object recognition device 20. For example, the storage unit 260 stores coordinate information indicating a specific area and position information received from the mobile terminal 10 by the communication unit 220. Further, the storage unit 260 stores the history of the detection position of the person detected by the detection unit 230.

FIG. 3 is an explanatory diagram showing a specific example of the history of the detection position of a person stored in the storage unit 260. As shown in FIG. 3, the storage unit 260 stores the detection position of each person for each time. For example, the detection position of the person A changes from time t1 to t4 to position A1, position A2, position A3, and position A4.

(Control unit 270)
The control unit 270 controls the overall operation of the object recognition device 20. For example, the control unit 270 controls the communication performed by the communication unit 220, the display of the display unit 240, the recording of information in the storage unit 260, and the like. In particular, the control unit 270 according to the embodiment of the present invention includes the functions of the area setting unit 272, the area determination unit 274, and the recognition unit 276, as shown in FIG.

The area setting unit 272 sets a specific area and records coordinate information indicating the specific area in the storage unit 260. As described above, the operator of the object recognition device 20 can specify the movable range of the construction vehicle, the restricted entry location, and the like on the image of the work site P displayed on the display unit 240 by operating the operation unit 250. .. The area setting unit 272 sets the range and location designated by the operator as a specific area.

The area determination unit 274 determines whether or not the position of each person detected by the detection unit 230 is included in the specific area. That is, the area determination unit 274 reads out the coordinate information indicating the specific area from the storage unit 260, and the detection position of each person is included in the specific area depending on whether or not the coordinate information of the specific area and the detection position of each person overlap. Determine if it is possible.

The recognition unit 276 recognizes whether the person in the area, which is the person determined to be included in the specific area by the area determination unit 274, is a worker or a non-worker. As described above, it is assumed that the worker has the mobile terminal 10 and the non-worker does not have the mobile terminal 10. According to this assumption, when the person in the area is a worker, it is considered that the position information indicating the position near the detection position of the person in the area is received from any of the mobile terminals 10. On the other hand, when the person in the area is a non-worker, it is considered that the position information indicating the position near the detection position of the person in the area is not received from any of the mobile terminals 10.

Therefore, the recognition unit 276 determines the difference between the position closest to the detection position of the person in the area and the detection position of the person in the area among the positions indicated by the position information received from each mobile terminal 10 by the communication unit 220. calculate.

Then, the recognition unit 276 recognizes that the person in the area is a worker based on the calculated difference being less than the threshold value, and determines that the person in the area is a non-worker based on the difference being greater than or equal to the threshold value. recognize. For example, in the example shown in FIG. 1, since the position information of the mobile terminal 10B is received from the mobile terminal 10B of the person XB included in the specific area Q, the position indicated by the position information and the detection position of the person XB The difference is less than the threshold and the person XB is recognized as a worker. On the other hand, regarding the person XC, the position indicated by the position information received from the mobile terminal 10A is the closest to the detection position of the person XC, but the difference between the two is equal to or more than the threshold value, and the person XC is recognized as a non-worker. ..

Further, the recognition unit 276 instructs the communication unit 220 to transmit an alarm instruction according to the recognition result of the person in the area. For example, when the recognition unit 276 recognizes that the person in the area is a worker, the recognition unit 276 transmits an alarm instruction instructing the output of the alarm to the mobile terminal 10 owned by the person in the area. With such a configuration, since the mobile terminal 10 owned by the person in the area issues an alarm, it is possible to make the person in the area recognize that he / she is in the specific area.

On the other hand, when the recognition unit 276 recognizes that the person in the area is a non-worker, the recognition unit 276 transmits an alarm instruction to the mobile terminal 10 and the alarm device 16 possessed by each worker. With this configuration, the mobile terminal 10 and the alarm device 16 of each worker issue an alarm, so that the worker around the non-worker recognizes that the non-worker has entered the specific area, for example, the worker. Can speak to non-workers.

<3. Operation>
The configuration of the object recognition device 20 according to the embodiment of the present invention has been described above. Subsequently, with reference to FIGS. 4 and 5, the operation of the object recognition system according to the embodiment of the present invention will be organized.

FIG. 4 is an explanatory diagram showing the operation of the object recognition system according to the embodiment of the present invention. As shown in FIG. 4, first, the area setting unit 272 of the object recognition device 20 sets a specific area based on the operation on the operation unit 250 (S304). Further, the mobile terminal 10 transmits the position information of the mobile terminal 10 obtained by the mobile terminal 10, and the communication unit 220 of the object recognition device 20 receives the position information (S308). Then, the storage unit 260 stores the position information (S312).

Further, the detection unit 230 of the object recognition device 20 detects the current position of the person (S316), and the storage unit 260 of the object recognition device 20 stores the detection position of the person obtained by the detection unit 230 (S320).

After that, the area determination unit 274, the recognition unit 276, and the like perform area determination, person recognition, and the like (S330), and transmit an alarm instruction to the mobile terminal 10 and the alarm device 16 via the communication unit 220 according to the determination result (S330). S344, S348, S352). Hereinafter, with reference to FIG. 5, the processes of S330 to S352 will be organized in more detail.

FIG. 5 is a flowchart showing the operation of the object recognition device 20. The object recognition device 20 performs the operation shown in FIG. 5 for each person. First, the area setting unit 272 reads out the coordinate information indicating the specific area and the detection position of the person from the storage unit 260, and determines whether or not the detection position of the person is included in the specific area (S410). When the detection position of the person is not included in the specific area (S410 / No), the alarm output for the person is not performed and the process ends.

On the other hand, when the detection position of the person is included in the specific area (S410 / Yes), the recognition unit 276 is the closest to the detection position of the person in the area among the positions indicated by the position information received from each mobile terminal 10. The difference between the position and the detection position of the person in the area is calculated (S420). Then, the recognition unit 276 determines whether or not the calculated difference is less than the threshold value (S430).

The recognition unit 276 recognizes that the person in the area is a worker based on the difference being less than the threshold value (S430 / Yes, S440). Then, the recognition unit 276 transmits an alarm instruction instructing the output of the alarm to the mobile terminal 10 owned by the person in the area. That is, the recognition unit 276 transmits an alarm instruction to the mobile terminal 10 which is the source of the position information indicating the position closest to the detection position of the person in the area (S450).

On the other hand, the recognition unit 276 recognizes that the person in the area is a non-worker based on the difference being equal to or greater than the threshold value (S430 / No, S460). Then, the recognition unit 276 transmits an alarm instruction to the mobile terminal 10 and the alarm device 16 of each worker (S470).

As described above, according to one embodiment of the present invention, it is possible to determine whether a person who has entered a specific area is a worker or a non-worker without pre-registering the face and clothes of each worker. It is possible to recognize it properly.

<4. Application example>
In the above embodiment, an alarm can be issued when any worker enters a specific area. In this regard, some workers may enter a specific area, such as a worker in charge of work in a specific area and a transportation worker who transports goods including the specific area in the movement route. There is also a necessary worker (third object). From a certain point of view, it is desirable that an alarm is not issued to a worker who needs to enter such a specific area.

Therefore, as an application example of the above embodiment, a mechanism will be described in which an alarm is not issued when a worker in charge, a transport worker, or the like enters a specific area while suppressing the labor of pre-registration.

The object recognition device 20 according to the application example recognizes that the person in the area is a person in charge or a transportation worker when the history of the detection position described with reference to FIG. 3 regarding the person in the area satisfies a predetermined condition. And do not send alarm instructions. On the other hand, the object recognition device 20 according to the application example is carried by the person in the area when the history of the detection position of the person in the area does not satisfy the predetermined condition and the person in the area is recognized as a non-worker. An alarm instruction is transmitted to the terminal 10. Hereinafter, a more specific description will be given with reference to FIG.

FIG. 6 is a flowchart showing the operation of the object recognition device 20 according to the application example. As shown in FIG. 6, the area setting unit 272 reads out the coordinate information indicating the specific area and the detection position of the person from the storage unit 260, and determines whether or not the detection position of the person is included in the specific area (S410). ). When the detection position of the person is not included in the specific area (S410 / No), the area setting unit 272 resets the staying time counted when the person is staying in the specific area (S510).

On the other hand, when the detection position of the person is included in the specific area (S410 / Yes), the recognition unit 276 confirms the staying time of the person in the specific area (S520). If the staying time is long, it is considered that the person in the area is working in the specific area and has already recognized the specific area. Therefore, when the staying time is longer than a predetermined time (S530 / Yes), the recognition unit 276 recognizes that the person in the area is the worker in charge (S540), and in this case, does not transmit the alarm instruction. As an example of the method of confirming the staying time of the person in the specific area, the recognition unit 276 derives the time length including the detection position (FIG. 3) of the person within the range of the coordinate information indicating the specific area. To do.

When the staying time is less than a predetermined time (S530 / No), the recognition unit 276 measures the number of times a person in the area has entered the specific area within the predetermined period in the past (S550). When the number of intrusions is large, the person in the area is considered to be a transport worker who transports goods including the specific area in the movement route. Therefore, when the number of approaches is equal to or greater than a predetermined number (S560 / Yes), it is recognized that the person in the area is a transport worker and is in the process of transport (S570). In this case as well, no alarm instruction is transmitted. As an example of the method of measuring the number of times the person has entered the specific area, the recognition unit 276 detects the number of times the person's detection position (FIG. 3) fluctuates from outside the range of the coordinate information indicating the specific area to within the range of the coordinate information. Is derived.

When the number of intrusions is less than the predetermined number (S560 / No), the position closest to the detection position of the person in the area among the positions indicated by the position information received from each mobile terminal 10 and the detection of the person in the area are detected. The difference from the position is calculated (S420). Then, the recognition unit 276 determines whether or not the calculated difference is less than the threshold value (S430).

The recognition unit 276 recognizes that the person in the area is a non-in charge worker based on the difference being less than the threshold value (S430 / Yes, S442). Then, the recognition unit 276 transmits an alarm instruction instructing the output of the alarm to the mobile terminal 10 owned by the person in the area. That is, the recognition unit 276 transmits an alarm instruction to the mobile terminal 10 which is the source of the position information indicating the position closest to the detection position of the person in the area (S450).

On the other hand, the recognition unit 276 recognizes that the person in the area is a non-worker based on the difference being equal to or greater than the threshold value (S430 / No, S460). Then, the recognition unit 276 transmits an alarm instruction to the mobile terminal 10 and the alarm device 16 of each worker (S470).

As described above, according to the application example, a predetermined condition that the staying time in the specific area is a predetermined time or more (S530 / No) or the number of intrusions is a predetermined number or more (S560 / No). No alarm is sent if is satisfied. On the other hand, when these predetermined conditions are not satisfied and it is recognized that the person in the area is a non-in charge worker, an alarm instruction is transmitted to the mobile terminal 10 owned by the person in the area. That is, according to the application example, it is possible to automatically recognize the attributes of each worker and appropriately control the transmission of the alarm instruction according to the attributes of the workers without pre-registering the attributes of each worker. It is possible.

<5. Hardware configuration>
The embodiments and application examples of the present invention have been described above. Information processing such as determination of a region and recognition of a person described above is realized by cooperation between software and the hardware of the object recognition device 20 described below.

FIG. 7 is a block diagram showing the hardware configuration of the object recognition device 20. The object recognition device 20 includes a CPU (Central Processing Unit) 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, and a host bus 204. The object recognition device 20 includes a bridge 205, an external bus 206, an interface 207, an input device 208, a display device 209, an audio output device 210, a storage device (HDD) 211, a drive 212, and a network. It includes an interface 215.

The CPU 201 functions as an arithmetic processing device and a control device, and controls the overall operation in the object recognition device 20 according to various programs. Further, the CPU 201 may be a microprocessor. The ROM 202 stores programs, calculation parameters, and the like used by the CPU 201. The RAM 203 temporarily stores a program used in the execution of the CPU 201, parameters that change appropriately in the execution, and the like. These are connected to each other by a host bus 204 composed of a CPU bus or the like. By the collaboration between the CPU 201, ROM 202 and RAM 203 and the software, the function of the control unit 270 described with reference to FIG. 2 can be realized.

The host bus 204 is connected to an external bus 206 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 205. It is not always necessary to separately configure the host bus 204, the bridge 205, and the external bus 206, and these functions may be implemented in one bus.

The input device 208 generates an input signal for the operator to input information such as a mouse, a keyboard, a touch panel, a button, a microphone, a sensor, a switch, and a lever, and an input signal based on the input by the operator, and outputs the input signal to the CPU 201. It is composed of an input control circuit and the like. By operating the input device 208, the operator of the object recognition device 20 can input various data to the object recognition device 20 and instruct the processing operation.

The display device 209 includes, for example, a display device such as a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, a projector device, an OLED (Organic Light Emitting Mode) device, and a lamp. Further, the audio output device 210 includes an audio output device such as a speaker and headphones.

The storage device 211 is a data storage device configured as an example of the storage unit of the object recognition device 20 according to the present embodiment. The storage device 211 may include a storage medium, a recording device that records data on the storage medium, a reading device that reads data from the storage medium, a deleting device that deletes the data recorded on the storage medium, and the like. The storage device 211 is composed of, for example, an HDD (Hard Disk Drive) or SSD (Solid Stage Drive), or a memory having an equivalent function. The storage device 211 drives the storage and stores programs and various data executed by the CPU 201.

The drive 212 is a reader / writer for a storage medium, and is built in or externally attached to the object recognition device 20. The drive 212 reads the information recorded on the removable storage medium 24 such as the mounted magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, and outputs the information to the RAM 203 or the storage device 211. The drive 212 can also write information to the removable storage medium 24.

The network interface 215 is, for example, a communication interface composed of a communication device or the like for connecting to a network. Further, the network interface 215 may be a wireless LAN (Local Area Network) compatible communication device or a wire communication device that performs wired communication.

<6. Supplement>
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to such examples. It is clear that a person having ordinary knowledge in the field of technology to which the present invention belongs can come up with various modifications or modifications within the scope of the technical idea described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

For example, each step in the processing of the object recognition system of the present specification does not necessarily have to be processed in chronological order in the order described as a sequence diagram or a flowchart. For example, each step in the processing of the object recognition system may be processed in an order different from the order described in the flowchart, or may be processed in parallel.

Further, it is possible to create a computer program for causing the hardware such as the CPU, ROM, and RAM built in the object recognition device 20 to exhibit the same functions as each configuration of the object recognition device 20 described above. A storage medium for storing the computer program is also provided.

10 Mobile terminal 16 Alarm 20 Object recognition device 220 Communication unit 230 Detection unit 240 Display unit 250 Operation unit 260 Storage unit 270 Control unit 272 Area setting unit 274 Area judgment unit 276 Recognition unit

Claims (10)

A detector that detects the position of an object and
An area determination unit that determines whether or not the detection position, which is the position of the object detected by the detection unit, is included in the preset area.
A plurality of types of objects in the region, which are objects determined to be included in the region by the region determination unit, include a first object having a position estimation device and a second object not having the position estimation device. A recognition unit that recognizes which of the objects it is,
A receiving unit that receives the position information of the first object obtained by the position estimation device of the first object, and a receiving unit.
With
The recognition unit is an object recognition device that recognizes an object in the region based on the relationship between the position indicated by the position information received by the reception unit and the detection position of the object in the region. The recognition unit recognizes an object in the region based on the difference between the position closest to the detection position among the positions indicated by one or more position information received by the reception unit and the detection position. The object recognition device according to claim 1. The recognition unit recognizes that the object in the region is the first object based on the difference being less than the threshold value, and the object in the region is the second object based on the difference being equal to or more than the threshold value. The object recognition device according to claim 2, which recognizes the object of the above. When the object in the region is recognized as the second object, the object recognition device transmits an alarm instruction instructing the device of each of the plurality of first objects to output an alarm. The object recognition device according to any one of claims 1 to 3, further comprising a unit. The recognition unit recognizes that the object in the region is a third object when the history of the detection position of the object in the region satisfies a predetermined condition.
When the recognition unit recognizes that the object in the region is a third object, the transmission unit does not transmit the alarm instruction, and the history of the detection position of the object in the region satisfies a predetermined condition. The object recognition device according to claim 4, wherein when the object in the area is recognized as the first object, an alarm instruction is transmitted to the device included in the first object. The object recognition device according to claim 5, wherein the predetermined condition includes the object in the region staying in the region for a predetermined time or longer. The object recognition device according to claim 5, wherein the predetermined condition includes that the number of times the object in the area has entered the area within a predetermined period in the past is equal to or more than a predetermined number of times. Any of claims 5 to 7, wherein the recognition unit recognizes the object in the area using the detection position when it is determined that the history of the detection position of the object in the area does not satisfy a predetermined condition. The object recognition device according to item 1. Computer,
A detector that detects the position of an object and
An area determination unit that determines whether or not the detection position, which is the position of the object detected by the detection unit, is included in the preset area.
A plurality of types of objects in the region, which are objects determined to be included in the region by the region determination unit, include a first object having a position estimation device and a second object not having the position estimation device. A recognition unit that recognizes which of the objects it is,
A receiving unit that receives the position information of the first object obtained by the position estimation device of the first object, and a receiving unit.
With
The recognition unit functions as an object recognition device that recognizes an object in the region based on the relationship between the position indicated by the position information received by the reception unit and the detection position of the object in the region. ,program. An object recognition system including a position estimation device and an object recognition device possessed by the first object.
The position estimation device is
It has a position estimation unit that estimates the position of the position estimation device, and a transmission unit that transmits position information indicating the position estimated by the position estimation unit to the object recognition device.
The object recognition device is
Detector that detects the position of an object,
An area determination unit that determines whether or not a detection position, which is a position of an object detected by the detection unit, is included in a preset area.
A plurality of objects in the region, which are objects determined to be included in the region by the region determination unit, include the first object having the position estimation device and the second object not having the position estimation device. A recognition unit that recognizes which of the types of objects it is,
A receiving unit that receives the position information of the first object obtained by the position estimation device of the first object, and a receiving unit.
With
The recognition unit is an object recognition system that recognizes an object in the region based on the relationship between the position indicated by the position information received by the reception unit and the detection position of the object in the region.

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