JP2022043378A - Id information application apparatus, id information application system, and control program - Google Patents

Abstract

To provide an ID information application apparatus, an ID information application system, and a control program that can track a movable body holding a position information device by applying a unique ID of the position information device to the movable body.SOLUTION: An ID information application apparatus 100 comprises: a position information acquisition unit 121 that acquires position information on a position information device 200 held by a movable body; a recognition unit 122 that recognizes position information on the movable body from data obtained from a lidar 110; a determination unit 123 that, from the degree of match between the position information obtained from the position information acquisition unit and the position information recognized by the recognition unit, for each of the movable bodies recognized by the recognition unit, determines whether the movable body is a movable body holding the position information device; an application unit 124 that applies a unique ID associated with the position information device to the movable body holding the position information device determined by the determination unit; and a tracking unit 125 that, by using the position information, determines the locus of the movement of the position information for the movable body applied with the unique ID.SELECTED DRAWING: Figure 1

Description

The present invention relates to an ID information giving device, an ID information giving system, and a control program.

Conventionally, based on the image from the surveillance camera, the behavior of the person being imaged is analyzed, the person whose behavior was an abnormal behavior including cheating, etc. is detected, and the person is notified to the guards, etc. Is being done.

In connection with such a technique, Patent Document 1 discloses a security system 1 including a laser ranging sensor 21, a sensor terminal 2 including a tag reader 22, and a monitoring terminal 3. .. The security system 1 detects a person who has entered the monitoring area by the sensor terminal 2, detects the wireless tag 5 possessed by the person, and notifies the monitoring terminal 3 of the detection result. The monitoring terminal 3 determines the entry of a person into the monitoring area based on the detection result from the sensor terminal 2. Then, from the tag identification code stored in the built-in memory of the wireless tag 5 possessed by this person, it is determined whether or not the person who has entered the monitoring area is an unauthorized suspicious person who does not have the proper authority to enter the monitoring area. do. Then, when the monitoring terminal 3 determines that the person who has entered the monitoring area is a suspicious person, the monitoring terminal 3 notifies the monitoring center device 6 connected via the public communication line of an abnormality indicating that the suspicious person has been detected. ..

Further, in this security system 1, a person identification code is assigned to each detected person, and a position tracking means for recording the position history for each assigned person and tracking the person is further provided. If it is determined that the person does not have a suspicious person, it is retroactively determined from the stored history whether or not a specific action such as entry into a monitoring area is included, and if the specific action is included. Makes an abnormality report.

Japanese Unexamined Patent Publication No. 2013-25529

As described above, in the security system 1 disclosed in Patent Document 1, the tag identification code of the wireless tag 5 and the person identification code automatically generated and assigned to each person who has detected the position are managed separately. I'm tracking. Then, if the person added based on the person identification code from the middle becomes an unauthorized person without legitimate authority to enter the monitoring area without a wireless tag, retroactively from the history of the memorized position. Anomalies are reported by determining whether or not the entry behavior into the monitoring area is included. That is, in the security system 1 of Patent Document 1, the ID used for tracking the position is a person identification code generated each time the position is detected, not a tag identification code of the wireless tag.

The present invention has been made in view of the above circumstances, and is an ID information giving device, an ID information giving system, and an ID information giving system capable of tracking a mobile body possessing a position information device by giving a unique ID of the position information device. The purpose is to provide a control program.

The above object of the present invention is achieved by the following means.

(1) With a rider that measures the distance to a moving object in the monitoring area and generates AF point cloud data.
The location information acquisition unit that acquires the location information of the location information device owned by the mobile body,
A recognition unit that recognizes a moving object in the monitoring area and recognizes the position information of the moving object from the time-series range-finding point cloud data obtained from the rider.
From the degree of coincidence between the position information obtained from the position information acquisition unit and the position information recognized by the recognition unit, for each of the moving bodies recognized by the recognition unit, the moving body possesses the position information device. A judgment unit that determines whether or not it is
An assigning unit that assigns a unique ID associated with the location information device to the mobile body that possesses the location information device determined by the determination unit.
Using the position information recognized by the recognition unit, a tracking unit that obtains a movement locus of position information for the moving body to which the unique ID is given, and a tracking unit.
An ID information giving device comprising.

(2) The unique ID is an ID acquired from the location information device, and is an ID acquired from the location information device.
The ID information granting device according to (1) above, wherein the granting unit assigns a normal ID generated by its own device to a mobile body determined by the determination unit not to possess the position information device.

(3) The ID information giving device according to (2) above, wherein the tracking unit obtains a movement locus of position information for a moving body to which the normal ID is given by using the position information recognized by the recognition unit.

(4) The position information of the position information device acquired by the position information acquisition unit is two-dimensional position information.
The determination unit projects the three-dimensional position information recognized by the recognition unit onto the moving plane of the moving object, converts it into two-dimensional coordinates, and compares it with the position information of the position information device. The ID information giving device according to any one of (3) above.

(5) The ID information giving device according to any one of (1) to (4) above, further comprising a storage unit for storing information on the movement locus.

(6) After the position information cannot be obtained for the moving body having the position information device to which the unique ID is given, the determination unit performs recapture to determine the moving body having the same position information device. If so
In the above (5), the tracking unit accumulates and stores the information on the movement locus of the re-captured moving object in the information on the movement locus stored in the storage unit in association with the unique ID. The described ID information giving device.

(7) An off-limits area is set in the monitoring area.
The storage unit stores the entry authority to the restricted area as the attribute information of the moving object.
Further, a warning unit that outputs an alert signal when the entry of the moving object into the restricted area is detected by the position information of the moving object recognized by the recognition unit is provided.
When the moving body possessing the location information device enters the restricted area, the alarm unit uses the attribute information to determine whether or not the moving body has the authority to enter the restricted area. The ID information giving device according to (5) or (6) above, which does not output the alert signal when the user has the right to enter.

(8) An off-limits area is set in the monitoring area.
Further, a warning unit that outputs an alert signal when the entry of the moving object into the restricted area is detected by the position information of the moving object recognized by the recognition unit is provided.
When the moving body possessing the location information device enters the restricted area, the alarm unit uses the unique ID of the location information device to move with the authority to enter the restricted area. The ID information giving device according to (5) or (6) above, which determines whether or not the body is a body and does not output the alert signal when it has access authority.

(9) The alarm unit sets the off-limits area at or around the position of the moving body holding the unique ID, and another moving body enters the set off-limits area. The ID information giving device according to the above (7) or (8), which outputs the determination and the alert signal accordingly.

(10) A location information device that is held by the mobile and outputs information about location information, and
An ID information giving system including the ID information giving device according to any one of the above (1) to (9).

(11) An ID including a rider that measures the distance to a moving object in the monitoring area and generates AF point group data, and a position information acquisition unit that acquires the position information of the position information device owned by the moving object. A control program executed by a computer that controls an information-giving device.
The step (a) of acquiring the position information of the position information device by the position information acquisition unit, and
The step (b) of performing the measurement in the monitoring area by the rider and generating the AF point cloud group data,
From the time-series distance measurement point cloud data obtained in the step (b), the step (c) of recognizing the moving object in the monitoring area and recognizing the position information of the moving object, and the step (c).
From the degree of coincidence between the position information obtained in the step (a) and the position information recognized in the step (c), the moving body uses the position information device for each of the moving bodies recognized in the step (c). Step (d) to determine whether it is a possessed mobile body and
In the step (e) of assigning a unique ID associated with the position information device to the mobile body having the position information device determined in the step (d).
Using the position information recognized in the step (c), the step (f) for obtaining the movement locus of the position information for the moving body to which the unique ID is given is
A control program for causing a computer to execute an ID information assignment process including.

(12) The unique ID given in the step (e) is an ID acquired from the location information device, and is an ID acquired from the location information device.
The control program according to (11) above, which assigns a normal ID generated in step (e) to a mobile body determined not to possess the position information device in step (d).

According to the present invention, the recognized moving body is the position information device based on the degree of coincidence between the position information of the position information device possessed by the moving body and the position information of the moving body recognized from the range-finding point group data obtained from the rider. It is determined whether or not the mobile body possesses the location information device, a unique ID associated with the location information device is assigned to the mobile vehicle possessing the location information device, and the movement to which the unique ID is assigned using the recognized location information. For the body, find the movement trajectory of the position information. As a result, the rider can track all the moving objects in the monitoring area, and in particular, can track the moving objects possessing the position information device by assigning a unique ID of the position information device.

It is a block diagram which shows the structure of the ID information addition system which concerns on this embodiment. It is a schematic diagram which shows the monitoring area of a rider. It is sectional drawing which shows the schematic structure of a rider. It is a flowchart which shows the ID information addition processing in 1st Embodiment. This is an example of a movement trajectory stored in the storage unit. It is a flowchart which shows the process at the time of lost in 2nd Embodiment. It is a flowchart which shows the ID information addition processing at the time of recapture performed following FIG. This is an example of a movement trajectory accumulated and accumulated after recapture stored in the storage unit. It is a table showing the attribute information of the holder. It is a table which shows the correspondence between a unique ID and a holder ID. It is a flowchart which shows the alerting process in 3rd Embodiment. It is a table showing the attribute information of the holder. It is a table which shows the correspondence relationship between a unique ID and a holder. It is a schematic diagram which shows the monitoring area of a rider.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are designated by the same reference numerals, and duplicate description will be omitted. In addition, the dimensional ratios in the drawings are exaggerated for convenience of explanation and may differ from the actual ratios.

FIG. 1 is a block diagram showing a main configuration of the ID information giving system 10. FIG. 2 is a schematic diagram showing the monitoring area 90 of the rider 110. The ID information giving system 10 includes an ID information giving device 100 and a position information device 200. The ID information giving device 100 communicates with the position information device 300 and the terminal device 400. The ID information giving device 100 includes a rider 110, a processing unit 120, and a storage unit 130.

The lidar 110 (LiDAR: Light Detection and Ringing) measures the distance to the object by the ToF method. The details of the configuration of the rider 110 will be described later. The terminal device 400 is, for example, a PC (personal computer) and displays the tracking result of the ID information giving device 100. In addition, when an alarm is issued, the alert event is recorded or a warning is displayed according to the alert signal.

(Location information devices 200, 300)
In FIG. 2, the mobile body 80 is a mobile body (person) possessing the position information device 200, and the mobile body 85 is a mobile body (person) possessing the position information device 200. In the following, they are also referred to as "device-owned mobile body 80" and "device-non-owned mobile body 85", respectively. The position information device 200 is possessed by the mobile body 80, and is a portable device such as a smartphone, a transmission tag, or the like. The position information device 200 cooperates with the position information device 300 to detect the position information of the position information device 200 itself, that is, the position information of the moving body 80. Further, a unique ID is stored in the internal memory of the position information device 200. The unique ID is associated with the location information device 200 in advance, and is stored in the memory of the location information device 200 in advance. This unique ID is stored, for example, in a non-rewritable state. For example, the MAC address of the location information device 300 may be used as the unique ID.

For the position information devices 200 and 300, known techniques of various kinds can be applied. For example, technologies such as BLE (Bluetooth (registered trademark) Low Energy) beacon (Beacon), Wifi positioning device, UWB (Ultra Wide Band) positioning device, ultrasonic positioning device, GPS (Global Positioning System), and the like can be applied.

When the BLE beacon technology is applied, as shown in FIG. 2, a plurality of (for example, three) position information devices 300 are monitored in a monitoring area so that most of the monitoring area 90 of the rider 110 is a detection area. Place around 90. Then, a beacon signal including the unique ID of the position information device 200 is transmitted from the position information device 200 as a transmitter at predetermined intervals. Then, the position information device 300 as a receiver estimates the distance from the intensity of the beacon signal from the position information device 200. Then, the position of the position information device 200 is specified according to the arrangement position information of the plurality of fixedly arranged position information devices 300 and the distance from the position information device 300. The position information device 300 transmits the position information of the specified position information device 200 and the unique ID to the ID information giving device 100.

The conversion (integration) from the coordinate system (XY'or X'Y'Z') of the position information devices 200 and 300 to the coordinate system (XYZ) of the rider 110 is performed by the local coordinate system of the position information device. Is stored in the storage unit 130 in advance. Then, by using the stored local coordinate system to convert the position information of the position information device 200 into the global coordinate system (XYZ) of the rider 110, the position information in the coordinate system (XYZ) of the rider 110 (XYZ). The degree of coincidence with the XYZ coordinates), which will be described later, is determined.

Further, in the case of Wifi positioning technology, the position information device 200 possessed by the mobile body 80 functions as a receiver, and a plurality of position information devices 300 which are access points function as a transmitter. The position information device 200 receives a beacon signal of a radio wave having a band of 2.4 GHz (or 5 GHz) transmitted from the position information device 300, and estimates the distance to each access point based on this signal strength. The position information device 200 itself may detect the position information. Further, by the same method, a technique of a UWB positioning device using radio waves of different bands or an ultrasonic positioning device using a sound wave radar outside the audible region may be applied. With the technology of this UWB speed device and the ultrasonic positioning device, three-dimensional position information can be obtained. Further, if the monitoring area 90 is outdoors, GPS technology can be applied. In this case, the position information device 300 is unnecessary and can be configured only by the position information device 200, and the position information device 200 itself detects the position by radio waves received from three or more (for example, four) GPS satellites. .. In these Wifi positioning, UWB positioning, ultrasonic positioning, and GPS technologies, the position information device 200 functions as a receiver, and the position information detected by the position information device 200 is given to the ID information adding device together with the unique ID of the own device. Send to 100.

(Rider 110)
FIG. 3 is a cross-sectional view showing a schematic configuration of the rider 110. The rider 110 in each direction according to the time interval from irradiating the monitoring area 90 shown in FIG. 2 with the laser light directed to the plurality of directions to receiving the reflected light from the object of the laser light. Measure the distance to the object. This laser light is, for example, infrared light (about 800 to 1000 nm). Further, the measurement accuracy of the position information by the rider 110 is sufficiently higher than the measurement accuracy of the position information detected by the position information devices 200 and 300. For example, the measurement accuracy of the rider 110 is one digit or more higher than the measurement accuracy of the position information devices 200 and 300.

As shown in FIG. 3, the lidar 110 has a light emitting / receiving unit 111 and a AF point cloud data generation unit 112. The light emitting / receiving unit 111 includes a semiconductor laser 51, a collimating lens 52, a mirror unit 53, a lens 54, a photodiode 55, a motor 56, and a housing 57 that houses each of these components. A AF point cloud data generation unit 112 is arranged in the housing 57. The AF point cloud data generation unit 112 is composed of a plurality of pixels indicating the distribution of the distance value to the object in the measurement space (in the monitoring area) based on the received light signal. Simply generate "measurement data"). This range-finding point cloud data is also called a distance image or a distance map.

The semiconductor laser 51 emits a pulsed laser light beam. The collimating lens 52 converts the divergent light from the semiconductor laser 51 into parallel light. The mirror unit 53 scans and casts the laser beam parallel to the collimating lens 52 toward the measurement region by the rotating mirror surface, and reflects the reflected light from the object. The lens 54 collects the reflected light from the object reflected by the mirror unit 53. The photodiode 55 receives the light collected by the lens 54 and has a plurality of pixels arranged in the Y direction. The motor 56 rotates and drives the mirror unit 53.

The AF point cloud data generation unit 112 controls the operation of the light emitting / receiving unit 111 to generate continuous frames (distance cloud point cloud data) at a predetermined cycle (for example, several to 20 Hz). The AF point cloud data generation unit 112 obtains distance information (distance value) based on the time interval (time difference) between the emission timing of the semiconductor laser 51 of the lidar 110 and the light receiving timing of the photodiode 55. The AF point group data generation unit 112 is composed of a CPU (Central Processing Unit) and a memory, and obtains the AF point group data by executing various processes by executing a program stored in the memory. , A dedicated hardware circuit for generating AF point group data may be provided. The AF point cloud data generation unit 112 may be omitted, and the processing unit 120, which will be described later, may be responsible for this function. In this case, the rider 110 simply outputs the light receiving signal corresponding to each pixel to the ID information giving device 100.

In the present embodiment, the semiconductor laser 51 and the collimating lens 52 form an emitting unit 501, and the lens 54 and the photodiode 55 form a light receiving unit 502. It is preferable that the optical axes of the light emitting unit 501 and the light receiving unit 502 are orthogonal to the rotation axis 530 of the mirror unit 53.

The box-shaped housing 57 fixed to a rigid pillar 62 or the like has an upper wall 57a, a lower wall 57b facing the upper wall 57a, and a side wall 57c connecting the upper wall 57a and the lower wall 57b. Have. An opening 57d is formed in a part of the side wall 57c, and a transparent plate 58 is attached to the opening 57d.

The mirror unit 53 has a shape in which two quadrangular pyramids are joined in opposite directions and integrated, that is, four pairs (but not limited to four pairs) of mirror surfaces 531a and 531b tilted in a pair and facing each other. ) Have. The mirror surfaces 531a and 531b are preferably formed by depositing a reflective film on the surface of a resin material (for example, PC (polycarbonate)) in the shape of a mirror unit.

The mirror unit 53 is connected to a shaft 56a of a motor 56 fixed to a housing 57 and is rotationally driven. In the present embodiment, for example, in a state of being installed on the pillar 62, the axis (rotational axis) of the axis 56a extends in the Z direction which is the vertical direction, and is formed by the X direction and the Y direction orthogonal to the Z direction. Although the XY plane is a horizontal plane, the axis of the axis 56a may be tilted with respect to the vertical direction.

Next, the object detection principle of the rider 110 will be described. In FIG. 3, the divergent light emitted intermittently in a pulse shape from the semiconductor laser 51 is converted into a parallel light flux by the collimating lens 52 and incident on the first mirror surface 531a of the rotating mirror unit 53. After that, it is reflected by the first mirror surface 531a, further reflected by the second mirror surface 531b, and then transmitted through the transparent plate 58 and directed toward the external measurement space, for example, as a laser spot light having a vertically long rectangular cross section. Be lit. The direction in which the laser spot light is emitted and the direction in which the emitted laser spot light is reflected by the object and returned as reflected light overlap, and these two overlapping directions are referred to as light emitting and receiving directions (in addition, the figure). In No. 3, for the sake of clarity, the emitted light and the reflected light are shown in a staggered manner in the drawing). Laser spot light traveling in the same light emitting / receiving direction is detected by the same pixel.

Here, in the combination of the pair of mirrors of the mirror unit 53 (for example, the first mirror surface 531a and the second mirror surface 531b), the four pairs have different crossing angles. The laser beam is sequentially reflected by the rotating first mirror surface 531a and the second mirror surface 531b. First, the laser light reflected by the first pair of the first mirror surface 531a and the second mirror surface 531b moves the uppermost region of the measurement space in the horizontal direction (“main scanning direction”” according to the rotation of the mirror unit 53. Also called), it is scanned from left to right. Next, the laser light reflected by the second pair of the first mirror surface 531a and the second mirror surface 531b horizontally covers the second region from the top of the measurement space from left to right according to the rotation of the mirror unit 53. Is scanned to. Next, the laser light reflected by the third pair of the first mirror surface 531a and the second mirror surface 531b horizontally covers the third region from the top of the measurement space from left to right according to the rotation of the mirror unit 53. Is scanned to. Next, the laser beam reflected by the 4th pair of the first mirror surface 531a and the second mirror surface scans the lowest region of the measurement space horizontally from left to right according to the rotation of the mirror unit 53. Will be done. This completes one scan of the entire measurement space (monitoring area 90) that can be measured by the rider 110. The images obtained by scanning these four regions are combined to obtain one frame. Then, after the mirror unit 53 makes one rotation, it returns to the first pair of the first mirror surface 531a and the second mirror surface 531b again, and thereafter, scanning from the top region to the bottom region of the measurement space (this). The vertical direction is also referred to as the "sub-scanning direction"), and the next frame is obtained.

In FIG. 3, a part of the laser beam reflected by hitting the object among the light rays projected by scanning is transmitted through the transparent plate 58 again and incident on the second mirror surface 531b of the mirror unit 53 in the housing 57. Here, it is reflected, further reflected by the first mirror surface 531a, condensed by the lens 54, and detected for each pixel on the light receiving surface of the photodiode 55. Further, the AF point cloud data generation unit 112 obtains distance information according to the time difference between the emission timing of the semiconductor laser 51 and the light reception timing of the photodiode 55. As a result, it is possible to detect an object in the entire area in the measurement space and obtain a frame as distance measurement point cloud data having distance information for each pixel. This frame is generated at a predetermined period, for example, 10 fps. Further, according to the user's instruction, the obtained AF point cloud data is stored as background image data in the memory in the AF point cloud data generation unit 112 or in the memory (storage unit 130) of the ID information giving device 100. May be good.

(Processing unit 120)
With reference to FIG. 1 again, the processing unit 120 and the storage unit 130 of the ID information giving device 100 will be described. The processing unit 120 is, for example, a computer and includes a CPU, a memory (semiconductor memory, magnetic recording medium (hard disk, etc.)), an input / output unit (display, keyboard, etc.), a communication I / F (Interface), and the like. The communication I / F is an interface for communicating with an external device. For communication, a network interface according to a standard such as Ethernet (registered trademark), SATA, PCI Express, USB, or IEEE 1394 may be used. Further, a wireless communication interface such as Bluetooth (registered trademark), 802.11, or 4G may be used for communication.

The processing unit 120 includes an acquisition unit 121, a recognition unit 122, a determination unit 123, a grant unit 124, a tracking unit 125, and an alarm unit 126.

(Acquisition unit 121)
The acquisition unit 121 is composed of a communication I / F and also functions as a position information acquisition unit. The acquisition unit 121 acquires the location information of the location information device 200 in the monitoring area 90 and the unique ID stored in the memory of the location information device 200 directly from the location information device 200 or from the location information device 300. ..

Further, the acquisition unit 121 acquires the range-finding point cloud data (also referred to as a frame) arranged in time series, which is generated by measuring the inside of the monitoring area 90 from the rider 110. For example, the frame rate of the rider 110 is 10 fps.

(Recognition unit 122)
The recognition unit 122 recognizes an object in the monitoring area 90 using the AF point cloud data acquired via the acquisition unit 121. The object information generated by recognition includes at least the position and size of the object. For this position information, the three-dimensional center position of the recognized object can be used. In this embodiment, for example, the background subtraction method is adopted for recognizing an object. In this background subtraction method, background image data (also referred to as reference background data) generated in advance and stored in a memory is used.

The function of recognizing an object of the recognition unit 122 will be described. The recognition unit 122 compares the background image data stored in the memory with the current focus point cloud data, and if a difference occurs, some object (foreground object) such as a vehicle is in the monitoring area 90. You can recognize that it appeared in. For example, foreground data is extracted by comparing the background image data with the current range-finding point cloud data (distance image data) using the background subtraction method. Then, the pixels (pixel group) of the extracted foreground data are divided into clusters according to, for example, the distance value of the pixels. Then, the size of each cluster is calculated. For example, the vertical dimension, the horizontal dimension, the total area, and the like are calculated. The "size" here is an actual size, and is different from the apparent size (angle of view, that is, the spread of pixels), and a mass of pixel groups is determined according to the distance to the object. For example, the recognition unit 122 determines whether or not the calculated size is equal to or less than a predetermined size threshold value for specifying the moving object to be analyzed to be extracted. The size threshold can be arbitrarily set depending on the measurement location, the behavior analysis target, and the like. If the behavior is analyzed by tracking the vehicle or the person, the minimum value of each size of the vehicle or the person may be set as the size threshold value in the case of clustering. This makes it possible to exclude dust such as fallen leaves and plastic bags, or small animals from the detection target.

The detection of the movement locus (moving object tracking) searches for whether or not the same object (in comparison of size and shape) as the object clustered with the AF point cloud data of the current frame was in the previous frame. Then, if the same object is in the previous frame, the position of the previous frame of the object is compared with the position of the current frame, and if it is within the distance expected from the moving direction and speed of the object, in the previous and next frames. It can be determined that both objects are the same object.

Further, at this time, the pixels constituting the shape may be finely extracted, but one rectangular parallelepiped surrounding the entire object (entire moving object) or several (for example, two or three) rectangular parallelepipeds are synthesized. It may be clustered as a solid. In the present embodiment described below, as shown in FIG. 2, one moving body 80 (or moving bodies 81, 85) having a bottom surface parallel to the ground (virtual ground or XY plane) is surrounded. It shall be clustered as a rectangular parallelepiped.

(Judgment unit 123)
The determination unit 123 determines, for each of the one or a plurality of mobile bodies recognized by the recognition unit 122, whether it is the mobile body 80 possessed by the device or the mobile body 85 possessed by the device. Specifically, the determination unit 123 includes the position information of the position information device 200 acquired by the acquisition unit 121 (hereinafter, also referred to as “position information a”) and the position information of the moving body recognized by the recognition unit 122 (hereinafter, also referred to as “position information a”). The degree of coincidence with "position information b") is determined. If there are a plurality of moving objects recognized by the recognition unit 122, the determination of the degree of coincidence is made for each of them. In addition, when the recognition process is continuously performed, the determination of the matching degree can be omitted for the moving body that has already been recognized, and the determination of the matching degree is made only for the newly appearing moving body. You just have to do. The degree of coincidence is the degree of degree of coincidence between the position information a and the position information b, and is calculated based on the relative positional relationship between the two. For example, if the position information a and the position information b are both three-dimensional data, it is determined whether or not the center distance between the two is equal to or less than a predetermined threshold value. This threshold value can be appropriately set according to the detection accuracy of the position information a and b. If the position information a is two-dimensional and the position information b is three-dimensional data, the degree of coincidence is determined by using the three-dimensional position information b as a two-dimensional (XY plane) which is a moving plane of the moving body. Project to. Then, the determination is made based on the distance between the position after projection and the position information a. Specifically, the coordinates of the rectangular parallelepiped surrounding the moving body are used as the position information b, and if the position information a is included in the area obtained by converting the rectangular parallelepiped into two-dimensional coordinates, the position information a and the position information b match. It is determined that it is. Further, if the detection accuracy of the position information a obtained by the position information device 200 is low (for example, several meters), it is determined that the position information a and the position information b match within a predetermined distance according to the detection accuracy. ..

(Granting unit 124)
The granting unit 124 assigns a unique ID to the mobile body 80 possessed by the device determined by the determination of the determination unit 123. This unique ID is a unique ID stored in the internal memory of the position information device 200 acquired by the acquisition unit 121. Further, an ID automatically created by the own device (hereinafter referred to as "normal ID" to distinguish it from a unique ID) is assigned to the mobile body 85 that does not possess the device. The normal ID created by the assigning unit 124 is a unique character string in which alphanumerical characters are combined, and is, for example, a continuous number.

(Tracking unit 125)
The tracking unit 125 tracks the position information of the mobile body 80 owned by the device recognized by the recognition unit 122, associates it with the unique ID, and stores it in the storage unit 130. Further, the tracking unit 125 tracks the position information of the mobile body 85 not possessed by the device, which is recognized by the recognition unit 122. Further, the tracked position information may be stored in the storage unit 130 in association with the normal ID.

(Notification unit 126)
The reporting unit 126 determines whether or not the mobile bodies 80 and 85 have entered the restricted area from the position information of the mobile bodies 80 and 85 tracked by the tracking unit 125, and when the tracking unit 125 determines entry (entry). , The alarm signal is transmitted to the terminal device 400. Further, the alarm unit 126 does not output an alarm signal even if there is an entry into the restricted area if the moving body 80 is a person who is permitted to enter the restricted area by referring to the attribute information. You may do so. For example, if the mobile body 80 is an authorized security guard, the alarm signal is not transmitted even if it is determined to enter the restricted area. The transmission destination of the alarm signal is not limited to the terminal device 400, but may be a speaker or a warning lamp arranged inside or around the monitoring area 90. By transmitting a warning signal to these, a warning sound may be output or a warning lamp may be turned on. Further, as a destination, a shipping signal (warning mail) may be sent to the mobile terminal of the administrator registered in advance.

(Memory unit 130)
The storage unit 130 is composed of a semiconductor memory and a magnetic recording medium (hard disk or the like), and stores various types of data. The storage unit 130 stores the settings of the "movement locus" associated with the unique ID tracked by the tracking unit 125, the "attribute information" of the moving body 80, and the "no-go area". Further, the storage unit 130 stores a table describing the correspondence between the position information device 200 and the mobile body 80 holding the position information device 200. Further, the storage unit 130 stores one frame of reference background data used for the recognition process of the determination unit 123 described above.

(ID information imparting process of the first embodiment)
Next, with reference to FIGS. 4 to 6, the ID information giving process executed by the ID information giving system 10 according to the first embodiment will be described. FIG. 4 is a flowchart showing the ID information addition process. FIG. 5 is an example of a movement locus (transition of position information) stored in the storage unit 130.

(Step S101)
If the mobile body 80 possessed by the device exists in the monitoring area 90, the acquisition unit 121 obtains the unique ID of the position information device 200 possessed by the mobile body 80 and the position information a via the position information device 300. get. As described above, if the position information device 200 is configured to function as a receiver using wifi positioning technology or the like, the unique ID and the position information are directly received from the position information device 200.

(Step S102)
The lidar 110 scans the inside of the monitoring area 90 to perform measurement and generate AF point cloud data. The acquisition unit 121 acquires the AF point cloud group data of a plurality of frames arranged in chronological order from the rider 110.

(Step S103)
The recognition unit 122 recognizes the moving object from the range-finding point cloud group data of the plurality of frames obtained in step S102, and acquires the position information b thereof. It should be noted that at least the processes of steps S102 and S103 are continuously performed in a predetermined cycle (for example, both 0.1 sec cycle) in real time.

(Step S104)
The determination unit 123 determines the degree of coincidence between the position information a obtained in step S101 and the position information b obtained in step S103. If there are a plurality of moving objects recognized in step S103, the determination of the degree of coincidence is determined for each of them. The determination of the degree of coincidence can be performed, for example, by projecting the three-dimensional position information b onto a two-dimensional plane (XY plane) and comparing the projected position information b'with the two-dimensional position information a. If the position information b'includes the position information a, or if the position information b'and the position information a are within the distance range in consideration of the detection accuracy, it is determined that both position information match. Then, when it is determined that the position information matches, it is determined that the mobile body recognized by the recognition unit 122 is the mobile body 80 owned by the device.

(Step S105)
If the mobile body is the mobile body 80 possessed by the device (YES), the processing unit 120 proceeds to the process in step S106, and if the mobile body is the mobile body 85 not possessed by the device (NO), the process proceeds to step S107.

(Step S106)
The assigning unit 124 assigns the unique ID of the position information device 200 possessed by the mobile body 80 to the mobile body 80 possessed by the device. For example, when the MAC address is used as it is as the unique ID, the unique ID of 6-byte data is assigned.

(Step S107)
The assigning unit 124 assigns a normal ID such as a serial number automatically created by the own device to the mobile body 85 not possessed by the device. As shown in FIG. 2, the automatically generated IDs 01 to 02 are assigned to the mobile body 85 not possessing the device.

(Step S108)
The tracking unit 125 obtains a movement locus for each of the moving body 80 to which the unique ID is given in step S106 and the moving body 85 to which the normal ID is given in step S107, and stores this in association with the unique ID or the normal ID. It is stored in the unit 130, and the process is terminated (end).

FIG. 5 is data of a movement locus of a moving body 80 to which a certain unique ID (for example, ID1xx01) is stored in the storage unit 130. In the example of the figure, the transition of the position information of the moving body 80 every second is stored as the moving locus. Further, the tracking unit 125 may obtain a movement locus for the moving body 85 to which the normal ID is given in step S107 and store it in the storage unit 130.

As described above, in the first embodiment, the movement recognized from the degree of coincidence between the position information of the position information device possessed by the moving body and the position information of the moving body recognized from the range-finding point group data obtained from the rider. Determine if the body is a mobile body possessing a location information device. Then, if the mobile body possesses the position information device, a unique ID associated with the position information device is assigned, and thereafter, the movement locus of the moving body to which the unique ID is given is obtained. By doing so, it is possible to track a moving object having a location information device by assigning a unique ID of the location information device. In addition, it is possible to confirm later what kind of behavior the mobile body to which the unique ID has been given has performed.

(ID information imparting process of the second embodiment)
Next, with reference to FIGS. 6 to 8, the ID information giving process executed by the ID information giving system 10 according to the second embodiment will be described. In the ID information imparting process according to the second embodiment described below, the mobile body 80 hides behind an obstacle in the monitoring area 90 (passes behind) or temporarily goes out of the monitoring area 90. This is a process to be performed when a moving object cannot be recognized (lost). 6 and 7 are flowcharts showing the ID information imparting process according to the second embodiment, and are the processes performed following the process of FIG. FIG. 8 is an example of a movement locus accumulated and accumulated after recapture stored in the storage unit 130.

(Step S201)
In the process of FIG. 6, first, the movement locus of the moving body is accumulated in the storage unit 130. This process is the same as the process of step S108. The tracking unit 125 obtains a movement locus for the moving body 80 to which the unique ID is given and the moving body 85 to which the normal ID is given, and stores the moving locus in association with each ID in the storage unit 130.

(Step S202)
When the tracked moving object is lost (YES), the tracking unit 125 advances the process to step S203, and if the tracked moving object can be continuously tracked without being lost (NO), the tracking unit 125 repeats the process of step S201.

(Step S203)
The tracking unit 125 excludes the lost mobile object from the tracking target and ends the process (end).

(Step S301)
FIG. 7 is a process performed after FIG. 6 or in parallel with the process of FIG. In the first step S301, when the recognition unit 122 captures a new moving object from the range-finding point cloud data obtained by the rider 110 (YES), the process proceeds to step S302. For example, when the object enters the monitoring area 90 from the outside, or when an object that has been hidden behind an obstacle appears by moving.

(Step S302)
Here, the acquisition unit 121 acquires the position information a of the position information device 200 and the unique ID from the position information device 300 in the same manner as in step S101.

(Step S303)
Here, the determination unit 123 captures from the degree of coincidence between the position information b of the moving body captured in step S301 and the position information a of the position information device 200 acquired in step S302 by the same processing as in step S104. It is determined whether or not the new mobile body is the mobile body 80 owned by the device.

(Step S304)
If the mobile body is the mobile body 80 possessed by the device (YES), the processing unit 120 proceeds to the process in step S306, and if the mobile body is the mobile body 85 not possessed by the device (NO), the process proceeds to step S305.

(Step S305)
The assigning unit 124 assigns a normal ID such as a serial number automatically created by the own device to the newly captured mobile body 85 that does not possess the device.

(Step S306)
The granting unit 124 searches the storage unit 130, and if there is a history of the movement locus of the newly captured mobile body 80 owned by the device, that is, a history of the movement locus associated with the unique ID (YES), the process is stepped. If there is no history (NO), the process proceeds to step S307.

(Step S307)
Here, as in step S108, the tracking unit 125 obtains a movement locus for the newly captured moving body 80 to which the unique ID is given, or the newly captured moving body 85 to which the normal ID is given, and obtains the movement locus. It is stored in the storage unit 130 in association with the unique ID or the normal ID.

(Step S308)
The tracking unit 125 obtains a movement locus for the newly captured moving body 80, and stores and stores this in the history of the movement locus associated with the unique ID so far. FIG. 8 is an example of a movement locus accumulated and accumulated after recapture stored in the storage unit 130 by the process of step S308. The data shown in the figure is the data of the same mobile body 80 (ID1xx01) as in FIG. In FIG. 8, lost occurred at time 9:23:26 and then recaptured at time 9:23:31. With reference to FIG. 8, it can be understood that the movement locus after recapture is accumulated and accumulated in the data of the movement locus up to that point.

In the case of the mobile body 85 that does not possess the device, it is difficult to associate it with the original normal ID even if it is lost and then recaptured. In this case, the ID information assigning system 10 (without recognizing that it has been recaptured) assigns a newly generated normal ID to the newly captured mobile body 85 to provide location information. Track.

In this way, when the position information of the moving body 80 is tracked by scanning the rider 110, even if the moving body 80 is lost, the same movement is performed if the unique ID is common when the moving body 80 is recaptured. The locus can be accumulated and continuously memorized as the body 80. As a result, the movement locus of the moving body 80 can be reproduced more accurately later.

(Notification processing of the third embodiment)
Next, with reference to FIGS. 9 to 11, the alarm processing executed by the ID information giving system 10 according to the third embodiment will be described. In the alarm processing of the third embodiment described below, the setting of the restricted area stored in the storage unit 130 and the attribute information describing the access authority to the restricted area are used in this area. When a moving object enters the area, an alarm is given according to the moving object.

Here, as shown in FIG. 2, a plurality of off-limits areas having different security levels, such as level 1 (L1) and level 2 (L2), are set in the monitoring area 90. This off-limits area is set in advance by an administrator or the like and is stored in the storage unit 130. In this setting, the actual restricted area is associated with the coordinate system in the monitoring area 90 of the rider 110.

FIG. 9 is a table showing the attribute information of the holder stored in the storage unit 130, and FIG. 10 is a table showing the correspondence between the unique ID and the holder ID. These tables are set in advance by an administrator or the like, and are set when, for example, the location information device 200 is distributed to the owner. The alarm unit 126 refers to these tables and refers to the attribute information of the mobile body 80 from the unique ID of the position information device 200 possessed by the mobile body 80. For example, with reference to FIG. 10, the owner ID (ID1001) of the location information device 200 can be known from the unique ID (1xx01). Next, referring to FIG. 9, it can be seen that this holder ID (ID1001) has the right to enter the level 1 exclusion zone. That is, the mobile body 80 having the unique ID (1xx01) is allowed to enter the level 1 exclusion zone.

FIG. 11 is a flowchart showing the alarm processing according to the third embodiment. The process of FIG. 4 is a process performed after the process of FIG. 4 in the first embodiment.

(Step S401)
First, the alarm unit 126 determines whether or not the mobile body 80 or the mobile body 85 has entered the exclusion zone based on the monitoring process of the movement trajectories of the mobile body 80 and 85 by the tracking unit 125. judge. For example, in FIG. 2, if there is an entry of a moving object into any of the level 1 and level 2 exclusion zones (YES), the process proceeds to step S402.

(Step S402)
The alarm unit 126 determines whether or not the mobile body that has entered is the mobile body 80 possessed by the device. If the mobile body 80 possesses the device to which the unique ID is assigned (YES), the process proceeds to step S403, and if the mobile body 85 does not possess the device (NO), the process proceeds to step S405.

(Step S403)
The alarm unit 126 refers to the table stored in the storage unit 130, and acquires the attribute information of the mobile body 80 associated with the unique ID. Specifically, with reference to FIGS. 9 and 10, information on the authority regarding the restricted area is acquired. As described above, if it is a unique ID (1xx01), it can be seen that it is a mobile body 80 (ID1001) having an entry authority to a level 1 exclusion zone.

(Step S404)
From the attribute information acquired in step S403, the alarm unit 126 determines whether the moving body 80 for which the approach is determined in step S401 is the moving body 80 having the entry authority. For example, if the mobile body 80 having a unique ID (1xx01) has entered the level 1 exclusion zone, the entry authority is granted (YES), and the process is terminated (end). On the other hand, if the mobile body 80 is, for example, a mobile body 80 having a unique ID 1xx04 (ID1004) and does not have a legitimate authority regarding the entered restricted area (NO), the process proceeds to step S405.

(Step S405)
The alarm unit 126 outputs the alarm signal to the terminal device 400. The alarm signal may include ID information and attribute information of a moving object that has entered the restricted area.

As described above, in the third embodiment, when a moving body possessing a location information device enters by using the attribute information, whether or not the moving body has the right to enter the restricted area by using the attribute information. Is determined, and the alert signal is not output according to the determination result. By doing so, it is possible to output an alert signal to unauthorized moving objects and not to issue an alert to authorized moving objects even if they enter or leave the exclusion zone. It becomes. Further, if the security level is different as shown in FIG. 9, the entry authority of the restricted area can be set for each mobile body possessed by the device.

(Fourth Embodiment)
Next, the ID information giving system 10 according to the fourth embodiment will be described with reference to FIGS. 12 to 14. In the third embodiment described above, the setting can be changed by the administrator, but basically, the restricted area is fixedly set in the monitoring area 90. In the fourth embodiment described below, the restricted area is variably set. More specifically, a specific vehicle is used as a mobile body possessed by the device, and an exclusion zone is set in or around this vehicle. In this case, as the vehicle moves, the restricted area also moves.

12 and 13 are a table showing the attribute information of the owned vehicle (owner) and a table showing the correspondence between the unique ID and the owned vehicle, respectively. FIG. 14 is a schematic diagram showing a rider monitoring area. As shown in FIG. 14, the moving body 81 is a vehicle. The position information device 200 is attached to this vehicle, and the unique IDs of the position information devices 200 possessed by the mobile bodies 81 of the IDs 2001 to 2003 are ID1xx11 to 1xx13, respectively. Further, as shown in FIGS. 12 and 14, the moving body 81 of the IDs 2001 and 2002 is set with an exclusion zone. In addition, the IDs of the moving objects that are allowed to enter (operate) are registered.

For example, the mobile body 81 (ID 2001) possessed by the device is allowed to enter only the mobile body 80 (ID 1002) possessing the position information device 200 having the unique ID 1xx02. When the mobile body 80 possessed by a device other than the mobile body 80 (ID1002) or the mobile body 85 possessed by the device approaches the mobile body 81 possessed by the device (ID2001), the alarm unit 126 issues a report. Output a signal. This alarm processing is the same as the alarm processing in the third embodiment shown in FIG. 11, except that the restricted area is set around the mobile body 81 possessed by the device.

As described above, also in the fourth embodiment, the same effect as that of the third embodiment can be obtained, and the alarm processing can be performed according to the attribute information of the moving body.

The configurations of the ID information granting device 100 and the ID information granting system 10 described above have been described as the main configurations in explaining the features of the above-described embodiment, and are not limited to the above-mentioned configurations, and the claims are claimed. Within the range, the species can be modified. Further, it does not exclude the configuration provided in the ID information giving device 100 or the ID information giving system 10.

For example, in the above-described embodiment, the unique ID of the location information device 200 is used as it is, but by creating a table associated with the storage unit 130, the unique ID is converted into another unique ID for the own device. You may use it.

Further, in the third and fourth embodiments, when the moving body enters the restricted area by using the attribute information of the moving body associated with the unique ID stored in the storage unit, the moving body enters the restricted area. The alarm processing was performed by determining the presence or absence of authority. However, the present invention is not limited to this, and the alarm processing may be performed by determining the presence or absence of the entry authority by using the unique ID of the position information device possessed by the entering mobile body. For example, the location information device 200 may store the entry authority information and use it. Specifically, when a transmission tag or the like is used as the location information device 200, (1) level 1 entry (with authority), (2) level 2 entry, for each unique ID of the location information device 200, (3) Classify for level 1 and 2 entry, and store this in the storage unit 130 in advance. Then, the location information device 200 is temporarily rented out to a visitor (who does not have to identify an individual at this time) moving in the monitoring area. Then, according to the access authority level associated with the unique ID of the rented location information device 200, the alarm processing is performed in the restricted area of each level of the visitor (mobile).

The means and methods for performing various processes in the ID information giving system 10 according to the above-described embodiment can be realized by either a dedicated hardware circuit or a programmed computer. The program may be provided by a computer-readable recording medium such as a USB memory or a DVD (Digital Versail Disc) -ROM, or may be provided online via a network such as the Internet. In this case, the program recorded on the computer-readable recording medium is usually transferred to and stored in a storage unit such as a hard disk. Further, the above program may be provided as a single application software, or may be incorporated into the software of the device as a function of the device.

10 ID information granting system 100 ID information granting device 110 Rider 111 Light receiving / receiving unit 112 Distance measuring point group data generation unit 120 Processing unit 121 Acquisition unit 122 Recognition unit 123 Judgment unit 124 Grant unit 125 Tracking unit 126 Notification unit 130 Storage unit 200 Location information device 300 Location information device 400 Terminal device 80, 81 Mobile (possessed location information device)
85 Mobile (not possessing location information device)
90 Monitoring area

Claims (12)

With a rider that measures the distance to a moving object in the monitoring area and generates AF point cloud data,
The location information acquisition unit that acquires the location information of the location information device owned by the mobile body,
A recognition unit that recognizes a moving object in the monitoring area and recognizes the position information of the moving object from the time-series range-finding point cloud data obtained from the rider.
From the degree of coincidence between the position information obtained from the position information acquisition unit and the position information recognized by the recognition unit, for each of the moving bodies recognized by the recognition unit, the moving body possesses the position information device. A judgment unit that determines whether or not it is
An assigning unit that assigns a unique ID associated with the location information device to the mobile body that possesses the location information device determined by the determination unit.
Using the position information recognized by the recognition unit, a tracking unit that obtains a movement locus of position information for the moving body to which the unique ID is given, and a tracking unit.
An ID information giving device comprising. The unique ID is an ID acquired from the location information device, and is
The ID information granting device according to claim 1, wherein the granting unit assigns a normal ID generated by the own device to a mobile body determined by the determination unit not to possess the position information device. The ID information giving device according to claim 2, wherein the tracking unit obtains a movement locus of position information for a moving body to which the normal ID is given by using the position information recognized by the recognition unit. The position information of the position information device acquired by the position information acquisition unit is two-dimensional position information.
From claim 1, the determination unit projects the three-dimensional position information recognized by the recognition unit onto the moving plane of the moving object, converts it into two-dimensional coordinates, and compares it with the position information of the position information device. The ID information giving device according to any one of claims 3. The ID information giving device according to any one of claims 1 to 4, further comprising a storage unit for storing information on the movement locus. When the determination unit performs recapture to determine the moving body having the same position information device after the position information cannot be obtained for the moving body having the position information device to which the unique ID is given.
The fifth aspect of the present invention, wherein the tracking unit accumulates and stores the information of the movement locus of the re-captured body in the information of the movement locus stored in the storage unit in association with the unique ID. ID information giving device. An off-limits area is set in the monitoring area.
The storage unit stores the entry authority to the restricted area as the attribute information of the moving object.
Further, a warning unit that outputs an alert signal when the entry of the moving object into the restricted area is detected by the position information of the moving object recognized by the recognition unit is provided.
When the moving body possessing the location information device enters the restricted area, the alarm unit uses the attribute information to determine whether or not the moving body has the authority to enter the restricted area. The ID information giving device according to claim 5 or 6, which does not output the alert signal when the user has the right to enter. An off-limits area is set in the monitoring area.
Further, a warning unit that outputs an alert signal when the entry of the moving object into the restricted area is detected by the position information of the moving object recognized by the recognition unit is provided.
When the moving body possessing the location information device enters the restricted area, the alarm unit uses the unique ID of the location information device to move with the authority to enter the restricted area. The ID information giving device according to claim 5 or 6, which determines whether or not it is a body and does not output the alert signal when it has an entry authority. The alarm unit sets the off-limits area at or around the position of the moving body holding the unique ID, and responds to the entry of another moving body into the set off-limits area. The ID information giving device according to claim 7, wherein the determination and the output of the alert signal are performed. A location information device that is held by the mobile and outputs information about location information, and
An ID information giving system comprising the ID information giving device according to any one of claims 1 to 9. An ID information assigning device including a rider that measures the distance to a moving object in the monitoring area and generates AF point group data, and a position information acquisition unit that acquires the position information of the position information device owned by the moving object. A control program executed by a computer that controls
The step (a) of acquiring the position information of the position information device by the position information acquisition unit, and
The step (b) of performing the measurement in the monitoring area by the rider and generating the AF point cloud group data,
From the time-series distance measurement point cloud data obtained in the step (b), the step (c) of recognizing the moving object in the monitoring area and recognizing the position information of the moving object, and the step (c).
From the degree of coincidence between the position information obtained in the step (a) and the position information recognized in the step (c), the moving body uses the position information device for each of the moving bodies recognized in the step (c). Step (d) to determine whether it is a possessed mobile body and
In the step (e) of assigning a unique ID associated with the position information device to the mobile body having the position information device determined in the step (d).
Using the position information recognized in the step (c), the step (f) for obtaining the movement locus of the position information for the moving body to which the unique ID is given is
A control program for causing a computer to execute an ID information assignment process including. The unique ID given in the step (e) is an ID acquired from the location information device, and is an ID acquired from the location information device.
The control program according to claim 11, wherein a normal ID generated in the step (e) is given to the mobile body determined not to possess the position information device in the step (d).

Images