JP2024029891A - Object detection device, object detection program and object detection method - Google Patents

Abstract

[Problem] To ensure reliability of processing for detecting objects. [Solution] An object detection device uses a distance measurement point of an object detected by a distance measurement sensor and a detection range of the distance measurement sensor when the distance measurement point is detected. reliability acquisition means for acquiring a value indicating the reliability of the process of detecting the distance measurement point; A detection range setting means is provided for resetting the detection range so that the distance in real space between the distance indicated by the point and the predetermined position of the distance measurement sensor increases. [Selection diagram] Figure 3

Description

The present invention relates to an object detection device, an object detection program, and an object detection method.

BACKGROUND ART Technology that uses distance sensors to detect objects is used in situations where cars, robots, etc. are used. An example of such technology is the obstacle determination device disclosed in Patent Document 1, for example.

Patent No. 6886531

In this obstacle determination device, when an object exists near the boundary of the measurement space area, the distance measurement point on the object may move across the boundary of the measurement space area due to noise. For this reason, the obstacle determination device disclosed in Patent Document 1 may not be able to ensure the reliability of object detection processing.

Therefore, an object of the present invention is to provide an object detection device, an object detection program, and an object detection method that can ensure the reliability of object detection processing.

In order to solve the above-mentioned problems, an object detection device of the present invention includes a distance measurement point of an object detected by a distance measurement sensor and a detection range of the distance measurement sensor when the distance measurement point is detected. reliability obtaining means for calculating a value indicating the reliability of the process of detecting the distance measurement point by the distance measurement sensor using the distance measurement sensor; detection range setting means for resetting the detection range so that the distance in real space between the position indicated by the distance measurement point and the predetermined position of the distance measurement sensor increases for at least one of the distance measurement points.

According to the present invention, the reliability of object detection processing can be ensured.

FIG. 3 is a diagram showing an example of a distance measurement sensor, a detection range, an object, and a distance measurement point according to the first embodiment. FIG. 1 is a diagram showing an example of a hardware configuration of an object detection device according to a first embodiment. It is a diagram showing an example of the software configuration of the object detection device according to the first embodiment. It is a figure which shows the example in case the detection range is reset by the object detection apparatus based on 1st embodiment. FIG. 3 is a diagram showing an example of a detection range set by the object detection device according to the first embodiment. It is a figure which shows the example in case the detection range is reset by the object detection apparatus based on 1st embodiment. It is a figure which shows the example in case the detection range is reset by the object detection apparatus based on 1st embodiment. It is a figure which shows the example in case the detection range is reset by the object detection apparatus based on 1st embodiment. It is a flow chart which shows an example of processing performed by an object detection device concerning a first embodiment. It is a figure showing an example of the software composition of the object sensing device concerning a second embodiment. It is a figure which shows the example when the detection range based on 2nd embodiment shifts. It is a figure which shows the example in case the detection range is reset by the object detection apparatus based on 2nd embodiment. FIG. 7 is a diagram showing an example of an image displayed on a monitor when a moving body is controlled by the object detection device according to the second embodiment.

<First embodiment>
A first embodiment of the present invention will be described with reference to FIGS. 1 to 9. FIG. 1 is a diagram showing an example of a distance measurement sensor, a detection range, an object, and a distance measurement point according to the first embodiment. FIG. 1(A) is a side view of a ranging sensor, a detection range, an object, and a ranging point according to the first embodiment. FIG. 1(B) is a perspective view of a ranging sensor, a detection range, an object, and a ranging point according to the first embodiment. FIG. 1 shows a distance measurement sensor 10, a detection range A, an object B, and a distance measurement point P.

The distance measurement sensor 10 is, for example, a depth camera, and captures an image in which each pixel has information indicating a distance from the distance measurement sensor 10 and information indicating a direction with respect to the distance measurement sensor 10. Furthermore, all of the pixels forming this image correspond to distance measurement points. Furthermore, this image is created in three dimensions on a three-dimensional coordinate system with the distance measurement sensor 10 as the origin, based on information indicating the distance from the distance measurement sensor 10 and information indicating the direction with respect to the distance measurement sensor 10. can be converted to an image.

Further, the ranging sensor 10 detects the object B, for example, when the ranging point P of the object B exists inside the detection range A, which is a rectangular parallelepiped-shaped range, as shown in FIG. However, the distance measurement sensor 10 may recognize that the position of the distance measurement point P has changed due to the influence of noise even if the position of the distance measurement point P has not actually changed. For this reason, in the distance measurement sensor 10, for example, when the distance measurement point P is located near the boundary of the detection range A, as shown in FIG. It may be recognized that there are fluctuations across the range. Therefore, the distance measuring sensor 10 may detect the object B or may not detect the object B, and the reliability of the process of detecting the object B may not be ensured.

FIG. 2 is a diagram showing an example of the hardware configuration of the object detection device according to the first embodiment. As shown in FIG. 2, the object detection device 1a includes a CPU (Central Processing Unit) 21, an ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, an input interface 24, an output interface 25, A bus 26 is provided.

The CPU 21 controls each part of the object detection device 1a and realizes the functions of the object detection device 1a. The ROOM 22 stores a program that is read and executed by the CPU 21. This program is, for example, an operating system (OS), a driver for a device that constitutes the object detection device 1a, and a program that realizes each function that the object detection device 1 has. The RAM 23 temporarily stores the program stored in the ROM 22 when the program is executed.

The input interface 24 supplies signals inputted by operating a touch panel, button, switch, etc. connected to the object detection device 1a to the CPU 21 and the like. The output interface 25 supplies a signal indicating the results of processing executed by the object detection device 1a to a monitor or the like connected to the object detection device 1a. The bus 26 connects the CPU 21, the ROM 22, the RAM 23, the input interface 24, and the output interface 25 so that they can communicate with each other.

FIG. 3 is a diagram showing an example of the software configuration of the object detection device according to the first embodiment. As shown in FIG. 3, the object detection device 1a includes a ranging information acquisition object 31a, a detection range setting object 32a, an object detection section 33a, and a reliability acquisition section 34a.

The distance measurement information acquisition object 31a acquires an image photographed by the distance measurement sensor 10. This image includes distance measuring points Pi (i: a natural number from 1 to N, N: the total number of distance measuring points included in the image).

The detection range setting object 32a sets the detection range A shown in FIG. The detection range setting unit 32a may set the detection range A based on information input by the user of the object detection device 1a. For example, the detection range setting object 32 sets the detection range A based on information indicating the coordinates of the center of a rectangular parallelepiped and information indicating the length of each side of the rectangular parallelepiped input by the user of the object detection device 1a. Further, the detection range setting unit 32a may automatically set the detection range A according to preset conditions or the like.

The object detection unit 33a executes processing for detecting the object B. For example, the object detection unit 33a detects the object B when at least one of the N distance measurement points Pi of the object B exists within the detection range A. On the other hand, the object detection unit 33a does not detect the object B if at least one of the N distance measurement points Pi of the object B does not exist within the detection range A.

Alternatively, the object detection unit 33a detects the object B when a predetermined number or more of the N distance measurement points Pi of the object B exist within the detection range A. On the other hand, the object detection unit 33a does not detect the object B if fewer than the predetermined number of distance measurement points Pi of the N distance measurement points Pi of the object B exist within the detection range A.

Alternatively, the object detection unit 33a detects the object B when the N distance measuring points Pi of the object B are densely packed at a density equal to or higher than a predetermined density and are present within the detection range A. On the other hand, the object detection unit 33a does not detect the object B when the N distance measurement points Pi of the object B are densely packed at a density lower than the predetermined density. Further, the object detection unit 33a does not detect the object B even if the N distance measuring points Pi of the object B are densely packed at a density higher than a predetermined density but are not within the detection range A. .

Further, when executing the process of detecting object B using the density of the N distance measuring points Pi of object B, the object detection unit 33a detects that the distance between two distance measuring points is less than or equal to a predetermined distance. The same label may be attached to the distance measuring points that are Then, the object detection unit 33a may calculate the density using the position and number of distance measurement points that have the same label.

The reliability acquisition unit 34a uses at least one of the distance measurement points Pi of the object B detected by the distance measurement sensor 10 and the detection range A of the distance measurement sensor 10 when the distance measurement point Pi was detected. A value indicating the reliability of the process of detecting the distance measurement point Pi by the distance measurement sensor 10 is calculated. For example, the reliability acquisition unit 34a acquires distance measuring points Qj that are included within the detection range A among the distance measurement points Pi (j: a natural number from 1 to M, M: included within the detection range A). (total number of AF points). Next, the reliability acquisition unit 34a calculates the distance Lj between the distance measurement point Qj and a point on the boundary of the detection range A. The distance Lj is the distance between the intersection of the normal line of the boundary of the detection range A passing through the distance measurement point Qj and the boundary of the detection range A, and the distance measurement point Qj. Then, the reliability acquisition unit 34a employs the maximum value Lmax of the distance Lj as a value indicating the reliability of the process of detecting the distance measurement point Pi.

Note that the value indicating reliability may be calculated by the object detection device 1a, or may be acquired from a table representing a correspondence relationship between a value indicating reliability, etc., and a distance. Further, the value indicating reliability may be calculated by a device different from the object detection device 1a, and may be acquired by the object detection device 1a.

FIG. 4 is a diagram illustrating an example in which the detection range is reset by the object detection device according to the first embodiment. The detection range setting unit 32a determines whether a value indicating the reliability of the process of detecting the distance measurement point Pi by the distance measurement sensor 10 is less than a predetermined threshold value. Then, when this value is less than a predetermined threshold, the detection range setting unit 32a determines that at least one point on the boundary of the detection range A is the same as the position indicated by the ranging point P that gives the maximum value Lmax. The detection range is reset so that the distance in real space from the predetermined position of the distance sensor 10 increases. For example, in this case, the detection range setting unit 32a resets all surfaces of the rectangular parallelepiped detection range A to the detection range A4, which is moved in the direction away from the distance measurement point P, as shown in FIG.

In this case, the detection range setting unit 32a may reset all surfaces of the rectangular parallelepiped detection range A to a detection range that is moved in a direction away from two or more distance measurement points. Further, the detection range setting unit 32a may select a distance measurement point to focus on when resetting the detection range from an arbitrary viewpoint. For example, when resetting the detection range, the detection range setting unit 32a may select a distance measurement point as close as possible to the distance measurement sensor 10, or may select a distance measurement point as close as possible to the boundary of the detection range. It's okay.

After that, the object detection unit 33a executes the process of detecting the object B again. For example, the object detection unit 33a detects the object B when at least one of the N distance measurement points Pi of the object B exists within the detection range A4. On the other hand, the object detection unit 33a does not detect the object B when at least one of the N distance measurement points Pi of the object B does not exist within the detection range A4. Since the object detection unit 33a uses the detection range A4, which is likely to include more distance measurement points Pi than the detection range A, the object detection unit 33a performs the process of detecting the object B while ensuring even higher reliability. can be executed.

Note that the detection range setting unit 32a maintains the current detection range when the value indicating the reliability of the process of detecting the distance measurement point Pi by the distance measurement sensor 10 is greater than or equal to a predetermined threshold value.

Further, the detection range setting section 32a may set the detection range in any shape other than a rectangular parallelepiped shape. FIG. 5 is a diagram showing an example of a detection range set by the object detection device according to the first embodiment. FIG. 5(A) shows a detection range A51 that extends radially around the distance measurement sensor 10. FIG. 5(B) shows a detection range A52 that has an asymmetrical shape with the distance measurement sensor 10 as the center, and becomes narrower as the distance from the distance measurement sensor 10 increases. FIG. 5(c) shows an ellipsoidal detection range A53. The detection range setting unit 32a may set the detection range A51, the detection range A52, or the detection range A53 instead of the detection range A or the detection range A4, for example.

Further, the detection range setting unit 32a may reset the detection range in any manner other than the manner described above. FIG. 6, FIG. 7, and FIG. 8 are diagrams showing examples in which the detection range is reset by the object detection device according to the first embodiment.

For example, as shown in FIG. 6, the detection range setting unit 32a determines the distance from the distance measurement point P for a point located on the boundary of the detection range A that is less than a predetermined distance from the distance measurement point P. The detection range A6 may be reset so that the detection range A6 increases. Detection range A6 was realized by moving points on the boundary of detection range A that are located at a distance less than a predetermined distance from distance measurement point P in a direction in which the distance from distance measurement point P increases. This is the range obtained by adding the detection range A60 to the detection range A.

Alternatively, as shown in FIG. 7, the detection range setting unit 32a determines the distance from the distance measurement point P for points on the boundary of the detection range A that are located at a distance less than a predetermined distance from the distance measurement point P. The detection range A7 may be reset so that the detection range A7 increases. Detection range A7 is a range in which a point on the boundary of detection range A that is located on the plane closest to distance measurement point P is moved by a certain distance in the direction in which the distance from distance measurement point P increases. be. Note that when the detection range setting unit 32a moves a point on the boundary of the detection range A that is located on the plane closest to the distance measurement point P in a direction in which the distance from the distance measurement point P increases, The distance to be moved may be changed depending on the point.

In the object detection device 1a, by resetting the detection range A6 or A7 instead of the detection range A4, the detection range becomes wider than necessary, and the processing load for detecting the object B increases more than necessary. This can be avoided.

Alternatively, as shown in FIG. 8, the detection range setting unit 32a increases the distance from the distance measurement point P with respect to a point on the boundary of the detection range A, as the distance from the distance measurement sensor 10 increases. You may reset the detection range. The detection range A8 is a range in which points on the surface of the detection range A that do not face the distance measurement sensor 10 are moved a longer distance to the outside of the detection range A, the farther from the distance measurement sensor 10 they are. be. In addition, the detection range A8 can ensure the reliability of the process of detecting the object B even when the distance measurement sensor 10 is used, in which the noise increases as the distance from the distance measurement sensor 10 increases. Useful. Such a distance measuring camera 10 is, for example, a stereo camera that measures distance based on the principle of triangulation.

Next, an example of processing executed by the object detection device 1a will be described with reference to FIG. FIG. 9 is a flowchart illustrating an example of processing executed by the object detection device according to the first embodiment.

In step S1, the object detection device 1a performs initialization. Specifically, the object detection device 1a activates software such as a program stored in the ROM 22 and hardware such as the ranging sensor 10.

In step S2, the distance measurement information acquisition object 31a acquires an image photographed by the distance measurement sensor 10.

In step S3, the detection range setting unit 32a sets a detection range A.

In step S4, the object detection unit 33a executes processing to detect object B.

In step S5, the object detection unit 33a determines whether at least one of the N ranging points Pi exists within the detection range A. When the object detection unit 33a determines that at least one of the N ranging points Pi exists within the detection range A (step S5: YES), the process proceeds to step S6. On the other hand, when the object detection unit 33a determines that N distance measurement points Pi do not exist within the detection range A (step S5: NO), the process proceeds to step S9.

In step S6, the reliability acquisition unit 34a calculates a value indicating the reliability of the process of detecting the distance measurement point Pi. Specifically, the reliability acquisition unit 34a acquires at least one of the distance measurement points Pi of the object B detected by the distance measurement sensor 10 and the detection range A of the distance measurement sensor 10 when the distance measurement point Pi is detected. A value indicating the reliability of the process of detecting the distance measurement point Pi by the distance measurement sensor 10 is calculated using the following.

In step S7, the detection range setting unit 32a determines whether a value indicating the reliability of the process of detecting the distance measurement point Pi by the distance measurement sensor 10 is less than a predetermined threshold value. When the detection range setting unit 32a determines that the value indicating the reliability of the process of detecting the distance measurement point Pi by the distance measurement sensor 10 is less than a predetermined threshold (step S7: YES), the detection range setting unit 32a advances the process to step S8. . On the other hand, when the detection range setting unit 32a determines that the value indicating the reliability of the process of detecting the distance measurement point Pi by the distance measurement sensor 10 is greater than or equal to the predetermined threshold (step S7: NO), the detection range setting unit 32a changes the process to step S9. Proceed to.

In step S8, the detection range setting unit 32a resets the detection range to A4. Specifically, for at least one point on the boundary of the detection range A, the detection range is reset so that the distance from the ranging point P that provides the above-mentioned maximum value Lmax increases.

In step S9, the object detection device 1a determines whether information indicating that the process is to be terminated has been input. If the object detection device 1a determines that information indicating that the process is to be terminated has been input (step S9: YES), the object detection device 1a terminates the process. On the other hand, when the object detection device 1a determines that the information indicating that the process is to be ended has not been input (step S9: NO), the process returns to step S2.

<Second embodiment>
A second embodiment of the present invention will be described with reference to FIGS. 10 to 13. In the second embodiment, the distance measurement sensor 10 is attached to an automatic guided vehicle (AGV), which is a type of moving object, and is also used to control the automatic guided vehicle. In addition, in the second embodiment, the same reference numerals are given to the same components as in the first embodiment, and redundant explanations will be omitted as appropriate.

FIG. 10 is a diagram illustrating an example of the software configuration of the object detection device according to the second embodiment. As shown in FIG. 10, the object detection device 1b includes a ranging information acquisition object 31a, a detection range setting object 32b, an object detection section 33a, a reliability acquisition section 34a, an object presence/absence determination section 35b, and a moving object. and a control section 36b.

FIG. 11 is a diagram showing an example in which the detection range according to the second embodiment shifts. FIG. 11(A) is a diagram showing an example where the detection range A is not shifted. FIG. 11(B) is a diagram showing an example where the detection range A is shifted. As shown in FIG. 11(A), the distance measurement sensor 10 is attached to the automatic guided vehicle T so that the bottom surface of the detection range A on the rectangular parallelepiped is parallel to the road surface G and faces forward of the automatic guided vehicle T. . However, as shown in FIG. 11(B), the distance measurement sensor 10 may be tilted due to the manner in which it is attached to the automatic guided vehicle T, vibrations of the automatic guided vehicle T, and the like. In this case, since a part of the detection range A includes the road surface G, the distance measurement sensor 10 may detect the road surface G as an object even though there is no object inside the detection range A. be. In particular, the farther the detection range A is from the distance measurement sensor 10, the more likely it is to include the road surface G.

FIG. 12 is a diagram illustrating an example in which the detection range is reset by the object detection device according to the second embodiment. FIG. 12(A) shows an example where the distance measurement sensor 10 is not tilted. FIG. 12(B) shows an example where the distance measurement sensor 10 is tilted.

For example, as shown in FIG. 12(A), the detection range setting unit 32b calculates an increase in the distance between a point on the boundary of the detection range A and the distance measurement point P as the point moves away from the distance measurement sensor 10. Reset the reduced detection range A12. The detection range A12 includes the direction in which the automatic guided vehicle T travels, and the farther it is from the ranging sensor 10, the shorter the distance by which the point on the bottom of the detection range A is moved in the direction of the road surface G. Has a realized shape. Moreover, since the detection range A12 has such a shape, even if the distance measurement sensor 10 is tilted, the detection range A12 will not include the road surface G, as shown in FIG. 12(B). Easier to avoid.

The object presence/absence determination unit 35b determines whether an object is detected in the detection range A12 reset by the detection range setting unit 32a.

When an object is detected in the detection range A12 reset by the detection range setting unit 32a, the mobile body control unit 36b limits the movement of the automatic guided vehicle T in the direction in which the detection range A12 is located. For example, in this case, the mobile body control unit 36b stops the movement of the automatic guided vehicle T in the direction in which the detection range A12 is located. Alternatively, in this case, the mobile body control unit 36b reduces the speed at which the automatic guided vehicle T travels in the direction in which the detection range A12 is located. Alternatively, in this case, the mobile body control unit 36b moves the automatic guided vehicle T in a direction different from the direction in which the detection range A12 is located. The direction different from the direction in which the detection range A12 is located is, for example, the rear or side of the automatic guided vehicle T.

On the other hand, if the object is not detected in the detection range reset by the detection range setting unit 32a, the mobile body control unit 36b allows the automatic guided vehicle T to move in the direction in which the detection range A12 is located. do.

The object detection device 1b may display on a monitor the position of the automatic guided vehicle T, the position of the detection range A12 etc. set by the detection range setting unit 32a, and the result of the process executed by the object detection unit 33a. FIG. 13 is a diagram illustrating an example of an image displayed on a monitor when a moving body is controlled by the object detection device according to the second embodiment. For example, the object detection device 1b displays the image IM shown in FIG. 13 on the monitor. Image IM includes a map M and a display area D. Map M is a map of the area in which the automatic guided vehicle T travels. The image IM also shows the automatic guided vehicle T, the ranging sensor 10, the detection range A12, the object B detected by the object detection unit 33a, and the ranging point P included in the object B on a map M. is displayed. In the display area D, a value indicating reliability calculated by the reliability acquisition unit 34a is displayed.

Thereby, the object detection device 1b can provide the user with information necessary for operating the automatic guided vehicle T and the ranging sensor 10. Note that the object detection device 1b may output the information outputted by displaying the image IM on a monitor in the form of audio.

Further, the detection range setting unit 32b may reset the detection range so as not to include at least one of the automatic guided vehicle T, the road surface of the route along which the automatic guided vehicle T moves, and the ceiling of the route. This process is useful when at least a portion of the automatic guided vehicle T, at least one of the road surface and the ceiling is included.

The object detection device 1a according to the first embodiment and the object detection device 1b according to the second embodiment have been described above. The object detection device 1a and the object detection device 1b perform distance measurement for at least one point on the boundary of the detection range A when the value indicating the reliability of the process of detecting the distance measurement point Pi is less than a predetermined threshold. Reset the detection range so that the distance to point A increases. Therefore, the object detection device 1a and the object detection device 1b detect the object B by making it difficult for the distance measurement point Pi to straddle the boundary of the detection range and change even if the position of the distance measurement point Pi changes due to the influence of noise. Processing reliability can be guaranteed. In addition, by setting a detection range wider than necessary in the object detection device 1a and the object detection device 1b, the processing load for calculating a value indicating the reliability of the processing for detecting the distance measurement point Pi increases more than necessary. You can avoid being forced to do so.

Note that in the first embodiment and the second embodiment, the case where the distance measurement sensor 10 is a depth camera has been described as an example, but the present invention is not limited to this. The distance measuring sensor 10 only needs to be able to measure distance, and can take any form as a mechanism for measuring distance. For example, the ranging sensor 10 may be a lidar (LIDAR: Light Detection and Ranging), a radar (RADAR: Radio Detection and Ranging), an ultrasonic sensor, or a TOF (Time of Flight) type distance sensor.

Further, in the first embodiment and the second embodiment, the case where the distance measuring sensor 10 measures the distance in the three-dimensional space at one time has been described as an example, but the present invention is not limited to this. The distance sensor 10 may measure the distance in the three-dimensional space by repeating the process of measuring the two-dimensional space multiple times. Further, although it is preferable that the distance measurement sensor 10 measures a distance in a two-dimensional space at one time, and more preferably that it measures a distance in a three-dimensional space at one time, the distance measurement sensor 10 measures a distance in a one-dimensional space. It may be.

Moreover, in the first embodiment and the second embodiment, the automatic guided vehicle T, which is a type of moving body, was described as an example. However, the moving object is not limited to the automatic guided vehicle T, and may be a car, a train, a robot, a drone, or the like. Furthermore, at least a portion of the object detection device 1a and the object detection device 1b may be mounted on the moving body, or at least a portion thereof may not be mounted on the moving body. Further, the object detection device 1a and the object detection device 1b can be applied to a remotely operated moving object.

Furthermore, when the result of the process of detecting the distance measurement point Pi has changed over a predetermined number of times, the reliability acquisition unit 34a detects the object B using the number of times the result of the process of detecting the distance measurement point Pi has changed. A value indicating the reliability of the processing may be calculated. For example, the reliability acquisition unit 34a records "1" when the distance measurement point Pi is detected, and records "0" when the distance measurement point Pi is detected. Then, if "1" and "1" are switched Y times while the process of detecting the ranging point Pi is executed X times, the reliability acquisition unit 34a detects the object B from "XY". Calculated as a value indicating the reliability of the processing performed. Note that the reliability acquisition unit 34a may acquire a value indicating reliability calculated by such a procedure.

Further, the reliability acquisition unit 34a may use the number of ranging points Pi included in the detection range A to calculate a value indicating the reliability of the process of detecting the object B. Alternatively, the reliability acquisition unit 34a may calculate a value indicating the reliability of the process of detecting the object B using a change over time in the number of ranging points Pi included in the detection range A. . Note that the reliability acquisition unit 34a may acquire a value indicating reliability calculated through these procedures.

The reliability acquisition unit 34a also generates a value indicating the reliability of the process of detecting the object B using the change over time in the distance between at least one of the distance measurement points Pi and a point on the boundary of the detection range A. may be obtained. Alternatively, the reliability acquisition unit 34a may use the density of distance measurement points Pi in a predetermined area included in the detection range A to calculate a value indicating the reliability of the process of detecting the object B. Alternatively, the reliability acquisition unit 34a calculates a value indicating the reliability of the process of detecting the object B using the change over time in the density of the ranging points Pi in a predetermined area included in the detection range A. You may. Note that the reliability acquisition unit 34a may acquire a value indicating reliability calculated through these procedures.

Note that when calculating the value indicating the reliability of the process of detecting object B using the above-mentioned changes over time, the reliability acquisition unit 34a calculates the movement of object B based on the above-mentioned changes over time. You can predict it. In this case, the reliability acquisition unit 34a may calculate a low value when the object B approaches the boundary of the detection range A by less than a predetermined distance. Furthermore, in this case, the reliability acquisition unit 34a may calculate the distance between the object B and the boundary of the detection range A as a value indicating the reliability of the process of detecting the object B.

Even when the object detection device 1a and the object detection device 1b calculate the value indicating the reliability of the process of detecting the object B in the manner described above, the same effects as those described above are achieved.

The present invention includes the following inventions in which the contents of the embodiments described above are appropriately combined.

(Configuration 1)
A process of detecting the distance measurement point by the distance measurement sensor using the distance measurement point of the object detected by the distance measurement sensor and the detection range of the distance measurement sensor when the distance measurement point was detected. a reliability acquisition unit that acquires a value indicating reliability, and when the value is less than a predetermined threshold, a position indicated by the ranging point for at least one point on the boundary of the detection range and the ranging sensor; an object detection device comprising: a detection range setting unit that resets the detection range so that a distance in real space from a predetermined position of the object increases;
(Configuration 2)
The detection range setting unit sets the detection range so that, for points on the boundary of the detection range that are located at a distance less than a predetermined distance from the distance measurement point, the distance from the distance measurement point increases. The object detection device according to configuration 1, which is reset.
(Configuration 3)
The detection range setting unit is configured to reset the detection range such that the distance between the points on the boundary of the detection range decreases as the distance from the distance measurement sensor increases. 1 or the object detection device according to Configuration 2.
(Configuration 4)
The detection range setting unit is configured to reset the detection range by increasing the distance to the distance measurement point with respect to a point on the boundary of the detection range, as the distance from the distance measurement sensor increases. The object detection device according to any one of configurations 1 to 3.
(Configuration 5)
The distance measurement sensor is attached to a moving body,
Any one of configurations 1 to 4, wherein the detection range setting unit resets the detection range so as not to include at least one of the moving object, a road surface of a route along which the moving object moves, and a ceiling of the route. The object detection device described in one.
(Configuration 6)
The object detection device according to any one of configurations 1 to 5, wherein the reliability acquisition unit acquires the value using a distance between the distance measurement point and a point on a boundary of the detection range. .
(Configuration 7)
The object detection device according to configuration 6, wherein the reliability acquisition unit acquires the value using a change over time in a distance between the distance measurement point and a point on a boundary of the detection range.
(Configuration 8)
The object detection device according to any one of configurations 1 to 7, wherein the reliability acquisition unit acquires the value using the number of distance measurement points included in the detection range.
(Configuration 9)
The object detection device according to configuration 8, wherein the reliability acquisition unit acquires the value using a change over time in the number of distance measurement points included in the detection range.
(Configuration 10)
Object detection according to any one of configurations 1 to 9, wherein the reliability acquisition unit acquires the value using the density of the ranging points in a predetermined area included in the detection range. Device.
(Configuration 11)
The object detection device according to configuration 10, wherein the reliability acquisition unit acquires the value using a change over time in the density of the ranging points in a predetermined area included in the detection range.
(Configuration 12)
The reliability acquisition unit acquires the value using the number of times the result of the process of detecting the distance measurement point has changed when the result of the process of detecting the distance measurement point has changed over a predetermined number of times. The object detection device according to configurations 1 to 11.
(Configuration 13)
The detection range setting unit includes an object presence/absence determination unit that includes the direction in which the moving object moves in the detection range and determines whether an object is detected in the detection range reset by the detection range setting unit. and a moving body control unit that limits movement of the moving body in the direction when an object is detected in the detection range reset by the detection range setting unit. Object detection device.
(Configuration 14)
The detection range setting unit includes an object presence/absence determination unit that includes the direction in which the moving object moves in the detection range and determines whether an object is detected in the detection range reset by the detection range setting unit. and a moving body control unit that allows the moving body to move in the direction if an object is not detected in the detection range reset by the detection range setting unit. object detection device.
(Program 1)
A process of detecting the distance measurement point by the distance measurement sensor using the distance measurement point of the object detected by the distance measurement sensor and the detection range of the distance measurement sensor when the distance measurement point was detected. Get the reliability value,
When the value is less than a predetermined threshold, the distance in real space between the position indicated by the distance measurement point and the predetermined position of the distance measurement sensor for at least one point on the boundary of the detection range increases. resetting the detection range;
Object detection program.
(Method 1)
A process of detecting the distance measurement point by the distance measurement sensor using the distance measurement point of the object detected by the distance measurement sensor and the detection range of the distance measurement sensor when the distance measurement point was detected. Get the reliability value,
When the value is less than a predetermined threshold, the distance in real space between the position indicated by the distance measurement point and the predetermined position of the distance measurement sensor for at least one point on the boundary of the detection range increases. resetting the detection range;
Object detection method.

<Other embodiments>
The present invention provides a system or device with a program that implements one or more functions of the embodiments described above via a network or a storage medium, and one or more processors of a computer in the system or device reads and executes the program. This can also be achieved by processing. Further, it can also be realized by a circuit that realizes one or more functions, for example, an ASIC (Application Specific Integrated Circuit).

The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the embodiments described above. That is, the present invention includes embodiments in which various modifications are made based on the spirit of the present invention, and these embodiments are not excluded from the scope of the present invention.

1a, 1b: Object detection device 10: Distance sensor 31a: Distance information acquisition section 32a, 32b: Detection range setting section 33a: Object detection section 34a: Reliability acquisition section 35b: Object presence/absence determination section 36b: Mobile object control section

Claims (16)

A process of detecting the distance measurement point by the distance measurement sensor using the distance measurement point of the object detected by the distance measurement sensor and the detection range of the distance measurement sensor when the distance measurement point was detected. reliability acquisition means for acquiring a value indicating reliability;
When the value is less than a predetermined threshold, the distance in real space between the position indicated by the distance measurement point and the predetermined position of the distance measurement sensor for at least one point on the boundary of the detection range increases. detection range setting means for resetting the detection range;
An object detection device equipped with. The detection range setting means sets the detection range such that for points on the boundary of the detection range that are located at a distance less than a predetermined distance from the distance measurement point, the distance from the distance measurement point increases. reconfigure,
The object detection device according to claim 1. The detection range setting means resets the detection range by decreasing the increase in distance to the distance measurement point as the point on the boundary of the detection range is further away from the distance measurement sensor.
The object detection device according to claim 1 or claim 2. The detection range setting means resets the detection range by increasing the distance from the distance measurement point with respect to a point on the boundary of the detection range, as the distance from the distance measurement sensor increases.
The object detection device according to claim 1 or claim 2. The distance measurement sensor is attached to a moving body,
The detection range setting means resets the detection range so as not to include at least one of the moving object, the road surface of the route along which the moving object moves, and the ceiling of the route.
The object detection device according to claim 1 or claim 2. The reliability acquisition means acquires the value using a distance between the ranging point and a point on a boundary of the detection range.
The object detection device according to claim 5. The reliability acquisition means acquires the value using a change over time in the distance between the ranging point and a point on the boundary of the detection range.
The object detection device according to claim 6. The reliability acquisition means acquires the value using the number of the ranging points included in the detection range.
The object detection device according to claim 5. The reliability acquisition means acquires the value using a change over time in the number of distance measurement points included in the detection range.
The object detection device according to claim 8. The reliability acquisition means acquires the value using the density of the ranging points in a predetermined area included in the detection range.
The object detection device according to claim 5. The reliability acquisition means acquires the value using a change over time in the density of the ranging points in a predetermined area included in the detection range.
The object detection device according to claim 10. The reliability acquisition means acquires the value by using the number of times the result of the process for detecting the distance measurement point has changed when the result of the process for detecting the distance measurement point has changed over a predetermined number of times.
The object detection device according to claim 1 or claim 2. The detection range setting means includes a direction in which the moving object moves in the detection range,
object presence/absence determining means for determining whether or not an object is detected in the detection range reset by the detection range setting means;
a moving body control means for restricting movement of the moving body in the direction when an object is detected in the detection range reset by the detection range setting means;
The object detection device according to claim 5, further comprising: The detection range setting means includes a direction in which the moving object moves in the detection range,
object presence/absence determining means for determining whether or not an object is detected in the detection range reset by the detection range setting means;
a moving body control means for permitting movement of the moving body in the direction when an object is not detected in the detection range reset by the detection range setting means;
The object detection device according to claim 5, further comprising: A process of detecting the distance measurement point by the distance measurement sensor using the distance measurement point of the object detected by the distance measurement sensor and the detection range of the distance measurement sensor when the distance measurement point was detected. Get the reliability value,
When the value is less than a predetermined threshold, the distance in real space between the position indicated by the distance measurement point and the predetermined position of the distance measurement sensor for at least one point on the boundary of the detection range increases. resetting the detection range;
Object detection program. A process of detecting the distance measurement point by the distance measurement sensor using the distance measurement point of the object detected by the distance measurement sensor and the detection range of the distance measurement sensor when the distance measurement point was detected. Get the reliability value,
When the value is less than a predetermined threshold, the distance in real space between the position indicated by the distance measurement point and the predetermined position of the distance measurement sensor for at least one point on the boundary of the detection range increases. resetting the detection range;
Object detection method.

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